dji_error.hpp

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#ifndef DJI_ERROR_H
#define DJI_ERROR_H

#ifdef STM32
#include <stdint.h>
#else
#include <cstdint>
#endif
#include <map>
#include "osdk_typedef.h"

namespace DJI {
namespace OSDK {

class ErrorCode {
 public:
  typedef uint8_t ModuleIDType;

  typedef uint8_t FunctionIDType;

  typedef uint32_t RawRetCodeType;

  static const uint8_t functionMaxCnt = 20;
  enum ModuleID {
    SysModule = 0,
    RESERVE_1 = 1,
    RESERVE_2 = 2,
    RESERVE_3 = 3,
    RESERVE_4 = 4,
    RESERVE_5 = 5,
    RESERVE_6 = 6,
    RESERVE_7 = 7,
    RESERVE_8 = 8,
    RESERVE_9 = 9,
    RESERVE_10 = 10,
    FCModule = 11,
    GimbalModule = 12,
    CameraModule = 13,
    PSDKModule = 14,
    RCModule = 15,
    BatteryModule = 16,
    MissionV2Module = 17,
    ModuleMaxCnt,
  };

  enum SystemFunctionID {
    SystemCommon = 0,
  };
  enum FCFunctionID {
    FCControlTask           = 0,
    FCSubscribe             = 1,
   // FCWaypointMissionV1   = 2,
   // FCWaypointMissionV2   = 3,
    FCParameterTable        = 4,
    FCSetHomeLocation       = 5,
    FCAvoidObstacle         = 6,
    FCEmergencyBrake        = 7,
  //  FCHotpointMission     = 8,
  };

  enum CameraFunctionID {
    CameraCommon = 0,
  };

  enum GimbalFunctionID {
    GimbalCommon = 0,
  };

  enum PSDKFunctionID {
    PSDKCommon = 0,
  };

  enum MissionV2FunctionId
  {
    MissionV2Common = 0,
  };

  enum SYSTEM_ERROR_RAW_CODE {
    Success              = 0x00000000, 
    AllocMemoryFailed    = 0x00000001, 
    ReqNotSupported      = 0x00000002, 
    Timeout              = 0x00000003, 
    UnpackDataMismatch   = 0x00000004, 
    InstInitParamInvalid = 0x00000005, 
    UserCallbackInvalid  = 0x00000006, 
    UndefinedError       = 0xFFFFFFFF, 
  };

  typedef int64_t ErrorCodeType;

  typedef struct ErrorCodeMsg {
    ErrorCodeMsg(const char* moduleMsg, const char* errorMsg,
                 const char* solutionMsg)
        : moduleMsg(moduleMsg), errorMsg(errorMsg), solutionMsg(solutionMsg){};
    const char* moduleMsg;
    const char* errorMsg;
    const char* solutionMsg;
  } ErrorCodeMsg;

  typedef std::map<const RawRetCodeType, ErrorCodeMsg> ErrorCodeMapType;

  typedef struct FunctionDataType
  {
    const char* FunctionName;
    const ErrorCodeMapType (*getMap)();
  } FunctionDataType;

  typedef struct ModuleDataType
  {
    const char* ModuleName;
    const FunctionDataType *data;
  } ModuleDataType;

  static constexpr ErrorCodeType getErrorCode(ModuleIDType moduleID,
                                          FunctionIDType functionID,
                                          RawRetCodeType rawRetCode) {
    return (!rawRetCode) ? (
      ((ErrorCodeType) ErrorCode::SysModule << moduleIDLeftMove)
        | ((ErrorCodeType) ErrorCode::SystemCommon << functionIDLeftMove) |
        (ErrorCodeType) 0x00000000) :
           (((ErrorCodeType) moduleID << moduleIDLeftMove) |
             ((ErrorCodeType) functionID << functionIDLeftMove) |
             (ErrorCodeType) rawRetCode);
  }

  static ErrorCode::ModuleIDType getModuleID(ErrorCodeType errCode);

  static const char* getModuleName(ErrorCodeType errCode);

  static ErrorCode::FunctionIDType getFunctionID(ErrorCodeType errCode);

  static ErrorCode::RawRetCodeType getRawRetCode(ErrorCodeType errCode);

  static ErrorCode::ErrorCodeType getLinkerErrorCode(E_OsdkStat cb_type);

  static ErrorCodeMsg getErrorCodeMsg(int64_t errCode);

  static void printErrorCodeMsg(int64_t errCode);

  class FlightControllerErr
  {
  public:
    class ParamReadWriteErr
    {
    public:
      static const ErrorCodeType Fail;
      static const ErrorCodeType InvalidParameter;
    };

    class SetHomeLocationErr
    {
    public:
      static const ErrorCodeType Fail;
    };

    class SetControlParam
    {
      public:
      static const ErrorCodeType ObtainJoystickCtrlAuthoritySuccess;
      static const ErrorCodeType ReleaseJoystickCtrlAuthoritySuccess;
      static const ErrorCodeType ObtainJoystickCtrlAuthorityFail;
      static const ErrorCodeType ReleaseJoystickCtrlAuthorityFail;
    };

