Updated ROS with latest Core API. Change to DJI_Hardriver to implemen…

…t default Getdevicestatus

.catkin_workspace

@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration

CMakeLists.txt

@@ -0,0 +1 @@
+/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake

dji_sdk_lib/include/dji_sdk_lib/DJI_API.h

@@ -217,7 +217,7 @@ class CoreAPI
   void sendPoll(void);
   void readPoll(void);
   //! @todo Implement callback poll handler
-  void callbackPoll(void);
+  void callbackPoll(CoreAPI *api);
 
   //! @todo Pipeline refactoring
   void byteHandler(const uint8_t in_data);
@@ -228,6 +228,7 @@ class CoreAPI
 
   //! Notify caller ACK frame arrived
   void notifyCaller(Header *protocolHeader);
+  void notifyNonBlockingCaller(Header *protocolHeader);
 
   //@{
   /**
@@ -401,6 +402,8 @@ class CoreAPI
   /**Get broadcasted data values from flight controller.*/
   BroadcastData getBroadcastData() const;
 
+  bool nonBlockingCBThreadEnable = false;
+
   /**
    * Get timestamp from flight controller.
    *
@@ -433,6 +436,7 @@ class CoreAPI
    */
   HardDriver *getDriver() const;
 
+  SimpleACK getSimpleACK() const;
   /**
    * Get SDK version
    */
@@ -545,7 +549,8 @@ class CoreAPI
   void setVersion(const Version &value);
 
   /**
-   * Setters and getters for Mobile CMD variables
+   * Setters and getters for Mobile CMD variables - these are used 
+   * when interacting with a Data Transparent Transmission App 
    */
   bool getObtainControlMobileCMD() {return obtainControlMobileCMD;}
   bool getReleaseControlMobileCMD() {return releaseControlMobileCMD;}
@@ -558,7 +563,15 @@ class CoreAPI
   bool getTakePhotoMobileCMD() {return takePhotoMobileCMD;}
   bool getStartVideoMobileCMD() {return startVideoMobileCMD;}
   bool getStopVideoMobileCMD() {return stopVideoMobileCMD;}
-  bool getFollowMeMobileCMD() {return followMeMobileCMD;}
+
+  bool getDrawCirMobileCMD() {return drawCirMobileCMD;}
+  bool getDrawSqrMobileCMD() {return drawSqrMobileCMD;}
+  bool getAttiCtrlMobileCMD() {return attiCtrlMobileCMD;}
+  bool getGimbalCtrlMobileCMD() {return gimbalCtrlMobileCMD;}
+  bool getWayPointTestMobileCMD() {return wayPointTestMobileCMD;}
+  bool getLocalNavTestMobileCMD() {return localNavTestMobileCMD;}
+  bool getGlobalNavTestMobileCMD() {return globalNavTestMobileCMD;}
+  bool getVRCTestMobileCMD() {return VRCTestMobileCMD;} 
 
   void setObtainControlMobileCMD(bool userInput) {obtainControlMobileCMD = userInput;}
   void setReleaseControlMobileCMD(bool userInput) {releaseControlMobileCMD= userInput;}
@@ -571,7 +584,15 @@ class CoreAPI
   void setTakePhotoMobileCMD(bool userInput) {takePhotoMobileCMD= userInput;}
   void setStartVideoMobileCMD(bool userInput) {startVideoMobileCMD= userInput;}
   void setStopVideoMobileCMD(bool userInput) {stopVideoMobileCMD= userInput;}
-  void setFollowMeMobileCMD(bool userInput) {followMeMobileCMD= userInput;}
+
+  void setDrawCirMobileCMD(bool userInput) {drawCirMobileCMD = userInput;}
+  void setDrawSqrMobileCMD(bool userInput) {drawSqrMobileCMD = userInput;}
+  void setAttiCtrlMobileCMD(bool userInput) {attiCtrlMobileCMD = userInput;}
+  void setGimbalCtrlMobileCMD(bool userInput) {gimbalCtrlMobileCMD = userInput;}
+  void setWayPointTestMobileCMD(bool userInput) {wayPointTestMobileCMD = userInput;}
+  void setLocalNavTestMobileCMD(bool userInput) {localNavTestMobileCMD = userInput;}
+  void setGlobalNavTestMobileCMD(bool userInput) {globalNavTestMobileCMD = userInput;}
+  void setVRCTestMobileCMD(bool userInput) {VRCTestMobileCMD = userInput;} 
 
 
   private:
@@ -581,9 +602,7 @@ class CoreAPI
   unsigned char encodeSendData[BUFFER_SIZE];
   unsigned char encodeACK[ACK_SIZE];
 
