diff --git a/UAV_softbus_client/README.md b/UAV_softbus_client/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..899d496e4eaac281ee381ae995d3d5cf23cc8a9a
--- /dev/null
+++ b/UAV_softbus_client/README.md
@@ -0,0 +1,40 @@
+# UAV_softbus_client
+
+#### 介绍
+本仓库通过软总线的基础通信功能，调用MAVSDK控制无人机，实现了同一组网下使用OpenHarmony设备操控无人机起飞，悬停和降落的功能。
+
+#### 软件架构
+软件架构说明
+
+
+#### 安装教程
+
+1.  安装分布式软总线：https://gitee.com/src-openeuler/dsoftbus
+2.  安装mavlink/MAVSDK：https://github.com/mavlink/MAVSDK
+3.  运行build.sh脚本:./build.sh
+4.  启动分布式软总线服务端：softbus_server_main
+5.  启动mavlink：mavlink-router
+6.  启动无人机软总线客户端：cd out && ./softbus_client
+
+#### 使用说明
+
+1.  xxxx
+2.  xxxx
+3.  xxxx
+
+#### 参与贡献
+
+1.  Fork 本仓库
+2.  新建 Feat_xxx 分支
+3.  提交代码
+4.  新建 Pull Request
+
+
+#### 特技
+
+1.  使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md
+2.  Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com)
+3.  你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目
+4.  [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目，是综合评定出的优秀开源项目
+5.  Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
+6.  Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)
diff --git a/UAV_softbus_client/devicemanager/devicemanager b/UAV_softbus_client/devicemanager/devicemanager
new file mode 100644
index 0000000000000000000000000000000000000000..2dcd4e05b4cb5bdc794bce93f637d87325e88161
Binary files /dev/null and b/UAV_softbus_client/devicemanager/devicemanager differ
diff --git a/UAV_softbus_client/hichain/hichain_main b/UAV_softbus_client/hichain/hichain_main
new file mode 100644
index 0000000000000000000000000000000000000000..f1b79ebb9e641be7b2b15f05a40ab1149f8fbe66
Binary files /dev/null and b/UAV_softbus_client/hichain/hichain_main differ
diff --git a/UAV_softbus_client/hichain/hichain_main.c b/UAV_softbus_client/hichain/hichain_main.c
new file mode 100644
index 0000000000000000000000000000000000000000..acc0a127affd7451115b6f6f403ac592bd7f8aa4
--- /dev/null
+++ b/UAV_softbus_client/hichain/hichain_main.c
@@ -0,0 +1,639 @@
+#include <stdio.h>
+#include <string.h>
+#include <cJSON.h>
+#include <securec.h>
+#include <discovery_service.h>
+#include <session.h>
+#include <device_auth.h>
+#include <parameter.h>
+
+#define APP_ID "hichain_test"
+#define SESSION_NAME "com.huawei.devicegroupmanage.test"
+#define DEFAULT_CAPABILITY "osdCapability"
+#define PUBLISH_ID 100
+
+#define DEFAULT_GROUP_NAME "dsoftbus"
+#define DEFAULT_PIN_CODE "123456"
+#define MAX_UDID_LEN 65
+#define MAX_GROUP_LEN 65
+#define ERR_RET -1
+
+#define FIELD_ETH_IP "ETH_IP"
+#define FIELD_ETH_PORT "ETH_PORT"
+#define FIELD_WLAN_IP "WIFI_IP"
+#define FIELD_WLAN_PORT "WIFI_PORT"
+
+enum {
+	DEVICE_DISCOVERY = 0,
+	DEVICE_JOINING,
+	DEVICE_ONLINE,
+}DeviceStatus;
+
+char *g_deviceStatus[] = {
+	"discovery",
+	"joining",
+	"online",
+};
+
+typedef struct DeviceList {
+	struct DeviceList *next;
+	DeviceInfo device;
+	int status;
+	int64_t requestId;
+} DeviceList;
+DeviceList *g_deviceListHead = NULL;
+
+static const DeviceGroupManager *g_hichainGmInstance = NULL;
+static char g_udid[MAX_UDID_LEN];
+static char g_groupId[MAX_GROUP_LEN];
+static int64_t g_requestId = 1;
+
+static const char *GetStringFromJson(const cJSON *obj, const char *key)
+{
+	cJSON *item;
+
+	if (obj == NULL || key == NULL)
+		return NULL;
+
+	item = cJSON_GetObjectItemCaseSensitive(obj, key);
+	if (item != NULL && cJSON_IsString(item)) {
+		return cJSON_GetStringValue(item);
+	} else {
+		int len = cJSON_GetArraySize(obj);
+		for (int i = 0; i < len; i++) {
+			item = cJSON_GetArrayItem(obj, i);
+			if (cJSON_IsObject(item)) {
+				const char *value = GetStringFromJson(item, key);
+				if (value != NULL)
+					return value;
+			}
+		}
+	}
+	return NULL;
+}
+
+static int HichainSaveGroupID(const char *param)
+{
+	cJSON *msg = cJSON_Parse(param);
+	const char *value = NULL;
+
+	if (msg == NULL) {
+		printf("HichainSaveGroupID: cJSON_Parse fail\n");
+		return ERR_RET;
+	}
+
+	value = GetStringFromJson(msg, FIELD_GROUP_ID);
+	if (value == NULL) {
+		printf("HichainSaveGroupID:GetStringFromJson fail\n");
+		cJSON_Delete(msg);
+		return ERR_RET;
+	}
+
+	memcpy_s(g_groupId, MAX_GROUP_LEN, value, strlen(value));
+	printf("HichainSaveGroupID:groupID=%s\n", g_groupId);
+
+	cJSON_Delete(msg);
+	return 0;
+}
+
+static void HiChainGmOnFinish(int64_t requestId, int operationCode, const char *returnData)
+{
+	if (operationCode == GROUP_CREATE && returnData != NULL) {
+		printf("create new group finish:requestId=%lld, returnData=%s\n", requestId, returnData);
+		HichainSaveGroupID(returnData);
+	} else if (operationCode == MEMBER_JOIN) {
+		DeviceList *node = g_deviceListHead;
+
+		printf("member join finish:requestId=%lld, returnData=%s\n", requestId, returnData);
+		while (node) {
+			if (node->requestId != requestId) {
+				node = node->next;
+				continue;
+			}
+			node->status = DEVICE_ONLINE;
+			break;
+		}
+	} else {
+		printf("<HiChainGmOnFinish>CB:requestId=%lld, operationCode=%d, returnData=%s\n", requestId, operationCode, returnData);
+	}
+}
+
+static void HiChainGmOnError(int64_t requestId, int operationCode, int errorCode, const char *errorReturn)
+{
+	DeviceList *node = g_deviceListHead;
+
+	printf("<HiChainGmOnError>CB:requestId=%lld, operationCode=%d, errorCode=%d, errorReturn=%s\n", requestId, operationCode, errorCode, errorReturn);
+	while (node) {
+		if (node->requestId != requestId) {
+			node = node->next;
+			continue;
+		}
+		node->status = DEVICE_DISCOVERY;
+		break;
+	}
+}
+
+static char *HiChainGmOnRuest(int64_t requestId, int operationCode, const char *reqParams)
+{
+	cJSON *msg = cJSON_CreateObject();
+	char *param = NULL;
+
+	printf("<HiChainGmOnRuest>CB:requestId=%lld, operationCode=%d, reqParams=%s", requestId, operationCode, reqParams);
+
+	if (operationCode != MEMBER_JOIN) {
+		return NULL;
+	}
+
+	if (msg == NULL) {
+		printf("HiChainGmOnRuest: cJSON_CreateObject fail\n");
+	}
+
+	if (cJSON_AddNumberToObject(msg, FIELD_CONFIRMATION, REQUEST_ACCEPTED) == NULL ||
+		cJSON_AddStringToObject(msg, FIELD_PIN_CODE, DEFAULT_PIN_CODE) == NULL ||
+		cJSON_AddStringToObject(msg, FIELD_DEVICE_ID, g_udid) == NULL) {
+		printf("HiChainGmOnRuest: cJSON_AddToObject fail\n");
+		cJSON_Delete(msg);
+		return NULL;
+	}
+
+	param = cJSON_PrintUnformatted(msg);
+	cJSON_Delete(msg);
+	return param;
+}
+
+static const DeviceAuthCallback g_groupManagerCallback = {
+	.onRequest = HiChainGmOnRuest,
+	.onError = HiChainGmOnError,
+	.onFinish = HiChainGmOnFinish,
+};
+
+static int HichainGmRegCallback(void)
+{
+	return g_hichainGmInstance->regCallback(APP_ID, &g_groupManagerCallback);
+}
+
+static void HichainGmUnRegCallback(void)
+{
+	g_hichainGmInstance->unRegCallback(APP_ID);
+}
+
+static int HichainGmGetGroupInfo(char **groupVec, uint32_t *num)
+{
+	cJSON *msg = cJSON_CreateObject();
+	char *param = NULL;
+	int ret = ERR_RET;
+
+	if (msg == NULL) {
+		printf("HichainGmGetGroupInfo: cJSON_CreateObject fail\n");
+		return ret;
+	}
+
+	if (cJSON_AddNumberToObject(msg, FIELD_GROUP_TYPE, PEER_TO_PEER_GROUP) == NULL ||
+		cJSON_AddStringToObject(msg, FIELD_GROUP_NAME, DEFAULT_GROUP_NAME) == NULL ||
+		cJSON_AddNumberToObject(msg, FIELD_GROUP_VISIBILITY, GROUP_VISIBILITY_PUBLIC) == NULL) {
+		printf("HichainGmGetGroupInfo: cJSON_AddToObject fail\n");
+		goto err_cJSON_Delete;
+	}
+	param = cJSON_PrintUnformatted(msg);
+	if (param == NULL) {
+		printf("HichainGmGetGroupInfo: cJSON_PrintUnformatted fail\n");
+		goto err_cJSON_Delete;
+	}
+
+	ret = g_hichainGmInstance->getGroupInfo(ANY_OS_ACCOUNT, APP_ID, param, groupVec, num);
+	if (ret != 0) {
+		printf("getGroupInfo fail:%d", ret);
+		goto err_getGroupInfo;
+	}
+
+err_getGroupInfo:
+	cJSON_free(param);
+err_cJSON_Delete:
+	cJSON_Delete(msg);
+	return ret;
+}
+
+static void HichainGmDestroyGroupInfo(char **groupVec)
+{
+	g_hichainGmInstance->destroyInfo(groupVec);
+}
+
+static int HichainGmCreatGroup(void)
+{
+	cJSON *msg = cJSON_CreateObject();
+	char *param = NULL;
+	int ret = ERR_RET;
+
+	if (msg == NULL)
+		return ret;
+
+	if (cJSON_AddNumberToObject(msg, FIELD_GROUP_TYPE, PEER_TO_PEER_GROUP) == NULL ||
+		cJSON_AddStringToObject(msg, FIELD_DEVICE_ID, g_udid) == NULL ||
+		cJSON_AddStringToObject(msg, FIELD_GROUP_NAME, DEFAULT_GROUP_NAME) == NULL ||
+		cJSON_AddNumberToObject(msg, FIELD_USER_TYPE, 0) == NULL ||
+		cJSON_AddNumberToObject(msg, FIELD_GROUP_VISIBILITY, GROUP_VISIBILITY_PUBLIC) == NULL ||
+		cJSON_AddNumberToObject(msg, FIELD_EXPIRE_TIME, EXPIRE_TIME_MAX) == NULL) {
+		printf("HichainGmCreatGroup: cJSON_AddToObject fail\n");
+		cJSON_Delete(msg);
+		return ret;
+	}
+	param = cJSON_PrintUnformatted(msg);
+	if (param == NULL) {
+		printf("HichainGmCreatGroup: cJSON_PrintUnformatted fail\n");
+		cJSON_Delete(msg);
+		return ret;
+	}
+
+	ret = g_hichainGmInstance->createGroup(ANY_OS_ACCOUNT, g_requestId++, APP_ID, param);
+
+	cJSON_free(param);
+	cJSON_Delete(msg);
+	return ret;
+}
+
+static bool HichainIsDeviceInGroup(const char *groupId, const char *devId)
+{
+	return g_hichainGmInstance->isDeviceInGroup(ANY_OS_ACCOUNT, APP_ID, groupId, devId);
+}
+
+static int HichainGmAddMemberToGroup(DeviceInfo *device, const char *groupId)
+{
+	cJSON *msg = cJSON_CreateObject();
+	cJSON *addr = NULL;
+	char *param = NULL;
+	int ret = ERR_RET;
+
+	if (msg == NULL) {
+		printf("HichainGmAddMemberToGroup: cJSON_CreateObject1 fail\n");
+		return ret;
+	}
+
+	addr = cJSON_CreateObject();
+	if (addr == NULL) {
+		printf("HichainGmAddMemberToGroup: cJSON_CreateObject2 fail\n");
+		goto err_cJSON_CreateObject;
+	}
+
+	for (unsigned int i = 0; i < device->addrNum; i++) {
+		if (device->addr[i].type == CONNECTION_ADDR_ETH) {
+			if (cJSON_AddStringToObject(addr, FIELD_ETH_IP, device->addr[i].info.ip.ip) == NULL ||
+					cJSON_AddNumberToObject(addr, FIELD_ETH_PORT, device->addr[i].info.ip.port) == NULL) {
+				printf("HichainGmAddMemberToGroup: cJSON_AddToObject1 fail\n");
+				goto err_cJSON_AddToObject;
+			}
+		} else if (device->addr[i].type == CONNECTION_ADDR_WLAN) {
+			if (cJSON_AddStringToObject(addr, FIELD_WLAN_IP, device->addr[i].info.ip.ip) == NULL ||
+					cJSON_AddNumberToObject(addr, FIELD_WLAN_PORT, device->addr[i].info.ip.port) == NULL) {
+				printf("HichainGmAddMemberToGroup: cJSON_AddToObject2 fail\n");
+				goto err_cJSON_AddToObject;
+			}
+		} else {
+			printf("unsupport connection type:%d\n", device->addr[i].type);
+			goto err_cJSON_AddToObject;
+		}
+	}
+
+	param = cJSON_PrintUnformatted(addr);
+	if (param == NULL) {
+		printf("HichainGmAddMemberToGroup: cJSON_PrintUnformatted1 fail\n");
+		goto err_cJSON_AddToObject;
+	}
+
+	if (cJSON_AddStringToObject(msg, FIELD_GROUP_ID, groupId) == NULL ||
+		cJSON_AddNumberToObject(msg, FIELD_GROUP_TYPE, PEER_TO_PEER_GROUP) == NULL ||
+		cJSON_AddStringToObject(msg, FIELD_PIN_CODE, DEFAULT_PIN_CODE) == NULL ||
+		cJSON_AddStringToObject(msg, FIELD_DEVICE_ID, g_udid) == NULL ||
+		cJSON_AddStringToObject(msg, FIELD_GROUP_NAME, DEFAULT_GROUP_NAME) == NULL ||
+		cJSON_AddBoolToObject(msg, FIELD_IS_ADMIN, false) == NULL ||
+		cJSON_AddStringToObject(msg, FIELD_CONNECT_PARAMS, param) == NULL) {
+		printf("HichainGmAddMemberToGroup: cJSON_AddToObject4 fail\n");
+		goto err_cJSON_AddToObject1;
+	}
+
+	cJSON_free(param);
+	param = cJSON_PrintUnformatted(msg);
+	if (param == NULL) {
+		printf("HichainGmAddMemberToGroup: cJSON_PrintUnformatted fail\n");
+		goto err_cJSON_CreateObject;
+	}
+
+	ret = g_hichainGmInstance->addMemberToGroup(ANY_OS_ACCOUNT, g_requestId++, APP_ID, param);
+	if (ret != 0) {
+		printf("addMemberToGroup fail:%d\n", ret);
+	}
+
+err_cJSON_AddToObject1:
+	cJSON_free(param);
+err_cJSON_AddToObject:
+	cJSON_Delete(addr);
+err_cJSON_CreateObject:
+	cJSON_Delete(msg);
+	return ret;
+}
+
+static int HichainInit(void)
+{
+	char *groupVec = NULL;
+	uint32_t num;
+	int ret;
+
+	ret = InitDeviceAuthService();
+	if (ret != 0) {
+		printf("InitDeviceAuthService fail:%d\n", ret);
+		return ret;
+	}
+
+	g_hichainGmInstance = GetGmInstance();
+	if (g_hichainGmInstance == NULL) {
+		printf("GetGmInstance fail\n");
+		ret = ERR_RET;
+		goto err_GetGmInstance;
+	}
+
+	ret = HichainGmRegCallback();
+	if (ret != 0) {
+		printf("HichainGmregCallback fail.:%d\n", ret);
+		goto err_HichainGmRegCallback;
+	}
+
+	ret = HichainGmGetGroupInfo(&groupVec, &num);
+	if (ret != 0) {
+		printf("HichainGmGetGroupInfo fail:%d\n", ret);
+		goto err_HichainGmGetGroupInfo;
+	}
+
+	if (num == 0) {
+		ret = HichainGmCreatGroup();
+		if (ret) {
+			printf("HichainGmCreatGroup fail:%d\n", ret);
+			goto err_HichainGmCreatGroup;
+		}
+	} else {
+		printf("HichainGmGetGroupInfo:num=%u\n", num);
+		HichainSaveGroupID(groupVec);
+		HichainGmDestroyGroupInfo(&groupVec);
+	}
+
+	return 0;
+
+err_HichainGmCreatGroup:
+err_HichainGmGetGroupInfo:
+	HichainGmUnRegCallback();
+err_HichainGmRegCallback:
+err_GetGmInstance:
+	DestroyDeviceAuthService();
+	return ret;
+}
+
+static void CheckDeviceStatus(void)
+{
+	DeviceList *node = g_deviceListHead;
+	char *groupVec = NULL;
+	uint32_t num;
+	int ret;
+
+	ret = HichainGmGetGroupInfo(&groupVec, &num);
+	if (ret != 0 || num == 0) {
+		printf("HichainGmGetGroupInfo fail\n");
+		return;
+	}
+
+	ret = HichainSaveGroupID(groupVec);
+	if (ret != 0)
+		goto err_HichainSaveGroupID;
+
+	while (node) {
+		if (HichainIsDeviceInGroup(g_groupId, node->device.devId)) {
+			node->status = DEVICE_ONLINE;
+		}
+		node = node->next;
+	}
+
+err_HichainSaveGroupID:
+	HichainGmDestroyGroupInfo(&groupVec);
+}
+
+static bool CheckDeviceExist(const DeviceInfo *device)
+{
+	DeviceList *node = g_deviceListHead;
+
+	while (node) {
+		if (strcmp(device->devId, node->device.devId) == 0) {
+			return true;
+		}
+		node = node->next;
+	}
+	return false;
+}
+
+static void SaveDeviceInfo(const DeviceInfo *device)
+{
+	DeviceList *node = malloc(sizeof(DeviceList));
+
+	if (node == NULL) {
+		printf("SaveDeviceInfo: malloc fail\n");
+		return;
+	}
+
+	node->device = *device;
+	node->requestId = ERR_RET;
+	node->status = DEVICE_DISCOVERY;
+	if (g_deviceListHead == NULL) {
+		node->next = NULL;
+	} else {
+		node->next = g_deviceListHead;
+	}
+	g_deviceListHead = node;
+}
+
+static DeviceList *GetDeviceInfo(int idx)
+{
+	DeviceList *node = g_deviceListHead;
+	while (node) {
+		if (--idx == 0) {
+			return node;
+		}
+		node = node->next;
+	}
+	return NULL;
+}
+
+static void FreeDeviceInfo()
+{
+	while (g_deviceListHead) {
+		DeviceList *node = g_deviceListHead->next;
+		free(g_deviceListHead);
+		g_deviceListHead = node;
+	}
+}
+
+static void ListDevice(void)
+{
+	DeviceList *node = g_deviceListHead;
+	int input, num = 0;
+
+	if (node == NULL) {
+		printf("Get no device!\n");
+		return;
+	}
+
+	CheckDeviceStatus();
+	while (node) {
+		printf("\n%d: devName=%s\n", ++num, node->device.devName);
+		printf("\tdevId=%s\n", node->device.devId);
