Cannot get MOP data

I'm implementing mop function for Onboard-SDK-ROS connecting and transfer data bw OSDK & MSDK.
I could connect its, but cannot get data from recvData function
Could any one give me some indication to do it? Thank you.

bool VehicleNode::startSubscribeForGetDataMopCallback(SendDataMop::Request& request, SendDataMop::Response& response)
{
  ROS_INFO_STREAM("Start subscribe for geting MOP Data callback");
  if(ptr_wrapper_ == nullptr)
  {
    ROS_ERROR_STREAM("Vehicle modules is nullptr");
    return false;
  }
  MopPipeline *OM_Pipeline = NULL;
  bool ret = ptr_wrapper_->getMopPipeline(request.id, OM_Pipeline);
  if (!ret || OM_Pipeline == NULL) {
    response.result = ret;
    ROS_ERROR_STREAM("OM_Pipeline is nullptr");
    return 0;
  }
  pthread_t thread_publish;
  int result = pthread_create(&thread_publish, NULL, threadPublishMopDataTo, OM_Pipeline);
  if(result != 0) {
    DERROR("Server send mop data create failed!\n");
  } else {
    DSTATUS("Server send mop data create success!\n");
  }
  return response.result != 0;
}

void* VehicleNode::threadPublishMopDataTo(void *arg)
{
  MopPipeline *OM_Pipeline = (MopPipeline *)arg;
  if (!OM_Pipeline)
    std::runtime_error("Error param");
  uint8_t *recvBuf;
  const uint8_t RELIABLE_RECV_ONCE_BUFFER_SIZE = 100 * 1024;
  recvBuf = (uint8_t *)OsdkOsal_Malloc(RELIABLE_RECV_ONCE_BUFFER_SIZE);
  if (recvBuf == NULL) {
    DERROR("[File-Service]  OsdkOsal_Malloc recv buffer error");
    return NULL;
  }
  MopPipeline::DataPackType readPack = {(uint8_t *) recvBuf, RELIABLE_RECV_ONCE_BUFFER_SIZE};
  // OsdkOsal_TaskSleepMs(5000);
  // receive data
  MopErrCode mopRet = MOP_PASSED;
  while(ros::ok())
  {
    memset(recvBuf, 0, RELIABLE_RECV_ONCE_BUFFER_SIZE);
    readPack.length = RELIABLE_RECV_ONCE_BUFFER_SIZE;
    mopRet = OM_Pipeline->recvData(readPack, &readPack.length);

    if (mopRet != MOP_PASSED) {
      if (mopRet == MOP_TIMEOUT) {
      DSTATUS("[File-Service] receive timeout");
      } else if (mopRet == MOP_CONNECTIONCLOSE) {
          DSTATUS("[File-Service]  connection of pipeline [%d] closed", OM_Pipeline->getId());
          DSTATUS("[File-Service]  disconnect from cilent now stop task");
          break;
      } else {
          DERROR("[File-Service]  recv data from client error,stat:%lld", mopRet);
      }
      OsdkOsal_TaskSleepMs(1000);
    } else {
        if (readPack.length > 0) {
          DSTATUS("Receive buf {%d ...}", recvBuf[0]);
          // publish 
          dji_osdk_ros::MopData mop_data;
          mop_data.data.resize(readPack.length);
          for (int i=0; i<readPack.length; i++)
          {
            mop_data.data[i] = readPack.data[i];
          }
          mop_publisher_.publish(mop_data);
        }
    }
  }
}

DJI Developer Support

2021年11月10日 08:55

Is there any error returned with recvDara or sendData(MSDK) ? It’s just that no data is received, so it’s hard to tell where the problem lies.

hieudv

2021年11月10日 11:11

Thank you for your interest in my post!
I got this data when start send msg from MSDK.
I run successfully with onboard-sdk sample, but cannot when run with ros.

2021年11月11日 03:07

The OSDK ROS does not contain a MOP sample for the time being. it can be implemented it by calling Linux API. If there is an error, please provide the specific error return value of send/recv.

2021年11月12日 07:13

mopRet = OM_Pipeline->recvData(readPack, &readPack.length);

I call Linux API with the code. But I always get result:

[File-Service] recv data from cilent, len: 0

With SDK sample, I saw recvData will listen and return result MOP_PASSED after 5s

But with ROS, recvData always return result MOP_PASSED immediately.

2021年11月12日 12:41

SDK sample return value after 5s is MOP_TIMEOUT, not MOP_PASSED. if the MSDK send data via this channel, it will return MOP_PASSED immediately.

2021年11月12日 13:52

I find the issue, my stupid code

const uint8_t RELIABLE_RECV_ONCE_BUFFER_SIZE = 100 * 1024;

I could send/recv msg from MSDK with ROS. Thank you so much for support!

Cannot get MOP data

评论

没有找到您要找的？