-//  uint8_t cblistTail;
-//  CallBackHandler cbList[CALLBACK_LIST_NUM];
-
+  //! Mobile Data Transparent Transmission - callbacks
   CallBackHandler fromMobileCallback;
   CallBackHandler broadcastCallback;
   CallBackHandler hotPointCallback;
@@ -605,6 +624,8 @@ class CoreAPI
   CallBackHandler startVideoMobileCallback;
   CallBackHandler stopVideoMobileCallback;
 
+  //! Mobile Data Transparent Transmission - flags
+
   bool obtainControlMobileCMD;
   bool releaseControlMobileCMD;
   bool activateMobileCMD;
@@ -616,8 +637,16 @@ class CoreAPI
   bool takePhotoMobileCMD;
   bool startVideoMobileCMD;
   bool stopVideoMobileCMD;
-  bool followMeMobileCMD;
-
+
+  bool drawCirMobileCMD;
+  bool drawSqrMobileCMD;
+  bool attiCtrlMobileCMD;
+  bool gimbalCtrlMobileCMD;
+  bool wayPointTestMobileCMD;
+  bool localNavTestMobileCMD;
+  bool globalNavTestMobileCMD;
+  bool VRCTestMobileCMD;
+
   VersionData versionData;
   ActivateData accountData;
 

dji_sdk_lib/include/dji_sdk_lib/DJI_Config.h

@@ -25,6 +25,7 @@
 //! Uncomment these macros to access various messages from the API. 
 
 //#define API_MISSION_DATA
+//#define API_TRACE_DATA
 //#define API_DEBUG_DATA
 //#define API_BUFFER_DATA
 //#define API_RTK_DEBUG

dji_sdk_lib/include/dji_sdk_lib/DJI_Follow.h

@@ -67,7 +67,7 @@ class Follow
   Follow(CoreAPI *ControlAPI = 0);
   void resetData();      
   void start(FollowData *Data = 0, CallBack callback = 0, UserData userData = 0);
-  MissionACK start(FollowData *Data = 0, int timer = 0);
+  MissionACK start(FollowData *Data, int timeout);
   void stop(CallBack callback = 0, UserData userData = 0);
   MissionACK stop(int timer);
   //! @note true for pause, false for resume

dji_sdk_lib/include/dji_sdk_lib/DJI_HardDriver.h

@@ -82,6 +82,7 @@ class HardDriver
   virtual time_ms getTimeStamp() = 0;
   virtual size_t send(const uint8_t *buf, size_t len) = 0;
   virtual size_t readall(uint8_t *buf, size_t maxlen) = 0;
+  virtual bool getDeviceStatus() {;}
 
   public:
   virtual void lockMemory() = 0;
@@ -96,6 +97,15 @@ class HardDriver
   virtual void notify() = 0;
   virtual void wait(int timeout) = 0;
 
+  virtual void lockProtocolHeader() {;}
+  virtual void freeProtocolHeader() {;}
+
+  virtual void lockNonBlockCBAck() {;}
+  virtual void freeNonBlockCBAck() {;}
+
+  virtual void notifyNonBlockCBAckRecv() {;}
+  virtual void nonBlockWait() {;}
+
   public:
   virtual void displayLog(const char *buf = 0);
 };

dji_sdk_lib/include/dji_sdk_lib/DJI_Link.h

@@ -24,4 +24,7 @@
 
 #include "DJI_Type.h"
 