+		printf("\tstatus=%s\n", g_deviceStatus[node->status]);
+		node = node->next;
+	}
+
+	printf("Input num to auth:");
+	scanf_s("%d", &input);
+	if (input <= 0 || input >num) {
+		printf("error input num\n");
+		return;
+	}
+
+	node = GetDeviceInfo(input);
+	if (node == NULL) {
+		printf("GetDeviceInfo fail\n");
+		return;
+	}
+
+	if (node->status == DEVICE_DISCOVERY) {
+		node->requestId = g_requestId;
+		node->status = DEVICE_JOINING;
+		int ret = HichainGmAddMemberToGroup(&node->device, g_groupId);
+		if (ret) {
+			printf("HichainGmAddMemberToGroup fail:%d\n", ret);
+			node->requestId = ERR_RET;
+			node->status = DEVICE_DISCOVERY;
+			return;
+		}
+	}
+}
+
+static void PublishSuccess(int publishId)
+{
+	printf("<PublishSuccess>CB: publish %d done\n", publishId);
+}
+
+static void PublishFailed(int publishId, PublishFailReason reason)
+{
+	printf("<PublishFailed>CB: publish %d failed, reason=%d\n", publishId, (int)reason);
+}
+
+static int PublishServiceInterface(void)
+{
+	PublishInfo info = {
+		.publishId = PUBLISH_ID,
+		.mode = DISCOVER_MODE_PASSIVE,
+		.medium = COAP,
+		.freq = LOW,
+		.capability = DEFAULT_CAPABILITY,
+		.capabilityData = NULL,
+		.dataLen = 0,
+	};  
+	IPublishCallback cb = { 
+		.OnPublishSuccess = PublishSuccess,
+		.OnPublishFail = PublishFailed,
+	};
+	return PublishService(APP_ID, &info, &cb);
+}
+
+static void DeviceFound(const DeviceInfo *device)
+{
+	printf("<DeviceFound>CB: devName=%s", device->devName);
+
+	if (CheckDeviceExist(device)) {
+		printf("device:%s udid:%s is already in List\n", device->devName, device->devId);
+		return;
+	}
+	SaveDeviceInfo(device);
+}
+
+static void DiscoverySuccess(int subscribeId)
+{
+	printf("<DiscoverySuccess>CB: discover subscribeId=%d\n", subscribeId);
+}
+
+static void DiscoveryFailed(int subscribeId, DiscoveryFailReason reason)
+{
+	printf("<DiscoveryFailed>CB: discover subscribeId=%d fail, reason=%d\n", subscribeId, (int)reason);
+}
+
+static int DiscoveryInterface()
+{
+	SubscribeInfo info = {
+		.subscribeId = PUBLISH_ID,
+		.mode = DISCOVER_MODE_ACTIVE,
+		.medium = COAP,
+		.freq = LOW,
+		.isSameAccount = false,
+		.isWakeRemote = false,
+		.capability = DEFAULT_CAPABILITY,
+		.capabilityData = NULL,
+		.dataLen = 0,
+	};
+	IDiscoveryCallback cb = {
+		.OnDeviceFound = DeviceFound,
+		.OnDiscoverFailed = DiscoveryFailed,
+		.OnDiscoverySuccess = DiscoverySuccess,
+	};
+	return StartDiscovery(APP_ID, &info, &cb);
+}
+
+int main()
+{
+	int ret;
+	bool loop = true;
+
+	ret = GetDevUdid(g_udid, MAX_UDID_LEN);
+	if (ret) {
+		printf("GetDevUdid fail:%d\n", ret);
+		return ret;
+	}
+
+	ret = HichainInit();
+	if (ret) {
+		printf("HichainInit fail\n");
+		return ret;
+	}
+
+	ret = PublishServiceInterface();
+	if (ret) {
+		printf("PublishService fail, ret=%d\n", ret);
+		goto err_PublishServiceInterface;
+	}
+
+	ret = DiscoveryInterface();
+	if (ret != 0) {
+		printf("DiscoveryInterface fail\n");
+		goto err_DiscoveryInterface;
+	}
+
+	while (loop) {
+		printf("\nInput l to list device; Input s to stop:");
+		while (true) {
+			char c = getchar();
+			if (c == 'l') {
+				ListDevice();
+				continue;
+			} else if (c == 's') {
+				loop = false;
+				break;
+			} else if (c == '\n') {
+				break;
+			} else {
+				continue;
+			}
+		}
+	}
+
+	StopDiscovery(APP_ID, PUBLISH_ID);
+	FreeDeviceInfo();
+err_DiscoveryInterface:
+	UnPublishService(APP_ID, PUBLISH_ID);
+err_PublishServiceInterface:
+	HichainGmUnRegCallback();
+	return ret;
+
+}
diff --git a/UAV_softbus_client/hichain/hichain_main_OH b/UAV_softbus_client/hichain/hichain_main_OH
new file mode 100644
index 0000000000000000000000000000000000000000..8121cb8880ece46a843d937348b2925d6a64ae29
Binary files /dev/null and b/UAV_softbus_client/hichain/hichain_main_OH differ
diff --git a/UAV_softbus_client/softbus_sample/build.sh b/UAV_softbus_client/softbus_sample/build.sh
new file mode 100644
index 0000000000000000000000000000000000000000..9a992a9f39a7ecb1997d8005aa75a332da37c7db
--- /dev/null
+++ b/UAV_softbus_client/softbus_sample/build.sh
@@ -0,0 +1,4 @@
+#! /bin/bash
+mkdir out
+#  编译softbus_client
+g++ --std=c++17 -I./include -I/usr/local/include/mavsdk/ -lsoftbus_client.z -lboundscheck -lmavsdk softbus_client_main.cpp vehicle.cpp -o out/softbus_client
\ No newline at end of file
diff --git a/UAV_softbus_client/softbus_sample/include/discovery_service.h b/UAV_softbus_client/softbus_sample/include/discovery_service.h
new file mode 100644
index 0000000000000000000000000000000000000000..6df0583f8524eb09008c94e60af16c7ad4dd4c23
--- /dev/null
+++ b/UAV_softbus_client/softbus_sample/include/discovery_service.h
@@ -0,0 +1,150 @@
+/*
+ * Copyright (c) 2021 Huawei Device Co., Ltd.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef DISCOVERY_SERVICE_H
+#define DISCOVERY_SERVICE_H
+
+#include "softbus_common.h"
+
+#ifdef __cplusplus
+#if __cplusplus
+extern "C" {
+#endif
+#endif
+
+/**
+ * @brief Indicates the maximum length of the device address in <b>IDiscoveryCallback</b>.
+ *
+ */
+#define CONNECT_ADDR_LEN 46
+
+/**
+ * @brief Enumerates error codes for service publishing failures.
+ *
+ * The error codes are returned to the caller through <b>IPublishCallback</b>.
+ *
+ */
+typedef enum {
+    /* Unsupported medium */
+    PUBLISH_FAIL_REASON_NOT_SUPPORT_MEDIUM = 1,
+    /* internal error */
+    PUBLISH_FAIL_REASON_INTERNAL = 2,
+    /* Unknown reason */
+    PUBLISH_FAIL_REASON_UNKNOWN = 0xFF
+} PublishFailReason;
+
+/**
+ * @brief Defines the callbacks for successful and failed service publishing.
+ *
+ */
+typedef struct {
+    /** Callback for successful publishing */
+    void (*OnPublishSuccess)(int publishId);
+    /** Callback for failed publishing */
+    void (*OnPublishFail)(int publishId, PublishFailReason reason);
+} IPublishCallback;
+
+/**
+ * @brief Enumerates error codes for service subscription failures.
+ *
+ * The error codes are returned to the caller through <b>IDiscoveryCallback</b>.
+ *
+ */
+typedef enum {
+    /* Unsupported medium */
+    DISCOVERY_FAIL_REASON_NOT_SUPPORT_MEDIUM = 1,
+    /* internal error */
+    DISCOVERY_FAIL_REASON_INTERNAL = 2,
+    /* Unknown error */
+    DISCOVERY_FAIL_REASON_UNKNOWN = 0xFF
+} DiscoveryFailReason;
+
+/**
+ * @brief Defines a callback for service subscription.
+ *
+ * Three types of callbacks are available.
+ *
+ */
+typedef struct {
+    /** Callback that is invoked when a device is found */
+    void (*OnDeviceFound)(const DeviceInfo *device);
+    /** Callback for a subscription failure */
+    void (*OnDiscoverFailed)(int subscribeId, DiscoveryFailReason failReason);
+    /** Callback for a subscription success */
+    void (*OnDiscoverySuccess)(int subscribeId);
+} IDiscoveryCallback;
+
+/**
+ * @brief Publishes a specified service.
+ *
+ * Peer devices in the same LAN as the device that publishes this service can discover this service as needed.
+ * The service is identified by <b>publicId</b> and <b>pkgName</b>.
+ *
+ * @param pkgName Indicates the pointer to the service package name, which can contain a maximum of 64 bytes.
+ * @param info Indicates the pointer to the service publishing information. For details, see {@link PublishInfo}.
+ * @param cb Indicates the pointer to the service publishing callback {@link IPublishCallback}.
+ * @return Returns <b>SOFTBUS_INVALID_PARAM</b> if any parameter is null or invalid.
+ * @return Returns <b>SOFTBUS_DISCOVER_NOT_INIT</b> if the Intelligent Soft Bus client fails to be initialized.
+ * @return Returns <b>SOFTBUS_LOCK_ERR</b> if the mutex fails to be locked.
+ * @return Returns <b>SOFTBUS_OK</b> if the service is successfully published.
+ */
+int PublishService(const char *pkgName, const PublishInfo *info, const IPublishCallback *cb);
+
+/**
+ * @brief Unpublishes a specified service.
+ *
+ * @param pkgName Indicates the pointer to the service package name, which can contain a maximum of 64 bytes.
+ * @param publishId Indicates the service ID.
+ * @return Returns <b>SOFTBUS_INVALID_PARAM</b> if <b>pkgName</b> is invalid.
+ * @return Returns <b>SOFTBUS_DISCOVER_NOT_INIT</b> if the Intelligent Soft Bus client fails to be initialized.
+ * @return Returns <b>SOFTBUS_OK</b> if the service is successfully unpublished.
+ */
+int UnPublishService(const char *pkgName, int publishId);
+
+/**
+ * @brief Subscribes to a specified service.
+ *
+ * Information about the device that publishes the service will be reported to the device that subscribes to
+ * the service.
+ * The service is identified by <b>subscribeId</b> and <b>pkgName</b>.
+ *
+ * @param pkgName Indicates the pointer to the service package name, which can contain a maximum of 64 bytes.
+ * @param info Indicates the pointer to the service subscription information. For details, see {@link SubscribeInfo}.
+ * @param cb Indicates the service subscription callback {@link IDiscoveryCallback}.
+ * @return Returns <b>SOFTBUS_INVALID_PARAM</b> if any parameter is null or invalid.
+ * @return Returns <b>SOFTBUS_DISCOVER_NOT_INIT</b> if the Intelligent Soft Bus client fails to be initialized.
+ * @return Returns <b>SOFTBUS_LOCK_ERR</b> if the mutex fails to be locked.
+ * @return Returns <b>SOFTBUS_OK</b> if the service subscription is successful.
+ */
+int StartDiscovery(const char *pkgName, const SubscribeInfo *info, const IDiscoveryCallback *cb);
+
+/**
+ * @brief Unsubscribes from a specified service.
+ *
+ * @param pkgName Indicates the pointer to the service package name, which can contain a maximum of 64 bytes.
+ * @param subscribeId Indicates the service ID.
+ * @return Returns <b>SOFTBUS_INVALID_PARAM</b> if <b>pkgName</b> is invalid.
+ * @return Returns <b>SOFTBUS_DISCOVER_NOT_INIT</b> if the Intelligent Soft Bus client fails to be initialized.
+ * @return Returns <b>SOFTBUS_OK</b> if the service unsubscription is successful.
+ */
+int StopDiscovery(const char *pkgName, int subscribeId);
+
+#ifdef __cplusplus
+#if __cplusplus
+}
+#endif /* __cplusplus */
+#endif /* __cplusplus */
+
+#endif /* DISCOVERY_SERVICE_H */
diff --git a/UAV_softbus_client/softbus_sample/include/session.h b/UAV_softbus_client/softbus_sample/include/session.h
new file mode 100644
index 0000000000000000000000000000000000000000..a590c04645cd5d35810b9ea817a6ef2165a7aa6c
--- /dev/null
+++ b/UAV_softbus_client/softbus_sample/include/session.h
@@ -0,0 +1,434 @@
+/*
+ * Copyright (c) 2021 Huawei Device Co., Ltd.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup Softbus
+ * @{
+ *
+ * @brief Provides high-speed, secure communication between devices.
+ *
+ * This module implements unified distributed communication capability management between
+ * nearby devices, and provides link-independent device discovery and transmission interfaces
+ * to support service publishing and data transmission.
+ *
+ * @since 1.0
+ * @version 1.0
+*/
+
+/**
+ * @file session.h
+ *
+ * @brief Declares unified data transmission interfaces.
+ *
+ * This file provides data transmission capabilities, including creating and removing a session server,
+ * opening and closing sessions, receiving data, and querying basic session information. \n
+ * After multiple nearby devices are discovered and networked, these interfaces can be used to
+ * transmit data across devices. \n
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#ifndef SESSION_H
+#define SESSION_H
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+/**
+ * @brief business type of session
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef enum {
+    TYPE_MESSAGE = 1,
+    TYPE_BYTES,
+    TYPE_FILE,
+    TYPE_STREAM,
+    TYPE_BUTT,
+} SessionType;
+
+typedef enum  {
+    INVALID = -1,
+    /*
+     * Send any segment of a frame each time.
+     */
+    RAW_STREAM,
+    /*
+     * Send a whole video frame each time.
+     */
+    COMMON_VIDEO_STREAM,
+    /*
+     * Send a whole audio frame each time.
+     */
+    COMMON_AUDIO_STREAM,
+    /*
+     * Slice frame mode.
+     */
+    VIDEO_SLICE_STREAM,
+} StreamType;
+
+typedef enum  {
+    LINK_TYPE_WIFI_WLAN_5G = 1,
+    LINK_TYPE_WIFI_WLAN_2G = 2,
+    LINK_TYPE_WIFI_P2P = 3,
+    LINK_TYPE_BR = 4,
+    LINK_TYPE_MAX = 4,
+} LinkType;
+
+/**
+ * @brief session attribute.
+ *
+ * control the attribute of session.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef struct {
+    /** @brief dataType{@link SessionType} */
+    int dataType;
+    int linkTypeNum;
+    LinkType linkType[LINK_TYPE_MAX];
+    union {
+        struct StreamAttr {
+            int streamType;
+        } streamAttr;
+    } attr;
+} SessionAttribute;
+
+typedef struct {
+    char *buf;
+    int bufLen;
+} StreamData;
+
+typedef struct {
+    int type;
+    int64_t value;
+} TV;
+
+typedef struct {
+    int frameType;
+    int64_t timeStamp;
+    int seqNum;
+    int seqSubNum;
+    int level;
+    int bitMap;
+    int tvCount;
+    TV *tvList;
+} StreamFrameInfo;
+
+typedef enum {
+    QOS_IMPROVE = 0,
+    QOS_RECOVER = 1
+} QosQuality;
+
+typedef enum {
+    TRANS_STREAM_QUALITY_EVENT = 1,
+    TRANS_CHANNEL_QUALITY_EVENT,
+    TRANS_CAN_DELAY_EVENT,
+    TRANS_CANT_DELAY_EVENT,
+    QOS_EVENT_MAX
+} QosEvent;
+
+typedef enum {
+    WIFI_CHANNEL_QUALITY = 1,
+    FRAME_REALTIME_STATUS = 2,
+    BANDWIDTH_ESTIMATE_VALUE = 3,
+    JITTER_DETECTION_VALUE = 4,
+    STREAM_TRAFFIC_STASTICS = 5,
+} TransEnumEventType;
+
+typedef struct {
+    int32_t channel;
+    int32_t score;
+} WifiChannelQuality;
+
+typedef struct {
+    int32_t streamId;
+    int32_t seqNum;
+    int32_t level;
+    int32_t transStatus;
+    int32_t interval;
+} FrameStatus;
+
+typedef struct {
+    uint32_t trend;
+    uint32_t rate;  /* kbps */
+} BandwidthDetection;
+
+typedef struct {
+    int32_t jitterLevel;
+    uint32_t bufferTime;  /* ms */
+} JitterEstimation;
+
+typedef struct {
+    uint64_t statisticsGotTime; /* time point that stream traficc statistics are obtained (ms) */
+    uint64_t periodRecvBits;
+    uint32_t pktNum;
+    uint32_t periodRecvPkts;
+    uint32_t periodRecvPktLoss;
+    uint32_t periodRecvRate; /* kbps */
+    uint64_t periodRecvRateBps; /* bps */
+    uint32_t periodRtt; /* ms */
+    uint32_t periodRecvPktLossHighPrecision; /* for example when lost rate is 1.10%, then 110 will returned */
+    uint32_t periodSendLostPkts;
+    uint32_t periodSendPkts;
+    uint32_t periodSendPktLossHighPrecision; /* for example when lost rate is 1.10%, then 110 will returned */
+    uint64_t periodSendBits;
+    uint64_t periodSendRateBps; /* bps */
+} StreamStatistics;
+
+typedef struct {
+    TransEnumEventType type;
+    union {
+        WifiChannelQuality wifiChannelInfo;
+        FrameStatus frameStatusInfo;
+        BandwidthDetection bandwidthInfo;
+        JitterEstimation jitterInfo;
+        StreamStatistics appStatistics;
+    } info;
+} QosTv;
+
+/**
+ * @brief Defines session callbacks.
