Telemetry API through asynchronous "Subscribe"-style messages. More...

#include <dji_subscription.hpp>

Public Member Functions
	DataSubscription (Vehicle *vehicle)

Vehicle *	getVehicle ()

bool	initPackageFromTopicList (int packageID, int numberOfTopics, Telemetry::TopicName *topicList, bool sendTimeStamp, uint16_t freq)
	This is the interface for the end user to generate a package for subscription. More...

void	verify ()
	Non-blocking call for version match. More...

ACK::ErrorCode	verify (int timeout)
	Blocking call for version match. More...

void	startPackage (int packageID)
	Non-blocking call for starting a package. More...

ACK::ErrorCode	startPackage (int packageID, int timeout)
	Blocking call for start package. More...

void	removePackage (int packageID)
	Non-blocking call for start package. More...

ACK::ErrorCode	removePackage (int packageID, int timeout)
	Non-blocking call for start package. More...

void	removeLeftOverPackages ()
	Remove leftover incoming telemetry data due to unclean quit. More...

void	removeAllExistingPackages ()
	Remove all occupied packages. More...

void	reset ()
	Non-blocking call for resetting all packages. More...

ACK::ErrorCode	reset (int timeout)
	Blocking call for resetting all packages. More...

void	registerUserPackageUnpackCallback (int packageID, VehicleCallBack userFunctionAfterPackageExtraction, UserData userData=NULL)
	Register a callback function after package[packageID] is received. More...

template<Telemetry::TopicName topic>
Telemetry::TypeMap< topic >::type	getValue ()

Static Public Member Functions
static void	verifyCallback (Vehicle *vehiclePtr, RecvContainer rcvContainer, UserData userData)
	Callback function for non-blocking verify() More...

static void	addPackageCallback (Vehicle *vehiclePtr, RecvContainer rcvContainer, UserData pkgHandle)

static void	removePackageCallback (Vehicle *vehiclePtr, RecvContainer rcvContainer, UserData pkgHandle)

static void	resetCallback (Vehicle *vehiclePtr, RecvContainer rcvContainer, UserData pkgHandle)

static void	decodeCallback (Vehicle *vehiclePtr, RecvContainer rcvContainer, UserData subscriptionPtr)
	This callback function is called by recvReqData, case CMD_ID_SUBSCRIBE. More...

Public Attributes
VehicleCallBackHandler	subscriptionDataDecodeHandler

Static Public Attributes
static const uint8_t	MAX_NUMBER_OF_PACKAGE = 7

Detailed Description

Telemetry API through asynchronous "Subscribe"-style messages.

The subscribe API allows fine-grained control over requesting various topics at various frequencies.

All topics at a certain frequency should be put into a single "package".

Note: Subscribe-style telemetry is a new feature, available since OSDK 3.3

Constructor & Destructor Documentation

◆ DataSubscription()

DataSubscription::DataSubscription ( Vehicle * vehiclePtr )

Initialize the api member
1. Set each package[i] entry with packageID = i
2. Set the decodeCallback function

Member Function Documentation

◆ decodeCallback()

void DataSubscription::decodeCallback	(	Vehicle *	vehiclePtr,
		RecvContainer	rcvContainer,
		UserData	subPtr
	)

static

This callback function is called by recvReqData, case CMD_ID_SUBSCRIBE.

Parameters

API
header
subHandle	The pointer to the subscription object.

: decodeCallback is a static function and cannot access object member. In order to access members, it needs a pointer to the subscription.

◆ initPackageFromTopicList()

bool DataSubscription::initPackageFromTopicList	(	int	packageID,
		int	numberOfTopics,
		Telemetry::TopicName *	topicList,
		bool	sendTimeStamp,
		uint16_t	freq
	)

This is the interface for the end user to generate a package for subscription.

Supported Platforms : M210V2, M300

Parameters

packageID	The ID of package it'll generate
numberOfTopics
topicList	List of Topic Names to subscribe in the package
sendTimeStamp	Note that timestamp is the time of package transmission, not data acquisition from sensor.
freq

Returns

Setup members of package[packageID] Do basic gate keeping. No api->send call involved

◆ registerUserPackageUnpackCallback()

void DataSubscription::registerUserPackageUnpackCallback	(	int	packageID,
		VehicleCallBack	userFunctionAfterPackageExtraction,
		UserData	userData = `NULL`
	)

Register a callback function after package[packageID] is received.

Supported Platforms : M210V2, M300

Parameters

packageID
userFunctionAfterPackageExtraction

◆ removeAllExistingPackages()

void DataSubscription::removeAllExistingPackages ( )

Remove all occupied packages.

Supported Platforms : M210V2, M300

Returns

◆ removeLeftOverPackages()

void DataSubscription::removeLeftOverPackages ( )

Remove leftover incoming telemetry data due to unclean quit.

Supported Platforms : M210V2, M300

Returns

◆ removePackage() [1/2]

void DataSubscription::removePackage ( int packageID )

Non-blocking call for start package.

Supported Platforms : M210V2, M300

Parameters

packageID

Returns

◆ removePackage() [2/2]

ACK::ErrorCode DataSubscription::removePackage	(	int	packageID,
		int	timeout
	)

Non-blocking call for start package.

Supported Platforms : M210V2, M300

Parameters

packageID
timeout

Returns

◆ reset() [1/2]

void DataSubscription::reset ( )

Non-blocking call for resetting all packages.

Supported Platforms : M210V2, M300

Returns

◆ reset() [2/2]

ACK::ErrorCode DataSubscription::reset ( int timeout )

Blocking call for resetting all packages.

Supported Platforms : M210V2, M300

Parameters

timeout

◆ startPackage() [1/2]

void DataSubscription::startPackage ( int packageID )

Non-blocking call for starting a package.

Supported Platforms : M210V2, M300

Parameters

packageID

◆ startPackage() [2/2]

ACK::ErrorCode DataSubscription::startPackage	(	int	packageID,
		int	timeout
	)

Blocking call for start package.

Supported Platforms : M210V2, M300

Parameters

packageID
timeout

Returns

◆ verify() [1/2]

void DataSubscription::verify ( )

Non-blocking call for version match.

Supported Platforms : M210V2, M300

◆ verify() [2/2]

ACK::ErrorCode DataSubscription::verify ( int timeout )

Blocking call for version match.

Supported Platforms : M210V2, M300

Parameters

timeout

Returns

◆ verifyCallback()

void DataSubscription::verifyCallback	(	Vehicle *	vehiclePtr,
		RecvContainer	rcvContainer,
		UserData	userData
	)

static

Callback function for non-blocking verify()

Parameters

API
header
userData

The documentation for this class was generated from the following files:

osdk-core/api/inc/dji_subscription.hpp
osdk-core/api/src/dji_subscription.cpp

Onboard SDK

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DataSubscription()

Member Function Documentation

◆ decodeCallback()

◆ initPackageFromTopicList()

◆ registerUserPackageUnpackCallback()

◆ removeAllExistingPackages()

◆ removeLeftOverPackages()

◆ removePackage() [1/2]

◆ removePackage() [2/2]

◆ reset() [1/2]

◆ reset() [2/2]

◆ startPackage() [1/2]

◆ startPackage() [2/2]

◆ verify() [1/2]

◆ verify() [2/2]

◆ verifyCallback()