Updated to 4.0.1 from DJI

Author: Aaron Roller

.github/workflows/package.yml

@@ -8,15 +8,15 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-18.04, [arm64,self-hosted,linux, build]]
+        os: [[x64,self-hosted,linux, build], [arm64,self-hosted,linux, build]]
       fail-fast: false
     steps:
       - uses: AutoModality/action-clean@v1.1.0
       - uses: actions/checkout@v2
-      - uses: rlespinasse/github-slug-action@2.0.0 # for GITHUB_REF_SLUG
+      - uses: rlespinasse/github-slug-action@3.1.0 # for GITHUB_REF_SLUG
       - name: Package
         id: package
-        uses: AutoModality/action-package-debian-ros@v3
+        uses: AutoModality/action-package-debian-ros@v5-amros
         with:
           branch: ${{ env.GITHUB_REF_SLUG }}
           build-number: ${{ github.run_number }}
@@ -45,12 +45,3 @@ jobs:
         with:
           pr_draft: true
           github_token: ${{ secrets.GITHUB_TOKEN }}
-  # code-format:
-  #   runs-on: ubuntu-18.04
-  #   needs: package
-  #   steps:
-  #     - uses: actions/checkout@v2
-  #     - name: Format Code
-  #       uses: AutoModality/action-ros-clang-format@master
-  #       env:
-  #         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/release.yml

@@ -8,15 +8,15 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-18.04, [arm64,self-hosted,linux, build]]
+        os: [[x64,self-hosted,linux, build], [arm64,self-hosted,linux, build]]
       fail-fast: false
     name: Package
     steps:
       - uses: AutoModality/action-clean@v1.1.0
       - uses: actions/checkout@v2
       - name: Package
         id: package
-        uses: AutoModality/action-package-debian-ros@v3
+        uses: AutoModality/action-package-debian-ros@v5-amros
         with:
           version: 4.0.0-AM${{ github.run_number }}
       - name: Deploy

.gitignore

@@ -59,4 +59,5 @@ cmake-build-debug
 .history
 am-onboard-sdk-build-deps_*_all.deb
 debian/am-onboard-sdk*
-debian/.debhelper/
+debian/.debhelper/
+debian/dji-onboard-sdk*

Doxyfile

@@ -1,4 +1,4 @@
-# DJI Onboard SDK (OSDK) 4.0.0
+# DJI Onboard SDK (OSDK) 4.0.1
 
 [![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)
 
@@ -7,6 +7,9 @@
 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.
+
+## 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.
 
 ## Firmware Compatibility
@@ -22,18 +25,18 @@ This chart shows the latest firmware that were available and are supported at th
 <tbody>
 <tr>
 <td>M300 RTK </td>
-<td>01.00.01.07</td>
-<td>3.4.8.16</td>
+<td>01.00.02.11</td>
+<td>3.4.8.56</td>
 </tr>
 <tr>
 <td>M210 RTK V2</td>
-<td>01.00.0670</td>
-<td>3.4.3.37</td>
+<td>01.00.0710</td>
+<td>3.4.3.44</td>
 </tr>
 <tr>
 <td>M210 V2</td>
-<td>01.00.0670</td>
-<td>3.4.3.37</td>
+<td>01.00.0710</td>
+<td>3.4.3.44</td>
 </tr>
 
 </tbody>

README.md

@@ -1,9 +1,11 @@
-3# Packaging Onboard-SDK-4.0
+# Packaging Onboard-SDK-4.0
 
 * The goal is to make as few custom changes to this repository as possible. 
 * Consider making custom changes to one of our repos that extends this library.
 * We forked this repository so we could provide debian binary packages for easy and consistent distributions.
 
+Updating from DJI's origin is encouraged.  Branch from our master, then pull from their tag that you wish to merge.
+
 Changes are currently found under two directories introduced by AM:
 
 * debian/
@@ -25,13 +27,16 @@ Let's keep it that way.
 
 ### ARM 64 Builder
 
-We provide self hosted runners to build our ARM binaries, however, this can cause a [security threat](https://help.github.com/en/actions/hosting-your-own-runners/about-self-hosted-runners#self-hosted-runner-security-with-public-repositories).  
+We provide self hosted runners to build our AMD and ARM binaries, however, this can cause a [security threat](https://help.github.com/en/actions/hosting-your-own-runners/about-self-hosted-runners#self-hosted-runner-security-with-public-repositories).  
 For this reason, we only bring up the self hosted runner manually when builds need to happen, which should be rare.  
 Organization action runners will not satisfy requirements since Github restricts such from the Org level, but allows at the repo level where we can apply granualar control. 
 
