Merge pull request #6 from dji-sdk/release/v1.1.1

* Added support for subscribing to the 1080p high-bitrate stream on D…

Author: dji-dev

CMakeLists.txt

@@ -20,6 +20,7 @@ file(GLOB_RECURSE MODULE_SAMPLE_SRC
         examples/init/key_store_default.cc)
 
 include_directories(include)
+include_directories(examples)
 include_directories(examples/common)
 
 link_directories(${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_HOST_SYSTEM_PROCESSOR})
@@ -90,7 +91,9 @@ if (OpenCV_FOUND AND FFMPEG_FOUND)
     target_link_libraries(sample_liveview ${SAMPLE_LIB})
 
     add_executable(test_liveview examples/liveview/test_liveview_main.cc)
+    add_executable(test_liveview_dual examples/liveview/test_liveview_dual_main.cc)
     target_link_libraries(test_liveview ${SAMPLE_LIB})
+    target_link_libraries(test_liveview_dual ${SAMPLE_LIB})
 
     add_executable(pressure_test examples/test/pressure_test.cc)
     target_link_libraries(pressure_test ${SAMPLE_LIB})

README.md

@@ -1,6 +1,6 @@
 # DJI Edge SDK (ESDK)
 
-![](https://img.shields.io/badge/version-V1.1.0-yellow.svg)
+![](https://img.shields.io/badge/version-V1.1.1-yellow.svg)
 ![](https://img.shields.io/badge/platform-linux-green.svg)
 ![](https://img.shields.io/badge/license-MIT-blue.svg)
 
@@ -28,7 +28,7 @@ Edge computing offers a secure local communication link, ensuring communication
 Edge computing can process and transmit data in unstable network environments, utilizing small data channels to enhance transmission efficiency. This ensures aircraft achieve efficient data processing and transmission across various environments.
 
 ## Dependencies
-* libssh2 (version 1.10.x or higher)
+* libssh2 (reference version 1.10.0)
 * openssl (reference version 1.1.1f)
 * opencv (version 3.4.16 or higher)
 * ffmpeg (version 4.13 or higher)

examples/common/image_processor.cc

@@ -46,7 +46,7 @@ ImageProcessor::~ImageProcessor() {}
 std::shared_ptr<ImageProcessor> CreateImageProcessor(
     const ImageProcessor::Options& option) {
     if (option.name == std::string("display")) {
-        return std::make_shared<ImageDisplayProcessor>(option.alias);
+        return std::make_shared<ImageDisplayProcessor>(option.alias, option.userdata);
     }
     if (option.name == std::string("yolovfastest")) {
         return std::make_shared<ImageProcessorYolovFastest>(option.alias);

examples/common/image_processor.h

@@ -37,6 +37,7 @@ class ImageProcessor {
     struct Options {
         std::string name;
         std::string alias;
+        std::shared_ptr<void> userdata;
     };
 
     virtual int32_t Init() { return 0; }

examples/common/image_processor_display.h

@@ -22,16 +22,21 @@
 #ifndef __IMAGE_PROCESSOR_DIAPLAY_H__
 #define __IMAGE_PROCESSOR_DIAPLAY_H__
 
+#include <memory>
 #include "opencv2/opencv.hpp"
+#include "liveview/sample_liveview.h"
 
 namespace edge_app {
 
 class ImageDisplayProcessor : public ImageProcessor {
    public:
-    ImageDisplayProcessor(const std::string& name) : name_(name) {
+    ImageDisplayProcessor(const std::string& name, std::shared_ptr<void> userdata) : name_(name) {
         cv::namedWindow(name.c_str(), cv::WINDOW_NORMAL);
         cv::resizeWindow(name.c_str(), 960, 540);
         cv::moveWindow(name.c_str(), rand() & 0xFF, rand() & 0xFF);
+        if (userdata) {
+            liveview_sample_ = std::static_pointer_cast<LiveviewSample>(userdata);
+        }
     }
 
