dji_psdk_module.hpp

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#ifndef ONBOARDSDK_DJI_PSDK_MODULE_HPP
#define ONBOARDSDK_DJI_PSDK_MODULE_HPP

#include <vector>
#include "dji_payload_base.hpp"
#include "dji_payload_link.hpp"
#if defined(__linux__)
#include "dji_mop_client.hpp"
#endif

namespace DJI {
namespace OSDK {
class PSDKModule : public PayloadBase {
 public:
  enum FunctionID {
    FUNCTION_SET_PSDK_1_0_WIDGET_VALUE = 70,
  };
  const static uint8_t psdkWidgetMaxCount = 30;
  const static uint16_t MAX_SIZE_OF_PACKAGE = 255;

  enum PayloadWidgetType {
    BUTTON = 1, 
    SWITCH = 2, 
    RANGE = 3,  
    LIST = 4,  
    INPUT = 5, 
    UNKNOWN = 0xFF, 
  };
#pragma pack(1)
  typedef struct PSDKWidgetInfo {
    uint8_t type;    
    uint8_t index;   
    int32_t value;   
  } PSDKWidgetInfo;  // pack(1)

  typedef struct PSDKWidgetReq {
    uint8_t funcIndex;        
    uint8_t payloadNodeIndex; 
    PSDKWidgetInfo widgetInfo;
  } PSDKWidgetReq;  // pack(1)

  typedef struct PSDKWidgetRsp {
    uint8_t funcIndex;        
    uint8_t payloadNodeIndex; 
    uint8_t ret_code;         
  } PSDKWidgetRsp;            // pack(1)

  typedef struct PSDKWidgetValuesData {
    uint8_t widgetTotalCount; 
    uint8_t widgetLocalCount; 
    PSDKWidgetInfo widgets[psdkWidgetMaxCount];
  } PSDKWidgetValuesData;  // pack(1)
#pragma pack()

  typedef void (*PSDKWidgetValuesUserCallback)(
      std::vector<PSDKWidgetInfo> widgets, UserData userData);

  typedef struct PSDKWidgetValuesUserHandler {
    PSDKWidgetValuesUserCallback callback;
    UserData userData;
  } PSDKWidgetValuesUserHandler;

  typedef void (*PSDKCommunicationUserCallback)(uint8_t *dataBuf,
                                                uint16_t dataLen,
                                                UserData userData);

  typedef struct PSDKCommonicationUserHandler {
    PSDKCommunicationUserCallback callback;
    UserData userData;
  } PSDKCommonicationUserHandler;

 public:
  PSDKModule(PayloadLink *payloadLink, PayloadIndexType payloadIndex,
             std::string name, bool enable);

  ~PSDKModule();

 public:
#if defined(__linux__)

  MopClient *getMopClient();
#endif

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

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

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

  ErrorCode::ErrorCodeType unsubscribeWidgetValues();

  VehicleCallBackHandler *getSubscribeWidgetValuesHandler();

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

  ErrorCode::ErrorCodeType unsubscribePSDKCommonication();

  VehicleCallBackHandler *getCommunicationHandler();

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

 private:
  static const int maxSize = 32;
#if defined(__linux__)
  MopClient *mopClient;
#endif
  PayloadLink *payloadLink;

  VehicleCallBackHandler psdkWidgetValuesDecodeHandler;

  VehicleCallBackHandler psdkCommonicationDecodeHandler;

  PSDKWidgetValuesUserHandler psdkWidgetValuesUserHandler;

  PSDKCommonicationUserHandler psdkCommonicationUserHandler;

  typedef struct UCBRetCodeHandler {
    void (*UserCallBack)(ErrorCode::ErrorCodeType errCode, UserData userData);
    UserData userData;
  } UCBRetCodeHandler;

  UCBRetCodeHandler ucbHandler[maxSize];

  UCBRetCodeHandler *allocUCBHandler(void *callback, UserData userData);

  static void widgetValueDecoder(Vehicle *vehicle, RecvContainer recvFrame,
                                 UserData userData);

  static void PSDKSetWidgetDecoder(Vehicle *vehicle, RecvContainer recvFrame,
                                   UCBRetCodeHandler *ucb);

  static void commonicationDataDecoder(Vehicle *vehicle,
                                       RecvContainer recvFrame,
                                       UserData userData);
}; /* PSDKModule camera */
}  // namespace OSDK
}  // namespace DJI

#endif  // ONBOARDSDK_DJI_PSDK_MODULE_HPP