dji_flight_joystick_module.hpp

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#ifndef DJI_FLIGHT_JOYSTICK_MODULE_HPP
#define DJI_FLIGHT_JOYSTICK_MODULE_HPP

#include "dji_vehicle_callback.hpp"
namespace DJI {
namespace OSDK {
class Vehicle;
class FlightLink;
class FlightJoystick {
 public:

  enum class JoystickCtrlAuthorityCommand {
    RELEASE_AUTHORITY = 0,
    OBTAIN_AUTHORITY  = 1,
  };
  enum HorizontalLogic {
    HORIZONTAL_ANGLE = 0,
    HORIZONTAL_VELOCITY = 1,
    HORIZONTAL_POSITION = 2,
    HORIZONTAL_ANGULAR_RATE = 3
  };

  enum VerticalLogic {
    VERTICAL_VELOCITY = 0,
    VERTICAL_POSITION = 1,
    VERTICAL_THRUST = 2,
  };

  enum YawLogic {
    YAW_ANGLE = 0x00,
    YAW_RATE = 1
  };

  enum HorizontalCoordinate {
    HORIZONTAL_GROUND = 0,
    HORIZONTAL_BODY = 1
  };

  enum StableMode {
    STABLE_DISABLE = 0, 
    STABLE_ENABLE = 1   
  };
#pragma pack(1)

  typedef struct ControlCommand {
    float32_t x;   
    float32_t y;   
    float32_t z;   
    float32_t yaw; 
  } ControlCommand;// pack(1)

  typedef struct ControlMode {
    uint8_t stableMode : 1;
    uint8_t horizFrame : 2;
    uint8_t yawMode    : 1;
    uint8_t vertiMode  : 2;
    uint8_t horizMode  : 2;
  } ControlMode;// pack(1)

  typedef struct CtrlData {
    ControlMode controlMode;
    ControlCommand controlCommand;
  } CtrlData;     // pack(1)

  typedef struct AdvancedCtrlData {
    ControlMode controlMode;
    uint8_t advFlag;
    ControlCommand controlCommand;
    float32_t xFeedforward;
    float32_t yFeedforward;
  } AdvancedCtrlData;  // 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)

  typedef struct CommonAck {
    uint8_t retCode; 
  } CommonAck;       // pack(1)
#pragma pack()

 public:
  FlightJoystick(Vehicle *vehicle);
  ~FlightJoystick();

/* JoystickCtrlAuthority manage */
  void obtainJoystickCtrlAuthorityAsync(void (*userCB)(ErrorCode::ErrorCodeType,
                                                       UserData userData),
                                        UserData userData, int timeout, int retryTime);
  ErrorCode::ErrorCodeType obtainJoystickCtrlAuthoritySync(int timeout);
  void releaseJoystickCtrlAuthorityAsync(void (*userCB)(ErrorCode::ErrorCodeType,
                                                        UserData userData),
                                         UserData userData, int timeout, int retryTime);
  ErrorCode::ErrorCodeType releaseJoystickCtrlAuthoritySync(int timeout);

  void setHorizontalLogic(HorizontalLogic horizontalLogic);
  void setVerticalLogic(VerticalLogic verticalLogic);
  void setYawLogic(YawLogic yawLogic);
  void setHorizontalCoordinate(HorizontalCoordinate horizontalCoordinate);
  void setStableMode(StableMode stableMode);

  void setControlCommand(const ControlCommand &controlCommand);
  void joystickAction();

  void getControlCommand(ControlCommand &controlCommand);
  void getControlMode(ControlMode &controlCommand);

 private:
  CtrlData ctrlData;
  FlightLink *flightLink;
};
}
}

#endif  // DJI_FLIGHT_JOYSTICK_MODULE_HPP