dji-sdk · weiminn · Apr 20, 2022 · Apr 20, 2022 · May 11, 2023 · Jul 24, 2023
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -55,6 +55,7 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/libs)
 
 set(ADVANCED_SENSING 1)
+# set(ADVANCED_SENSING 0)
 set(WAYPT2_CORE 1)
 
 if (ADVANCED_SENSING)

diff --git a/UserConfig.txt b/UserConfig.txt
@@ -0,0 +1,5 @@
+app_id : 1117356
+app_key : b5e83f46d3819a2e96746c17c0dfdfb52b48619c81ca9b7b80cf7e8e00bef01f
+device : /dev/ttyUSB0
+baudrate : 1000000
+acm_port : /dev/ttyACM0
diff --git a/logs/1697602029_log.txt b/logs/1697602029_log.txt
diff --git a/logs/1697605742_log.txt b/logs/1697605742_log.txt
diff --git a/logs/anomaly.txt b/logs/anomaly.txt
diff --git a/logs/baseline.txt b/logs/baseline.txt
diff --git a/osdk-core/CMakeLists.txt b/osdk-core/CMakeLists.txt
@@ -317,16 +317,16 @@ install(TARGETS ${PROJECT_NAME}
         )
 ]]
 
-install(FILES
-        ${CMAKE_CURRENT_SOURCE_DIR}/linker/${ARCH}/lib/libdji-linker.a
-        DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" COMPONENT shlib
-        )
-
-install(TARGETS ${PROJECT_NAME}
-        EXPORT djiosdkTargets
-        ARCHIVE DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" COMPONENT shlib
-        PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_PREFIX}/include" COMPONENT dev
-        )
+# install(FILES
+#         ${CMAKE_CURRENT_SOURCE_DIR}/linker/${ARCH}/lib/libdji-linker.a
+#         DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" COMPONENT shlib
+#         )
+
+# install(TARGETS ${PROJECT_NAME}
+#         EXPORT djiosdkTargets
+#         ARCHIVE DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" COMPONENT shlib
+#         PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_PREFIX}/include" COMPONENT dev
+#         )
 
 #install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/advanced-sensing-2.0.3
 #        DESTINATION ${OSDK_LIB_ARCH_DIR} )

diff --git a/osdk-core/advanced-sensing/platform/inc/linux_usb_device.hpp b/osdk-core/advanced-sensing/platform/inc/linux_usb_device.hpp
@@ -16,7 +16,8 @@
 #include <fcntl.h>
 #include <termios.h>
 #include <unistd.h>
-#include <libusb.h>
+// #include <libusb.h>
+#include <libusb-1.0/libusb.h>
 
 #include "dji_hard_driver.hpp"
 

diff --git a/osdk-core/api/inc/dji_flight_controller.hpp b/osdk-core/api/inc/dji_flight_controller.hpp
@@ -65,7 +65,7 @@ class FlightController {
     YawLogic yawLogic;
     HorizontalCoordinate horizontalCoordinate;
     StableMode stableMode;
-  } JoystickMode;
+  }  JoystickMode;
 
   /*! @brief
   *

diff --git a/osdk-core/modules/inc/filemgr/impl/mmap_file_buffer.hpp b/osdk-core/modules/inc/filemgr/impl/mmap_file_buffer.hpp
@@ -12,6 +12,7 @@
 #include <unistd.h>
 #include <memory>
 #include <atomic>
+#include <string>
 
 namespace DJI {
 namespace OSDK {

diff --git a/osdk-core/modules/src/filemgr/impl/mmap_file_buffer.cpp b/osdk-core/modules/src/filemgr/impl/mmap_file_buffer.cpp
@@ -4,6 +4,7 @@
 #include "mmap_file_buffer.hpp"
 #include "dji_log.hpp"
 #include <string.h>
+#include <cstdio>
 
 namespace DJI {
 namespace OSDK {

diff --git a/osdk-core/modules/src/flight/dji_flight_joystick_module.cpp b/osdk-core/modules/src/flight/dji_flight_joystick_module.cpp
@@ -261,7 +261,8 @@ void FlightJoystick::getControlMode(ControlMode &controlMode) {
 void FlightJoystick::joystickAction() {
  if(flightLink)
   flightLink->sendDirectly(OpenProtocolCMD::CMDSet::Control::control,
-                           (void *)(&this->ctrlData), sizeof(CtrlData));
+                          //  (void *)(&this->ctrlData), sizeof(CtrlData));
+                           &this->ctrlData, sizeof(CtrlData));
  else
    DERROR(" flight Link is NULL");
 

diff --git a/sample/core/inc/flight_sample.hpp b/sample/core/inc/flight_sample.hpp
@@ -34,6 +34,7 @@
 