+
+
 #endif // DJI_LINK_H
+

dji_sdk_lib/include/dji_sdk_lib/DJI_Logging.h

@@ -0,0 +1,47 @@
+/** @file DJI_Logging.h
+ *  @version 3.1.9
+ *  @date August 15th, 2016
+ *
+ *  @brief
+ *  Implement logging functions for the SDK.
+ *
+ *  @copyright 2016 DJI. All right reserved.
+ *
+ */
+
+#ifndef ONBOARDSDK_DJI_LOGGING_H
+#define ONBOARDSDK_DJI_LOGGING_H
+
+#include "DJI_API.h"
+#include "DJI_Type.h"
+
+namespace DJI {
+namespace onboardSDK {
+
+typedef struct __Command {
+  uint8_t set_id;
+  uint8_t id;
+} __Command;
+
+typedef struct __ActivationGetProtocolVersionCommand {
+  uint8_t set_id;
+  uint8_t id;
+  uint8_t val;
+} __ActivationGetProtocolVersionCommand;
+
+enum __ActivationGetProtocolVersionAckCodes {
+  AUTOPILOT_ACTIVATED = 0x0000,
+  AUTOPILOT_NOT_ACTIVATED = 0xFF01
+};
+
+typedef struct __ActivationGetProtocolVersionAck {
+  __ActivationGetProtocolVersionAckCodes status;
+  uint32_t crc;
+  uint8_t version[32];
+} __ActivationGetProtocolVersionAck;
+
+void printFrame(HardDriver *hardDriver, Header *header, bool toAircraft);
+}
+}
+
+#endif  // ONBOARDSDK_DJI_LOGGING_H

dji_sdk_lib/include/dji_sdk_lib/DJI_Type.h

@@ -62,6 +62,13 @@
     else                                                                  \
       (driver)->displayLog("ERROR: log printer inner fault\n");           \
   }
+
+#ifdef API_TRACE_DATA
+#define TRACE_LOG "TRACE"
+#else
+#define TRACE_LOG 0
+#endif
+
 #ifdef API_DEBUG_DATA
 #define DEBUG_LOG "DEBUG"
 #else
@@ -310,7 +317,7 @@ typedef struct WayPointData
  */
 
 typedef uint8_t MissionACK;
-typedef uint32_t SimpleACK;
+typedef uint16_t SimpleACK;
 
 typedef struct HotPointStartACK
 {

dji_sdk_lib/include/dji_sdk_lib/DJI_Version.h

@@ -35,7 +35,6 @@ typedef uint32_t Version;
 const Version versionM100_23 = (MAKE_VERSION(2, 3, 10, 0));
 const Version versionM100_31 = (MAKE_VERSION(3, 1, 10, 0));
 const Version versionA3_31 = (MAKE_VERSION(3, 1, 100, 0));
-const Version SDK_VERSION = versionM100_31;
 
 #ifdef SDK_DEV
 #include "dev.h"

dji_sdk_lib/src/DJI_API.cpp

@@ -214,6 +214,10 @@ void CoreAPI::activate(ActivateData *data, CallBack callback, UserData userData)
   send(2, 0, SET_ACTIVATION, CODE_ACTIVATE, (unsigned char *)&accountData,
     sizeof(accountData) - sizeof(char *), 1000, 3,
     callback ? callback : CoreAPI::activateCallback, userData);
+
+  ack_data = missionACKUnion.simpleACK;
+  if(ack_data == ACK_ACTIVE_SUCCESS && accountData.encKey)
+   setKey(accountData.encKey);
 }
 
 unsigned short CoreAPI::activate(ActivateData *data, int timeout)
@@ -304,7 +308,6 @@ unsigned short CoreAPI::setBroadcastFreq(uint8_t *dataLenIs16, int timeout)
   serialDevice->lockACK();
   serialDevice->wait(timeout);
   serialDevice->freeACK();
-
   return missionACKUnion.simpleACK;
 }
 
@@ -362,18 +365,18 @@ void CoreAPI::setBroadcastFreqToZero()
   * 11 - Control Information
   */
 