+ *
+ * When a session is opened or closed, or there is data to process, the related callback is invoked.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef struct {
+    /**
+     * @brief Called when a session is opened.
+     *
+     * This function can be used to verify the session or initialize resources related to the session.
+     *
+     * @param sessionId Indicates the session ID.
+     * @param result 0 if the session is opened successfully, returns an error code otherwise.
+     * @return Returns <b>0</b> if the session connection is accepted; returns a non-zero value
+     * otherwise (you do not need to call {@link CloseSession} to close the session).
+     * @since 1.0
+     * @version 1.0
+     */
+    int (*OnSessionOpened)(int sessionId, int result);
+
+    /**
+     * @brief Called when a session is closed.
+     *
+     * This function can be used to release resources related to the session.
+     * You do not need to call {@link CloseSession}.
+     *
+     * @param sessionId Indicates the session ID.
+     * @since 1.0
+     * @version 1.0
+     */
+    void (*OnSessionClosed)(int sessionId);
+
+    /**
+     * @brief Called when data is received.
+     *
+     * This function is used to notify that data is received.
+     *
+     * @param sessionId Indicates the session ID.
+     * @param data Indicates the pointer to the data received.
+     * @param dataLen Indicates the length of the data received.
+     * @since 1.0
+     * @version 1.0
+     */
+    void (*OnBytesReceived)(int sessionId, const void *data, unsigned int dataLen);
+
+    /**
+     * @brief Called when message is received.
+     *
+     * This function is used to notify that message is received.
+     *
+     * @param sessionId Indicates the session ID.
+     * @param data Indicates the pointer to the message data received.
+     * @param dataLen Indicates the length of the message received.
+     * @since 1.0
+     * @version 1.0
+     */
+    void (*OnMessageReceived)(int sessionId, const void *data, unsigned int dataLen);
+
+    void (*OnStreamReceived)(int sessionId, const StreamData *data, const StreamData *ext,
+        const StreamFrameInfo *param);
+
+    /**
+     * @brief Called when QoS information is retrieved.
+     *
+     * This function is used to notify that QoS information is retrieved.
+     *
+     * @param sessionId Indicates the session ID.
+     * @param eventId Indicates the type of QoS information, e.g., channel quality and stream quality
+     * @param tvCount Indicates the number of structure returned in the fourth parameters, i.e., tvList.
+     * @param tvList Indicates the detailed information of data transmission.
+     * @since 1.0
+     * @version 1.0
+     */
+    void (*OnQosEvent)(int sessionId, int eventId, int tvCount, const QosTv *tvList);
+} ISessionListener;
+
+typedef struct {
+    int (*OnReceiveFileStarted)(int sessionId, const char *files, int fileCnt);
+    int (*OnReceiveFileProcess)(int sessionId, const char *firstFile, uint64_t bytesUpload, uint64_t bytesTotal);
+    void (*OnReceiveFileFinished)(int sessionId, const char *files, int fileCnt);
+    void (*OnFileTransError)(int sessionId);
+} IFileReceiveListener;
+
+typedef struct {
+    int (*OnSendFileProcess)(int sessionId, uint64_t bytesUpload, uint64_t bytesTotal);
+    int (*OnSendFileFinished)(int sessionId, const char *firstFile);
+    void (*OnFileTransError)(int sessionId);
+} IFileSendListener;
+
+/**
+ * @brief Creates a session server based on a package name and session name.
+ *
+ * A maximum of 18 session servers can be created.
+ *
+ * @param pkgName Indicates the pointer to the package name, which can be used to check whether the
+ * session server is in this package. The value cannot be empty and can contain a maximum of 64 characters.
+ * @param sessionName Indicates the pointer to the session name, which is the unique ID of the session server.
+ * The value cannot be empty and can contain a maximum of 64 characters.
+ * @param listener Indicates the pointer to the session callback structure, which cannot be empty.
+ * @return Returns <b>0</b> if the operation is successful; returns <b>-1</b> otherwise.
+ * @see RemoveSessionServer
+ * @since 1.0
+ * @version 1.0
+ */
+int CreateSessionServer(const char *pkgName, const char *sessionName, const ISessionListener *listener);
+
+/**
+ * @brief Removes a session server based on a package name and session name.
+ *
+ * @param pkgName Indicates the pointer to the name of the registered package, which can be used to check
+ * whether the session server is in this package. The value cannot be empty and can contain a maximum of 64 characters.
+ * @param sessionName Indicates the pointer to the session name. The value cannot be empty and can contain
+ * a maximum of 64 characters.
+ * @return Returns <b>0</b> if the operation is successful, returns <b>-1</b> otherwise.
+ * @see CreateSessionServer
+ * @since 1.0
+ * @version 1.0
+ */
+int RemoveSessionServer(const char *pkgName, const char *sessionName);
+
+/**
+ * @brief Initiate a session open request, which is an asynchronous process.
+ *
+ * The session connection is opened based on the service name to trigger the first packet interaction process.
+ * According to the {@link OnSessionOpened} Notify the user whether the session is successfully opened.
+ * Data can be transmitted only after the session is successfully opened.
+ *
+ * @param mySessionName local session name.
+ * @param peerSessionName remote session name.
+ * @param peerDeviceId remote device id.
+ * @param groupId group id.
+ * @param attr session attribute {@link SessionAttribute}.
+ * @return return sessionId if the session is opened successfully, returns an error code otherwise.
+ * @since 1.0
+ * @version 1.0
+ */
+int OpenSession(const char *mySessionName, const char *peerSessionName, const char *peerDeviceId,
+    const char *groupId, const SessionAttribute* attr);
+
+/**
+ * @brief Closes a connected session based on a session ID.
+ *
+ * @param sessionId Indicates the session ID.
+ * @return no return value.
+ * @since 1.0
+ * @version 1.0
+ */
+void CloseSession(int sessionId);
+
+/**
+ * @brief Sends data based on a session ID.
+ *
+ * @param sessionId Indicates the session ID.
+ * @param data Indicates the pointer to the data to send, which cannot be <b>NULL</b>.
+ * @param len Indicates the length of the data to send. The maximum length cannot exceed 984 characters.
+ * @return Returns <b>0</b> if the function is called successfully; returns <b>-1</b> otherwise.
+ * @since 1.0
+ * @version 1.0
+ */
+int SendBytes(int sessionId, const void *data, unsigned int len);
+
+/**
+ * @brief Sends message based on a session ID.
+ *
+ * @param sessionId Indicates the session ID.
+ * @param data Indicates the pointer to the message data to send, which cannot be <b>NULL</b>.
+ * @param len Indicates the length of the message to send.
+ * @return Returns <b>0</b> if the function is called successfully, returns an error code otherwise.
+ * @since 1.0
+ * @version 1.0
+ */
+int SendMessage(int sessionId, const void *data, unsigned int len);
+
+int SendStream(int sessionId, const StreamData *data, const StreamData *ext, const StreamFrameInfo *param);
+
+/**
+ * @brief Obtains the session name registered by the local device based on the session ID.
+ *
+ * @param sessionId Indicates the session ID.
+ * @param sessionName Indicates the pointer to the buffer for storing the session name.
+ * @param len Indicates the length of the buffer.
+ * @return Returns <b>0</b> if the operation is successful; returns <b>-1</b> otherwise.
+ * @since 1.0
+ * @version 1.0
+ */
+int GetMySessionName(int sessionId, char *sessionName, unsigned int len);
+
+/**
+ * @brief Obtains the session name registered by the peer device based on the session ID.
+ *
+ * @param sessionId Indicates the session ID.
+ * @param sessionName Indicates the pointer to the buffer for storing the session name.
+ * @param len Indicates the length of the buffer.
+ * @return Returns <b>0</b> if the operation is successful; returns <b>-1</b> otherwise.
+ * @since 1.0
+ * @version 1.0
+ */
+int GetPeerSessionName(int sessionId, char *sessionName, unsigned int len);
+
+/**
+ * @brief Obtains the peer device ID based on a session ID.
+ *
+ * @param sessionId Indicates the session ID.
+ * @param devId Indicates the pointer to the buffer for storing the device ID.
+ * @param len Indicates the length of the buffer.
+ * @return Returns <b>0</b> if the operation is successful; returns <b>-1</b> otherwise.
+ * @since 1.0
+ * @version 1.0
+ */
+int GetPeerDeviceId(int sessionId, char *devId, unsigned int len);
+
+int GetSessionSide(int sessionId);
+
+int SetFileReceiveListener(const char *pkgName, const char *sessionName,
+    const IFileReceiveListener *recvListener, const char *rootDir);
+
+int SetFileSendListener(const char *pkgName, const char *sessionName, const IFileSendListener *sendListener);
+
+int SendFile(int sessionId, const char *sFileList[], const char *dFileList[], uint32_t fileCnt);
+
+int32_t QosReport(int32_t sessionId, int32_t appType, int32_t quality);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // SESSION_H
diff --git a/UAV_softbus_client/softbus_sample/include/softbus_bus_center.h b/UAV_softbus_client/softbus_sample/include/softbus_bus_center.h
new file mode 100644
index 0000000000000000000000000000000000000000..f26b925baacb1eb7dce57807a273835aae14f92b
--- /dev/null
+++ b/UAV_softbus_client/softbus_sample/include/softbus_bus_center.h
@@ -0,0 +1,649 @@
+/*
+ * Copyright (c) 2021 Huawei Device Co., Ltd.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup Softbus
+ * @{
+ *
+ * @brief Provides high-speed, secure communication between devices.
+ *
+ * This module implements unified distributed communication capability management between nearby devices, and provides
+ * link-independent device discovery and transmission interfaces to support service publishing and data transmission.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+
+/**
+ * @file softbus_bus_center.h
+ *
+ * @brief Declares functions and constants for the bus center of the Intelligent Soft Bus.
+ *
+ * The functions are used to perform
+ * the following operations: \n
+ * <ul>
+ * <li>Adding a device to and removing a device from a LNN</li>
+ * <li>Listening for device online, offline, and information change events</li>
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+
+#ifndef SOFTBUS_BUS_CENTER_H
+#define SOFTBUS_BUS_CENTER_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "softbus_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Indicates the length of a device name buffer, including the terminating null character <b>\0</b>.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#define DEVICE_NAME_BUF_LEN 128
+
+/**
+ * @brief Indicates the mask bit for a device online event.
+ * If you want to receive such events, set the mask bit in {@link INodeStateCb.events}.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#define EVENT_NODE_STATE_ONLINE 0x1
+
+/**
+ * @brief Indicates the mask bit for a device offline event.
+ * If you want to receive such events, set the mask bit in {@link INodeStateCb.events}.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#define EVENT_NODE_STATE_OFFLINE 0x02
+
+/**
+ * @brief Indicates the mask bit for a peer device information change event.
+ * If you want to receive such events, set the mask bit in {@link INodeStateCb.events}.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#define EVENT_NODE_STATE_INFO_CHANGED 0x04
+
+/**
+ * @brief Indicates mask bits for {@link INodeStateCb.events}.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#define EVENT_NODE_STATE_MASK 0x07
+
+/**
+ * @brief The maximum length of meta node bypass info {@link MetaNodeConfigInfo.bypassInfo}.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#define META_NODE_BYPASS_INFO_LEN 64
+
+/**
+ * @brief The maximum of meta node {@link MetaNodeConfigInfo.bypassInfo}.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#define MAX_META_NODE_NUM 3
+
+/**
+ * @brief Enumerates keys for an online device.
+ * The key can be obtained via {@link GetNodeKeyInfo}.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef enum {
+    NODE_KEY_UDID = 0,  /**< UDID in string format*/
+    NODE_KEY_UUID,      /**< UUID in string format */
+} NodeDeviceInfoKey;
+
+/**
+ * @brief Enumerates accuracy for time synchronize among device.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef enum {
+    LOW_ACCURACY = 10,
+    NORMAL_ACCURACY,
+    HIGH_ACCURACY,
+    SUPER_HIGH_ACCURACY,
+    UNAVAIL_ACCURACY = 0xFFFF,
+} TimeSyncAccuracy;
+
+/**
+ * @brief Enumerates time synchronize period among device.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef enum {
+    SHORT_PERIOD = 0,
+    NORMAL_PERIOD,
+    LONG_PERIOD,
+} TimeSyncPeriod;
+
+/**
+ * @brief Enumerates time synchronize flag.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef enum {
+    NODE_SPECIFIC = 0,
+    ALL_LNN,
+    WRITE_RTC,
+} TimeSyncFlag;
+
+/**
+ * @brief Defines the basic information about a device.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef struct {
+    char networkId[NETWORK_ID_BUF_LEN];    /**< Device ID */
+    char deviceName[DEVICE_NAME_BUF_LEN];  /**< Device name */
+    uint16_t deviceTypeId;
+} NodeBasicInfo;
+
+/**
+ * @brief Enumerates device information change types. For details, see {@link INodeStateCb.onNodeBasicInfoChanged}.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef enum {
+    TYPE_NETWORK_ID = 0,  /**< Network ID change */
+    TYPE_DEVICE_NAME,     /**< Device name change */
+} NodeBasicInfoType;
+
+/**
+ * @brief time synchronize result.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef struct {
+    int32_t millisecond;
+    int32_t microsecond;
+    TimeSyncAccuracy accuracy;
+} TimeSyncResult;
+
+/**
+ * @brief time synchronize result info.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef struct {
+    TimeSyncResult result;
+    TimeSyncFlag flag;
+    union {
+        char targetNetworkId[NETWORK_ID_BUF_LEN];
+        char masterNetworkId[NETWORK_ID_BUF_LEN];
+    } target;
+} TimeSyncResultInfo;
+
+/**
+ * @brief Enumerates error codes for service publishing failures.
+ *
+ * The error codes are returned to the caller through <b>IPublishCallback</b>.
+ *
+ */
+typedef enum {
+    /* publish success */
+    PUBLISH_LNN_SUCCESS = 0,
+    /* Unsupported medium */
+    PUBLISH_LNN_NOT_SUPPORT_MEDIUM = 1,
+    /* internal error */
+    PUBLISH_LNN_INTERNAL = 2,
+    /* Unknown reason */
+    PUBLISH_LNN_UNKNOWN = 0xFF
+} PublishResult;
+
+/**
+ * @brief Enumerates error codes for service subscription failures.
+ *
+ * The error codes are returned to the caller through <b>IDiscoveryCallback</b>.
+ *
+ */
+typedef enum {
+    /* refresh success */
+    REFRESH_LNN_SUCCESS = 0,
+    /* Unsupported medium */
+    REFRESH_LNN_NOT_SUPPORT_MEDIUM = 1,
+    /* internal error */
+    REFRESH_LNN_INTERNAL = 2,
+    /* Unknown error */
+    REFRESH_LNN_UNKNOWN = 0xFF
+} RefreshResult;
+
+/**
+ * @brief Defines the callbacks for successful and failed service publishing.
+ *
+ */
+typedef struct {
+    /** Callback for publish result */
+    void (*OnPublishResult)(int publishId, PublishResult reason);
+} IPublishCb;
+
+/**
+ * @brief Defines a callback for service subscription.
+ *
+ * Three types of callbacks are available.
+ *
+ */
+typedef struct {
+    /** Callback that is invoked when a device is found */
+    void (*OnDeviceFound)(const DeviceInfo *device);
+    /** Callback for a subscription result */
+    void (*OnDiscoverResult)(int32_t refreshId, RefreshResult reason);
+} IRefreshCallback;
+
+/**
+ * @brief Defines a callback that is invoked when the device state or information changes.
+ * For details, see {@link RegNodeDeviceStateCb}.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef struct {
+    /**
+     * Mask of an event that is listened for.
+     * The event can be received only if the corresponding mask bit is set and the callback is specified.
+     */
+    uint32_t events;
+    /**
+     * @brief Called when a specified device gets online.
+     *
+     * @param info Indicates the pointer to the basic information about the device.
+     * For details, see {@link NodeBasicInfo}.
+     *
+     * @since 1.0
+     * @version 1.0
+     */
+    void (*onNodeOnline)(NodeBasicInfo *info);
+    /**
+     * @brief Called when a specified device gets offline.
+     *
+     * @param info Indicates the pointer to the basic information about the device.
+     * For details, see {@link NodeBasicInfo}.
+     *
+     * @since 1.0
+     * @version 1.0
+     */
+    void (*onNodeOffline)(NodeBasicInfo *info);
+    /**
+     * @brief Called when the basic information of a device changes.
+     *
+     * @param type Indicates the device type. For details, see {@link NodeBasicInfoType}.
+     * @param info Indicates the pointer to the new basic information of the device.
+     * For details, see {@link NodeBasicInfo}.
+     *
+     * @since 1.0
+     * @version 1.0
+     */
+    void (*onNodeBasicInfoChanged)(NodeBasicInfoType type, NodeBasicInfo *info);
+} INodeStateCb;
+
+/**
+ * @brief Defines a callback that is invoked when the time synchronize has result.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef struct {
+    /**
+     * @brief Called when the time synchronize has result.
+     *
+     * @param info Contains the time synchronize result info, see {@link TimeSyncResultInfo}.
+     * @param retCode Indicates the result code. Value <b>0</b> indicates that the time synchronize is successful and
+     * result is valid, and any other value indicates the opposite.