-1. `ssh nvidia@192.168.4.135`
-1. `/media/nvidia/build/actions-runners/Onboard-SDK-4.0/run.sh`
+1. `ssh resource@flops2` (password in Rpass)
+1. `/usr/lib/github/actions-runners/flops2-onboard-sdk-4.0/run.sh`
 1. You should see `√ Connected to GitHub` and `Listening for Jobs`
-1. You should see `arm-builder` available in the [repo's actions](https://github.com/AutoModality/Onboard-SDK-4.0/settings/actions)
+1. You should see `flops2` available in the [repo's actions](https://github.com/AutoModality/Onboard-SDK-4.0/settings/actions)
 1. Any queues actions should be processed.
 
+Repeat the steps above with `arm-builder-2`.
+
+See [Github Actions Wiki](https://automodality.atlassian.net/wiki/spaces/AMROS/pages/758382915/Continuous+Integration+with+Github+Actions#FLOPS-AMD-Builders) for more information about builders.

debian/README.md

@@ -1 +1 @@
-dji-onboard-sdk (123) unstable; urgency=medium
+dji-onboard-sdk (0.0.0) unstable; urgency=medium

debian/changelog

@@ -14,3 +14,11 @@ export DEB_BUILD_MAINT_OPTIONS = hardening=+all
 
 override_dh_auto_configure:
 	dh_auto_configure --  -DCMAKE_BUILD_TYPE=Release -DADVANCED_SENSING:BOOL=ON
+
+override_dh_builddeb:
+	dh_builddeb --destdir=.
+
+override_dh_auto_clean:
+	dh_auto_clean
+	rm -f *.*deb
+	rm -rf obj-*

debian/rules

@@ -1,5 +1,5 @@
 /*! @file dji_advanced_sensing.hpp
- *  @version 3.4.0
+ *  @version 4.0.0
  *  @date Dec 2017
  *
  *
@@ -109,27 +109,40 @@ class AdvancedSensing {
   void init();
 
   void deinit();
-
+  /*! @brief subscribe to 240p stereo images at 20 fps
+   *
+   *  @platforms M210V2
+   *  @param select the choice of the image direction, ref to
+   *  AdvancedSensing::ImageSelection
+   *  @param callback callback function
+   *  @param userData user data (void ptr)
+   */
   void subscribeStereoImages(const ImageSelection *select, VehicleCallBack callback = 0, UserData userData = 0);
   /*! @brief subscribe to VGA (480x640) front stereo images at 10 or 20 fps
    *
+   *  @platforms M210V2, M300
    *  @param frequency of images using enum from AdvancedSensingProtocol::FREQ
    *  @param callback callback function
    *  @param userData user data (void ptr)
    */
   void subscribeFrontStereoVGA(const uint8_t freq, VehicleCallBack callback = 0, UserData userData = 0);
   /*! @brief subscribe to QVGA (240x320) stereo depth map at 10 fps
    *
+   *  @platforms M210V2
    *  @param callback callback function
    *  @param userData user data (void ptr)
    */
   void subscribeFrontStereoDisparity(VehicleCallBack callback = 0, UserData userData = 0);
   /*!
-   * @brief unsubscribe to QVGA (240x320) stereo depth map or images
+   *  @brief unsubscribe to QVGA (240x320) stereo depth map or images
+   *
+   *  @platforms M210V2, M300
    */
   void unsubscribeStereoImages();
   /*!
-   * @brief unsubscribe to VGA (480x640) stereo images
+   *  @brief unsubscribe to VGA (480x640) stereo images
+   *
+   *  @platforms M210V2, M300
    */
   void unsubscribeVGAImages();
   /*! @brief
@@ -154,6 +167,7 @@ class AdvancedSensing {
    *
    *  Start the FPV Camera Stream
    *
+   *  @platforms M210V2, M300
    *  @param cb callback function that is called in a callback thread when a new
    *            image is received and decoded
    *  @param cbParam a void pointer that users can manipulate inside the callback
@@ -164,6 +178,7 @@ class AdvancedSensing {
    *
    *  Start the Main Camera Stream
    *
+   *  @platforms M210V2, M300
    *  @param cb callback function that is called in a callback thread when a new
    *            image is received and decoded
    *  @param cbParam a void pointer that users can manipulate inside the callback
@@ -172,35 +187,45 @@ class AdvancedSensing {
   bool startMainCameraStream(CameraImageCallback cb = NULL, void * cbParam = NULL);
   /*! @brief
    *
-   *  Stop the FPV Camera Stream
+   *  Set the ACM device path, mainly for M210V2
+   *
+   *  @platforms M210V2
    */
-
   void setAcmDevicePath(const char *acm_path);
 