 #include <dji_linux_helpers.hpp>
 #include <dji_vehicle.hpp>
+#include "fuzzer.hpp"
 
 class FlightSample {
  public:
@@ -157,6 +158,9 @@ class FlightSample {
   void velocityAndYawRateCtrl(const Vector3f &offsetDesired, float yawRate, uint32_t timeMs);
 
   void emergencyBrake(void);
+  static Vector3f quaternionToEulerAngle(const Telemetry::Quaternion &quat);
+
+  void fuzz(Fuzzer &fuzzer, uint32_t timeMs);
 
  private:
   Vehicle *vehicle;
@@ -168,7 +172,6 @@ class FlightSample {
                                                          const Telemetry::GPSFused& origin,
                                                          const float32_t& targetHeight, 
                                                          const float32_t& originHeight);
-  static Vector3f quaternionToEulerAngle(const Telemetry::Quaternion &quat);
   static void  horizCommandLimit(float speedFactor, float& commandX, float& commandY);
 
   bool motorStartedCheck();

diff --git a/sample/core/src/flight_sample.cpp b/sample/core/src/flight_sample.cpp
@@ -30,6 +30,7 @@
  */
 
 #include "flight_sample.hpp"
+#include "fuzzer.hpp"
 #include <cmath>
 
 using namespace DJI::OSDK;
@@ -142,6 +143,8 @@ void FlightSample::velocityAndYawRateCtrl(const Vector3f &offsetDesired,
   OsdkOsal_GetTimeMs(&currentTime);
   elapsedTimeInMs = currentTime - originTime;
 
+  ///////////////////////////////////////// Original Mode ////////////////////////////////////////////////////////////////////
+
   FlightController::JoystickMode joystickMode = {
     FlightController::HorizontalLogic::HORIZONTAL_VELOCITY,
     FlightController::VerticalLogic::VERTICAL_VELOCITY,
@@ -151,7 +154,26 @@ void FlightSample::velocityAndYawRateCtrl(const Vector3f &offsetDesired,
   };
 
   vehicle->flightController->setJoystickMode(joystickMode);
+
+  ///////////////////////////////////////// Fuzzed Mode ////////////////////////////////////////////////////////////////////
+
+  // Fuzzer fuzzer = Fuzzer();
+  // fuzzer.initializeModeGrammar();  
+  // FlightController::JoystickMode joystickMode = fuzzer.generateModeWithGrammar();
+
+  /////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+  ///////////////////////////////////////// Original Cmd ////////////////////////////////////////////////////////////////////
+
   FlightController::JoystickCommand joystickCommand = {offsetDesired.x, offsetDesired.y, offsetDesired.z,yawRate};
+
+  ///////////////////////////////////////// Fuzzed Cmd ////////////////////////////////////////////////////////////////////
+
+  // FlightController::JoystickCommand joystickCommand = fuzzer.generateCommandWithGrammar(joystickMode);  
+
+  /////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+  vehicle->flightController->setJoystickMode(joystickMode);
   vehicle->flightController->setJoystickCommand(joystickCommand);
 
   while(elapsedTimeInMs <= timeMs)
@@ -163,10 +185,61 @@ void FlightSample::velocityAndYawRateCtrl(const Vector3f &offsetDesired,
   }
 }
 
- void FlightSample::emergencyBrake()
- {
-   vehicle->flightController->emergencyBrakeAction();
- }
+void FlightSample::fuzz(Fuzzer &fuzzer, uint32_t timeMs) {
+  uint32_t originTime  = 0;
+  uint32_t currentTime = 0;
+  uint32_t elapsedTimeInMs = 0;
+  OsdkOsal_GetTimeMs(&originTime);
+  OsdkOsal_GetTimeMs(&currentTime);
+  elapsedTimeInMs = currentTime - originTime;
+
+  ///////////////////////////////////////// Original Mode ////////////////////////////////////////////////////////////////////
+
+  FlightController::JoystickMode joystickMode = {
+    FlightController::HorizontalLogic::HORIZONTAL_VELOCITY,
+    FlightController::VerticalLogic::VERTICAL_VELOCITY,
+    FlightController::YawLogic::YAW_RATE,
+    FlightController::HorizontalCoordinate::HORIZONTAL_GROUND,
+    FlightController::StableMode::STABLE_ENABLE,
+  };
+
+  // vehicle->flightController->setJoystickMode(joystickMode);
+
+  ///////////////////////////////////////// Fuzzed Mode ////////////////////////////////////////////////////////////////////
+
+  // FlightController::JoystickMode joystickMode = fuzzer.generateModeWithGrammar();
+
+  /////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+  ///////////////////////////////////////// Original Cmd ////////////////////////////////////////////////////////////////////
+
+  // FlightController::JoystickCommand joystickCommand = {-5000, -5000, 50, 0};
+
+  ///////////////////////////////////////// Fuzzed Cmd ////////////////////////////////////////////////////////////////////
+
+  FlightController::JoystickCommand joystickCommand = fuzzer.generateCommandWithGrammar(joystickMode);  
+  // joystickCommand.yaw = 0;
+  // joystickCommand.y = 0;
+
+  /////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+  vehicle->flightController->setJoystickMode(joystickMode);
+  vehicle->flightController->setJoystickCommand(joystickCommand);
+
+  while(elapsedTimeInMs <= timeMs)
+  {
+    vehicle->flightController->joystickAction();
+    usleep(20000);
+    OsdkOsal_GetTimeMs(&currentTime);
+    elapsedTimeInMs = currentTime - originTime;
+  }
+
+}
+
+void FlightSample::emergencyBrake()
+{
+  vehicle->flightController->emergencyBrakeAction();
+}
 