     ~ImageDisplayProcessor() override {}
@@ -40,14 +45,19 @@ class ImageDisplayProcessor : public ImageProcessor {
         std::string h = std::to_string(image->size().width);
         std::string w = std::to_string(image->size().height);
         std::string osd = h + "x" + w;
+        if (liveview_sample_) {
+            auto kbps = liveview_sample_->GetStreamBitrate();
+            osd += std::string(",") + std::to_string(kbps) + std::string("kbps");
+        }
         putText(*image, osd, cv::Point(10, 30), cv::FONT_HERSHEY_SIMPLEX, 1,
-                cv::Scalar(0, 255, 0));
+                cv::Scalar(0, 0, 255), 3);
         imshow(name_.c_str(), *image);
         cv::waitKey(1);
     }
 
    private:
     std::string name_;
+    std::shared_ptr<LiveviewSample> liveview_sample_;
 };
 
 }  // namespace edge_app

examples/liveview/image_processor_thread.cc

@@ -60,7 +60,6 @@ void ImageProcessorThread::InputImage(const std::shared_ptr<Image> image) {
     image_queue_.push(image);
     if (image_queue_.size() > kImageQueueSizeLimit) {
         image_queue_.pop();
-        DEBUG("image queue full...");
     }
     image_queue_cv_.notify_one();
 }

examples/liveview/sample_liveview.cc

@@ -25,6 +25,9 @@
 
 #include "liveview/liveview.h"
 
+#define BITRATE_CALCULATE_BITS_PER_BYTE 8
+#define BITRATE_CALCULATE_INTERVAL_TIME_MS 2000
+
 using namespace edge_sdk;
 
 namespace edge_app {
@@ -35,9 +38,20 @@ LiveviewSample::LiveviewSample(const std::string& name) {
 }
 
 ErrorCode LiveviewSample::StreamCallback(const uint8_t* data, size_t len) {
+    auto now =  std::chrono::system_clock::now();
     if (stream_processor_thread_) {
         stream_processor_thread_->InputStream(data, len);
     }
+
+    // for bitrate calculate
+    receive_stream_data_total_size_ += len;
+    auto duration  = std::chrono::duration_cast<std::chrono::milliseconds>(now - receive_stream_data_time_).count();
+    if (duration >= BITRATE_CALCULATE_INTERVAL_TIME_MS) {
+        auto kbps = receive_stream_data_total_size_ * BITRATE_CALCULATE_BITS_PER_BYTE / (BITRATE_CALCULATE_INTERVAL_TIME_MS / 1000) / 1024;
+        stream_bitrate_kbps_ = kbps;
+        receive_stream_data_total_size_  = 0;
+        receive_stream_data_time_  = now;
+    }
     return kOk;
 }
 
@@ -82,26 +96,26 @@ void LiveviewSample::LiveviewStatusCallback(
     DEBUG("status: %d", status);
 }
 
-std::shared_ptr<LiveviewSample> LiveviewSample::CreateLiveview(
-    const std::string& name, edge_sdk::Liveview::CameraType type,
+int32_t InitLiveviewSample(std::shared_ptr<LiveviewSample>& liveview_sample, edge_sdk::Liveview::CameraType type,
     edge_sdk::Liveview::StreamQuality quality,
     std::shared_ptr<StreamDecoder> stream_decoder,
-    std::shared_ptr<ImageProcessor> image_processor) {
-    auto image_processor_thread = std::make_shared<ImageProcessorThread>(name);
+    std::shared_ptr<ImageProcessor> image_processor)
+{
+    auto image_processor_thread = std::make_shared<ImageProcessorThread>(stream_decoder->Name());
     image_processor_thread->SetImageProcessor(image_processor);
 
     auto stream_processor_thread =
-        std::make_shared<StreamProcessorThread>(name);
+        std::make_shared<StreamProcessorThread>(stream_decoder->Name());
     stream_processor_thread->SetStreamDecoder(stream_decoder);
     stream_processor_thread->SetImageProcessorThread(image_processor_thread);
 
-    auto liveview = std::make_shared<LiveviewSample>(name);
-    auto rc = liveview->Init(type, quality, stream_processor_thread);
+    auto rc = liveview_sample->Init(type, quality, stream_processor_thread);
     if (rc != kOk) {
         ERROR("liveview sample init failed");
+        return -1;
     }
 
