dji_flight_link.hpp

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#ifndef DJI_CONTROL_LINK_HPP
#define DJI_CONTROL_LINK_HPP
#include "dji_vehicle_callback.hpp"
#include "osdk_command.h"

namespace DJI {
namespace OSDK {
class FlightLink {
 public:
  FlightLink(Vehicle *vehicle);

  ~FlightLink();

  typedef struct callbackWarpperHandler {
    void (*cb)(ErrorCode::ErrorCodeType retCode, UserData userData);
    UserData udata;
  } callbackWarpperHandler;
  typedef uint8_t retCodeType;

  void linkSendFCAsync(const uint8_t cmd[], const uint8_t *cmdData, size_t len,
                       Command_SendCallback func,
                       void (*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData),
                       void *userData, uint32_t timeOut, uint16_t retryTimes);

  E_OsdkStat linkSendFCSync(const uint8_t cmd[], const uint8_t *cmdData, size_t len,
                            uint8_t *ackData, uint32_t *ack_len, uint32_t timeOut, uint16_t retryTimes);

  void sendAsync(const uint8_t cmd[], void *pdata, size_t len, void *callBack,
                 UserData userData, int timeout = 500, int retryTime = 2);
  void *sendSync(const uint8_t cmd[], void *pdata, size_t len, int timeout);

  void sendDirectly(const uint8_t cmd[], void *pdata, size_t len);
 public:
  Vehicle *getVehicle() const;

  void setVehicle(Vehicle *value);

 private:
  Vehicle *vehicle;

};
}  // namespace OSDK
}  // namespace DJI

#endif  // DJI_CONTROL_LINK_HPP