   /*! @brief
    *
    *  Stop the FPV RGB Stream
+   *
+   *  @platforms M210V2, M300
    */
   void stopFPVCameraStream();
 
   /*! @brief
    *
    *  Stop the Main Camera RGB Stream
+   *
+   *  @platforms M210V2, M300
    */
   void stopMainCameraStream();
   /*! @brief Check if a new image from the FPV camera is received
+   *
+   *  @platforms M210V2, M300
    *
    *  @return true if a new image frame is ready, false otherwise
    */
   bool newFPVCameraImageIsReady();
   /*! @brief Check if a new image from the main camera is received
+   *
+   *  @platforms M210V2, M300
    *
    *  @return true if a new image frame is ready, false otherwise
    */
   bool newMainCameraImageReady();
   /*! @brief Get a copy of the new image from the FPV camera
    *
-   *  @param A copy of the new available image will be put here.
+   *  @platforms M210V2, M300
+   *  @param copyOfImage A copy of the new available image will be put here.
    *         It is safe for user to manipulate this image.
    *  @note If a new image is not ready upon calling this function,
    *        it will wait for 30ms till timeout.
@@ -210,6 +235,7 @@ class AdvancedSensing {
   bool getFPVCameraImage(CameraRGBImage& copyOfImage);
   /*! @brief Get a copy of the new image from the main camera
    *
+   *  @platforms M210V2, M300
    *  @param A copy of the new available image will be put here.
    *         It is safe for user to manipulate this image.
    *  @note If a new image is not ready upon calling this function,
@@ -219,11 +245,25 @@ class AdvancedSensing {
    */
   bool getMainCameraImage(CameraRGBImage& copyOfImage);
 
+  /*! @brief
+   *  Change the camera stream source from one payload device. (Beta API)
+   *
+   *  @platforms M300
+   *  @note Only support for payload device : H20/H20T
+   *  @param pos point out which camera to output the H264 stream
+   *  @param source change to be the target camera of the payload, ref to
+   *         LiveView::LiveViewCameraSource
+   *  @return Errorcode of liveivew, ref to DJI::OSDK::LiveView::LiveViewErrCode
+   */
+  LiveView::LiveViewErrCode changeH264Source(LiveView::LiveViewCameraPosition pos,
+                                             LiveView::LiveViewCameraSource source);
+
   /*! @brief
    *
    *  Start the FPV or Camera H264 Stream
    *
-   *  @note  For M210 V2 series, only OSDK_CAMERA_POSITION_NO_1 and
+   *  @platforms M210V2, M300
+   *  @note For M210 V2 series, only OSDK_CAMERA_POSITION_NO_1 and
    *  OSDK_CAMERA_POSITION_FPV are supported.
    *  @note  For M300, all the poss are supported.
    *  @param pos point out which camera to output the H264 stream
@@ -237,6 +277,8 @@ class AdvancedSensing {
   /*! @brief
    *
    *  Stop the FPV or Camera H264 Stream
+   *
+   *  @platforms M210V2, M300
    *  @note  For M210 V2 series, only OSDK_CAMERA_POSITION_NO_1 and
    *  OSDK_CAMERA_POSITION_FPV are supported.
    *  @note  For M300, all the poss are supported.
@@ -249,6 +291,7 @@ class AdvancedSensing {
    *
    *  Subscribe the perception camera image stream (Only for M300 series)
    *
+   *  @platforms M300
    *  @param direction point out which direction's stream need to be subscribed
    *  @param cb callback function that is called in a callback thread when a
    *            perception image frame is received
@@ -261,6 +304,7 @@ class AdvancedSensing {
    *
    *  Unsubscribe the perception camera image stream (Only for M300 series)
    *
+   *  @platforms M300
    *  @param direction point out which direction's stream need to be unsubscribed
    *  @return Errorcode of liveivew, ref to DJI::OSDK::LiveView::LiveViewErrCode
    */
@@ -271,6 +315,7 @@ class AdvancedSensing {
    *  Trigger the perception parameters to be passed to the callback which is
    *  registered by DJI::OSDK::Perception::setStereoCamParamsObserver. (Only for M300 series)
    *
+   *  @platforms M300
    *  @return Errorcode of liveivew, ref to DJI::OSDK::LiveView::LiveViewErrCode
    */
   Perception::PerceptionErrCode triggerStereoCamParamsPushing();
@@ -279,6 +324,7 @@ class AdvancedSensing {
    *
    *  Set the callback to catch the perception camera parameters. (Only for M300 series)
    *
+   *  @platforms M300
    *  @note  The callback will be triggered by calling
    *  DJI::OSDK::Perception::triggerStereoCamParamsPushing() or when the parameters of
    *  perception cameras are refreshed.