 bool FlightSample::moveByPositionOffset(const Vector3f& offsetDesired,
                                         float yawDesiredInDeg,

diff --git a/sample/platform/linux/CMakeLists.txt b/sample/platform/linux/CMakeLists.txt
@@ -142,18 +142,18 @@ else()
 endif()
 
 #add_subdirectory(camera-gimbal)
-add_subdirectory(flight-control)
-add_subdirectory(mfio)
-add_subdirectory(missions)
-add_subdirectory(mobile)
-add_subdirectory(telemetry)
-add_subdirectory(logging)
-add_subdirectory(time-sync)
-add_subdirectory(payload-3rd-party)
-add_subdirectory(payloads)
-add_subdirectory(advanced-sensing)
-add_subdirectory(hms)
-add_subdirectory(battery)
-add_subdirectory(mop)
-
-
+# add_subdirectory(flight-control)
+add_subdirectory(fuzzer)
+# add_subdirectory(mfio)
+# add_subdirectory(missions)
+# add_subdirectory(mobile)
+# add_subdirectory(logging)
+# add_subdirectory(time-sync)
+# add_subdirectory(payload-3rd-party)
+# add_subdirectory(payloads)
+# add_subdirectory(advanced-sensing)
+# add_subdirectory(hms)
+# add_subdirectory(battery)
+# add_subdirectory(mop)
+# add_subdirectory(telemetry)
+add_subdirectory(testing)
diff --git a/sample/platform/linux/common/UserConfig.txt b/sample/platform/linux/common/UserConfig.txt
diff --git a/sample/platform/linux/flight-control/CMakeLists.txt b/sample/platform/linux/flight-control/CMakeLists.txt
@@ -25,19 +25,33 @@ project(djiosdk-flightcontrol-sample)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -g -O0")
 
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../../../core/inc)
-
 FILE(GLOB SOURCE_FILES *.hpp *.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_environment.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_helpers.cpp
-        ${CMAKE_CURRENT_SOURCE_DIR}/../../../core/src/flight_sample.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/../hal/*.c
         ${CMAKE_CURRENT_SOURCE_DIR}/../osal/*.c
+        ${CMAKE_CURRENT_SOURCE_DIR}/../../../core/src/flight_sample.cpp
         ${LINKER_HEADER_SRC}
         )
 
 if (OSDK_HOTPLUG)
     FILE(GLOB SOURCE_FILES ${SOURCE_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/../hal/hotplug/*.c)
 endif ()
 
-add_executable(${PROJECT_NAME} ${SOURCE_FILES})
+# add_executable(${PROJECT_NAME} ${SOURCE_FILES})
+add_library(${PROJECT_NAME} STATIC ${SOURCE_FILES})
+
+# for flight functions
+target_include_directories(
+    ${PROJECT_NAME}
+    PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../../core/inc
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_link_libraries(
+    ${PROJECT_NAME}
+    PUBLIC
+    djiosdk-core
+    djiosdk-fuzzer
+)
diff --git a/sample/platform/linux/fuzzer/CMakeLists.txt b/sample/platform/linux/fuzzer/CMakeLists.txt
@@ -0,0 +1,35 @@
+# cd ~/Documents/Onboard-SDK/build/ &&  make clean && cmake .. && make && cd ~/Documents/Onboard-SDK/build/bin/ && ./djiosdk-testing
+
+cmake_minimum_required(VERSION 2.8)
+project(djiosdk-fuzzer)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -g -O0")
+set(BOOST_INCLUDEDIR /usr/include)
+
+find_package(Boost)
+
+FILE(GLOB SOURCE_FILES 
+    *.hpp 
+    *.cpp
+    # ${CMAKE_CURRENT_SOURCE_DIR}/../../../../osdk-core/api/src/dji_flight_controller.cpp
+)
+
+add_library(${PROJECT_NAME} ${SOURCE_FILES})
+
+target_include_directories(
+    ${PROJECT_NAME}
+    PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}
+
+    # the apis are already part of djiosdk-core which is already been added by upper CMake
+    # ${CMAKE_CURRENT_SOURCE_DIR}/../../../../osdk-core/api/inc # mode struct
+    # ${CMAKE_CURRENT_SOURCE_DIR}/../../../../osdk-core/modules/inc/flight # enums
+)
+
+target_link_libraries(
+    ${PROJECT_NAME}
+    PUBLIC
+    djiosdk-core
+    # djiosdk-flightcontrol-sample  
+    # boost
+)