dji_psdk_manager.hpp

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#ifndef ONBOARDSDK_DJI_PSDK_MANAGER_HPP
#define ONBOARDSDK_DJI_PSDK_MANAGER_HPP

#include <vector>
#include "dji_psdk_module.hpp"

namespace DJI {
namespace OSDK {
class PSDKManager {
 public:
  PSDKManager(Vehicle *vehiclePtr);

  ~PSDKManager();

 public:
  ErrorCode::ErrorCodeType initPSDKModule(PayloadIndexType index,
                                          const char *name);

  ErrorCode::ErrorCodeType deinitPSDKModule(PayloadIndexType index);

  void deinitAllPSDKModule(void);

  ErrorCode::ErrorCodeType getPSDKModuleName(PayloadIndexType index,
                                             std::string &name);

  ErrorCode::ErrorCodeType getPSDKModuleIndex(const char *name, uint8_t &index);

  ErrorCode::ErrorCodeType getPSDKModuleEnable(PayloadIndexType index,
                                               bool &enable);

 public:
#if defined(__linux__)

  ErrorCode::ErrorCodeType getMopClient(
      PayloadIndexType index, MopClient *&mopClient);
#endif

  ErrorCode::ErrorCodeType configureWidgetValueSync(
      PayloadIndexType index, uint8_t widgetIndex,
      PSDKModule::PayloadWidgetType widgetType, int widgetValue, int timeout);

  void configureWidgetValueAsync(
      PayloadIndexType index, uint8_t widgetIndex,
      PSDKModule::PayloadWidgetType widgetType, int widgetValue,
      void (*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData),
      UserData userData);

  ErrorCode::ErrorCodeType subscribePSDKWidgetValues(
      PayloadIndexType index, PSDKModule::PSDKWidgetValuesUserCallback cb,
      UserData userData);

  ErrorCode::ErrorCodeType unsubscribeWidgetValues(PayloadIndexType index);

  VehicleCallBackHandler *getSubscribeWidgetValuesHandler(
      PayloadIndexType index);

  ErrorCode::ErrorCodeType subscribePSDKCommonication(
      PayloadIndexType index, PSDKModule::PSDKCommunicationUserCallback cb,
      UserData userData);

  ErrorCode::ErrorCodeType unsubscribePSDKCommonication(PayloadIndexType index);

  VehicleCallBackHandler *getCommunicationHandler(PayloadIndexType index);

  ErrorCode::ErrorCodeType sendDataToPSDK(PayloadIndexType index, uint8_t *data,
                                          uint16_t len);

 private:
  PayloadLink *payloadLink;
  std::vector<PSDKModule *> psdkModuleVector;

  PSDKModule *getPSDKModule(PayloadIndexType index);

  PSDKModule *getPSDKModule(std::string name);

  const char *defaultPSDKName = "uninitialized_psdk";
};

}  // namespace OSDK
}  // namespace DJI

#endif  // ONBOARDSDK_DJI_PSDK_MANAGER_HPP