dev.osdk.jerry@dji.com
111 linhas
2.3 KiB
C++
111 linhas
2.3 KiB
C++
/*! @file config_tool.hpp
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* @version 3.4.0
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* @date September 5 2017
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*
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* @brief
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* Advanced control program allows for extra commands to
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* to enable/disable USB connected flight, control power
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* on the extension board and simulation.
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*
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* @copyright
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* 2016-17 DJI. All rights reserved.
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* */
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#ifndef CONFIG_TOOL_HPP
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#define CONFIG_TOOL_HPP
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#include "dji_vehicle.hpp"
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#include "dji_log.hpp"
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#include <iostream>
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#include <dji_linux_helpers.hpp>
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#include <vector>
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#define _USE_MATH_DEFINES
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#include <math.h>
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using namespace DJI::OSDK;
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class UtilityThread;
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class ConfigTool
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{
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public:
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ConfigTool(Vehicle *vehicle);
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~ConfigTool();
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bool doProcessPowerSupplyCtrl(std::string activeAction);
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bool doProcessUSBCtrl(std::string activeAction);
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bool doProcessSimulationCtrl(std::string GPSLatInDeg,
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std::string GPSLonInDeg,
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std::string activeAction);
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#pragma pack(1)
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typedef struct USBCtrlData
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{
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uint16_t version;
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uint8_t cmd;
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} USBCtrlData;
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typedef struct PowerSupplyData
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{
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uint8_t action;
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uint8_t cmd;
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} PowerSupplyData;
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typedef struct SimulationData
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{
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uint8_t cmd;
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uint8_t rc : 1;
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uint8_t model : 1;
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uint8_t resv : 6;
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uint8_t freq;
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uint8_t gps;
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double lon;
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double lat;
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double height;
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uint8_t roll : 1;
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uint8_t pitch : 1;
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uint8_t yaw : 1;
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uint8_t x : 1;
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uint8_t y : 1;
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uint8_t z : 1;
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uint8_t lati : 1;
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uint8_t longti : 1;
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uint8_t speed_x : 1;
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uint8_t speed_y : 1;
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uint8_t speed_z : 1;
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uint8_t acc_x : 1;
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uint8_t acc_y : 1;
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uint8_t acc_z : 1;
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uint8_t p : 1;
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uint8_t q : 1;
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uint8_t r : 1;
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uint8_t rpm1 : 1;
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uint8_t rpm2 : 1;
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uint8_t rpm3 : 1;
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uint8_t rpm4 : 1;
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uint8_t rpm5 : 1;
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uint8_t rpm6 : 1;
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uint8_t rpm7 : 1;
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uint8_t rpm8 : 1;
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uint8_t duration : 1;
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uint8_t led_color : 1;
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uint8_t transform_state : 1;
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uint32_t resv1 : 4;
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uint32_t reserve;
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} SimulationData;
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#pragma pack()
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enum SIMULATION_ERROR_CODES
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{
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BEGIN_SIMULATED_FLIGHT_SUCCESS = 3,
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STOP_SIMULATED_FLIGHT_SUCCESS = 5,
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BEGIN_SIMULATED_FLIGHT_ERROR = 6,
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STOP_SIMULATED_FLIGHT_ERROR = 8
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};
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private:
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Vehicle *vehicle;
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};
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#endif /* CONFIG_TOOL_HPP */
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