dji_hotpoint.hpp

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#ifndef DJI_HOTPOINT_H
#define DJI_HOTPOINT_H

#include "dji_mission_base.hpp"
#include "dji_telemetry.hpp"

namespace DJI
{
namespace OSDK
{

class HotpointMission : public MissionBase
{
public:
#pragma pack(1)
  typedef struct YawRate
  {
    uint8_t   clockwise;
    float32_t yawRate;
  } YawRate;
#pragma pack()

  enum View
  {
    VIEW_NORTH  = 0,
    VIEW_SOUTH  = 1,
    VIEW_WEST   = 2,
    VIEW_EAST   = 3,
    VIEW_NEARBY = 4
  };

  enum YawMode
  {
    YAW_AUTO    = 0,
    YAW_INSIDE  = 1,
    YAW_OUTSIDE = 2,
    YAW_CUSTOM  = 3,
    YAW_STATIC  = 4,
  };

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

  VehicleCallBackHandler hotPointCallback;

  void initData();
  HotPointSettings getData() const;
  void start(VehicleCallBack callback = 0, UserData userData = 0);
  ACK::ErrorCode start(int timer);
  void stop(VehicleCallBack callback = 0, UserData userData = 0);
  ACK::ErrorCode stop(int timer);
  void pause(VehicleCallBack callback = 0, UserData userData = 0);
  ACK::ErrorCode pause(int timer);
  void resume(VehicleCallBack callback = 0, UserData userData = 0);
  ACK::ErrorCode resume(int timer);
  void updateYawRate(YawRate& Data);
  void updateYawRate(float32_t yawRate, bool isClockwise);
  void updateRadius(float32_t meter);
  void resetYaw(VehicleCallBack callback = 0, UserData userData = 0);
  ACK::ErrorCode resetYaw(int timer);
  void getHotpointSettings(VehicleCallBack callback = 0, UserData userData = 0);
  ACK::HotPointRead getHotpointSettings(int timer);
  static void startCallback(RecvContainer recvFrame, UserData userData);
  static void getHotpointSettingsCallback(Vehicle*      vehiclePtr,
                                          RecvContainer recvFrame,
                                          UserData      userData);
  void setHotpointCallback(VehicleCallBack callback, UserData userData);
  void setData(HotPointSettings* data);
  void setHotPoint(float64_t longitude, float64_t latitude, float64_t altitude);
  void setHotPoint(Telemetry::GlobalPosition gps);
  void setRadius(float64_t meter);
  void setYawRate(float32_t degree);
  void setClockwise(bool isClockwise);
  void setCameraView(View view);
  void setYawMode(YawMode mode);

private:
  HotPointSettings hotPointData;
};

} // namespace OSDK
} // namespace DJI

#endif // DJI_HOTPOINT_H