+     *
+     * @since 1.0
+     * @version 1.0
+     */
+    void (*onTimeSyncResult)(const TimeSyncResultInfo *info, int32_t retCode);
+} ITimeSyncCb;
+
+/**
+ * @brief Defines a meta node configuration, see {@link ActiveMetaNode}.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef struct {
+    char udid[UDID_BUF_LEN];
+    char deviceName[DEVICE_NAME_BUF_LEN];
+    uint16_t deviceTypeId;
+    uint8_t addrNum;
+    ConnectionAddr addr[CONNECTION_ADDR_MAX];
+    char bypassInfo[META_NODE_BYPASS_INFO_LEN];
+} MetaNodeConfigInfo;
+
+/**
+ * @brief Defines a meta node infomation, see {@link GetAllMetaNodeInfo}.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef struct {
+    char metaNodeId[NETWORK_ID_BUF_LEN];
+    bool isOnline;
+    MetaNodeConfigInfo configInfo;
+} MetaNodeInfo;
+
+/**
+ * @brief Called when a device is added to a LNN via {@link JoinLNN}.
+ *
+ * @param addr Indicates the pointer to the address of the peer device.
+ * @param networkId Indicates the pointer to the network ID of the device if it is successfully added to the LNN.
+ * This parameter makes no sense if the device fails to be added to the LNN.
+ * @param retCode Indicates the result code. Value <b>0</b> indicates that the device is successfully added to the LNN,
+ * and any other value indicates the opposite.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef void (*OnJoinLNNResult)(ConnectionAddr *addr, const char *networkId, int32_t retCode);
+
+/**
+ * @brief Called when a device is removed from a LNN via {@link LeaveLNN}.
+ *
+ * @param networkId Indicates the pointer to the network ID of the device.
+ * @param retCode Indicates the result code. Value <b>0</b> indicates that the device is successfully
+ * removed from the LNN, and any other value indicates the opposite.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef void (*OnLeaveLNNResult)(const char *networkId, int32_t retCode);
+
+/**
+ * @brief Adds the current device to the LNN where a specified device resides.
+ *
+ * @param pkgName Indicates the pointer to the caller ID, for example, the package name.
+ * For the same caller, the value of this parameter must be the same for all functions.
+ * @param target Indicates the pointer to the address of the specified device. For details, see {@link ConnectionAddr}.
+ * @param cb Indicates the callback for the result. If you set this parameter to NULL, you will not receive the result.
+ *
+ * @return Returns <b>0</b> if the request to add the device is accepted, and the result can be obtained from the
+ * callback; returns any other value if the device fails to be added to the network, in which case you will not receive
+ * the result.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+int32_t JoinLNN(const char *pkgName, ConnectionAddr *target, OnJoinLNNResult cb);
+
+/**
+ * @brief Removes the current device from the LNN.
+ *
+ * @param networkId Indicates the pointer to the network ID that is returned
+ * after the device is added to the LNN via {@link JoinLNN}.
+ * @param cb Indicates the callback for the result. If you set this parameter to <b>NULL</b>,
+ * you will not receive the result.
+ *
+ * @return Returns <b>0</b> if the request to remove the device is accepted, and the result can be obtained from the
+ * callback; returns any other value if the device fails to be removed from the network, in which case you will not
+ * receive the result.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+int32_t LeaveLNN(const char *pkgName, const char *networkId, OnLeaveLNNResult cb);
+
+/**
+ * @brief Registers a callback for device state changes.
+ *
+ * @param pkgName Indicates the pointer to the caller ID, for example, the package name.
+ * For the same caller, the value of this parameter must be the same for all functions.
+ * @param callback Indicates the pointer to the callback to register. For details, see {@link INodeStateCb}.
+ *
+ * @return Returns <b>0</b> if the registration is successful; returns any other value otherwise.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+int32_t RegNodeDeviceStateCb(const char *pkgName, INodeStateCb *callback);
+
+/**
+ * @brief Unregisters a callback for device state changes.
+ *
+ * @param callback Indicates the pointer to the callback to unregister. For details, see {@link INodeStateCb}.
+ *
+ * @return Returns <b>0</b> if the unregistration is successful; returns any other value otherwise.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+int32_t UnregNodeDeviceStateCb(INodeStateCb *callback);
+
+/**
+ * @brief Obtains basic information about all the online devices.
+ *
+ * @param pkgName Indicates the pointer to the caller ID, for example, the package name.
+ * For the same caller, the value of this parameter must be the same for all functions.
+ * @param info Indicates the double pointer to the memory that stores the obtained basic information.
+ * @param infoNum Indicates the pointer to the number of devices.
+ *
+ * @return Returns <b>0</b> if the basic information is obtained, in which case <b>info</b> and <b>infoNum</b> are
+ * valid; returns any other value otherwise.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+int32_t GetAllNodeDeviceInfo(const char *pkgName, NodeBasicInfo **info, int32_t *infoNum);
+
+/**
+ * @brief Releases the memory returned by {@link GetAllNodeDeviceInfo}.
+ *
+ * @param info Indicates the pointer to the memory returned by {@link GetAllNodeDeviceInfo}.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+void FreeNodeInfo(NodeBasicInfo *info);
+
+/**
+ * @brief Obtains basic information about the current device.
+ *
+ * @param pkgName Indicates the pointer to the caller ID, for example, the package name.
+ * For the same caller, the value of this parameter must be the same for all functions.
+ * @param info Indicates the double pointer to the memory that stores the obtained basic information.
+ *
+ * @return Returns <b>0</b> if the basic information is obtained, in which case <b>info</b> is valid;
+ * returns any other value otherwise.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+int32_t GetLocalNodeDeviceInfo(const char *pkgName, NodeBasicInfo *info);
+
+/**
+ * @brief Obtains a specified {@link NodeDeviceInfoKey} of an online device.
+ *
+ * @param pkgName Indicates the pointer to the caller ID, for example, the package name.
+ * For the same caller, the value of this parameter must be the same for all functions.
+ * @param networkId Indicates the pointer to the network ID of the device.
+ * @param key Indicates the key to be obtained.
+ * @param info Indicates the pointer to the buffer that stores the obtained key.
+ * @param infoLen Indicates the buffer length.
+ *
+ * @return Returns <b>0</b> if the {@link NodeDeviceInfoKey} is obtained, in which case <b>info</b> is valid;
+ * returns any other value otherwise.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+int32_t GetNodeKeyInfo(const char *pkgName, const char *networkId,
+    NodeDeviceInfoKey key, uint8_t *info, int32_t infoLen);
+
+/**
+ * @brief Start the time synchronize with specific target node.
+ *
+ * @param pkgName Indicates the pointer to the caller ID, for example, the package name.
+ * For the same caller, the value of this parameter must be the same for all functions.
+ * @param targetNetworkId Indicates the pointer to the address of the specified device.
+ * @param accuracy Time synchronize accuracy.
+ * @param period Time synchronize period
+ * @param cb Indicates the callback for the result.
+ *
+ * @return Returns <b>0</b> if the request is accepted, and the result can be obtained from the
+ * callback; returns any other value if the request fails, in which case you will not receive
+ * the result.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+int32_t StartTimeSync(const char *pkgName, const char *targetNetworkId, TimeSyncAccuracy accuracy,
+    TimeSyncPeriod period, ITimeSyncCb *cb);
+
+/**
+ * @brief Stop the time synchronize with specific target node.
+ *
+ * @param pkgName Indicates the pointer to the caller ID, for example, the package name.
+ * For the same caller, the value of this parameter must be the same for all functions.
+ * @param targetNetworkId Indicates the pointer to the address of the specified device.
+ *
+ * @return Returns <b>0</b> if the request is removed; returns any other value if the request fails.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+int32_t StopTimeSync(const char *pkgName, const char *targetNetworkId);
+
+/**
+ * @brief Publishes a specified service.
+ *
+ * Peer devices in the same LAN as the device that publishes this service can discover this service as needed.
+ * The service is identified by <b>publicId</b> and <b>pkgName</b>.
+ *
+ * @param pkgName Indicates the pointer to the service package name, which can contain a maximum of 64 bytes.
+ * @param info Indicates the pointer to the service publishing information. For details, see {@link PublishInfo}.
+ * @param cb Indicates the pointer to the service publishing callback {@link IPublishCallback}.
+ * @return Returns <b>SOFTBUS_INVALID_PARAM</b> if any parameter is null or invalid.
+ * @return Returns <b>SOFTBUS_DISCOVER_NOT_INIT</b> if the Intelligent Soft Bus client fails to be initialized.
+ * @return Returns <b>SOFTBUS_LOCK_ERR</b> if the mutex fails to be locked.
+ * @return Returns <b>SOFTBUS_OK</b> if the service is successfully published.
+ */
+int32_t PublishLNN(const char *pkgName, const PublishInfo *info, const IPublishCb *cb);
+
+/**
+ * @brief stoppublishes a specified service.
+ *
+ * @param pkgName Indicates the pointer to the service package name, which can contain a maximum of 64 bytes.
+ * @param publishId Indicates the service ID.
+ * @return Returns <b>SOFTBUS_INVALID_PARAM</b> if <b>pkgName</b> is invalid.
+ * @return Returns <b>SOFTBUS_DISCOVER_NOT_INIT</b> if the Intelligent Soft Bus client fails to be initialized.
+ * @return Returns <b>SOFTBUS_OK</b> if the service is successfully unpublished.
+ */
+int32_t StopPublishLNN(const char *pkgName, int32_t publishId);
+
+/**
+ * @brief Subscribes to a specified service.
+ *
+ * Information about the device that publishes the service will be reported to the device that subscribes to
+ * the service.
+ * The service is identified by <b>subscribeId</b> and <b>pkgName</b>.
+ *
+ * @param pkgName Indicates the pointer to the service package name, which can contain a maximum of 64 bytes.
+ * @param info Indicates the pointer to the service subscription information. For details, see {@link RefreshInfo}.
+ * @param cb Indicates the service subscription callback {@link IRefreshCallback}.
+ * @return Returns <b>SOFTBUS_INVALID_PARAM</b> if any parameter is null or invalid.
+ * @return Returns <b>SOFTBUS_DISCOVER_NOT_INIT</b> if the Intelligent Soft Bus client fails to be initialized.
+ * @return Returns <b>SOFTBUS_LOCK_ERR</b> if the mutex fails to be locked.
+ * @return Returns <b>SOFTBUS_OK</b> if the service subscription is successful.
+ */
+int32_t RefreshLNN(const char *pkgName, const SubscribeInfo *info, const IRefreshCallback *cb);
+
+/**
+ * @brief Unsubscribes from a specified service.
+ *
+ * @param pkgName Indicates the pointer to the service package name, which can contain a maximum of 64 bytes.
+ * @param refreshId Indicates the service ID.
+ * @return Returns <b>SOFTBUS_INVALID_PARAM</b> if <b>pkgName</b> is invalid.
+ * @return Returns <b>SOFTBUS_DISCOVER_NOT_INIT</b> if the Intelligent Soft Bus client fails to be initialized.
+ * @return Returns <b>SOFTBUS_OK</b> if the service unsubscription is successful.
+ */
+int32_t StopRefreshLNN(const char *pkgName, int32_t refreshId);
+
+/**
+ * @brief Active meta node. The meta node online status will be notified by {@link INodeStateCb}
+ *
+ * @param pkgName Indicates the pointer to the caller ID, for example, the package name.
+ * For the same caller, the value of this parameter must be the same for all functions.
+ * @param info Meta node configuration infomation, see {@link MetaNodeConfigInfo}.
+ * @param metaNodeId Save meta node ID when it is activated successfully, its buffer length must be not
+ * less then NETWORK_ID_BUF_LEN
+ *
+ * @return Returns <b>0</b> if the meta node is activated; returns any other value if the request fails.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+int32_t ActiveMetaNode(const char *pkgName, const MetaNodeConfigInfo *info, char *metaNodeId);
+
+/**
+ * @brief Deactive meta node. The meta node will be removed.
+ *
+ * @param pkgName Indicates the pointer to the caller ID, for example, the package name.
+ * For the same caller, the value of this parameter must be the same for all functions.
+ * @param metaNodeId The meta node ID which deactivated, it's obtained by {@link ActiveMetaNode}.
+ *
+ * @return Returns <b>0</b> if the meta node is deactivated; returns any other value if the request fails.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+int32_t DeactiveMetaNode(const char *pkgName, const char *metaNodeId);
+
+/**
+ * @brief Get all meta node by {@link ActiveMetaNode}.
+ *
+ * @param pkgName Indicates the pointer to the caller ID, for example, the package name.
+ * For the same caller, the value of this parameter must be the same for all functions.
+ * @param infos The buffer for save meta node info.
+ * @param infoNum The infos buffer num which maximum is {@link MAX_META_NODE_NUM}.
+ *
+ * @return Returns <b>0</b> if the call is success; returns any other value if it fails.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+int32_t GetAllMetaNodeInfo(const char *pkgName, MetaNodeInfo *infos, int32_t *infoNum);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+/** @} */
\ No newline at end of file
diff --git a/UAV_softbus_client/softbus_sample/include/softbus_common.h b/UAV_softbus_client/softbus_sample/include/softbus_common.h
new file mode 100644
index 0000000000000000000000000000000000000000..0a00e608a199c56d41fe5f5fd3dc903753a5753f
--- /dev/null
+++ b/UAV_softbus_client/softbus_sample/include/softbus_common.h
@@ -0,0 +1,386 @@
+/*
+ * Copyright (c) 2021 Huawei Device Co., Ltd.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @addtogroup SoftBus
+ * @{
+ *
+ * @brief Provides high-speed, secure communication between devices.
+ *
+ * This module implements unified distributed communication capability management between nearby devices, and provides
+ * link-independent device discovery and transmission interfaces to support service publishing and data transmission.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+
+/**
+ * @file softbus_common.h
+ *
+ * @brief Declares common APIs for the Intelligent Soft Bus.
+ *
+ * This file provides common functions and constants for each submodule of the Intelligent Soft Bus, including: \n
+ *
+ * <ul>
+ * <li>Constants such as the network ID length</li>
+ * <li>Functions such as that for initializing the Intelligent Soft Bus client</li>
+ * </ul>
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+
+#ifndef SOFTBUS_CLIENT_COMMON_H
+#define SOFTBUS_CLIENT_COMMON_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Indicates the length of the Bluetooth device MAC address in string format,
+ * including the terminating null character <b>\0</b>.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#define BT_MAC_LEN 18
+
+/**
+ * @brief Indicates the length of the network ID string, including the terminating null character <b>\0</b>.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#define NETWORK_ID_BUF_LEN 65
+
+/**
+ * @brief Indicates the length of the UDID string, including the terminating null character <b>\0</b>.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#define UDID_BUF_LEN 65
+
+/**
+ * @brief Indicates the length of the UDID hash value.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#define UDID_HASH_LEN 32
+
+/**
+ * @brief Indicates the length of the UUID string, including the terminating null character <b>\0</b>.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#define UUID_BUF_LEN 65
+
+/**
+ * @brief Indicates the maximum length of an IP address in string format,
+ * including the terminating null character <b>\0</b>. IPv6 addresses are supported.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+#define IP_STR_MAX_LEN 46
+
+/**
+ * @brief Indicates the maximum length of the account hash code in <b>IDiscoveryCallback</b>.
+ *
+ */
+#define MAX_ACCOUNT_HASH_LEN 96
+
+/**
+ * @brief Indicates the maximum length of the capability data in <b>PublishInfo</b> and <b>SubscribeInfo</b>.
+ *
+ */
+#define MAX_CAPABILITYDATA_LEN 513
+
+/**
+ * @brief Indicates the maximum length of the custom data in <b>IDiscoveryCallback</b>.
+ *
+ */
+#define DISC_MAX_CUST_DATA_LEN 219
+
+/**
+ * @brief Indicates the maximum number of capabilities contained in the bitmap in <b>IDiscoveryCallback</b>.
+ *
+ */
+#define DISC_MAX_CAPABILITY_NUM 2
+
+/**
+ * @brief Indicates the maximum length of the device name in <b>IDiscoveryCallback</b>.
+ *
+ */
+#define DISC_MAX_DEVICE_NAME_LEN 65
+
+/**
+ * @brief Indicates the maximum length of the device ID in <b>IDiscoveryCallback</b>.
+ *
+ */
+#define DISC_MAX_DEVICE_ID_LEN 96
+
+/**
+ * @brief Enumerates {@link ConnectionAddr} types of a device that is added to a LNN.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef enum {
+    CONNECTION_ADDR_WLAN = 0, /**< WLAN */
+    CONNECTION_ADDR_BR,       /**< BR */
+    CONNECTION_ADDR_BLE,      /**< BLE */
+    CONNECTION_ADDR_ETH,      /**< Ethernet */
+    CONNECTION_ADDR_MAX       /**< Invalid type */
+} ConnectionAddrType;
+/**
+ * @brief Defines the address of a device that is added to a LNN.
+ * For details, see {@link ConnectionAddr}.
+ *
+ * @since 1.0
+ * @version 1.0
+ */
+typedef struct {
+    /**< Address type. This field is used to explain the <b>info</b> field. */
+    ConnectionAddrType type;
+    /**< Connection address information */
+    union {
+        /**< BR address */
+        struct BrAddr {
+            char brMac[BT_MAC_LEN];   /**< BR MAC address in string format */
+        } br;
+        /**< BLE address */
+        struct BleAddr {
+            char bleMac[BT_MAC_LEN];  /**< BLE MAC address in string format */
+            uint8_t udidHash[UDID_HASH_LEN];  /**< udid hash value */
+        } ble;
+        /**< IPv4 or IPv6 address */
+        struct IpAddr {
+            /**
+             * IP address in string format. It can be an IPv4 address written in dotted decimal notation
+             * or an IPv6 address written in hexadecimal colon-separated notation.
+             */
+            char ip[IP_STR_MAX_LEN];
+            uint16_t port;            /**< Port number represented by the host byte order */
+        } ip;
+    } info;
+    char peerUid[MAX_ACCOUNT_HASH_LEN];
+} ConnectionAddr;
+
+/**
+ * @brief Enumerates the modes in which services are published.
+ *
+ */
+typedef enum  {
+    /* Passive */
+    DISCOVER_MODE_PASSIVE = 0x55,
+    /* Proactive */
+    DISCOVER_MODE_ACTIVE  = 0xAA
+} DiscoverMode;
+
+/**
+ * @brief Enumerates media, such as Bluetooth, Wi-Fi, and USB, used for publishing services.
+ *
+ * Currently, only <b>COAP</b> is supported.
+ * When <b>AUTO</b> is selected, all the supported media will be called automatically.
+ */
+typedef enum {
+    /** Automatic medium selection */
+    AUTO = 0,
+    /** Bluetooth */
+    BLE = 1,
+    /** Wi-Fi */
+    COAP = 2,
+    /** USB */
+    USB = 3,
+    /** HiLink */
+    COAP1 = 4,
+    MEDIUM_BUTT
+} ExchanageMedium;
+
+/**
+ * @brief Enumerates frequencies for publishing services.
