Merge pull request #113 in OS/onboard-sdk from OSDK-2289 to develop

* commit '5288dd0d621ed7ecf36e2376635b05405817aa40':
  feat:delete the old camera-gimbal sample
  fix:simpify the camera manager sample case
  fix: Added Install directory cmd for supporting ROS develop
  fix:improve HMS sample
  feat:add HMS function and sample
  fix:update libDJIProtobuf with -fPIC feature

CMakeLists.txt

@@ -67,4 +67,28 @@ endif()
 
 if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
   add_subdirectory(sample/platform/linux)
-endif()
+endif()
+
+INSTALL(DIRECTORY osdk-lib/${ARCH}/osdk-core/inc/
+	DESTINATION ${CMAKE_INSTALL_PREFIX}/include
+	FILES_MATCHING PATTERN "*.h*")
+
+INSTALL(DIRECTORY osdk-lib/${ARCH}/advanced-sensing-2.0.3/inc/
+	DESTINATION ${CMAKE_INSTALL_PREFIX}/include
+	FILES_MATCHING PATTERN "*.h*")
+
+INSTALL(DIRECTORY osdk-lib/${ARCH}/waypointv2-core-1.0.0/inc/
+	DESTINATION ${CMAKE_INSTALL_PREFIX}/include
+	FILES_MATCHING PATTERN "*.h*")
+
+INSTALL(DIRECTORY osdk-lib/${ARCH}/osdk-core/lib/
+        DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+        FILES_MATCHING PATTERN "*.a*")
+
+INSTALL(DIRECTORY osdk-lib/${ARCH}/advanced-sensing-2.0.3/lib/
+        DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+        FILES_MATCHING PATTERN "*.a*")
+
+INSTALL(DIRECTORY osdk-lib/${ARCH}/waypointv2-core-1.0.0/lib/
+        DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+        FILES_MATCHING PATTERN "*.a*")