  };
  class CameraCommonErr {
   public:
    static const ErrorCodeType InvalidCMD;
    static const ErrorCodeType Timeout;
    static const ErrorCodeType OutOfMemory;
    static const ErrorCodeType InvalidParam;
    static const ErrorCodeType InvalidState;
    static const ErrorCodeType TimeNotSync;
    static const ErrorCodeType ParamSetFailed;
    static const ErrorCodeType ParamGetFailed;
    static const ErrorCodeType SDCardMISSING;
    static const ErrorCodeType SDCardFull;
    static const ErrorCodeType SDCardError;
    static const ErrorCodeType SensorError;
    static const ErrorCodeType SystemError;
    static const ErrorCodeType ParamLenTooLong;
    static const ErrorCodeType ModuleInactivated;
    static const ErrorCodeType FWSeqNumNotInOrder;
    static const ErrorCodeType FWCheckErr;
    static const ErrorCodeType FlashWriteError;
    static const ErrorCodeType FWInvalidType;
    static const ErrorCodeType RCDisconnect;
    static const ErrorCodeType HardwareErr;
    static const ErrorCodeType UAVDisconnect;
    static const ErrorCodeType UpgradeErrorNow;
    static const ErrorCodeType UndefineError;
  };

  class GimbalCommonErr {
   public:
    static const ErrorCodeType InvalidCMD;
    static const ErrorCodeType Timeout;
    static const ErrorCodeType OutOfMemory;
    static const ErrorCodeType InvalidParam;
    static const ErrorCodeType InvalidState;
    static const ErrorCodeType TimeNotSync;
    static const ErrorCodeType ParamSetFailed;
    static const ErrorCodeType ParamGetFailed;
    static const ErrorCodeType SDCardMISSING;
    static const ErrorCodeType SDCardFull;
    static const ErrorCodeType SDCardError;
    static const ErrorCodeType SensorError;
    static const ErrorCodeType SystemError;
    static const ErrorCodeType ParamLenTooLong;
    static const ErrorCodeType ModuleInactivated;
    static const ErrorCodeType FWSeqNumNotInOrder;
    static const ErrorCodeType FWCheckErr;
    static const ErrorCodeType FlashWriteError;
    static const ErrorCodeType FWInvalidType;
    static const ErrorCodeType RCDisconnect;
    static const ErrorCodeType HardwareErr;
    static const ErrorCodeType UAVDisconnect;
    static const ErrorCodeType UpgradeErrorNow;
    static const ErrorCodeType UndefineError;
  };

  class PSDKCommonErr {
   public:
    static const ErrorCodeType InvalidCMD;
    static const ErrorCodeType Timeout;
    static const ErrorCodeType OutOfMemory;
    static const ErrorCodeType InvalidParam;
    static const ErrorCodeType InvalidState;
    static const ErrorCodeType TimeNotSync;
    static const ErrorCodeType ParamSetFailed;
    static const ErrorCodeType ParamGetFailed;
    static const ErrorCodeType SDCardMISSING;
    static const ErrorCodeType SDCardFull;
    static const ErrorCodeType SDCardError;
    static const ErrorCodeType SensorError;
    static const ErrorCodeType SystemError;
    static const ErrorCodeType ParamLenTooLong;
    static const ErrorCodeType ModuleInactivated;
    static const ErrorCodeType FWSeqNumNotInOrder;
    static const ErrorCodeType FWCheckErr;
    static const ErrorCodeType FlashWriteError;
    static const ErrorCodeType FWInvalidType;
    static const ErrorCodeType RCDisconnect;
    static const ErrorCodeType HardwareErr;
    static const ErrorCodeType UAVDisconnect;
    static const ErrorCodeType UpgradeErrorNow;
    static const ErrorCodeType UndefineError;
  };

  class SysCommonErr {
   public:
    static const ErrorCodeType Success;
    static const ErrorCodeType AllocMemoryFailed;
    static const ErrorCodeType ReqNotSupported;
    static const ErrorCodeType ReqTimeout;
    static const ErrorCodeType UnpackDataMismatch;
    static const ErrorCodeType InstInitParamInvalid;
    static const ErrorCodeType UserCallbackInvalid;
    static const ErrorCodeType UndefinedError;
  };