-  freq[0] = BROADCAST_FREQ_1HZ;
-  freq[1] = BROADCAST_FREQ_10HZ;
-  freq[2] = BROADCAST_FREQ_50HZ;
-  freq[3] = BROADCAST_FREQ_100HZ;
-  freq[4] = BROADCAST_FREQ_50HZ;
-  freq[5] = BROADCAST_FREQ_10HZ;
-  freq[6] = BROADCAST_FREQ_1HZ;
-  freq[7] = BROADCAST_FREQ_10HZ;
-  freq[8] = BROADCAST_FREQ_50HZ;
-  freq[9] = BROADCAST_FREQ_100HZ;
-  freq[10] = BROADCAST_FREQ_50HZ;
-  freq[11] = BROADCAST_FREQ_10HZ;
+  freq[0] = BROADCAST_FREQ_0HZ;
+  freq[1] = BROADCAST_FREQ_0HZ;
+  freq[2] = BROADCAST_FREQ_0HZ;
+  freq[3] = BROADCAST_FREQ_0HZ;
+  freq[4] = BROADCAST_FREQ_0HZ;
+  freq[5] = BROADCAST_FREQ_0HZ;
+  freq[6] = BROADCAST_FREQ_0HZ;
+  freq[7] = BROADCAST_FREQ_0HZ;
+  freq[8] = BROADCAST_FREQ_0HZ;
+  freq[9] = BROADCAST_FREQ_0HZ;
+  freq[10] = BROADCAST_FREQ_0HZ;
+  freq[11] = BROADCAST_FREQ_0HZ;
 
   setBroadcastFreq(freq);
 }
@@ -456,6 +459,8 @@ unsigned short CoreAPI::setControl(bool enable, int timeout)
 
 HardDriver *CoreAPI::getDriver() const { return serialDevice; }
 
+SimpleACK CoreAPI::getSimpleACK () const { return missionACKUnion.simpleACK; }
+
 void CoreAPI::setDriver(HardDriver *sDevice) { serialDevice = sDevice; }
 
 void CoreAPI::getDroneVersionCallback(CoreAPI *api, Header *protocolHeader, UserData userData __UNUSED)
@@ -559,6 +564,8 @@ void CoreAPI::sendToMobileCallback(CoreAPI *api, Header *protocolHeader, UserDat
         protocolHeader->sessionID, protocolHeader->sequenceNumber);
   }
 }
+
+//! Mobile Data Transparent Transmission Input Servicing 
 void CoreAPI::parseFromMobileCallback(CoreAPI *api, Header *protocolHeader, UserData userData __UNUSED)
 {
   uint16_t mobile_data_id;
@@ -689,11 +696,33 @@ void CoreAPI::parseFromMobileCallback(CoreAPI *api, Header *protocolHeader, User
           stopVideoMobileCMD = true;
         }
         break;
+      //! The next few are only polling based and do not use callbacks. See usage in Linux Sample.
+      case 61:
+        drawCirMobileCMD = true;
+        break;
+      case 62:
+        drawSqrMobileCMD = true;
+        break;
+      case 63:
+        attiCtrlMobileCMD = true;
+        break;
+      case 64:
+        gimbalCtrlMobileCMD = true;
+        break;
+      case 65:
+        wayPointTestMobileCMD = true;
+        break;
+      case 66:
+        localNavTestMobileCMD = true;
+        break;
+      case 67:
+        globalNavTestMobileCMD = true;
+        break;
       case 68:
-        followMeMobileCMD = true;
+        VRCTestMobileCMD = true;
+        break;
+    }
   }
-
-}
 }
 
 void CoreAPI::setFrequencyCallback(CoreAPI *api __UNUSED, Header *protocolHeader,

dji_sdk_lib/src/DJI_App.cpp

@@ -96,9 +96,9 @@ void DJI::onboardSDK::CoreAPI::broadcast(Header *protocolHeader)
     passData(*enableFlag, DATA_FLAG, &broadcastData.gps, pdata, sizeof(GPSData), len);
     passData(*enableFlag, DATA_FLAG, &broadcastData.rtk, pdata, sizeof(RTKData), len);
     if (((*enableFlag) & 0x0040))
-      API_LOG(serialDevice, RTK_LOG, "receive GPS data %lld\n", serialDevice->getTimeStamp());
+      API_LOG(serialDevice, RTK_LOG, "receive GPS data %llu\n", (unsigned long long)serialDevice->getTimeStamp());
     if (((*enableFlag) & 0x0080))
-      API_LOG(serialDevice, RTK_LOG, "receive RTK data %lld\n", serialDevice->getTimeStamp());
+      API_LOG(serialDevice, RTK_LOG, "receive RTK data %llu\n", (unsigned long long)serialDevice->getTimeStamp());
   }
   passData(*enableFlag, DATA_FLAG, &broadcastData.mag, pdata, sizeof(MagnetData), len);
   passData(*enableFlag, DATA_FLAG, &broadcastData.rc, pdata, sizeof(RadioData), len);