Merge pull request #6 from AutoModality/AM-682/camera-stream

Added camera capabilities

Author: Aaron Roller

.github/workflows/release.yml

@@ -18,7 +18,7 @@ jobs:
         id: package
         uses: AutoModality/action-package-debian-ros@v5-amros
         with:
-          version: 4.0.0-AM${{ github.run_number }}
+          version: 4.1.0-AM${{ github.run_number }}
       - name: Deploy
         id: deploy
         uses: AutoModality/action-cloudsmith@0.2.0

CMakeLists.txt

@@ -31,10 +31,10 @@ set(DJIOSDK_PATCH_VERSION 0)
 set(DJIOSDK_VERSION
   ${DJIOSDK_MAJOR_VERSION}.${DJIOSDK_MINOR_VERSION}.${DJIOSDK_PATCH_VERSION})
 add_definitions(-DDJIOSDK_MAJOR_VERSION=4)
-add_definitions(-DDJIOSDK_MINOR_VERSION=0)
+add_definitions(-DDJIOSDK_MINOR_VERSION=1)
 add_definitions(-DDJIOSDK_PATCH_VERSION=0)
 
-add_definitions(-DDJIOSDK_IS_DEBUG=2)
+add_definitions(-DDJIOSDK_IS_DEBUG=1)
 
 if(CMAKE_SYSTEM_PROCESSOR MATCHES "i386|i686|x86|AMD64|x86_64")
    set(ARCH x86)

Doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "DJI Onboard SDK"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 4.0.1
+PROJECT_NUMBER         = 4.1.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

README.md

@@ -1,4 +1,4 @@
-# DJI Onboard SDK (OSDK) 4.0.1
+# DJI Onboard SDK (OSDK) 4.1.0
 
 [![Join the chat at https://gitter.im/dji-sdk/Onboard-SDK](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/dji-sdk/Onboard-SDK?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
 
@@ -7,14 +7,14 @@
 The DJI Onboard SDK allows you to connect your own Onboard Computer to a [supported](https://developer.dji.com/onboard-sdk/documentation/purchaseguide/hardware.html) DJI vehicle or flight controller using a serial port (TTL UART). For full documentation, please visit the [DJI Developer Documentation](https://developer.dji.com/onboard-sdk/documentation/). Documentation regarding the code can be found in the [OSDK API Reference](https://developer.dji.com/onboard-api-reference/index.html) section of the developer's website.
 
 ## Latest Release
-OSDK 4.0.1 was released on 21 August 2020. This version mainly fixes OSDK 4.0.0 issues, such as camera stream related problems, download function optimization, MOP optimization, waypoint 2.0 problems repair, etc. At the same time, we also add an automatic code porting script to assist the porting of FreeRTOS.
+OSDK 4.1.0 was released on 2 February 2021.This version adds the USB reconnection function, provides some basic interface of flightcontroller and camera, and verifies that the battery module partially support the M300. Fixed some problems in waypoint V2, camera image decoding, camera file download and MOP functions. At the same time, optimized some implementations in flightcontroller and activation. For ROS, most of the interfaces included in OSDK lib but not included in ROS are added.
 
 ## Last Major Release
-OSDK 4.0.0 was released on 8 May 2019. New APIs about flight controller such as home point setting, confirm landing, some function switches are supported in the version. For the payload device, more APIs about camera functions and parameters are added in the version.  Please see the [release notes](https://developer.dji.com/onboard-sdk/downloads/) for more information.
+OSDK 4.0.1 was released on 21 August 2020. This version mainly fixes OSDK 4.0.0 issues, such as camera stream related problems, download function optimization, MOP optimization, waypoint 2.0 problems repair, etc. At the same time, we also add an automatic code porting script to assist the porting of FreeRTOS.
 
 ## Firmware Compatibility
 
-This chart shows the latest firmware that were available and are supported at the time of 4.0.0 release.
+This chart shows the latest firmware that were available and are supported at the time of 4.1.0 release.
 