  class WaypointV2MissionErr{
  public:

    static const ErrorCodeType TRAJ_RESV;
    static const ErrorCodeType TRAJ_INIT_WP_NUM_TOO_MANY ;
    static const ErrorCodeType TRAJ_INIT_WP_NUM_TOO_FEW   ;
    static const ErrorCodeType TRAJ_INIT_INVALID_END_INDEX      ;
    static const ErrorCodeType TRAJ_UPLOAD_START_ID_GT_END_ID ;
    static const ErrorCodeType TRAJ_UPLOAD_END_ID_GT_TOTAL_NUM ;
    static const ErrorCodeType TRAJ_DOWNLOAD_WPS_NOT_IN_STORED_RAGNE ;
    static const ErrorCodeType TRAJ_CUR_POS_IS_FAR_AWAY_FROM_FIRST_WP ;
    static const ErrorCodeType TRAJ_ADJ_WPS_TOO_CLOSE  ;
    static const ErrorCodeType TRAJ_ADJ_WPS_TOO_FAR   ;
    static const ErrorCodeType TRAJ_UPLOAD_MAX_VEL_GT_GLOBAL  ;
    static const ErrorCodeType TRAJ_UPLOAD_LOCAL_CRUISE_VEL_GT_LOCAL_MAX ;
    static const ErrorCodeType TRAJ_UPLOAD_LOCAL_CRUISE_VEL_GT_GLOBAL_MAX ;
    static const ErrorCodeType TRAJ_INIT_INVALID_GLOBAL_MAX_VEL   ;
    static const ErrorCodeType TRAJ_GLOBAL_CRUISE_VEL_GT_MAX_VEL  ;
    static const ErrorCodeType TRAJ_INIT_INVALID_GOTO_FIRST_FLAG  ;
    static const ErrorCodeType TRAJ_INIT_INVALID_FINISHED_ACTION  ;
    static const ErrorCodeType TRAJ_INIT_INVALID_RC_LOST_ACTION;
    static const ErrorCodeType TRAJ_UPLOAD_YAW_MODE_INVALID;
    static const ErrorCodeType TRAJ_UPLOAD_YAW_CMD_NOT_IN_RANGE ;
    static const ErrorCodeType TRAJ_UPLOAD_YAW_TURN_DIRECTION_INVALID;
    static const ErrorCodeType TRAJ_UPLOAD_WP_TYPE_INVALID ;
    static const ErrorCodeType TRAJ_GO_STOP_CMD_INVALID ;
    static const ErrorCodeType TRAJ_INVALID_PAUSE_RECOVERY_CMD;
    static const ErrorCodeType TRAJ_INVALID_BREAK_RESTORE_CMD ;
    static const ErrorCodeType TRAJ_INIT_INVALID_REF_POINT ;
    static const ErrorCodeType TRAJ_UPLOAD_CANNT_SET_WP_LINE_EXIT_TYPE;
    static const ErrorCodeType TRAJ_DAMPING_DIS_GE_DIS_OF_ADJ_POINTS ;
    static const ErrorCodeType TRAJ_INIT_INFO_NOT_UPLOADED ;
    static const ErrorCodeType TRAJ_WP_HAS_NOT_UPLOADED ;
    static const ErrorCodeType TRAJ_UPLOADED_WP_NOT_ENOUGH ;
    static const ErrorCodeType TRAJ_GS_HAS_STARTED ;
    static const ErrorCodeType TRAJ_GS_NOT_RUNNING ;
    static const ErrorCodeType TRAJ_GS_NOT_RUNNING_FOR_PAUSE_RECOVERY;
    static const ErrorCodeType TRAJ_GS_NOT_RUNNING_FOR_BREAK_RESTORE;
    static const ErrorCodeType TRAJ_NOT_IN_WP_MIS  ;
    static const ErrorCodeType TRAJ_MIS_HAS_BEEN_PAUSED ;
    static const ErrorCodeType TRAJ_MIS_NOT_PAUSED ;
    static const ErrorCodeType TRAJ_MIS_HAS_BEEN_BROKEN ;
    static const ErrorCodeType TRAJ_MIS_NOT_BROKEN ;
    static const ErrorCodeType TRAJ_PAUSE_RECOVERY_NOT_SUPPORTED;
    static const ErrorCodeType TRAJ_BREAK_RESTORE_NOT_SUPPORTED ;
    static const ErrorCodeType TRAJ_NO_BREAK_POINT  ;
    static const ErrorCodeType TRAJ_NO_CUR_TRAJ_PROJECT ;
    static const ErrorCodeType TRAJ_NO_NXT_TRAJ_PROJECT ;
    static const ErrorCodeType TRAJ_NO_NNT_TRAJ_PROJECT ;
    static const ErrorCodeType TRAJ_UPLOAD_WP_ID_NOT_CONTINUE ;
    static const ErrorCodeType TRAJ_WP_LINE_ENTER_NOT_SET_TO_START_WP  ;
    static const ErrorCodeType TRAJ_INIT_WP_WHEN_PLAN_HAS_STARTED  ;
    static const ErrorCodeType TRAJ_DAMPING_DIS_EXCEED_RANGE ;
    static const ErrorCodeType TRAJ_WAYPOINT_COOR_EXCEED_RANGE ;
    static const ErrorCodeType TRAJ_FIRST_WP_TYPE_IS_WP_TURN_NO;
    static const ErrorCodeType TRAJ_WP_EXCEED_RADIUS_LIMIT  ;
    static const ErrorCodeType TRAJ_WP_EXCEED_HEIGHT_LIMIT  ;