+ *
+ * This enumeration applies only to Bluetooth and is not supported currently.
+ */
+typedef enum {
+    /** Low */
+    LOW = 0,
+    /** Medium */
+    MID = 1,
+    /** High */
+    HIGH = 2,
+    /** Super-high */
+    SUPER_HIGH = 3,
+    FREQ_BUTT
+} ExchangeFreq;
+
+/**
+ * @brief Enumerates supported capabilities published by a device.
+ *
+ */
+typedef enum {
+    /** MeeTime */
+    HICALL_CAPABILITY_BITMAP = 0,
+    /** Video reverse connection in the smart domain */
+    PROFILE_CAPABILITY_BITMAP = 1,
+    /** Gallery in Vision */
+    HOMEVISIONPIC_CAPABILITY_BITMAP = 2,
+    /** cast+ */
+    CASTPLUS_CAPABILITY_BITMAP,
+    /** Input method in Vision */
+    AA_CAPABILITY_BITMAP,
+    /** Device virtualization tool package */
+    DVKIT_CAPABILITY_BITMAP,
+    /** Distributed middleware */
+    DDMP_CAPABILITY_BITMAP,
+    /** Osd capability */
+    OSD_CAPABILITY_BITMAP
+} DataBitMap;
+
+/**
+ * @brief Defines the mapping between supported capabilities and bitmaps.
+ *
+ */
+typedef struct {
+    /** Bitmaps. For details, see {@link DataBitMap}. */
+    DataBitMap bitmap;
+    /** Capability. For details, see {@link g_capabilityMap}. */
+    char *capability;
+} CapabilityMap;
+
+/**
+ * @brief Defines the mapping between supported capabilities and bitmaps.
+ *
+ */
+static const CapabilityMap g_capabilityMap[] = {
+    {HICALL_CAPABILITY_BITMAP, (char *)"hicall"},
+    {PROFILE_CAPABILITY_BITMAP, (char *)"profile"},
+    {HOMEVISIONPIC_CAPABILITY_BITMAP, (char *)"homevisionPic"},
+    {CASTPLUS_CAPABILITY_BITMAP, (char *)"castPlus"},
+    {AA_CAPABILITY_BITMAP, (char *)"aaCapability"},
+    {DVKIT_CAPABILITY_BITMAP, (char *)"dvKit"},
+    {DDMP_CAPABILITY_BITMAP, (char *)"ddmpCapability"},
+    {OSD_CAPABILITY_BITMAP, (char *)"osdCapability"},
+};
+
+/**
+ * @brief Defines service publishing information.
+ *
+ */
+typedef struct {
+    /** Service ID */
+    int publishId;
+    /** Discovery mode for service publishing. For details, see {@link Discovermode}. */
+    DiscoverMode mode;
+    /** Service publishing medium. For details, see {@link ExchanageMedium}. */
+    ExchanageMedium medium;
+    /** Service publishing frequency. For details, see {@link ExchangeFre}. */
+    ExchangeFreq freq;
+    /** Service publishing capabilities. For details, see {@link g_capabilityMap}. */
+    const char *capability;
+    /** Capability data for service publishing */
+    unsigned char *capabilityData;
+    /** Maximum length of the capability data for service publishing (512 bytes) */
+    unsigned int dataLen;
+} PublishInfo;
+
+/**
+ * @brief Defines service subscription information.
+ *
+ */
+typedef struct {
+    /** Service ID */
+    int subscribeId;
+    /** Discovery mode for service subscription. For details, see {@link Discovermode}. */
+    DiscoverMode mode;
+    /** Service subscription medium. For details, see {@link ExchanageMedium}. */
+    ExchanageMedium medium;
+    /** Service subscription frequency. For details, see {@link ExchangeFre}. */
+    ExchangeFreq freq;
+    /** only find the device with the same account */
+    bool isSameAccount;
+    /** find the sleeping devices */
+    bool isWakeRemote;
+    /** Service subscription capability. For details, see {@link g_capabilityMap}. */
+    const char *capability;
+    /** Capability data for service subscription */
+    unsigned char *capabilityData;
+    /** Maximum length of the capability data for service subscription (512 bytes) */
+    unsigned int dataLen;
+} SubscribeInfo;
+
+/**
+ * @brief Enumerates device types.
+ *
+ */
+typedef enum {
+    /* Smart speaker */
+    SMART_SPEAKER = 0x00,
+    /* PC */
+    DESKTOP_PC,
+    /* Laptop */
+    LAPTOP,
+    /* Mobile phone */
+    SMART_PHONE,
+    /* Tablet */
+    SMART_PAD,
+    /* Smart watch */
+    SMART_WATCH,
+    /* Smart car */
+    SMART_CAR,
+    /* Kids' watch */
+    CHILDREN_WATCH,
+    /* Smart TV */
+    SMART_TV,
+} DeviceType;
+
+/**
+ * @brief Defines the device information returned by <b>IDiscoveryCallback</b>.
+ *
+ */
+typedef struct {
+    /** Device ID. Its maximum length is specified by {@link DISC_MAX_DEVICE_ID_LEN}. */
+    char devId[DISC_MAX_DEVICE_ID_LEN];
+    /** Account hash code. Its maximum length is specified by {@link MAX_ACCOUNT_HASH_LEN}. */
+    char accountHash[MAX_ACCOUNT_HASH_LEN];
+    /** Device type. For details, see {@link DeviceType}. */
+    DeviceType devType;
+    /** Device name. Its maximum length is specified by {@link DISC_MAX_DEVICE_NAME_LEN}. */
+    char devName[DISC_MAX_DEVICE_NAME_LEN];
+    /** Number of available connections */
+    unsigned int addrNum;
+    /** Connection information. For details, see {@link ConnectAddr}. */
+    ConnectionAddr addr[CONNECTION_ADDR_MAX];
+    /** Number of capabilities */
+    unsigned int capabilityBitmapNum;
+    /** Device capability bitmap.
+     * The maximum number of capabilities in the bitmap is specified by {@link DISC_MAX_CAPABILITY_NUM}.
+     */
+    unsigned int capabilityBitmap[DISC_MAX_CAPABILITY_NUM];
+    /** Custom data. Its length is specified by {@link DISC_MAX_CUST_DATA_LEN}. */
+    char custData[DISC_MAX_CUST_DATA_LEN];
+} DeviceInfo;
+#ifdef __cplusplus
+}
+#endif
+#endif
+/** @} */
diff --git a/UAV_softbus_client/softbus_sample/include/softbus_errcode.h b/UAV_softbus_client/softbus_sample/include/softbus_errcode.h
new file mode 100644
index 0000000000000000000000000000000000000000..4dd89ae3121b44abdceef724f252566fb62e7773
--- /dev/null
+++ b/UAV_softbus_client/softbus_sample/include/softbus_errcode.h
@@ -0,0 +1,206 @@
+/*
+ * Copyright (c) 2021 Huawei Device Co., Ltd.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef SOFTBUS_ERROR_CODE_H
+#define SOFTBUS_ERROR_CODE_H
+
+#ifdef __cplusplus
+#if __cplusplus
+extern "C" {
+#endif
+#endif
+
+enum SoftBusErrNo {
+    SOFTBUS_PUBLIC_ERR_BASE = (-13000),
+
+    SOFTBUS_FRAMEWORK_ERR_BASE = (-12000),
+    SOFTBUS_INVALID_PKGNAME,
+    SOFTBUS_FUNC_NOT_SUPPORT,
+    SOFTBUS_SERVER_NOT_INIT,
+
+    SOFTBUS_TRANS_ERR_BASE = (-11000),
+
+    SOFTBUS_TRANS_INVALID_SESSION_ID,
+    SOFTBUS_TRANS_INVALID_SESSION_NAME,
+    SOFTBUS_TRANS_INVALID_CHANNEL_TYPE,
+    SOFTBUS_TRANS_INVALID_CLOSE_CHANNEL_ID,
+    SOFTBUS_TRANS_SESSION_REPEATED,
+    SOFTBUS_TRANS_SESSION_CNT_EXCEEDS_LIMIT,
+    SOFTBUS_TRANS_SESSIONSERVER_NOT_CREATED,
+    SOFTBUS_TRANS_SESSION_OPENING,
+    SOFTBUS_TRANS_GET_LANE_INFO_ERR,
+    SOFTBUS_TRANS_INVALID_DATA_LENGTH,
+    SOFTBUS_TRANS_FUNC_NOT_SUPPORT,
+    SOFTBUS_TRANS_OPEN_AUTH_CHANNANEL_FAILED,
+    SOFTBUS_TRANS_GET_P2P_INFO_FAILED,
+    SOFTBUS_TRANS_OPEN_AUTH_CONN_FAILED,
+
+    SOFTBUS_TRANS_PROXY_PACKMSG_ERR,
+    SOFTBUS_TRANS_PROXY_SENDMSG_ERR,
+    SOFTBUS_TRANS_PROXY_SEND_CHANNELID_INVALID,
+    SOFTBUS_TRANS_PROXY_CHANNLE_STATUS_INVALID,
+    SOFTBUS_TRANS_PROXY_DEL_CHANNELID_INVALID,
+    SOFTBUS_TRANS_PROXY_SESS_ENCRYPT_ERR,
+    SOFTBUS_TRANS_PROXY_INVALID_SLICE_HEAD,
+    SOFTBUS_TRANS_PROXY_ASSEMBLE_PACK_NO_INVALID,
+    SOFTBUS_TRANS_PROXY_ASSEMBLE_PACK_EXCEED_LENGTH,
+    SOFTBUS_TRANS_PROXY_ASSEMBLE_PACK_DATA_NULL,
+
+    SOFTBUS_TRANS_UDP_CLOSE_CHANNELID_INVALID,
+    SOFTBUS_TRANS_UDP_SERVER_ADD_CHANNEL_FAILED,
+    SOFTBUS_TRANS_UDP_CLIENT_ADD_CHANNEL_FAILED,
+    SOFTBUS_TRANS_UDP_SERVER_NOTIFY_APP_OPEN_FAILED,
+    SOFTBUS_TRANS_UDP_CLIENT_NOTIFY_APP_OPEN_FAILED,
+    SOFTBUS_TRANS_UDP_START_STREAM_SERVER_FAILED,
+    SOFTBUS_TRANS_UDP_START_STREAM_CLIENT_FAILED,
+    SOFTBUS_TRANS_UDP_SEND_STREAM_FAILED,
+
+    SOFTBUS_TRANS_QOS_REPORT_FAILED,
+    SOFTBUS_TRANS_QOS_REPORT_TOO_FREQUENT,
+
+    SOFTBUS_AUTH_ERR_BASE = (-9000),
+    SOFTBUS_AUTH_VERIFIED,
+    SOFTBUS_AUTH_VERIFYING,
+    SOFTBUS_AUTH_SYNC_DEVID_FAILED,
+    SOFTBUS_AUTH_UNPACK_DEVID_FAILED,
+    SOFTBUS_AUTH_HICHAIN_PROCESS_FAILED,
+    SOFTBUS_AUTH_HICHAIN_AUTH_DEVICE_FAILED,
+    SOFTBUS_AUTH_HICHAIN_AUTH_ERROR,
+    SOFTBUS_AUTH_TIMEOUT,
+    SOFTBUS_AUTH_EXISTED,
+    SOFTBUS_AUTH_NOT_EXISTED,
+
+    SOFTBUS_NETWORK_ERR_BASE = (-7000),
+    SOFTBUS_NETWORK_CONN_FSM_DEAD,
+    SOFTBUS_NETWORK_JOIN_CANCELED,
+    SOFTBUS_NETWORK_JOIN_LEAVING,
+    SOFTBUS_NETWORK_JOIN_TIMEOUT,
+    SOFTBUS_NETWORK_UNPACK_DEV_INFO_FAILED,
+    SOFTBUS_NETWORK_DEV_NOT_TRUST,
+    SOFTBUS_NETWORK_LEAVE_OFFLINE,
+    SOFTBUS_NETWORK_AUTH_DISCONNECT,
+    SOFTBUS_NETWORK_TIME_SYNC_HANDSHAKE_ERR, // time sync channel pipe broken
+    SOFTBUS_NETWORK_TIME_SYNC_HANDSHAKE_TIMEOUT, // timeout during handshake
+    SOFTBUS_NETWORK_TIME_SYNC_TIMEOUT, // timeout during sync
+    SOFTBUS_NETWORK_TIME_SYNC_INTERFERENCE, // interference
+    SOFTBUS_NETWORK_HEARTBEAT_REPEATED,
+    SOFTBUS_NETWORK_HEARTBEAT_UNTRUSTED,
+    SOFTBUS_NETWORK_NODE_OFFLINE,
+
+    SOFTBUS_CONN_ERR_BASE = (-5000),
+    SOFTBUS_CONN_FAIL,
+    SOFTBUS_CONN_MANAGER_TYPE_NOT_SUPPORT,
+    SOFTBUS_CONN_MANAGER_OP_NOT_SUPPORT,
+    SOFTBUS_CONN_MANAGER_PKT_LEN_INVALID,
+    SOFTBUS_CONN_MANAGER_LIST_NOT_INIT,
+    SOFTBUS_CONN_INVALID_CONN_TYPE,
+    SOFTBUS_CONNECTION_BASE,
+    SOFTBUS_CONNECTION_ERR_CLOSED,
+    SOFTBUS_CONNECTION_ERR_DRIVER_CONGEST,
+    SOFTBUS_CONNECTION_ERR_SOFTBUS_CONGEST,
+    SOFTBUS_CONNECTION_ERR_CONNID_INVALID,
+    SOFTBUS_CONNECTION_ERR_SENDQUEUE_FULL,
+    SOFTBUS_BRCONNECTION_POSTBYTES_ERROR,
+    SOFTBUS_BRCONNECTION_GETCONNINFO_ERROR,
+    SOFTBUS_BRCONNECTION_STRNCPY_ERROR,
+    SOFTBUS_BRCONNECTION_PACKJSON_ERROR,
+    SOFTBUS_BRCONNECTION_CONNECTDEVICE_MALLOCFAIL,
+    SOFTBUS_BRCONNECTION_CONNECTDEVICE_GETSOCKETIDFAIL,
+    SOFTBUS_BRCONNECTION_DISCONNECT_NOTFIND,
+    SOFTBUS_TCPCONNECTION_SOCKET_ERR,
+    SOFTBUS_BLECONNECTION_REG_GATTS_CALLBACK_FAIL,
+    SOFTBUS_BLECONNECTION_ADD_SERVICE_FAIL,
+    SOFTBUS_BLECONNECTION_ADD_CHAR_FAIL,
+    SOFTBUS_BLECONNECTION_ADD_DES_FAIL,
+    SOFTBUS_BLECONNECTION_NOT_INIT,
+    SOFTBUS_BLECONNECTION_NOT_START,
+    SOFTBUS_BLECONNECTION_GETCONNINFO_ERROR,
+    SOFTBUS_BLECONNECTION_MTU_OVERFLOW_ERROR,
+    SOFTBUS_BLECONNECTION_MUTEX_LOCK_ERROR,
+    SOFTBUS_BLECONNECTION_GATT_CLIENT_NOT_SUPPORT,
+    SOFTBUS_GATTC_INTERFACE_FAILED,
+    SOFTBUS_BLEGATTC_NONT_INIT,
+    SOFTBUS_BLEGATTC_NOT_READY,
+    SOFTBUS_GATTC_DUPLICATE_PARAM,
+    SOFTBUS_GATTC_NONE_PARAM,
+    SOFTBUS_BLEGATTC_NODE_NOT_EXIST,
+
+    SOFTBUS_DISCOVER_ERR_BASE = (-3000),
+
+    SOFTBUS_DISCOVER_NOT_INIT,
+    SOFTBUS_DISCOVER_INVALID_PKGNAME,
+    SOFTBUS_DISCOVER_SERVER_NO_PERMISSION,
+    SOFTBUS_DISCOVER_MANAGER_NOT_INIT,
+    SOFTBUS_DISCOVER_MANAGER_ITEM_NOT_CREATE,
+    SOFTBUS_DISCOVER_MANAGER_INFO_NOT_CREATE,
+    SOFTBUS_DISCOVER_MANAGER_INFO_NOT_DELETE,
+    SOFTBUS_DISCOVER_MANAGER_INNERFUNCTION_FAIL,
+    SOFTBUS_DISCOVER_MANAGER_CAPABILITY_INVALID,
+    SOFTBUS_DISCOVER_MANAGER_DUPLICATE_PARAM,
+    SOFTBUS_DISCOVER_MANAGER_INVALID_PARAM,
+    SOFTBUS_DISCOVER_MANAGER_INVALID_MEDIUM,
+    SOFTBUS_DISCOVER_MANAGER_INVALID_PKGNAME,
+    SOFTBUS_DISCOVER_MANAGER_INVALID_MODULE,
+    SOFTBUS_DISCOVER_COAP_NOT_INIT,
+    SOFTBUS_DISCOVER_COAP_INIT_FAIL,
+    SOFTBUS_DISCOVER_COAP_MERGE_CAP_FAIL,
+    SOFTBUS_DISCOVER_COAP_CANCEL_CAP_FAIL,
+    SOFTBUS_DISCOVER_COAP_REGISTER_CAP_FAIL,
+    SOFTBUS_DISCOVER_COAP_SET_FILTER_CAP_FAIL,
+    SOFTBUS_DISCOVER_COAP_REGISTER_DEVICE_FAIL,
+    SOFTBUS_DISCOVER_COAP_START_PUBLISH_FAIL,
+    SOFTBUS_DISCOVER_COAP_STOP_PUBLISH_FAIL,
+    SOFTBUS_DISCOVER_COAP_START_DISCOVER_FAIL,
+    SOFTBUS_DISCOVER_COAP_STOP_DISCOVER_FAIL,
+
+    SOFTBUS_COMMOM_ERR_BASE = (-1000),
+    SOFTBUS_TIMOUT,
+    SOFTBUS_INVALID_PARAM,
+    SOFTBUS_MEM_ERR,
+    SOFTBUS_NOT_IMPLEMENT,
+    SOFTBUS_NO_URI_QUERY_KEY,
+    SOFTBUS_NO_INIT,
+    SOFTBUS_PARSE_JSON_ERR,
+    SOFTBUS_PERMISSION_DENIED,
+    SOFTBUS_MALLOC_ERR,
+    SOFTBUS_ENCRYPT_ERR,
+    SOFTBUS_DECRYPT_ERR,
+    SOFTBUS_INVALID_SESS_OPCODE,
+    SOFTBUS_INVALID_NUM,
+    SOFTBUS_SERVER_NAME_REPEATED,
+    SOFTBUS_TCP_SOCKET_ERR,
+    SOFTBUS_LOCK_ERR,
+    SOFTBUS_GET_REMOTE_UUID_ERR,
+    SOFTBUS_NO_ENOUGH_DATA,
+    SOFTBUS_INVALID_DATA_HEAD,
+    SOFTBUS_INVALID_FD,
+    SOFTBUS_FILE_ERR,
+    SOFTBUS_DATA_NOT_ENOUGH,
+    SOFTBUS_SLICE_ERROR,
+    SOFTBUS_ALREADY_EXISTED,
+    SOFTBUS_GET_CONFIG_VAL_ERR,
+    SOFTBUS_PEER_PROC_ERR,
+    SOFTBUS_NOT_FIND,
+
+    SOFTBUS_ERR = (-1),
+    SOFTBUS_OK = 0,
+};
+
+#ifdef __cplusplus
+#if __cplusplus
+}
+#endif /* __cplusplus */
+#endif /* __cplusplus */
+#endif /* SOFTBUS_ERRCODE_H */
diff --git a/UAV_softbus_client/softbus_sample/include/vehicle.h b/UAV_softbus_client/softbus_sample/include/vehicle.h
new file mode 100644
index 0000000000000000000000000000000000000000..38346ab4313bc9b96fa200fc4d5be8cfb761152e
--- /dev/null
+++ b/UAV_softbus_client/softbus_sample/include/vehicle.h
@@ -0,0 +1,61 @@
+#ifndef _VEHICLE
+#define _VEHICLE
+
+#include <chrono>
+#include <cstdint>
+#include <mavsdk/mavsdk.h>
+#include <mavsdk/plugins/action/action.h>
+#include <mavsdk/plugins/telemetry/telemetry.h>
+#include <iostream>
+#include <future>
+#include <memory>
+
+struct TelemetryLite {
+public:
+    TelemetryLite();
+    void dump();
+    std::string toJson();
+
+public:
+    uint64_t UniqueID;
+    uint64_t TimeStamp;
+    double Longitude;
+    double Latitude;
+    double PlatformHeight;
+    double Yaw;
+    double Pitch;
+    double Roll;
+    double VFov;
+    double HFov;
+    double FocalLength35mmEq;
+    std::string ImgPath;
+    std::string DateTime;  
+};
+
+class Vechile{
+public:
+    Vechile(const char *connection_url);
+    int arm();
+    int disarm();
+    int takeoff();
+    int land();
+    void reboot();
+    int hover();
+    bool isArmed();
+    void printVehicleInfo();
+    void printHealthInfo();
+    TelemetryLite& readTelemetry();
+
+private:
+    mavsdk::ConnectionResult connect(const char *connection_url);
+
+private:
+    mavsdk::Mavsdk _mavsdk;
+    mavsdk::ConnectionResult _connection_result;