 <table>
 <thead>
@@ -25,8 +25,8 @@ This chart shows the latest firmware that were available and are supported at th
 <tbody>
 <tr>
 <td>M300 RTK </td>
-<td>01.00.02.11</td>
-<td>3.4.8.56</td>
+<td>02.02.0102</td>
+<td>3.4.8.69</td>
 </tr>
 <tr>
 <td>M210 RTK V2</td>

osdk-core/CMakeLists.txt

@@ -46,6 +46,7 @@ if (CMAKE_BUILD_TYPE MATCHES "Debug")
 endif ()
 
 if (COVERAGE)
+  message(---- djiosdk-core COVERAGE MODE)
   SET(GCC_COVERAGE_COMPILE_FLAGS "-fprofile-arcs -ftest-coverage -fPIC")
   SET(GCC_COVERAGE_LINK_FLAGS    "-lgcov")
   set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${GCC_COVERAGE_COMPILE_FLAGS}")
@@ -88,8 +89,7 @@ include_directories(
         modules/inc/mop
         platform/inc
         logger/inc
-        utility/inc
-        linker/${ARCH}/inc)
+        utility/inc)
 
 ## Source code for OSDK CORE
 FILE(GLOB OSDK_LIB_SRCS
@@ -104,7 +104,26 @@ FILE(GLOB OSDK_LIB_SRCS
         logger/src/*.cpp
         utility/src/*.cpp)
 
-link_libraries(${CMAKE_CURRENT_SOURCE_DIR}/linker/${ARCH}/lib/libdji-linker.a)
+if(LINKER_DEBUG)
+  message("-- Internal linker source debug")
+  add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/sdk-linker)
+  include_directories(
+          ${CMAKE_CURRENT_SOURCE_DIR}/sdk-linker
+          ${CMAKE_CURRENT_SOURCE_DIR}/sdk-linker/core
+          ${CMAKE_CURRENT_SOURCE_DIR}/sdk-linker/core/channel
+          ${CMAKE_CURRENT_SOURCE_DIR}/sdk-linker/core/command
+          ${CMAKE_CURRENT_SOURCE_DIR}/sdk-linker/core/logger
+          ${CMAKE_CURRENT_SOURCE_DIR}/sdk-linker/core/mop
+          ${CMAKE_CURRENT_SOURCE_DIR}/sdk-linker/core/mop/mop_core/inc
+          ${CMAKE_CURRENT_SOURCE_DIR}/sdk-linker/core/platform
+          ${CMAKE_CURRENT_SOURCE_DIR}/sdk-linker/core/protocol
+          ${CMAKE_CURRENT_SOURCE_DIR}/sdk-linker/core/root_task
+          ${CMAKE_CURRENT_SOURCE_DIR}/sdk-linker/core/utils/inc)
+  link_libraries(dji-linker)
+else()
+  include_directories(linker/${ARCH}/inc)
+  link_libraries(${CMAKE_CURRENT_SOURCE_DIR}/linker/${ARCH}/lib/libdji-linker.a)
+endif()
 
 add_library(${PROJECT_NAME}
         STATIC
@@ -128,6 +147,10 @@ set(ADVANCED_SENSING_HEADERS_DIR
 ## Append to this variable when you want a dependency to get propagated
 SET(OSDK_INTERFACE_LIBS pthread) # pthread is assumed available on linux
 
+if (COVERAGE)
+  set(OSDK_INTERFACE_LIBS ${OSDK_INTERFACE_LIBS}  gcov)
+endif()
+
 ## Modules to link/build against
 ## Append to these variables with build/install locations when adding new OSDK modules
 SET(MODULE_BUILD_INTERFACE "")

