dji_control.hpp

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#ifndef DJI_CONTROL_H
#define DJI_CONTROL_H

#include "dji_ack.hpp"
#include "dji_type.hpp"
#include "dji_vehicle_callback.hpp"

namespace DJI
{
namespace OSDK
{

// Forward Declarations
class Vehicle;

class Control
{

public:
  class FlightCommand
  {
  public:
    /*
     * @note Matrice 100 flight commands
     */
    typedef struct LegacyCMD
    {
      const static int goHome  = 1;
      const static int takeOff = 4;
      const static int landing = 6;
    } LegacyCMD;

    /*
     * @note OSDK release 3.3
     */
    const static int takeOff = 1; 
    const static int landing = 2; 
    const static int courseLock       = 5;
    const static int goHome           = 6; 
    const static int startMotor       = 7;
    const static int stopMotor        = 8;
    const static int calibrateCompass = 9;
    const static int exitGoHome       = 12;
    const static int exitTakeOff      = 13;
    const static int exitLanding      = 14;
    const static int exitCalibrateCompass = 21;
    const static int landingGearDown      = 28;
    const static int landingGearUp        = 29;
  };
  // clang-format off
  enum VerticalLogic
  {
    VERTICAL_VELOCITY = 0x00,
    VERTICAL_POSITION = 0x10,
    VERTICAL_THRUST = 0x20,
  };

  enum HorizontalLogic
  {
    HORIZONTAL_ANGLE = 0x00,
    HORIZONTAL_VELOCITY = 0x40,
    HORIZONTAL_POSITION = 0x80,
    HORIZONTAL_ANGULAR_RATE = 0xC0
  };
  enum YawLogic
  {
    YAW_ANGLE = 0x00,
    YAW_RATE = 0x08
  };

  enum HorizontalCoordinate
  {
    HORIZONTAL_GROUND = 0x00,
    HORIZONTAL_BODY = 0x02
  };

  enum StableMode
  {
    STABLE_DISABLE = 0x00, 
    STABLE_ENABLE  = 0x01  
  };

  enum KillSwitch
  {
    ENABLE  = 0x01, 
    DISABLE = 0x02  
  };
// clang-format on

#pragma pack(1)

  typedef struct CtrlData
  {
    uint8_t flag;  
    float32_t x;   
    float32_t y;   
    float32_t z;   
    float32_t yaw; 
    CtrlData(uint8_t in_flag, float32_t in_x, float32_t in_y, float32_t in_z,
             float32_t in_yaw);
  } CtrlData; // pack(1)

  typedef struct AdvancedCtrlData
  {
    uint8_t   flag;
    uint8_t   advFlag;
    float32_t x;
    float32_t y;
    float32_t z;
    float32_t yaw;
    float32_t xFeedforward;
    float32_t yFeedforward;

    AdvancedCtrlData(uint8_t in_flag, float32_t in_x, float32_t in_y,
                     float32_t in_z, float32_t in_yaw, float32_t x_forw,
                     float32_t y_forw);
  } AdvancedCtrlData; // pack(1)

  typedef struct LegacyCMDData
  // CMD data supported in Matrice 100
  {
    uint8_t sequence;
    uint8_t cmd;
  } LegacyCMDData; // pack (1)

  typedef struct KillSwitchData
  {
    uint8_t high_version;    
    uint8_t low_version;     
    uint8_t debug_description[10]; 
    uint8_t cmd : 2;  
    uint8_t reserved : 6;
  } KillSwitchData; // pack(1)


#pragma pack()

private:
  const int wait_timeout;

public:
  Control(Vehicle* vehicle = 0);
  ~Control();

  Vehicle* vehicle;



  void obtainCtrlAuthority(VehicleCallBack callback = 0, UserData userData = 0);
  ACK::ErrorCode obtainCtrlAuthority(int timeout);
  void releaseCtrlAuthority(VehicleCallBack callback = 0,
                            UserData        userData = 0);
  ACK::ErrorCode releaseCtrlAuthority(int timeout);

  void action(const int cmd, VehicleCallBack callback = 0,
              UserData userData = 0);
  ACK::ErrorCode action(const int cmd, int timeout);

  ACK::ErrorCode armMotors(int wait_timeout);
  void armMotors(VehicleCallBack callback = 0, UserData userData = 0);

  ACK::ErrorCode disArmMotors(int wait_timeout);
  void disArmMotors(VehicleCallBack callback = 0, UserData userData = 0);

  ACK::ErrorCode takeoff(int wait_timeout);
  void takeoff(VehicleCallBack callback = 0, UserData userData = 0);

  ACK::ErrorCode goHome(int wait_timeout);
  void goHome(VehicleCallBack callback = 0, UserData userData = 0);

  ACK::ErrorCode land(int wait_timeout);
  void land(VehicleCallBack callback = 0, UserData userData = 0);

  void flightCtrl(CtrlData data);

  void flightCtrl(AdvancedCtrlData data);

  void positionAndYawCtrl(float32_t x, float32_t y, float32_t z, float32_t yaw);

  void velocityAndYawRateCtrl(float32_t Vx, float32_t Vy, float32_t Vz,
                              float32_t yawRate);

  void attitudeAndVertPosCtrl(float32_t roll, float32_t pitch, float32_t yaw,
                              float32_t z);

  void angularRateAndVertPosCtrl(float32_t rollRate, float32_t pitchRate,
                                 float32_t yawRate, float32_t z);

  void emergencyBrake();

  static void actionCallback(Vehicle* vehiclePtr, RecvContainer recvFrame,
                             UserData userData);

  ACK::ErrorCode killSwitch(KillSwitch cmd, int wait_timeout = 10, char debugMsg[10] = (char *)"OSDK_API");
  void killSwitch(KillSwitch cmd, char debugMsg[10] = (char *)"OSDK_API", VehicleCallBack callback = 0, UserData userData = 0);

private:
  ACK::ErrorCode setArm(bool armSetting, int timeout);
  void setArm(bool armSetting, VehicleCallBack callback = 0,
              UserData userData = 0);

  static void controlAuthorityCallback(Vehicle*      vehiclePtr,
                                       RecvContainer recvFrame,
                                       UserData      userData);
  /*
   * Task CMD data to send to the flight controller (supported in Matrice 100)
   */
  LegacyCMDData legacyCMDData;
}; // class Control

} // OSDK
} // DJI

#endif // DJI_CONTROL_H