+    std::shared_ptr<mavsdk::System> _system;
+    mavsdk::Telemetry _telemetry;
+    mavsdk::Action _action;
+    TelemetryLite _tl;
+};
+
+#endif
diff --git a/UAV_softbus_client/softbus_sample/prepare_env.sh b/UAV_softbus_client/softbus_sample/prepare_env.sh
new file mode 100644
index 0000000000000000000000000000000000000000..2a407ee5776f56a0162c98d1fba5d9ab6a526500
--- /dev/null
+++ b/UAV_softbus_client/softbus_sample/prepare_env.sh
@@ -0,0 +1,12 @@
+#! /bin/bash
+
+cd
+
+# 下载mavsdk-sample代码仓，里面有mavsdk和mavlink-routerd的安装包
+git clone https://gitee.com/galaxy_32/mavsdk-sample.git
+
+# install mavsdk和mavlink
+cd mavsdk-sample
+chmod +x install.sh
+sed -i "29,30s/^/#/" install.sh # 注释最后两行编译的功能
+./install.sh
\ No newline at end of file
diff --git a/UAV_softbus_client/softbus_sample/softbus_client_main.cpp b/UAV_softbus_client/softbus_sample/softbus_client_main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7b9d5425aa5708f9a13f36e057714a83d59857d8
--- /dev/null
+++ b/UAV_softbus_client/softbus_sample/softbus_client_main.cpp
@@ -0,0 +1,331 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <string>
+#include "securec.h"
+#include "discovery_service.h"
+#include "softbus_bus_center.h"
+#include "session.h"
+#include "vehicle.h"
+
+#define PACKAGE_NAME "softbus_sample"
+#define LOCAL_SESSION_NAME "session_test"
+#define TARGET_SESSION_NAME "hwpad"
+#define DEFAULT_CAPABILITY "osdCapability"
+#define DEFAULT_SESSION_GROUP "group_test"
+#define DEFAULT_PUBLISH_ID 123
+
+static int g_sessionId;
+Vechile g_vehicle("udp://127.0.0.1:10000");
+
+/*创建会话*/
+static int SessionOpened(int sessionId, int result)
+{
+	printf("<SessionOpened>CB: session %d open fail:%d\n", sessionId, result);
+	if (result == 0)
+	{
+		g_sessionId = sessionId;
+	}
+
+	return result;
+}
+
+static void SessionClosed(int sessionId)
+{
+	printf("<SessionClosed>CB: session %d closed\n", sessionId);
+}
+
+static void ByteRecived(int sessionId, const void *data, unsigned int dataLen)
+{
+	printf("<ByteRecived>CB: session %d received %u bytes data=%s\n", sessionId, dataLen, (const char *)data);
+	/*根据接收到的信息调用MAVSDK，实现相应的无人机动作*/
+	if (strncmp((const char *)data, "takeoff", dataLen) == 0)
+	{
+		g_vehicle.takeoff();
+	}
+	else if (strncmp((const char *)data, "land", dataLen) == 0)
+	{
+		g_vehicle.land();
+	}
+	else if (strncmp((const char *)data, "hover", dataLen) == 0)
+	{
+		g_vehicle.hover();
+	}
+	else
+	{
+		printf("<ByteRecived>CB unknown cmd: %s\n", (const char *)data);
+	}
+}
+
+static void MessageReceived(int sessionId, const void *data, unsigned int dataLen)
+{
+	printf("<MessageReceived>CB: session %d received %u bytes message=%s\n", sessionId, dataLen, (const char *)data);
+}
+
+static int CreateSessionServerInterface(void)
+{
+	const ISessionListener sessionCB = {
+		.OnSessionOpened = SessionOpened,
+		.OnSessionClosed = SessionClosed,
+		.OnBytesReceived = ByteRecived,
+		.OnMessageReceived = MessageReceived,
+	};
+
+	return CreateSessionServer(PACKAGE_NAME, LOCAL_SESSION_NAME, &sessionCB);
+}
+
+static void RemoveSessionServerInterface(void)
+{
+	int ret = RemoveSessionServer(PACKAGE_NAME, LOCAL_SESSION_NAME);
+	if (ret)
+	{
+		printf("RemoveSessionServer fail:%d\n", ret);
+	}
+}
+/*发布能力*/
+static void PublishSuccess(int publishId)
+{
+	printf("<PublishSuccess>CB: publish %d done\n", publishId);
+}
+
+static void PublishFailed(int publishId, PublishFailReason reason)
+{
+	printf("<PublishFailed>CB: publish %d failed, reason=%d\n", publishId, (int)reason);
+}
+
+static int PublishServiceInterface()
+{
+	PublishInfo info = {
+		.publishId = DEFAULT_PUBLISH_ID,
+		.mode = DISCOVER_MODE_PASSIVE,
+		.medium = COAP,
+		.freq = LOW,
+		.capability = DEFAULT_CAPABILITY,
+		.capabilityData = NULL,
+		.dataLen = 0,
+	};
+	IPublishCallback cb = {
+		.OnPublishSuccess = PublishSuccess,
+		.OnPublishFail = PublishFailed,
+	};
+	return PublishService(PACKAGE_NAME, &info, &cb);
+}
+
+static void UnPublishServiceInterface(void)
+{
+	int ret = UnPublishService(PACKAGE_NAME, DEFAULT_PUBLISH_ID);
+	if (ret != 0)
+	{
+		printf("UnPublishService fail:%d\n", ret);
+	}
+}
+/*发现设备*/
+static void DeviceFound(const DeviceInfo *device)
+{
+	unsigned int i;
+	printf("<DeviceFound>CB: Device has found\n");
+	printf("\tdevId=%s\n", device->devId);
+	printf("\tdevName=%s\n", device->devName);
+	printf("\tdevType=%d\n", device->devType);
+	printf("\taddrNum=%d\n", device->addrNum);
+	for (i = 0; i < device->addrNum; i++)
+	{
+		printf("\t\taddr%d:type=%d,", i + 1, device->addr[i].type);
+		switch (device->addr[i].type)
+		{
+		case CONNECTION_ADDR_WLAN:
+		case CONNECTION_ADDR_ETH:
+			printf("ip=%s,port=%d,", device->addr[i].info.ip.ip, device->addr[i].info.ip.port);
+			break;
+		default:
+			break;
+		}
+		printf("peerUid=%s\n", device->addr[i].peerUid);
+	}
+	printf("\tcapabilityBitmapNum=%d\n", device->capabilityBitmapNum);
+	for (i = 0; i < device->addrNum; i++)
+	{
+		printf("\t\tcapabilityBitmap[%d]=0x%x\n", i + 1, device->capabilityBitmap[i]);
+	}
+	printf("\tcustData=%s\n", device->custData);
+}
+
+static void DiscoverySuccess(int subscribeId)
+{
+	printf("<DiscoverySuccess>CB: discover subscribeId=%d\n", subscribeId);
+}
+
+static void DiscoveryFailed(int subscribeId, DiscoveryFailReason reason)
+{
+	printf("<DiscoveryFailed>CB: discover subscribeId=%d failed, reason=%d\n", subscribeId, (int)reason);
+}
+
+static int DiscoveryInterface(void)
+{
+	SubscribeInfo info = {
+		.subscribeId = DEFAULT_PUBLISH_ID,
+		.mode = DISCOVER_MODE_ACTIVE,
+		.medium = COAP,
+		.freq = LOW,
+		.isSameAccount = false,
+		.isWakeRemote = false,
+		.capability = DEFAULT_CAPABILITY,
+		.capabilityData = NULL,
+		.dataLen = 0,
+	};
+	IDiscoveryCallback cb = {
+		.OnDeviceFound = DeviceFound,
+		.OnDiscoverFailed = DiscoveryFailed,
+		.OnDiscoverySuccess = DiscoverySuccess,
+	};
+	return StartDiscovery(PACKAGE_NAME, &info, &cb);
+}
+
+static void StopDiscoveryInterface(void)
+{
+	int ret = StopDiscovery(PACKAGE_NAME, DEFAULT_PUBLISH_ID);
+	if (ret)
+	{
+		printf("StopDiscovery fail:%d\n", ret);
+	}
+}
+/*获取节点信息*/
+static int GetAllNodeDeviceInfoInterface(NodeBasicInfo **dev)
+{
+	int ret, num;
+
+	ret = GetAllNodeDeviceInfo(PACKAGE_NAME, dev, &num);
+	if (ret)
+	{
+		printf("GetAllNodeDeviceInfo fail:%d\n", ret);
+		return -1;
+	}
+
+	printf("<GetAllNodeDeviceInfo>return %d Node\n", num);
+	return num;
+}
+
+static void FreeNodeInfoInterface(NodeBasicInfo *dev)
+{
+	FreeNodeInfo(dev);
+}
+/*创建对端连接*/
+static int OpenSessionInterface(const char *peerNetworkId)
+{
+	SessionAttribute attr = {
+		.dataType = TYPE_BYTES,
+		.linkTypeNum = 1,
+		.attr = {RAW_STREAM},
+	};
+	attr.linkType[0] = LINK_TYPE_WIFI_WLAN_2G;
+
+	return OpenSession(LOCAL_SESSION_NAME, TARGET_SESSION_NAME, peerNetworkId, DEFAULT_SESSION_GROUP, &attr);
+}
+
+static void CloseSessionInterface(int sessionId)
+{
+	CloseSession(sessionId);
+}
+/*发送数据*/
+static void commnunicate(void)
+{
+	NodeBasicInfo *dev = NULL;
+	char cData[] = "hello world test";
+	int dev_num, sessionId, input, ret;
+	int timeout = 5;
+
+	dev_num = GetAllNodeDeviceInfoInterface(&dev);
+	if (dev_num <= 0)
+	{
+		return;
+	}
+
+	for (int i = 0; i < dev_num; i++)
+	{
+		char devId[UDID_BUF_LEN];
+		printf("<num %d>deviceName=%s\n", i + 1, dev[i].deviceName);
+		printf("\tnetworkId=%s\n", dev[i].networkId);
+		if (GetNodeKeyInfo(PACKAGE_NAME, dev[i].networkId, NODE_KEY_UDID, (uint8_t *)devId, UDID_BUF_LEN) == 0)
+		{
+			printf("\tdevId=%s\n", devId);
+		}
+		printf("\tType=%d\n", dev[i].deviceTypeId);
+	}
+
+	printf("\nInput Node num to commnunication:");
+	scanf_s("%d", &input);
+	if (input <= 0 || input > dev_num)
+	{
+		printf("error input num\n");
+		goto err_input;
+	}
+
+	g_sessionId = -1;
+	sessionId = OpenSessionInterface(dev[input - 1].networkId);
+	if (sessionId < 0)
+	{
+		printf("OpenSessionInterface fail, ret=%d\n", sessionId);
+		goto err_OpenSessionInterface;
+	}
+	while (true)
+	{
+		sleep(1);
+	}
+
+	CloseSessionInterface(sessionId);
+err_OpenSessionInterface:
+err_input:
+	FreeNodeInfoInterface(dev);
+}
+
+int main(int argc, char **argv)
+{
+	bool loop = true;
+	int ret;
+
+	ret = CreateSessionServerInterface();
+	if (ret)
+	{
+		printf("CreateSessionServer fail, ret=%d\n", ret);
+		return ret;
+	}
+
+	ret = PublishServiceInterface();
+	if (ret)
+	{
+		printf("PublishService fail, ret=%d\n", ret);
+		goto err_PublishServiceInterface;
+	}
+
+	ret = DiscoveryInterface();
+	if (ret)
+	{
+		printf("DiscoveryInterface fail, ret=%d\n", ret);
+		goto err_DiscoveryInterface;
+	}
+
+	while (loop)
+	{
+		printf("\nInput c to commnuication, Input s to stop:");
+		char op = getchar();
+		switch (op)
+		{
+		case 'c':
+			commnunicate();
+			continue;
+		case 's':
+			loop = false;
+			break;
+		case '\n':
+			break;
+		default:
+			continue;
+		}
+	}
+
+	StopDiscoveryInterface();
+err_DiscoveryInterface:
+	UnPublishServiceInterface();
+err_PublishServiceInterface:
+	RemoveSessionServerInterface();
+	return 0;
+}
diff --git a/UAV_softbus_client/softbus_sample/softbus_trans_permission.json b/UAV_softbus_client/softbus_sample/softbus_trans_permission.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a882a93f3a201f6269f92d18a4c75cbd6ce80ae
--- /dev/null
+++ b/UAV_softbus_client/softbus_sample/softbus_trans_permission.json
@@ -0,0 +1,171 @@
+[
+  {
+    "SESSION_NAME": "DBinderService",
+    "DEVID": "NETWORKID",
+    "APP_INFO": [
+      {
+        "TYPE": "native_app",
+        "UID": "1000",
+        "PKG_NAME": "DBinderService",
+        "ACTIONS": "create,open"
+      }
+    ]
+  },
+  {
+    "SESSION_NAME": "DBinder.*",
+    "REGEXP": "true",
+    "DEVID": "NETWORKID",
+    "SEC_LEVEL": "public",
+    "APP_INFO": [
+      {
+        "TYPE": "granted_app",
+        "PKG_NAME": "DBinderBus",
+        "ACTIONS": "create,open"
+      }
+    ]
+  },
+  {
+    "SESSION_NAME": "DistributedFileService.*",
+    "REGEXP": "true",
+    "DEVID": "UUID",
+    "APP_INFO": [
+      {
+        "TYPE": "native_app",
+        "UID": "1000",
+        "ACTIONS": "create,open"
+      }
+    ]
+  },
+  {
+    "SESSION_NAME": "distributeddata-default",
+    "REGEXP": "true",
+    "DEVID": "UUID",
+    "SEC_LEVEL": "public",
+    "APP_INFO": [
+      {
+        "TYPE": "normal_app",
+        "PKG_NAME": "ohos.distributeddata",
+        "ACTIONS": "create,open"
+      }
+    ]
+  },
+  {
+    "SESSION_NAME": "objectstoreDB-*",
+    "REGEXP": "true",
+    "DEVID": "UDID",
+    "SEC_LEVEL": "public",
+    "APP_INFO": [
+      {
+        "TYPE": "normal_app",
+        "PKG_NAME": "ohos.objectstore",
+        "ACTIONS": "create,open"
+      }
+    ]
+  },
+  {
+    "SESSION_NAME": "ohos.distributedschedule.dms.*",
+    "REGEXP": "true",
+    "DEVID": "UUID",
+    "APP_INFO": [
+      {
+        "PKG_NAME": "dms",
+        "TYPE": "system_app",
+        "ACTIONS": "create,open"
+      }
+    ]
+  },
+  {
+    "SESSION_NAME": "com.huawei.dmsdp.*",
+    "REGEXP": "true",
+    "DEVID": "UDID",
+    "APP_INFO": [
+      {
+        "TYPE": "system_app",
+        "PKG_NAME": "com.huawei.dmsdp",
+        "ACTIONS": "create,open"
+      }
+    ]
+  },
+  {
+    "SESSION_NAME": "com.huawei.devicegroupmanage",
+    "DEVID": "UDID",
+    "APP_INFO": [
+      {
+        "PKG_NAME": "com.huawei.devicegroupmanage",
+        "TYPE": "system_app",
+        "ACTIONS": "create,open"
+      }
+    ]
+  },
+  {
+    "SESSION_NAME": "ohos.distributedhardware.devicemanager.*",
+    "REGEXP": "true",
+    "DEVID": "UUID",
+    "APP_INFO": [
+      {
+        "PKG_NAME": "ohos.distributedhardware.devicemanager",
+        "TYPE": "system_app",
+        "ACTIONS": "create,open"
+      }
+    ]
+  },
+  {
+    "SESSION_NAME": "ohos.dhardware.*",
+    "REGEXP": "true",
+    "DEVID": "NETWORKID",
+    "SEC_LEVEL": "public",
+    "APP_INFO": [
+      {
+        "PKG_NAME": "ohos.dhardware",
+        "TYPE": "system_app",
+        "ACTIONS": "create,open"
+      }
+    ]
+  },
+  {
+    "SESSION_NAME": "security.dpms_channel",
+    "DEVID": "NETWORKID",
+    "APP_INFO": [
+      {
+        "TYPE": "system_app",
+        "PKG_NAME": "ohos.security.distributed_permission",
+        "ACTIONS": "create,open"
+      }
+    ]
+  },
+  {
+    "SESSION_NAME": "device.security.level",
+    "DEVID": "UDID",
+    "APP_INFO": [
+      {
+        "TYPE": "native_app",
+        "UID": "1000",
+        "PKG_NAME": "ohos.dslm",
+        "ACTIONS": "create,open"
+      }
+    ]
+  },
+  {
+    "SESSION_NAME": "ohos.security.atm_channel",
+    "DEVID": "NETWORKID",
+    "APP_INFO": [
+      {
+        "TYPE": "system_app",
+        "PKG_NAME": "ohos.security.distributed_access_token",
+        "ACTIONS": "create,open"
+      }
+    ]
+  },
+  {
+    "SESSION_NAME": "session_test",
+    "DEVID": "UDID",
+    "APP_INFO": [
+      {
+        "PKG_NAME": "softbus_sample",
+        "TYPE": "normal_app",
+        "ACTIONS": "create,open"
+      }
+    ]
+  }
+]
+
diff --git a/UAV_softbus_client/softbus_sample/vehicle.cpp b/UAV_softbus_client/softbus_sample/vehicle.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..2625365f40bf25c4ac734b38d7b61134e89639dc
--- /dev/null
+++ b/UAV_softbus_client/softbus_sample/vehicle.cpp
@@ -0,0 +1,254 @@
+#include "vehicle.h"
+#include <ctime>
+#include <string>
+#include <sstream>
+#include <sys/time.h>
+#include <iostream>
+
+using namespace mavsdk;
+using std::chrono::seconds;
+using std::this_thread::sleep_for;
+
+static void halt(int eno){
+    exit(eno);
+}
+
+static std::shared_ptr<mavsdk::System> get_system(Mavsdk& mavsdk){
+    std::cout << "Waiting to discover system...\n";
+    auto prom = std::promise<std::shared_ptr<System>>{};
+    auto fut = prom.get_future();
+
+    // We wait for new systems to be discovered, once we find one that has an
+    // autopilot, we decide to use it.