osdk-lib/STM32/osdk-core/inc/dji_hms.hpp

@@ -0,0 +1,163 @@
+/** @file dji_hms.hpp
+ *  @version 4.0
+ *  @date Dec 2019
+ *
+ *  @brief HMS(Health Management System) API for DJI OSDK
+ *  @Details Provide API to subscribe Flight's Health State.
+ *
+ *  @Copyright (c) 2019 DJI
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ */
+
+#ifndef ONBOARDSDK_DJI_HMS_H
+#define ONBOARDSDK_DJI_HMS_H
+
+#include "dji_type.hpp"
+#include <vector>
+
+
+namespace  DJI{
+namespace OSDK{
+
+// Forward Declarations
+class Vehicle;
+class DJIHMSImpl;
+
+#pragma pack(1)
+/*! the type of error code list in HMS's raw pushing data*/
+typedef  struct ErrList{
+    uint32_t alarmID;     /*! error code*/
+    uint8_t  sensorIndex; /*! fault sensor's index*/
+    uint8_t  reportLevel; /*! fault level ,0-4,0 is no error,4 is highest*/
+} ErrList;
+
+/*! the type of HMS's raw pushing data*/
+typedef struct HMSPushData {
+    uint8_t msgVersion;           /*! version of message.default:0*/
+    uint8_t globalIndex;          /*! cycle message sequence number*/
+    uint8_t msgEnd : 1;           /*! end flag bit of message subcontract push. last package of subcontracting push is 1.*/
+    uint8_t msgIndex : 7;         /*! Message serial number*/
+    std::vector<ErrList> errList; /*! error code list in each pushing*/
+} HMSPushData;
+#pragma pack()
+
+/*! the type of HMS's pushing data with a time stamp*/
+typedef struct HMSPushPacket
+{
+    HMSPushData  hmsPushData; /*! HMS's raw pushing data*/
+    uint32_t     timeStamp;   /*! timestamp of the packet*/
+} HMSPushPacket;
+
+typedef enum
+{
+    CameraIndex1 = 1,
+    CameraIndex2 = 2,
+    CameraIndex3 = 3,
+} CameraIndex;
+
+typedef enum
+{
+    GimbalIndex1 = 1,
+    GimbalIndex2 = 2,
+    GimbalIndex3 = 3,
+    InvalidIndex = 0xff,
+} GimbalIndex;
+
+typedef enum
+{
+    ResetALLSubcriberExceptAPP = 0,
+    OSDKSubALLData = 1,
+} HMSSubcribeCmd;
+
+typedef enum
+{
+    OSDKSubSuccess = 0,
+} HMSSubcribeStatus;
+
+class DJIHMS {
+public:
+    DJIHMS(Vehicle *vehicle = 0);
+
+    ~DJIHMS();
+
+  /*! @remark Blocks until ACK frame arrives or timeout occurs
+   *
+   *  @brief Send subscribe request to your flight controller
+   *         to get HMS(Health Management System)'s information,
+   *         blocking calls
+   *
+   *  @param enable whether subscribe HMS Info
+   *       0:reset aLL subcriber except APP
+   *       1:subscribe all HMS's information
+   *  @param timeOutMs blocking time to wait for ACK, unit:ms
+   *
+   *  @return bool subscribe's ack result
+   *     true:subscribe/unsubscribe success
+   *    false:subscribe/unsubscribe failed
+   *
+   *  @note if the function return true,it will print "Subscribe/Unsubscribe all flight data success!",
+   *        else,it will printf "Subscribe/Unsubscribe all flight data failed!"
+   */
+    bool subscribeHMSInf(bool enable, uint32_t timeOutMs = 500);
+
+  /*! @brief The interface of getting hms version
+   *
+   *  @return std::string hms version.(for example,HMS1.0.0)
+   */
+    std::string getHMSVersion();
+
+  /*! @brief The interface of getting HMS's pushing data which has a timestamp
+   *
+   *  @return HMSPushPacket the private parameter hmsPushPacket which
+   *  represents HMS's pushing data with a time stamp.
+   *
+   *  @note The push data consists of the raw pushing data and a timestamp.
+   *  After successful subscribing and registering, the data will be valid.
+   */
+    HMSPushPacket getHMSPushPacket();
+
+  /*! @brief The interface of getting device(camera or gimbal) index
+   *
+   *  @return uint8_t the private parameter deviceIndex which
+   *  represents camera's or gimbal's index.
+   *
+   *  @note After successful subscribing and registering, the data will be valid.
+   *  if device is camera(payload) or gimbal ,the data will be valid;otherwise it will be 0xff(invalid).
+   */
+    uint8_t  getDeviceIndex();
+
+private:
+    Vehicle *vehicle;
+    DJIHMSImpl *djiHMSImpl;
+
+  /*! @brief A register callback function for getting HMS(Health Management System)'s push data
+   *
+   *  @details After successful subscribing, this function would be used to register link's
+   *  information for getting HMS's pushing data.(1HZ)
+   *
+   *  @return bool whether register success
+   *  true:success
+   */
+    bool enableListeningHmsData(bool enable);
+};
+  }
+}
+#endif //ONBOARDSDK_DJI_HMS_H

