Rohit Sant
77 linhas
1.8 KiB
C++
77 linhas
1.8 KiB
C++
/** @file dji_hardware_sync.hpp
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* @version 3.3
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* @date April 2017
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*
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* @brief Hardware Sync API for DJI OSDK
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* @details Use with Subscription UID_HARD_SYNC.
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*
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* @copyright 2017 DJI. All rights reserved.
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*
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*/
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#ifndef HARDSYNC_H
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#define HARDSYNC_H
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#include "dji_type.hpp"
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namespace DJI
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{
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namespace OSDK
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{
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// Forward Declarations
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class Vehicle;
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/*! @brief APIs for controlling Hardware Sync
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*
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* @details These APIs enable you to output a pulse/pulse train along with
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* a software packet with synchronized timestamps and sensor data.
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*
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* @note You must use this in conjunction with TOPIC_HARD_SYNC subscription.
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* @note You need to set a F-channel to Sync through DJI Assistant 2.
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*/
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class HardwareSync
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{
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public:
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#pragma pack(1)
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typedef struct SyncSettings
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{
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uint32_t freq;
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uint16_t tag;
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} SyncSettings;
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#pragma pack()
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public:
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HardwareSync(Vehicle* vehiclePtr = 0);
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/*! @brief Call this API to start sending a hardware pulse and
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* set up a software packet to accompany it
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* @details You need to select a pin on DJI Assistant 2 that will output this
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* hardware pulse.
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* To receive the software packet that accompanies this pulse,
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* you will need to subscribe to TOPIC_HARD_SYNC.
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*
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* @param freqInHz The frequency at which you want this pulse to be output.
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* @param tag Identification to match pulse with the corresponding software
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* packet
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*/
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void setSyncFreq(uint32_t freqInHz, uint16_t tag = 0);
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/*! @brief Internal setter function that is called by setSyncFreq function
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* @details Use setSyncFreq instead of this direct interface.
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*
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* @param data Struct of type SyncCmdData.
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*/
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void startSync(SyncSettings& data);
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private:
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Vehicle* vehicle;
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};
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} // OSDK
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} // DJI
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#endif // HARDSYNC_H
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