-    return liveview;
+    return 0;
 }
 
 ErrorCode LiveviewSample::SetCameraSource(

examples/liveview/sample_liveview.h

@@ -22,6 +22,8 @@
 #ifndef __SAMPLE_LIVEVIEW_H__
 #define __SAMPLE_LIVEVIEW_H__
 
+#include <chrono>
+#include <atomic>
 #include "error_code.h"
 #include "image_processor.h"
 #include "image_processor_thread.h"
@@ -34,13 +36,7 @@ namespace edge_app {
 
 class LiveviewSample {
    public:
-    static std::shared_ptr<LiveviewSample> CreateLiveview(
-        const std::string& name, edge_sdk::Liveview::CameraType type,
-        edge_sdk::Liveview::StreamQuality quality,
-        std::shared_ptr<StreamDecoder> stream_decoder,
-        std::shared_ptr<ImageProcessor> image_processor);
-
-    LiveviewSample(const std::string& name);
+    explicit LiveviewSample(const std::string& name);
     ~LiveviewSample() {}
 
     edge_sdk::ErrorCode Init(edge_sdk::Liveview::CameraType type,
@@ -52,6 +48,10 @@ class LiveviewSample {
     edge_sdk::ErrorCode SetCameraSource(
         edge_sdk::Liveview::CameraSource source);
 
+    uint32_t GetStreamBitrate() const {
+        return stream_bitrate_kbps_.load();
+    }
+
    private:
     edge_sdk::ErrorCode StreamCallback(const uint8_t* data, size_t len);
 
@@ -61,8 +61,16 @@ class LiveviewSample {
     std::shared_ptr<edge_sdk::Liveview> liveview_;
     std::shared_ptr<StreamProcessorThread> stream_processor_thread_;
     edge_sdk::Liveview::LiveviewStatus liveview_status_;
+    std::atomic<uint32_t> stream_bitrate_kbps_;
+    std::chrono::system_clock::time_point receive_stream_data_time_ = std::chrono::system_clock::now();
+    uint32_t receive_stream_data_total_size_;
 };
 
+int32_t InitLiveviewSample(std::shared_ptr<LiveviewSample>& liveview_sample, edge_sdk::Liveview::CameraType type,
+                           edge_sdk::Liveview::StreamQuality quality,
+                           std::shared_ptr<StreamDecoder> stream_decoder,
+                           std::shared_ptr<ImageProcessor> image_processor);
+
 }  // namespace edge_app
 
 #endif

examples/liveview/sample_liveview_main.cc

@@ -38,23 +38,10 @@ int main(int argc, char** argv) {
         return -1;
     }
 
-    StreamDecoder::Options decoder_option = {.name = std::string("ffmpeg")};
-    // create fpv stream decoder
-    auto fpv_decoder = CreateStreamDecoder(decoder_option);
-
-    // create fpv image processor
-    ImageProcessor::Options fpv_image_processor_option = {
-        .name = std::string("display"), .alias = std::string("FPVCamera")};
-    auto fpv_image_processor = CreateImageProcessor(fpv_image_processor_option);
-
-    // create fpv liveview
-    auto fpv_liveview = edge_app::LiveviewSample::CreateLiveview(
-        "Fpv", Liveview::kCameraTypeFpv, Liveview::kStreamQuality720p,
-        fpv_decoder, fpv_image_processor);
-
-    // start fpv liveview
-    fpv_liveview->Start();
+    // create payload liveview
+    auto payload_liveview = std::make_shared<LiveviewSample>("Payload");
 
+    StreamDecoder::Options decoder_option = {.name = std::string("ffmpeg")};
     // create payload decoder
     auto payload_decoder = CreateStreamDecoder(decoder_option);
 
@@ -64,13 +51,34 @@ int main(int argc, char** argv) {
         .alias = std::string("PlayloadCamera: Yolovfastest")};
     auto payload_image_processor = CreateImageProcessor(image_processor_option);
 
-    // create payload liveview
-    auto payload_liveview = LiveviewSample::CreateLiveview(
-        "Payload", Liveview::kCameraTypePayload, Liveview::kStreamQuality720p,
-        payload_decoder, payload_image_processor);
+    if (0 != InitLiveviewSample(
+        payload_liveview, Liveview::kCameraTypePayload, Liveview::kStreamQuality1080pHigh,
+        payload_decoder, payload_image_processor)) {
+        ERROR("Init fpv liveview sample failed");
+    } else {
+        // start payload liveview
+        payload_liveview->Start();
+    }
+
+    // create fpv liveview
+    auto fpv_liveview = std::make_shared<LiveviewSample>("Fpv");
+
+    // create fpv stream decoder
+    auto fpv_decoder = CreateStreamDecoder(decoder_option);
+
+    // create fpv image processor
+    ImageProcessor::Options fpv_image_processor_option = {
+        .name = std::string("display"), .alias = std::string("FPVCamera"), .userdata = fpv_liveview};
+    auto fpv_image_processor = CreateImageProcessor(fpv_image_processor_option);
 