+    Mavsdk::NewSystemHandle handle = mavsdk.subscribe_on_new_system([&mavsdk, &prom, &handle]() {
+        auto system = mavsdk.systems().back();
+
+        if (system->has_autopilot()) {
+            std::cout << "Discovered autopilot\n";
+
+            // Unsubscribe again as we only want to find one system.
+            mavsdk.unsubscribe_on_new_system(handle);
+            prom.set_value(system);
+        }
+    });
+
+    // We usually receive heartbeats at 1Hz, therefore we should find a
+    // system after around 3 seconds max, surely.
+    if (fut.wait_for(seconds(3)) == std::future_status::timeout) {
+        std::cerr << "No autopilot found.\n";
+        halt(1);
+    }
+
+    // Get discovered system now.
+    return fut.get();
+}
+
+mavsdk::ConnectionResult Vechile::connect(const char *connection_url){
+    _connection_result = _mavsdk.add_any_connection(connection_url);
+    if (_connection_result != ConnectionResult::Success) {
+        std::cerr << "Connection failed: " << _connection_result << std::endl;
+        halt(1);
+    }
+    return _connection_result;
+}
+
+Vechile::Vechile(const char *connection_url)
+    :_mavsdk(),
+    _connection_result(connect(connection_url)), 
+    _system(get_system(_mavsdk)), 
+    _telemetry(Telemetry{_system}), 
+    _action(Action{_system}){
+
+    // We want to listen to the altitude of the drone at 1 Hz.
+    const auto set_rate_result = _telemetry.set_rate_position(1.0);
+    if (set_rate_result != Telemetry::Result::Success) {
+        std::cerr << "Setting rate failed: " << set_rate_result << std::endl;
+        halt(3);
+    }
+
+    // Set up callback to monitor altitude while the vehicle is in flight
+    _telemetry.subscribe_position([this](Telemetry::Position position) {
+        _tl.Latitude = position.latitude_deg;
+        _tl.Longitude = position.longitude_deg;
+        _tl.PlatformHeight = position.relative_altitude_m;
+    });
+
+    _telemetry.subscribe_attitude_euler([this](Telemetry::EulerAngle eulerAngle){
+        _tl.TimeStamp = eulerAngle.timestamp_us;
+        _tl.Pitch = eulerAngle.pitch_deg;
+        _tl.Yaw = eulerAngle.yaw_deg;
+        _tl.Roll = eulerAngle.roll_deg;
+    });
+}
+
+void Vechile::printHealthInfo()
+{
+    // std::stringstream ss;
+    // ss << "####### Vehicle Health info #######  " << std::endl;
+    // ss << "is_gyrometer_calibration_ok: " << _telemetry.health().is_gyrometer_calibration_ok << std::endl;
+    // ss << "is_accelerometer_calibration_ok: " << _telemetry.health().is_accelerometer_calibration_ok << std::endl;
+    // ss << "is_magnetometer_calibration_ok: " << _telemetry.health().is_magnetometer_calibration_ok << std::endl;
+    // ss << "is_local_position_ok: " << _telemetry.health().is_local_position_ok << std::endl;
+    // ss << "is_global_position_ok: " << _telemetry.health().is_global_position_ok << std::endl;
+    // ss << "is_home_position_ok: " << _telemetry.health().is_home_position_ok << std::endl;
+    // ss << "is_armable: " << _telemetry.health().is_armable << std::endl;
+
+    std::cout << _telemetry.health() << std::endl;
+}
+
+int Vechile::arm(){
+    // // Check until vehicle is ready to arm
+    // _telemetry.health().is_armable = 1;
+    // while (_telemetry.health_all_ok() != true) {
+    //     std::cout << "Vehicle is getting ready to arm\n";
+    //     sleep_for(seconds(1));
+    // }
+    // _telemetry.health().is_armable= true;
+    // _telemetry.health().is_local_position_ok = true;
+    // _telemetry.health().is_global_position_ok = true;
+    // _telemetry.health().is_home_position_ok = true;
+    
+
+    // Arm vehicle
+    std::cout << "Arming...\n";
+    const Action::Result arm_result = _action.arm();
+
+    if (arm_result != Action::Result::Success) {
+        std::cerr << "Arming failed: " << arm_result << '\n';
+        return -1;
+    }
+
+    return 0;
+}
+
+int Vechile::disarm(){
+    // Disarm vehicle
+    std::cout << "Disarming..." << std::endl;
+    const Action::Result disarm_result = _action.disarm();
+
+    if (disarm_result != Action::Result::Success) {
+        std::cerr << "Disarm failed: " << disarm_result << '\n';
+        return -1;
+    }
+
+    return 0;
+}
+
+int Vechile::takeoff(){
+    arm();
+    // Take off
+    std::cout << "Taking off...\n";
+    const Action::Result takeoff_result = _action.takeoff();
+    if (takeoff_result != Action::Result::Success) {
+        std::cerr << "Takeoff failed: " << takeoff_result << '\n';
+        return -1;
+    }
+
+    // Let it hover for a bit before landing again.
+    sleep_for(seconds(1));
+    return 0;
+}
+
+int Vechile::hover(){
+    // Take off
+    std::cout << "hovering...\n";
+    const Action::Result hover_result = _action.hold();
+    if (hover_result != Action::Result::Success) {
+        std::cerr << "hover failed: " << hover_result << '\n';
+        return -1;
+    }
+
+    // Let it hover for a bit before landing again.
+    sleep_for(seconds(1));
+    return 0;
+}
+
+int Vechile::land(){
+    std::cout << "Landing...\n";
+    const Action::Result land_result = _action.land();
+    if (land_result != Action::Result::Success) {
+        std::cerr << "Land failed: " << land_result << '\n';
+        return -1;
+    }
+
+    // Check if vehicle is still in air
+    while (_telemetry.in_air()) {
+        std::cout << "Vehicle is landing...\n";
+        sleep_for(seconds(1));
+    }
+    std::cout << "Landed!\n";
+    disarm();
+    return 0;
+}
+
+bool Vechile::isArmed() {
+    return _telemetry.armed();
+}
+
+void Vechile::printVehicleInfo() {
+    std::stringstream ss;
+    if (_action.get_maximum_speed().first == Action::Result::Success) {
+        ss << "maximum spped: " << _action.get_maximum_speed().second << std::endl;
+    }
+    if (_action.get_return_to_launch_altitude().first == Action::Result::Success) {
+        ss << "return to launch altitude: " << _action.get_return_to_launch_altitude().second << std::endl;
+    }
+    if (_action.get_takeoff_altitude().first == Action::Result::Success) {
+        ss << "takeoff altitude: " << _action.get_takeoff_altitude().second << std::endl;
+    }
+    ss << _tl.toJson() << std::endl;
+    std::cout << ss.str();
+}
+
+TelemetryLite::TelemetryLite()
+    :UniqueID(0),TimeStamp(0), Longitude(0), Latitude(0),
+    PlatformHeight(0), Yaw(0), Pitch(0), Roll(0),
+    VFov(0), HFov(0), FocalLength35mmEq(0){
+}
+
+void TelemetryLite::dump(){
+    std::cout << toJson() << std::endl;
+}
+
+std::string TelemetryLite::toJson(){
+    std::stringstream ss;
+    ss << "{";
+    ss << "\"geometry\": {";
+    ss << "\"coordinates\": [";
+    ss << "9.8072370660407,";
+    ss << "172.80638454222";
+    ss << "],";
+    ss << "\"type\": \"Point\"";
+    ss << "},";
+    ss << "\"type\": \"Feature\",";
+    ss << "\"properties\": {";
+    ss << "\"timestamp\":" << TimeStamp << ",";
+    ss << "\"x\":" << Longitude << ",";
+    ss << "\"y\":" << Latitude << ",";
+    ss << "\"z\":" << PlatformHeight << ",";
+    ss << "\"yaw\":" << Yaw << ",";
+    ss << "\"pitch\":" << Pitch << ",";
+    ss << "\"roll\":" << Roll << ",";
+    ss << "\"fovX\":" << VFov << ",";
+    ss << "\"fovY\":" << HFov << ",";
+    ss << "\"CameraID\": 1";
+    ss << "}";
+    ss << "}";
+    return ss.str();
+}
+
+TelemetryLite& Vechile::readTelemetry(){
+#if 0
+    std::stringstream strtime;
+    std::time_t currenttime = std::time(0);	
+    char tAll[255];
+    std::strftime(tAll, sizeof(tAll), "%Y/%m/%d %H:%M", std::localtime(&currenttime));
+    strtime << tAll;
+    _tl.DateTime = strtime.str();
+    _tl.UniqueID++;
+#endif
+    struct timeval tv;
+    gettimeofday(&tv, 0);
+    _tl.TimeStamp = tv.tv_sec * 1000 + tv.tv_usec / 1000;
+    return _tl;
+}
diff --git "a/dsoftbus/OhOeCommunication/\345\210\206\345\270\203\345\274\217\350\275\257\346\200\273\347\272\277\351\200\232\344\277\241Demo.md" b/dsoftbus/OhOeCommunication/README.md
similarity index 100%
rename from "dsoftbus/OhOeCommunication/\345\210\206\345\270\203\345\274\217\350\275\257\346\200\273\347\272\277\351\200\232\344\277\241Demo.md"
rename to dsoftbus/OhOeCommunication/README.md
diff --git a/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/Application/AbilityStage.ts b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/Application/AbilityStage.ts
new file mode 100644
index 0000000000000000000000000000000000000000..1c9fcaafa50d6605b274c4a54a4b6225bc9bc1d0
--- /dev/null
+++ b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/Application/AbilityStage.ts
@@ -0,0 +1,21 @@
+/*
+ * Copyright (c) 2021 Huawei Device Co., Ltd.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+import AbilityStage from "@ohos.application.AbilityStage"
+
+export default class MyAbilityStage extends AbilityStage {
+    onCreate() {
+        console.log("[Demo] MyAbilityStage onCreate")
+    }
+}
\ No newline at end of file
diff --git a/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/MainAbility/MainAbility.ts b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/MainAbility/MainAbility.ts
new file mode 100644
index 0000000000000000000000000000000000000000..f870382553ec44243fad1ac3a9b36fb22acb9d33
--- /dev/null
+++ b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/MainAbility/MainAbility.ts
@@ -0,0 +1,48 @@
+/*
+ * Copyright (c) 2021 Huawei Device Co., Ltd.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+import Ability from '@ohos.application.Ability'
+
+export default class MainAbility extends Ability {
+    onCreate(want, launchParam) {
+        console.log("[Demo] MainAbility onCreate")
+        globalThis.abilityWant = want;
+    }
+
+    onDestroy() {
+        console.log("[Demo] MainAbility onDestroy")
+    }
+
+    onWindowStageCreate(windowStage) {
+        // Main window is created, set main page for this ability
+        console.log("[Demo] MainAbility onWindowStageCreate")
+
+        windowStage.setUIContent(this.context, "pages/index", null)
+    }
+
+    onWindowStageDestroy() {
+        // Main window is destroyed, release UI related resources
+        console.log("[Demo] MainAbility onWindowStageDestroy")
+    }
+
+    onForeground() {
+        // Ability has brought to foreground
+        console.log("[Demo] MainAbility onForeground")
+    }
+
+    onBackground() {
+        // Ability has back to background
+        console.log("[Demo] MainAbility onBackground")
+    }
+};
diff --git a/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/common/model/constant.ets b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/common/model/constant.ets
new file mode 100644
index 0000000000000000000000000000000000000000..3c23b04b4e4208fd5d9e12e6a3c85224926684d8
--- /dev/null
+++ b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/common/model/constant.ets
@@ -0,0 +1,9 @@
+export const INTERVAL_DISTANCE = 5
+
+export const INTERVAL_NUM = INTERVAL_DISTANCE + 1
+
+export const IMAGE_OF_ROW = 5
+
+export const AI_ANALYSIS_RESULT = 'AI分析结果'
+
+export const SITUATION_PERCEPTION_REALTIME = '实时事态感知'
\ No newline at end of file
diff --git a/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/common/model/imagesData.ets b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/common/model/imagesData.ets
new file mode 100644
index 0000000000000000000000000000000000000000..bb498b0658e42bebcf92ed6756c7fd3c2050e314
--- /dev/null
+++ b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/common/model/imagesData.ets
@@ -0,0 +1,47 @@
+import fileio from '@ohos.fileio'
+import hilog from '@ohos.hilog';
+
+
+export default class ImageData {
+  getAIImageData(callback) {
+    //刚进入页面获取文件夹内容
+    let dirPath = '/data/storage/el2/base/haps/entry/files/ai_analysis/'
+    let imageFiles = []
+    hilog.info(0, "SoftBusClient", "[INFO] Start to get images form: %s", dirPath)
+    this.readImages(dirPath, imageFiles)
+
+    hilog.info(0, "SoftBusClient", "[INFO] New imageFiles length: %d", imageFiles.length)
+    // return imageFiles
+    callback(imageFiles)
+  }
+
+  getSituationImageData(callback) {
+    //刚进入页面获取文件夹内容
+    let dirPath = '/data/storage/el2/base/haps/entry/files/situation_awareness/'
+    let imageFiles = []
+    hilog.info(0, "SoftBusClient", "[INFO] Start to get images form: %s", dirPath)
+    this.readImages(dirPath, imageFiles)
+
+    hilog.info(0, "SoftBusClient", "[INFO] New imageFiles length: %d", imageFiles.length)
+    // return imageFiles
+    callback(imageFiles)
+  }
+
+  readImages(dirPath, imageFiles) {
+    let dir = fileio.opendirSync(dirPath); // dir 管理目录
+    hilog.debug(0, "SoftBusClient", "[INFO] Read dir: %s", JSON.stringify(dir))
+    this.inquireFiles(dirPath, dir, imageFiles);
+  }
+
+  inquireFiles(dirPath, dir, imageFiles) {
+    let dirent = dir.readSync(); // 读取下一个目录项
+    if (dirent && dirent.isFile()) {
+      let formatImageFile = "file://" + dirPath + dirent.name
+      hilog.debug(0, "SoftBusClient", "[INFO] Get images file: %s", formatImageFile)
+      imageFiles.push(formatImageFile)
+      this.inquireFiles(dirPath, dir, imageFiles); // 循环获取下一个目录
+    } else {
+      dir.closeSync(); // 关闭目录，释放dir中的文件描述
+    }
+  }
+}
diff --git a/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/common/model/screenInfo.ets b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/common/model/screenInfo.ets
new file mode 100644
index 0000000000000000000000000000000000000000..59476af70e881b6285ea3c54943b0051095b1d7d
--- /dev/null
+++ b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/common/model/screenInfo.ets
@@ -0,0 +1,28 @@
+import display from '@ohos.display'
+import hilog from '@ohos.hilog';
+import { INTERVAL_NUM, INTERVAL_DISTANCE, IMAGE_OF_ROW } from '../../common/model/constant'
+
+export default class ScreenInfo {
+  //获取屏幕信息，获取屏幕尺寸
+  getScreenInfo(callback) {
+    hilog.debug(0, "SoftBusClient", `[INFO] Start to obtain all the display`)
+    let displayClass = null
+    display.getAllDisplay((err, data) => {
+      if (err.code) {
+        hilog.error(0, "SoftBusClient", `[ERROR] Failed to obtain all the display objects: ${JSON.stringify(err)}`)
+        return;
+      }
+
+      hilog.debug(0, "SoftBusClient", `[INFO] data = ${JSON.stringify(data)}`)
+      displayClass = data[0];
+      hilog.debug(0, "SoftBusClient", `[INFO] displayClass = ${JSON.stringify(displayClass)}`)
+      let displayWidth = displayClass.width
+      hilog.info(0, "SoftBusClient", `[INFO] displayWidth = ${displayWidth}`)
+      let displayHeight = displayClass.height
+      hilog.info(0, "SoftBusClient", `[INFO] displayHeight = ${displayHeight}`)
+      let screenWidth = displayWidth > displayHeight ? displayHeight : displayWidth
+      callback((screenWidth - INTERVAL_DISTANCE * INTERVAL_NUM) / IMAGE_OF_ROW)
+    })
+  }
+}
+
diff --git a/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/pages/AIImages.ets b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/pages/AIImages.ets
new file mode 100644
index 0000000000000000000000000000000000000000..4423d1c422ffe1fb3744afdbac90d80d19abe282
--- /dev/null
+++ b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/pages/AIImages.ets
@@ -0,0 +1,121 @@
+import hilog from '@ohos.hilog';
+import router from '@ohos.router';
+import ImageData from '../common/model/imagesData'
+import ScreenInfo from '../common/model/screenInfo'
+import { INTERVAL_DISTANCE, AI_ANALYSIS_RESULT } from '../common/model/constant'
+
+
+@Entry
+@Component
+export default struct AIImages {
+  @State imageBgColor: ResourceStr = $r('app.color.transparent')
+  @State imageIsClick: boolean = false
+  @State imageIndex: number = 0
+  @State photoData: Array<string> = []
+  private swiperController: SwiperController = new SwiperController()
+  private imageData: ImageData = new ImageData()
+  private screenInfo: ScreenInfo = new ScreenInfo()
+
+  build() {
+    Stack() {
+      if (this.imageIsClick) {
+        Column() {
+          Swiper(this.swiperController) {
+            ForEach(this.photoData, (item: string) => {
+              Image(item).width('100%').height('100%')
+                .objectFit(ImageFit.Contain).padding(8)
+                .onClick(() => {
+                  this.imageIsClick = false
+                })
+            }, item => item)
+          }
+          .cachedCount(1)
+          .indicator(false) //是否开启导航点指示器，默认开启true
+          .index(this.imageIndex)
+          .loop(false) // 默认开启循环播放
+          .duration(100)
+          .vertical(false) // 默认横向切换
+          .itemSpace(0)
+          .curve(Curve.FastOutSlowIn) // 动画曲线
+          .onChange((index: number) => {
+            console.info(index.toString())
+            this.imageIndex = index
+            console.info(`ypt---Swiper index = ${index}`)
+          })
+        }
+        .width('100%')
+        .height('100%')
+        .zIndex(6)
+        .backgroundColor(Color.White)
+      }
+      Grid() {
+        ForEach(this.photoData, item => {
+          GridItem() {
+            Image(item)
+              .objectFit(ImageFit.Cover)
+              .width('100%')
+              .height('12%')
+              .onClick(() => {
+                this.imageIsClick = true
