dji_mission_manager.hpp

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#ifndef ONBOARDSDK_DJI_MISSIONMANAGER_H
#define ONBOARDSDK_DJI_MISSIONMANAGER_H

#include "dji_hotpoint.hpp"
#include "dji_waypoint.hpp"
#include <vector>

namespace DJI
{
namespace OSDK
{

enum DJI_MISSION_TYPE
{
  WAYPOINT   = 0,
  HOTPOINT   = 1,
};

enum MISSION_ACTION
{
  START  = 0,
  STOP   = 1,
  PAUSE  = 2,
  RESUME = 3,
};

class WaypointMission;
class HotpointMission;
class MissionManager
{
public:
  MissionManager(Vehicle* vehiclePtr = 0);
  ~MissionManager();

  ACK::ErrorCode init(DJI_MISSION_TYPE type, int timeout,
                      UserData missionData = 0);
  void init(DJI_MISSION_TYPE type, VehicleCallBack callback = 0,
            UserData missionData = 0);
  static void missionCallback(Vehicle* vehiclePtr, RecvContainer recvFrame,
                              UserData userData);

private:
  ACK::ErrorCode initWayptMission(int timeout = 10, UserData wayptData = 0);
  void initWayptMission(VehicleCallBack callback = 0, UserData wayptData = 0);


  ACK::ErrorCode initHotptMission(int timeout = 10, UserData wayptData = 0);
  void initHotptMission(VehicleCallBack callback = 0, UserData wayptData = 0);

public:
  WaypointMission* getWaypt(int index);
  HotpointMission* getHotpt(int index);
  void printInfo();


  Vehicle*         vehicle;
  WaypointMission* wpMission;
  HotpointMission* hpMission;

  std::vector<WaypointMission*> wpMissionVector;
  std::vector<HotpointMission*> hpMissionVector;
};

} // OSDK
} // DJI

#endif // ONBOARDSDK_DJI_MISSIONMANAGER_H