osdk-lib/armv8/osdk-core/inc/dji_hms.hpp

@@ -0,0 +1,163 @@
+/** @file dji_hms.hpp
+ *  @version 4.0
+ *  @date Dec 2019
+ *
+ *  @brief HMS(Health Management System) API for DJI OSDK
+ *  @Details Provide API to subscribe Flight's Health State.
+ *
+ *  @Copyright (c) 2019 DJI
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ */
+
+#ifndef ONBOARDSDK_DJI_HMS_H
+#define ONBOARDSDK_DJI_HMS_H
+
+#include "dji_type.hpp"
+#include <vector>
+
+
+namespace  DJI{
+namespace OSDK{
+
+// Forward Declarations
+class Vehicle;
+class DJIHMSImpl;
+
+#pragma pack(1)
+/*! the type of error code list in HMS's raw pushing data*/
+typedef  struct ErrList{
+    uint32_t alarmID;     /*! error code*/
+    uint8_t  sensorIndex; /*! fault sensor's index*/
+    uint8_t  reportLevel; /*! fault level ,0-4,0 is no error,4 is highest*/
+} ErrList;
+
+/*! the type of HMS's raw pushing data*/
+typedef struct HMSPushData {
+    uint8_t msgVersion;           /*! version of message.default:0*/
+    uint8_t globalIndex;          /*! cycle message sequence number*/
+    uint8_t msgEnd : 1;           /*! end flag bit of message subcontract push. last package of subcontracting push is 1.*/
+    uint8_t msgIndex : 7;         /*! Message serial number*/
+    std::vector<ErrList> errList; /*! error code list in each pushing*/
+} HMSPushData;
+#pragma pack()
+
+/*! the type of HMS's pushing data with a time stamp*/
+typedef struct HMSPushPacket
+{
+    HMSPushData  hmsPushData; /*! HMS's raw pushing data*/
+    uint32_t     timeStamp;   /*! timestamp of the packet*/
+} HMSPushPacket;
+
+typedef enum
+{
+    CameraIndex1 = 1,
+    CameraIndex2 = 2,
+    CameraIndex3 = 3,
+} CameraIndex;
+
+typedef enum
+{
+    GimbalIndex1 = 1,
+    GimbalIndex2 = 2,
+    GimbalIndex3 = 3,
+    InvalidIndex = 0xff,
+} GimbalIndex;
+
+typedef enum
+{
+    ResetALLSubcriberExceptAPP = 0,
+    OSDKSubALLData = 1,
+} HMSSubcribeCmd;
+
+typedef enum
+{
+    OSDKSubSuccess = 0,
+} HMSSubcribeStatus;
+
+class DJIHMS {
+public:
+    DJIHMS(Vehicle *vehicle = 0);
+
+    ~DJIHMS();
+
+  /*! @remark Blocks until ACK frame arrives or timeout occurs
+   *
+   *  @brief Send subscribe request to your flight controller
+   *         to get HMS(Health Management System)'s information,
+   *         blocking calls
+   *
+   *  @param enable whether subscribe HMS Info
+   *       0:reset aLL subcriber except APP
+   *       1:subscribe all HMS's information
+   *  @param timeOutMs blocking time to wait for ACK, unit:ms
+   *
+   *  @return bool subscribe's ack result
+   *     true:subscribe/unsubscribe success
+   *    false:subscribe/unsubscribe failed
+   *
+   *  @note if the function return true,it will print "Subscribe/Unsubscribe all flight data success!",
+   *        else,it will printf "Subscribe/Unsubscribe all flight data failed!"
+   */
+    bool subscribeHMSInf(bool enable, uint32_t timeOutMs = 500);
+
+  /*! @brief The interface of getting hms version
+   *
+   *  @return std::string hms version.(for example,HMS1.0.0)
+   */
+    std::string getHMSVersion();
+
+  /*! @brief The interface of getting HMS's pushing data which has a timestamp
+   *
+   *  @return HMSPushPacket the private parameter hmsPushPacket which
+   *  represents HMS's pushing data with a time stamp.
+   *
+   *  @note The push data consists of the raw pushing data and a timestamp.
+   *  After successful subscribing and registering, the data will be valid.
+   */
+    HMSPushPacket getHMSPushPacket();
+
+  /*! @brief The interface of getting device(camera or gimbal) index
+   *
+   *  @return uint8_t the private parameter deviceIndex which
+   *  represents camera's or gimbal's index.
+   *
+   *  @note After successful subscribing and registering, the data will be valid.
+   *  if device is camera(payload) or gimbal ,the data will be valid;otherwise it will be 0xff(invalid).
+   */
+    uint8_t  getDeviceIndex();
+
+private:
+    Vehicle *vehicle;
+    DJIHMSImpl *djiHMSImpl;
+
+  /*! @brief A register callback function for getting HMS(Health Management System)'s push data
+   *
+   *  @details After successful subscribing, this function would be used to register link's
+   *  information for getting HMS's pushing data.(1HZ)
+   *
+   *  @return bool whether register success
+   *  true:success
+   */
+    bool enableListeningHmsData(bool enable);
+};
+  }
+}
+#endif //ONBOARDSDK_DJI_HMS_H

osdk-lib/x86/osdk-core/inc/dji_command.hpp

@@ -213,6 +213,12 @@ class V1ProtocolCMD : public ErrorCode
     const static uint8_t usbFlightMode[MAX_CMD_ARRAY_SIZE];
   } fc;
 
+  typedef struct HMS
+  {
+    const static uint8_t hmsStatus[MAX_CMD_ARRAY_SIZE];
+    const static uint8_t hmsPushData[MAX_CMD_ARRAY_SIZE];
+  } HMS;
+
   typedef struct waypointV2
   {
     const static uint8_t waypointInitV2[MAX_CMD_ARRAY_SIZE];
@@ -255,6 +261,7 @@ class V1ProtocolCMD : public ErrorCode
     const static uint8_t rtk          = 15;
     const static uint8_t waypointV2   = 34;
     const static uint8_t enterprise   = 25;
+    const static uint8_t hms          = 33;
     const static uint8_t psdk         = 60;
     const static uint8_t vb           = 72;
   };