osdk-core/advanced-sensing/api/inc/dji_advanced_sensing.hpp

@@ -126,6 +126,22 @@ class AdvancedSensing {
    *  @param userData user data (void ptr)
    */
   void subscribeFrontStereoVGA(const uint8_t freq, VehicleCallBack callback = 0, UserData userData = 0);
+  
+  /*! @brief subscribe to VGA (480x640) front stereo images at 10 or 20 fps AutoModality's Version
+   *
+   *  @platforms M210V2, M300
+   *  @param frequency of images using enum from AdvancedSensingProtocol::FREQ
+   *  @param callback callback function
+   *  @param userData user data (void ptr)
+   *	@param camera_select 
+   *	1 ---------------------> front
+   *	2 ---------------------> left
+   *	3 ---------------------> right
+   *	4 ---------------------> rear
+   *	5 ---------------------> down
+   *	6 ---------------------> up 
+   */
+  void subscribeFrontStereoVGA(const uint8_t freq, int camera_select, VehicleCallBack callback = 0, UserData userData = 0);
   /*! @brief subscribe to QVGA (240x320) stereo depth map at 10 fps
    *
    *  @platforms M210V2
@@ -145,6 +161,19 @@ class AdvancedSensing {
    *  @platforms M210V2, M300
    */
   void unsubscribeVGAImages();
+  
+    /*!
+   *  @brief unsubscribe to VGA (480x640) stereo images AutoModality's Version
+   *
+   *  @platforms M210V2, M300
+   * 	1 ---------------------> front
+   *	2 ---------------------> left
+   *	3 ---------------------> right
+   *	4 ---------------------> rear
+   *	5 ---------------------> down
+   *	6 ---------------------> up 
+   */
+  void unsubscribeVGAImages(int camera_select);
   /*! @brief
    *
    *  A default callback function for QVGA stereo images

osdk-core/advanced-sensing/api/inc/dji_liveview_impl.hpp

@@ -60,36 +60,10 @@ class LiveViewImpl {
  private:
 
   typedef enum E_OSDKCameraType {
-    OSDK_CAMERA_TYPE_FC350 = 0,
-    OSDK_CAMERA_TYPE_FC550 = 1,
-    OSDK_CAMERA_TYPE_FC260 = 2,
-    OSDK_CAMERA_TYPE_FC300S = 3,
-    OSDK_CAMERA_TYPE_FC300X = 4,
-    OSDK_CAMERA_TYPE_FC550RAW = 5,
-    OSDK_CAMERA_TYPE_FC330 = 6,
-    OSDK_CAMERA_TYPE_TAU640 = 7,   //XT_640
-    OSDK_CAMERA_TYPE_TAU336 = 8,   //XT_336
-    OSDK_CAMERA_TYPE_FC220 = 9,
-    OSDK_CAMERA_TYPE_FC300XW = 10,
-    OSDK_CAMERA_TYPE_CV600 = 11,  //3.5X
-    OSDK_CAMERA_TYPE_FC65XX = 12,
-    OSDK_CAMERA_TYPE_FC6310 = 13,
-    OSDK_CAMERA_TYPE_FC6510 = 14,
-    OSDK_CAMERA_TYPE_FC6520 = 15,
-    OSDK_CAMERA_TYPE_FC6532 = 16,
-    OSDK_CAMERA_TYPE_FC6540 = 17,
-    OSDK_CAMERA_TYPE_FC220L = 18,
-    OSDK_CAMERA_TYPE_FC1102 = 19,
-    OSDK_CAMERA_TYPE_GD600 = 20,  //30X, Z30
-    OSDK_CAMERA_TYPE_FC6310A = 21,
-    OSDK_CAMERA_TYPE_FC300SE = 22,
-    OSDK_CAMERA_TYPE_WM230 = 23,
-    OSDK_CAMERA_TYPE_FC1705 = 26,  //XT2
     OSDK_CAMERA_TYPE_PSDK = 31,
     OSDK_CAMERA_TYPE_FPV = 39,  //Matrice FPV
-    OSDK_CAMERA_TYPE_TP1810 = 41,  //XTS
-    OSDK_CAMERA_TYPE_GD610_DOUBLE_CAM = 42,
-    OSDK_CAMERA_TYPE_GD610_TIRPLE_CAM = 43, //IR
+    OSDK_CAMERA_TYPE_H20_DOUBLE_CAM = 42,
+    OSDK_CAMERA_TYPE_H20_TIRPLE_CAM = 43, //IR
     OSDK_CAMERA_TYPE_UNKNOWN = 0xFF
   } E_OSDKCameraType;