Rohit Sant
157 linhas
3.6 KiB
C++
157 linhas
3.6 KiB
C++
/** @file dji_mission_manager.hpp
|
|
* @version 3.3
|
|
* @date April 2017
|
|
*
|
|
* @brief
|
|
* Mission-Manager API for DJI OSDK library
|
|
* @details This is a high-level abstraction for handling/chaining missions
|
|
*
|
|
* @copyright 2017 DJI. All rights reserved.
|
|
*
|
|
*/
|
|
|
|
#ifndef ONBOARDSDK_DJI_MISSIONMANAGER_H
|
|
#define ONBOARDSDK_DJI_MISSIONMANAGER_H
|
|
|
|
#include "dji_hotpoint.hpp"
|
|
#include "dji_waypoint.hpp"
|
|
|
|
namespace DJI
|
|
{
|
|
namespace OSDK
|
|
{
|
|
|
|
enum DJI_MISSION_TYPE
|
|
{
|
|
WAYPOINT = 0,
|
|
HOTPOINT = 1,
|
|
};
|
|
|
|
enum MISSION_ACTION
|
|
{
|
|
START = 0,
|
|
STOP = 1,
|
|
PAUSE = 2,
|
|
RESUME = 3,
|
|
};
|
|
|
|
class WaypointMission;
|
|
class HotpointMission;
|
|
|
|
/*! @brief MissionManager class for chaining/managing missions
|
|
*
|
|
*/
|
|
class MissionManager
|
|
{
|
|
public:
|
|
MissionManager(Vehicle* vehiclePtr = 0);
|
|
~MissionManager();
|
|
|
|
/*! @brief
|
|
*
|
|
* init missions, could be hotpt or waypt, blocking calls
|
|
*
|
|
* @param type mission type enum
|
|
* @param timeout timeout
|
|
* @param missionData initData for the mission (void ptr)
|
|
*/
|
|
ACK::ErrorCode init(DJI_MISSION_TYPE type, int timeout,
|
|
UserData missionData = 0);
|
|
/*! @brief
|
|
*
|
|
* init missions, could be hotpt or waypt, non-blocking calls
|
|
*
|
|
* @param type mission type enum
|
|
* @param callback user specified callback
|
|
* @param missionData initData for the mission (void ptr)
|
|
*/
|
|
void init(DJI_MISSION_TYPE type, VehicleCallBack callback = 0,
|
|
UserData missionData = 0);
|
|
/*! @brief
|
|
*
|
|
* a callback function for waypoint non-blocking calls
|
|
*
|
|
* @param recvFrame RecvContainer populated by the protocolLayer
|
|
* @param userData void ptr for user usage
|
|
*/
|
|
static void missionCallback(Vehicle* vehiclePtr, RecvContainer recvFrame,
|
|
UserData userData);
|
|
|
|
private:
|
|
/*! @brief
|
|
*
|
|
* init waypt mission, blocking calls
|
|
*
|
|
* @param timeout timeout
|
|
* @param wayptData initData for the waypt (void ptr)
|
|
*/
|
|
ACK::ErrorCode initWayptMission(int timeout = 10, UserData wayptData = 0);
|
|
/*! @brief
|
|
*
|
|
* init waypt mission, non-blocking calls
|
|
*
|
|
* @param timeout timeout
|
|
* @param wayptData initData for the waypt (void ptr)
|
|
*/
|
|
void initWayptMission(VehicleCallBack callback = 0, UserData wayptData = 0);
|
|
/*! @brief
|
|
*
|
|
* init hot pt mission, blocking calls
|
|
*
|
|
* @param timeout timeout
|
|
* @param wayptData initData for hotpt (void ptr)
|
|
*/
|
|
ACK::ErrorCode initHotptMission(int timeout = 10, UserData wayptData = 0);
|
|
/*! @brief
|
|
*
|
|
* init hot pt mission, non-blocking calls
|
|
*
|
|
* @param timeout timeout
|
|
* @param wayptData initData for hotpt (void ptr)
|
|
*/
|
|
void initHotptMission(VehicleCallBack callback = 0, UserData wayptData = 0);
|
|
|
|
public:
|
|
/*! @brief
|
|
*
|
|
* get waypt ptr from waypt container
|
|
*
|
|
* @param index index of waypt container
|
|
*/
|
|
WaypointMission* getWaypt(int index);
|
|
/*! @brief
|
|
*
|
|
* get hotpt ptr from hotpt container
|
|
*
|
|
* @param index index of hotpt container
|
|
*/
|
|
HotpointMission* getHotpt(int index);
|
|
/*! @brief
|
|
*
|
|
* print the status of the mission manager
|
|
*
|
|
*/
|
|
void printInfo();
|
|
|
|
Vehicle* vehicle;
|
|
WaypointMission* wpMission;
|
|
HotpointMission* hpMission;
|
|
|
|
//! counter to keep track of the amount of mission (protection mechanism in
|
|
//! get_Pt())
|
|
int wayptCounter;
|
|
int hotptCounter;
|
|
|
|
private:
|
|
//! @note no dynamic container, so fix the size of the mission container
|
|
static const int MAX_MISSION_SIZE = 5;
|
|
|
|
WaypointMission* wpMissionArray[MAX_MISSION_SIZE];
|
|
HotpointMission* hpMissionArray[MAX_MISSION_SIZE];
|
|
};
|
|
|
|
} // OSDK
|
|
} // DJI
|
|
|
|
#endif // ONBOARDSDK_DJI_MISSIONMANAGER_H
|