+                this.imageIndex = this.photoData.indexOf(item)
+                console.info(`ypt---index = ${this.photoData.indexOf(item)}`)
+              })
+          }
+        })
+      }
+      .width('100%')
+      .height('90%')
+      .margin({ top: '10%' })
+      .columnsTemplate('1fr 1fr 1fr 1fr')
+      .columnsGap(5)
+      .rowsGap(5)
+      .onScrollIndex((first: number) => {
+        console.info(first.toString())
+      })
+      .width('100%')
+      .height('90%')
+
+      Row() {
+        Image($r('app.media.back'))
+          .width(32)
+          .height(32)
+          .borderRadius(32)
+          .objectFit(ImageFit.Cover)
+          .margin({ left: 8 })
+          .backgroundColor(this.imageBgColor)
+          .onClick(() => {
+            this.imageBgColor = $r('app.color.transparent_grey')
+            router.back()
+          })
+      }
+      .width('100%')
+      .height('8%')
+      .zIndex(3)
+      .offset({ y: '-45%' })
+      .justifyContent(FlexAlign.Start)
+    }
+  }
+
+  aboutToAppear() {
+    let self
+    self = this
+    //判断从哪来的
+    let router_params = router.getParams()
+    if (router_params["from"] == AI_ANALYSIS_RESULT) {
+      //首次进入获取图片
+      self.imageData.getAIImageData(callback => {
+        self.photoData = callback
+        self.photoData.reserve()
+      })
+    } else {
+      self.imageData.getSituationImageData(callback => {
+        self.photoData = callback
+        self.photoData.reserve()
+      })
+    }
+  }
+
+  aboutToDisappear() {
+    router.clear()
+  }
+}
\ No newline at end of file
diff --git a/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/pages/index.ets b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/pages/index.ets
new file mode 100644
index 0000000000000000000000000000000000000000..6ee49669876d6e5365b88f34427a1d69b66b3a32
--- /dev/null
+++ b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/pages/index.ets
@@ -0,0 +1,335 @@
+import router from '@ohos.router';
+import prompt from '@ohos.prompt';
+import hilog from '@ohos.hilog';
+import softbus_client_run from 'libsoftbus_client_run.so'
+import { AI_ANALYSIS_RESULT, SITUATION_PERCEPTION_REALTIME } from '../common/model/constant'
+
+var thisOld
+
+@Entry
+@Component
+struct Index {
+  @State sessionServerInitState: string = "null"
+  @State sessionConnectState: string = "null"
+  @State sendDataState: string = ''
+  @State pictureFile: string = ''
+  @State hasNewAIImage: boolean = false
+  @State hasNewSAImage: boolean = false
+  @State isLoading: boolean = false
+  @State deviceInfoArray: Array<any> = []
+  @State deviceIndex: number = undefined
+
+  callbackPictureSave(fileName) {
+    hilog.info(0, "SoftBusClient", "[INFO] Image file received: %s", fileName)
+    if (fileName.search("ai_analysis") != -1) {
+      thisOld.hasNewAIImage = true
+    } else {
+      if (fileName.search("situation_awareness") != -1) {
+        thisOld.hasNewSAImage = true
+      }
+    }
+  }
+
+  build() {
+    Stack() {
+      Column() {
+        Row() {
+          if (thisOld.hasNewAIImage) {
+            Text($r('app.string.hasNewImage'))
+              .fontSize(16)
+              .fontColor($r('app.color.white'))
+              .onClick(() => {
+                thisOld.hasNewAIImage = false
+                router.push({
+                  url: 'pages/AIImages',
+                  params: { "from": AI_ANALYSIS_RESULT }
+                })
+              })
+          }
+          if (thisOld.hasNewSAImage) {
+            Text($r('app.string.hasNewSAImage'))
+              .fontSize(16)
+              .fontColor($r('app.color.white'))
+              .onClick(() => {
+                thisOld.hasNewSAImage = false
+                router.push({
+                  url: 'pages/AIImages',
+                  params: { "from": SITUATION_PERCEPTION_REALTIME }
+                })
+              })
+          }
+        }
+        .justifyContent(FlexAlign.Center)
+        .width('100%')
+        .height('8%')
+        .padding(10)
+        .backgroundColor($r('app.color.transparent_grey'))
+
+        Row() {
+          Button({ type: ButtonType.Circle, stateEffect: true }) {
+            if (this.isLoading) {
+              LoadingProgress()
+                .color(Color.White)
+                .width(70)
+                .height(70)
+            } else {
+              Image($r('app.media.refresh'))
+                .width(48)
+                .height(48)
+                .objectFit(ImageFit.Fill)
+            }
+          }
+          .width(64).height(64)
+          .backgroundColor($r('app.color.transparent'))
+          .onClick(() => {
+            this.isLoading = true
+            this.deviceInfoArray.length = 0
+            this.deviceIndex = undefined
+            this.sessionConnectState = softbus_client_run.sessionConnect()
+            this.isLoading = false
+            this.parseDeviceInfo(this.sessionConnectState)
+          })
+        }
+        .width('90%')
+        .height('8%')
+        .justifyContent(FlexAlign.Start)
+
+        Column() {
+          Text('终端：' + this.deviceInfoArray.length.toString())
+            .fontColor($r('app.color.white'))
+            .fontSize(16)
+          List() {
+            ForEach(this.deviceInfoArray, (items) => {
+              ListItem() {
+                Row() {
+                  Column() {
+                    Image($r('app.media.phone'))
+                      .width(42)
+                      .height(42)
+                      .objectFit(ImageFit.Cover)
+                      .onClick(() => {
+                        this.deviceIndex = this.deviceInfoArray.indexOf(items)
+                      })
+                    Text(items[0]).maxLines(2).fontColor($r('app.color.white'))
+                      .fontSize(16)
+                      .textAlign(TextAlign.Center)
+                      .margin({ left: 12 })
+                  }
+
+                  if (this.deviceIndex == this.deviceInfoArray.indexOf(items)) {
+                    Text(items[1])
+                      .fontColor($r('app.color.white'))
+                      .fontSize(20)
+                      .textAlign(TextAlign.Start)
+                      .margin({ left: 12 })
+                  }
+                }
+                .width('100%')
+                .margin(8)
+              }
+            })
+          }.padding(2).height('82%')
+        }
+        .alignItems(HorizontalAlign.Start)
+        .margin({ top: 20 })
+        .width('72%')
+        .height('48%')
+
+        Row() {
+          Column() {
+            Text('无人机控制：')
+              .fontSize(24)
+              .margin(5)
+              .fontColor($r('app.color.white'))
+            Button($r('app.string.UAV_take_off'), { type: ButtonType.Normal })
+              .borderRadius(8)
+              .fontSize(24)
+              .height('18%')
+              .width('60%')
+              .backgroundColor($r('app.color.button_color'))
+              .margin(5)
+              .onClick(() => {
+                let sendResult = softbus_client_run.sendData("UAV", "takeoff", 7)
+                if (sendResult == 0) {
+                  this.sendDataState = "Send Successful"
+                } else {
+                  this.sendDataState = "Send Failed"
+                }
+                prompt.showToast({
+                  message: this.sendDataState,
+                  bottom: '20px'
+                })
+              })
+            Button($r('app.string.UAV_hover'), { type: ButtonType.Normal })
+              .borderRadius(8)
+              .fontSize(24)
+              .height('18%')
+              .width('60%')
+              .backgroundColor($r('app.color.button_color'))
+              .margin(5)
+              .onClick(() => {
+                let sendResult = softbus_client_run.sendData("UAV", "hover", 5)
+                if (sendResult == 0) {
+                  this.sendDataState = "Send Successful"
+                } else {
+                  this.sendDataState = "Send Failed"
+                }
+                prompt.showToast({
+                  message: this.sendDataState,
+                  bottom: '20px'
+                })
+              })
+            Button($r('app.string.UAV_land'), { type: ButtonType.Normal })
+              .borderRadius(8)
+              .fontSize(24)
+              .height('18%')
+              .width('60%')
+              .backgroundColor($r('app.color.button_color'))
+              .margin(5)
+              .onClick(() => {
+                let sendResult = softbus_client_run.sendData("UAV", "land", 4)
+                if (sendResult == 0) {
+                  this.sendDataState = "Send Successful"
+                } else {
+                  this.sendDataState = "Send Failed"
+                }
+                prompt.showToast({
+                  message: this.sendDataState,
+                  bottom: '20px'
+                })
+              })
+          }
+          .justifyContent(FlexAlign.SpaceEvenly)
+          .width('50%')
+          .height('100%')
+
+          Column() {
+            Text('机器狗控制:')
+              .fontSize(24)
+              .margin(5)
+              .fontColor($r('app.color.white'))
+            Button($r('app.string.Robot_dog_up'), { type: ButtonType.Normal })
+              .borderRadius(8)
+              .fontSize(24)
+              .height('18%')
+              .width('30%')
+              .backgroundColor($r('app.color.button_color'))
+              .margin(5)
+              .onClick(() => {
+                let sendResult = softbus_client_run.sendData("Robot_dog", "forward", 7)
+                if (sendResult == 0) {
+                  this.sendDataState = "Send Successful"
+                } else {
+                  this.sendDataState = "Send Failed"
+                }
+                prompt.showToast({
+                  message: this.sendDataState,
+                  bottom: '20px'
+                })
+              })
+            Row() {
+              Button($r('app.string.Robot_dog_left'), { type: ButtonType.Normal })
+                .borderRadius(8)
+                .fontSize(24)
+                .height('60%')
+                .width('30%')
+                .backgroundColor($r('app.color.button_color'))
+                .margin(5)
+                .onClick(() => {
+                  let sendResult = softbus_client_run.sendData("Robot_dog", "left", 4)
+                  if (sendResult == 0) {
+                    this.sendDataState = "Send Successful"
+                  } else {
+                    this.sendDataState = "Send Failed"
+                  }
+                  prompt.showToast({
+                    message: this.sendDataState,
+                    bottom: '20px'
+                  })
+                })
+              Button($r('app.string.Robot_dog_right'), { type: ButtonType.Normal })
+                .borderRadius(8)
+                .fontSize(24)
+                .height('60%')
+                .width('30%')
+                .backgroundColor($r('app.color.button_color'))
+                .margin(5)
+                .onClick(() => {
+                  let sendResult = softbus_client_run.sendData("Robot_dog", "right", 5)
+                  if (sendResult == 0) {
+                    this.sendDataState = "Send Successful"
+                  } else {
+                    this.sendDataState = "Send Failed"
+                  }
+                  prompt.showToast({
+                    message: this.sendDataState,
+                    bottom: '20px'
+                  })
+                })
+            }
+            .justifyContent(FlexAlign.SpaceEvenly)
+            .width('100%')
+            .height('30%')
+            Button($r('app.string.Robot_dog_down'), { type: ButtonType.Normal })
+              .borderRadius(8)
+              .fontSize(24)
+              .height('18%')
+              .width('30%')
+              .backgroundColor($r('app.color.button_color'))
+              .margin(5)
+              .onClick(() => {
+                let sendResult = softbus_client_run.sendData("Robot_dog", "backward", 8)
+                if (sendResult == 0) {
+                  this.sendDataState = "Send Successful"
+                } else {
+                  this.sendDataState = "Send Failed"
+                }
+                prompt.showToast({
+                  message: this.sendDataState,
+                  bottom: '20px'
+                })
+              })
+          }
+          .justifyContent(FlexAlign.SpaceEvenly)
+          .width('50%')
+          .height('100%')
+        }
+        .height('34%')
+        .width('100%')
+        .justifyContent(FlexAlign.SpaceEvenly)
+        .padding({ bottom: 8 })
+        .backgroundColor('#07309E')
+      }
+      .width('100%')
+      .height('100%')
+      .backgroundImage($r('app.media.background'))
+      .backgroundImageSize({ width: '100%', height: '75%' })
+    }
+  }
+
+  aboutToAppear() {
+    //进入页面初始化
+    thisOld = this
+    this.sessionServerInitState = softbus_client_run.sessionServerInit(this.callbackPictureSave)
+    prompt.showToast({
+      message: this.sessionServerInitState,
+      bottom: '20px'
+    })
+  }
+
+  aboutToDisappear() {
+    //关闭
+    softbus_client_run.sessionDisconnect()
+  }
+
+  parseDeviceInfo(deviceInfo: string) {
+    let deviceInfoArrayTemp = deviceInfo.split(';')
+    deviceInfoArrayTemp.pop()
+    deviceInfoArrayTemp.forEach(element => {
+      let startIndex = element.indexOf(': ')
+      let endIndex = element.indexOf('\nipAddress')
+      let deviceName = element.substring(startIndex + 1, endIndex)
+      this.deviceInfoArray.push([deviceName, element])
+    });
+  }
+}
\ No newline at end of file
diff --git a/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/pages/videoPlay.ets b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/pages/videoPlay.ets
new file mode 100644
index 0000000000000000000000000000000000000000..65fc09e1693abbf3f6ede9d692c4c285048ad526
--- /dev/null
+++ b/dsoftbus/OhOeCommunication/softbus_client_sample/entry/src/main/ets/pages/videoPlay.ets
@@ -0,0 +1,102 @@
+import router from '@ohos.router';
+import hilog from '@ohos.hilog';
+
+
+@Entry
+@Component
+export default struct VideoPlay {
+  @State imageBgColor: ResourceStr = $r('app.color.transparent')
+  @State muted: boolean = false
+  @State autoPlay: boolean = true
+  @State controls: boolean = true //控制栏
+  myVideoController: VideoController = new VideoController()
+  @State pause: boolean = false
+
+  build() {
+    //操作
+    Column() {
+      Row() {
+        Image($r('app.media.back'))
+          .width(32)
+          .height(32)
+          .borderRadius(32)
+          .objectFit(ImageFit.Cover)
+          .margin({ left: 8 })
+          .backgroundColor(this.imageBgColor)
+          .onClick(() => {
+            this.imageBgColor = $r('app.color.transparent_grey')
+            router.back()
+          })
+      }
+      .width('100%')
+      .height('6%')
+      .backgroundColor($r('app.color.transparent_grey'))
+      .justifyContent(FlexAlign.Start)
+
+      Video({
+        src: $rawfile('fire_detection.mp4'), // 视频播放源的路径
+        controller: this.myVideoController // 控制器
+      })
+        .muted(this.muted) // 是否静音
+        .autoPlay(this.autoPlay) // 是否自动播放
+        .controls(this.controls) // 控制视频播放的控制栏是否显示
+        .objectFit(ImageFit.Contain) // 视频显示模式
+        .loop(false) // 是否单个视频循环播放
+        .width('100%')
+        .aspectRatio(1.33)
+        .onClick(() => {
+          //点击视频调出控制栏
+          this.controls = !this.controls
+        })
+        .onStart(() => {
+          // 播放时触发该事件
+          hilog.info(0, "SoftBusClient", "[INFO] the video start play")
+        })
+        .onPause(() => {
+          // 暂停时触发该事件
+          hilog.info(0, "SoftBusClient", "[INFO] [INFO] the video pause play")
+        })
+        .onFinish(() => {
+          // 播放结束时触发该事件
+        })
+
+      Row() {
+        Button({ type: ButtonType.Circle }) {
+          Image(this.pause ? $r('app.media.play_circle') : $r('app.media.pause_circle'))
+        }
+        .height('60%')
+        .backgroundColor($r('app.color.transparent_grey'))
+        .onClick(() => {
+          this.pause = !this.pause
+          this.pause ? this.myVideoController.pause() : this.myVideoController.start()
+        })
+
+        Button({ type: ButtonType.Circle }) {
+          Image($r('app.media.full_screen')).rotate({
+            angle: -45
+          })
+        }
+        .height('60%')
+        .backgroundColor($r('app.color.transparent_grey'))
+        .onClick(() => {
+          this.myVideoController.requestFullscreen(true)
+        })
+      }
+      .justifyContent(FlexAlign.SpaceBetween)
+      .width('100%')
+      .height('8%')
+      .backgroundColor($r('app.color.transparent_grey'))
+    }
+    .width('100%')
+    .height('100%')
+  }
+
+  aboutToAppear() {
+    //进入之后就全屏播放
+    this.myVideoController.start()
+  }
+
+  aboutToDisappear() {
+    router.clear();
+  }
+}
\ No newline at end of file