-    // start payload liveview
-    payload_liveview->Start();
+    if (0 != InitLiveviewSample(
+        fpv_liveview, Liveview::kCameraTypeFpv, Liveview::kStreamQuality720p,
+        fpv_decoder, fpv_image_processor)) {
+        ERROR("Init fpv liveview sample failed");
+    } else {
+        // start fpv liveview
+        fpv_liveview->Start();
+    }
 
     while (1) sleep(3);
 

examples/liveview/test_liveview_dual_main.cc

@@ -0,0 +1,98 @@
+/**
+ ********************************************************************
+ *
+ * @copyright (c) 2023 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+#include <unistd.h>
+
+#include "logger.h"
+#include "sample_liveview.h"
+
+using namespace edge_sdk;
+using namespace edge_app;
+
+ErrorCode ESDKInit();
+
+int main(int argc, char **argv) {
+    auto rc = ESDKInit();
+    if (rc != kOk) {
+        ERROR("pre init failed");
+        return -1;
+    }
+
+    auto payload_quality = atoi(argv[1]);
+    auto fpv_quality = atoi(argv[2]);
+
+    while (argc < 3 || payload_quality > 5 || fpv_quality > 5) {
+        ERROR(
+            "Usage: %s [PAYLOAD_QUOLITY] [FPV_QUALITY] [SOURCE] \nDESCRIPTION:\n "
+            "QUALITY: 1-540p. 2-720p. 3-720pHigh. "
+            "4-1080p. 5-1080pHigh"
+            "\n SOURCE: 1-wide 2-zoom 3-IR \n eg: \n %s 1 3 1",
+            argv[0], argv[0]);
+        sleep(1);
+    }
+
+    // create payload liveview sample
+    auto payload_liveview_sample = std::make_shared<LiveviewSample>(std::string("PayloadCamera"));
+
+    StreamDecoder::Options decoder_option = {.name = std::string("ffmpeg")};
+    auto payload_stream_decoder = CreateStreamDecoder(decoder_option);
+
+    ImageProcessor::Options payload_image_processor_option = {.name = std::string("display"),
+                                       .alias = "PayloadCamera", .userdata = payload_liveview_sample};
+
+    auto payload_image_processor = CreateImageProcessor(payload_image_processor_option);
+
+    if (0 != InitLiveviewSample(
+        payload_liveview_sample, Liveview::kCameraTypePayload, (Liveview::StreamQuality)payload_quality,
+        payload_stream_decoder, payload_image_processor)) {
+        ERROR("Init liveview sample failed");
+    } else {
+        payload_liveview_sample->Start();
+    }
+
+    // create fpv liveview sample
+    auto fpv_liveview_sample = std::make_shared<LiveviewSample>(std::string("FPV"));
+
+    auto fpv_stream_decoder = CreateStreamDecoder(decoder_option);
+
+    ImageProcessor::Options fpv_image_processor_option = {.name = std::string("display"),
+                                       .alias = "FPVCamera", .userdata = fpv_liveview_sample};
+
+    auto fpv_image_processor = CreateImageProcessor(fpv_image_processor_option);
+
+    if (0 != InitLiveviewSample(
+        fpv_liveview_sample, Liveview::kCameraTypeFpv, (Liveview::StreamQuality)fpv_quality,
+        fpv_stream_decoder, fpv_image_processor)) {
+        ERROR("Init liveview sample failed");
+    } else {
+        fpv_liveview_sample->Start();
+    }
+
+    if (argc == 4) {
+        auto src = atoi(argv[3]);
+        INFO("set camera soure: %d", src);
+        payload_liveview_sample->SetCameraSource((edge_sdk::Liveview::CameraSource)src);
+    }
+
+    while (1) sleep(3);
+
+    return 0;
+}