dji_flight_actions_module.hpp

Go to the documentation of this file.

#ifndef DJI_FLIGHT_ACTIONS_MODULE_HPP
#define DJI_FLIGHT_ACTIONS_MODULE_HPP

#include "dji_vehicle_callback.hpp"

namespace DJI {
namespace OSDK {

class FlightLink;
class FlightActions {
 public:
  FlightActions(Vehicle *vehicle);
  ~FlightActions();

 public:
  enum FlightCommand : uint8_t {
    TAKE_OFF                   = 1, 
    LANDING                    = 2, 
    COURSE_LOCK                = 5,
    GO_HOME                    = 6, 
    START_MOTOR                = 7,
    STOP_MOTOR                 = 8,
    CALIBRATE_COMPASS          = 9,
    EXIT_GOHOME                = 12,
    EXIT_TAKEOFF               = 13,
    EXIT_LANDING               = 14,
    EXIT_CALIBRATE_COMPASS     = 21,
    LANDING_GEAR_DOWN          = 28,
    LANDING_GEAR_UP            = 29,
    FORCE_LANDING_AVOID_GROUND = 30, 
    FORCE_LANDING              = 31, 
  };
  enum KillSwitch
  {
    ENABLE  = 0x01, 
    DISABLE = 0x02  
  };
#pragma pack(1)
  typedef struct CommonAck {
    uint8_t retCode; 
  } CommonAck;       // 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()

  typedef struct UCBRetCodeHandler {
    void (*UserCallBack)(ErrorCode::ErrorCodeType errCode, UserData userData);
    UserData userData;
  } UCBRetCodeHandler;

  static const int maxSize = 32;
  UCBRetCodeHandler ucbHandler[maxSize];

  UCBRetCodeHandler *allocUCBHandler(void *callback, UserData userData);

  static void commonAckDecoder(Vehicle *vehicle, RecvContainer recvFrame,
                               UCBRetCodeHandler *ucb);

  ErrorCode::ErrorCodeType actionSync(uint8_t req, int timeout);

  void actionAsync(FlightCommand req,
                   void (*ackDecoderCB)(Vehicle *vehicle,
                                        RecvContainer recvFrame,
                                        UCBRetCodeHandler *ucb),
                   void (*userCB)(ErrorCode::ErrorCodeType, UserData userData),
                   UserData userData, int timeout = 2000, int retryTime = 1);

  ErrorCode::ErrorCodeType  EmergencyBrakeActionSync(uint8_t req, int timeout);

  ErrorCode::ErrorCodeType killSwitch(KillSwitch cmd, int wait_timeout, char debugMsg[10]);
 private:
  FlightLink *flightLink;

};
}
}

#endif  // DJI_FLIGHT_ACTIONS_MODULE_HPP