dji_advanced_sensing.hpp

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#ifndef ONBOARDSDK_DJI_ADVANCED_SENSING_H
#define ONBOARDSDK_DJI_ADVANCED_SENSING_H

#include "dji_type.hpp"
#include <cstring>
#include "dji_advanced_sensing_protocol.hpp"
#include "dji_version.hpp"
#include "dji_liveview.hpp"
#include "dji_perception.hpp"

#include "dji_camera_stream.hpp"

namespace DJI {
namespace OSDK {

// Forward Declaration
class Vehicle;

#pragma pack(1)
typedef struct DataConfig
{
  uint32_t  data_flag : 1;
  uint32_t  data_freq : 4;
  uint32_t  data_reserved : 27;
} DataConfig;

typedef struct ImgConfig
{
  uint32_t img_flag : 1;
  uint32_t img_freq : 4;
  uint32_t img_resolution : 4;
  uint32_t img_reserved : 23;
} ImgConfig;

typedef struct VGAConfig
{
  ImgConfig     image_selection[2][CAMERA_PAIR_NUM];
  DataConfig    reserved_0;
  DataConfig    reserved_1;
  DataConfig    reserved_2;
  DataConfig    reserved_3;
  DataConfig    reserved_4;
} VGAConfig;

typedef struct AdvancedSensingConfig
{
  bool        is_stereo_img_subscribed;
  uint32_t    image_selected[CAMERA_PAIR_NUM][IMAGE_TYPE_NUM];
  bool        is_vga_img_subscribed;
  VGAConfig   vga_subscription;
} AdvancedSensingConfig;
#pragma pack()

class AdvancedSensing {
public:
#pragma pack(1)

  typedef struct ImageSelection {
    uint16_t front_left       : 1;
    uint16_t front_right      : 1;
    uint16_t down_front       : 1;
    uint16_t down_back        : 1;
    uint16_t back_left        : 1;
    uint16_t back_right       : 1;
    uint16_t reserved         : 10;
  } ImageSelection;
#pragma pack()

  enum ReceivedImgDesc
  {
    RECV_FRONT_LEFT   = 10,
    RECV_FRONT_RIGHT  = 11,
    RECV_DOWN_BACK    = 0,
    RECV_DOWN_FRONT   = 1,
    RECV_FRONT_DEPTH  = 15,
  };

public:
  AdvancedSensing(Vehicle* vehiclePtr);

  ~AdvancedSensing();
  void init();

  void deinit();
  void subscribeStereoImages(const ImageSelection *select, VehicleCallBack callback = 0, UserData userData = 0);
  void subscribeFrontStereoVGA(const uint8_t freq, VehicleCallBack callback = 0, UserData userData = 0);
  void subscribeFrontStereoDisparity(VehicleCallBack callback = 0, UserData userData = 0);
  void unsubscribeStereoImages();
  void unsubscribeVGAImages();
  static void stereoCallback(Vehicle* vehiclePtr, RecvContainer recvFrame, UserData userData);
  static void VGACallback(Vehicle* vehiclePtr, RecvContainer recvFrame, UserData userData);
  bool startFPVCameraStream(CameraImageCallback cb = NULL, void * cbParam = NULL);
  bool startMainCameraStream(CameraImageCallback cb = NULL, void * cbParam = NULL);
  void setAcmDevicePath(const char *acm_path);

  void stopFPVCameraStream();

  void stopMainCameraStream();
  bool newFPVCameraImageIsReady();
  bool newMainCameraImageReady();
  bool getFPVCameraImage(CameraRGBImage& copyOfImage);
  bool getMainCameraImage(CameraRGBImage& copyOfImage);

  LiveView::LiveViewErrCode changeH264Source(LiveView::LiveViewCameraPosition pos,
                                             LiveView::LiveViewCameraSource source);

  LiveView::LiveViewErrCode startH264Stream(LiveView::LiveViewCameraPosition pos, H264Callback cb, void *userData);

  LiveView::LiveViewErrCode stopH264Stream(LiveView::LiveViewCameraPosition pos);

  Perception::PerceptionErrCode subscribePerceptionImage(Perception::DirectionType direction, Perception::PerceptionImageCB cb, void* userData);

  Perception::PerceptionErrCode unsubscribePerceptionImage(Perception::DirectionType direction);

  Perception::PerceptionErrCode triggerStereoCamParamsPushing();

  void setStereoCamParamsObserver(Perception::PerceptionCamParamCB cb, void *userData);

private:
  void sendCommonCmd(uint8_t *data, uint8_t data_len, uint8_t cmd_id);

private:
AdvancedSensingProtocol* advancedSensingProtocol;
Vehicle* vehicle_ptr;
DJICameraStream* mainCam_ptr;
DJICameraStream* fpvCam_ptr;
LiveView *liveview;
Perception *perception;
const char* acm_dev;
map<LiveView::LiveViewCameraPosition, DJICameraStreamDecoder*> streamDecoder;

public:
AdvancedSensingProtocol* getAdvancedSensingProtocol();

public:
VehicleCallBackHandler stereoHandler;
VehicleCallBackHandler vgaHandler;
};

} // OSDK
} // DJI

#endif //ONBOARDSDK_DJI_ADVANCED_SENSING_H