dji_perception_impl.hpp

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#ifndef ONBOARDSDK_DJI_PERCEPTION_IMPL_H
#define ONBOARDSDK_DJI_PERCEPTION_IMPL_H

#include <cstring>
#include "dji_perception.hpp"
#include "dji_vehicle.hpp"
#include "dji_linker.hpp"

namespace DJI {
namespace OSDK {

// Forward Declaration
class Vehicle;

class PerceptionImpl {
 public:
  PerceptionImpl(Vehicle *vehiclePtr);

  ~PerceptionImpl();

 public:
  typedef struct PerceptionImageHandler {
    Perception::PerceptionImageCB cb;
    void* userData;
  } PerceptionImageHandler;

  typedef struct PerceptionCamParamHandler {
    Perception::PerceptionCamParamCB cb;
    void* userData;
  } PerceptionCamParamHandler;

  static E_OsdkStat cameraImageHandler(struct _CommandHandle *cmdHandle,
                                       const T_CmdInfo *cmdInfo, const uint8_t *cmdData, void *userData);

  static E_OsdkStat cameraParamHandler(struct _CommandHandle *cmdHandle,
                                       const T_CmdInfo *cmdInfo, const uint8_t *cmdData, void *userData);

  E_OsdkStat subscribePerceptionImage(const char camChoice[11]);

  E_OsdkStat subscribePerceptionImage(Perception::CamPositionType camChoice);

  E_OsdkStat subscribePerceptionImage(Perception::DirectionType directionChoice);

  E_OsdkStat unsubscribePerceptionImage(const char camChoice[11]);

  E_OsdkStat unsubscribePerceptionImage(Perception::CamPositionType camChoice);

  E_OsdkStat unsubscribePerceptionImage(Perception::DirectionType directionChoice);

  E_OsdkStat subscribeCameraParam();

  void cancelAllSubsciptions();

  vector<Perception::DirectionType> getUpdatingDiretcion();
 public:
  static PerceptionImageHandler imageHandler;
  static PerceptionCamParamHandler camParamHandler;

  static const char rectifyDownLeft[11];
  static const char rectifyDownRight[11];
  static const char rectifyFrontLeft[11];
  static const char rectifyFrontRight[11];
  static const char rectifyRearLeft[11];
  static const char rectifyRearRight[11];
  static const char rectifyUpLeft[11];
  static const char rectifyUpRight[11];
  static const char rectifyLeftLeft[11];
  static const char rectifyLeftRight[11];
  static const char rectifyRightLeft[11];
  static const char rectifyRightRight[11];

 private:
  Vehicle *vehicle;
  static uint32_t imageUpdateSysMs[IMAGE_MAX_DIRECTION_NUM];
  static uint32_t updateJudgingInMs;
  string getSubscribeString(Perception::CamPositionType camChoice);
};
} // OSDK
} // DJI

#endif //ONBOARDSDK_DJI_PERCEPTION_IMPL_H