    static const ErrorCodeType COMMON_SUCCESS;
    static const ErrorCodeType COMMON_INVALID_DATA_LENGTH;
    static const ErrorCodeType COMMON_INVALD_FLOAT_NUM;
    static const ErrorCodeType TRAJ_WP_VERSION_NO_MATCH;
    static const ErrorCodeType COMMON_UNKNOWN;

    static const ErrorCodeType STATUS_RESV;
    static const ErrorCodeType STATUS_WP_MIS_CHECK_FAIL;
    static const ErrorCodeType STATUS_HOME_NOT_RECORDED;
    static const ErrorCodeType STATUS_LOW_LOCATION_ACCURACY;
    static const ErrorCodeType STATUS_RTK_CONDITION_IS_NOT_READY;

    static const ErrorCodeType SECURE_RESV;
    static const ErrorCodeType SECURE_CROSS_NFZ;
    static const ErrorCodeType SECURE_BAT_LOW;

    static const ErrorCodeType ACTION_COMMON_RESV;
    static const ErrorCodeType ACTION_COMMON_ACTION_ID_DUPLICATED;
    static const ErrorCodeType ACTION_COMMON_ACTION_ITEMS_SPACE_NOT_ENOUGH;
    static const ErrorCodeType ACTION_COMMON_ACTION_SIZE_GT_BUF_SIZE;
    static const ErrorCodeType ACTION_COMMON_ACTION_ID_NOT_FOUND;
    static const ErrorCodeType ACTION_COMMON_DOWNLOAD_ACTION_ID_RANGE_ERROR;
    static const ErrorCodeType ACTION_COMMON_NO_ACTION_ITEMS_STORED;


    static const ErrorCodeType TRIGGER_RESV;
    static const ErrorCodeType TRIGGER_TYPE_INVALID;
    static const ErrorCodeType TRIGGER_REACH_WP_END_INDEX_LT_START_INDEX;
    static const ErrorCodeType TRIGGER_REACH_WP_INVALID_INTERVAL_WP_NUM;
    static const ErrorCodeType TRIGGER_REACH_WP_INVALID_AUTO_TERMINATE_WP_NUM;
    static const ErrorCodeType TRIGGER_ASSOCIATE_INVALID_TYPE;
    static const ErrorCodeType TRIGGER_SIMPLE_INTERVAL_INVALID_TYPE;

    static const ErrorCodeType ACTUATOR_COMMON_RESV;
    static const ErrorCodeType ACTUATOR_COMMON_ACTUATOR_EXEC_NON_SUPPORTED;
    static const ErrorCodeType ACTUATOR_COMMON_ACTUATOR_TYPE_INVALID;
    static const ErrorCodeType ACTUATOR_COMMON_ACTUATOR_FUNC_INVALID;

    static const ErrorCodeType ACTUATOR_CAMERA_RESV;
    static const ErrorCodeType ACTUATOR_CAMERA_SEND_SINGLE_SHOT_CMD_TO_CAMERA_FAIL;
    static const ErrorCodeType ACTUATOR_CAMERA_SEND_VIDEO_START_CMD_TO_CAMERA_FAIL;
    static const ErrorCodeType ACTUATOR_CAMERA_SEND_VIDEO_STOP_CMD_TO_CAMERA_FAIL;
    static const ErrorCodeType ACTUATOR_CAMERA_FOCUS_PARAM_XY_INVALID;
    static const ErrorCodeType ACTUATOR_CAMERA_SEND_FOCUS_CMD_TO_CAMERA_FAIL;
    static const ErrorCodeType ACTUATOR_CAMERA_SEND_FOCALIZE_CMD_TO_CAMERA_FAIL;
    static const ErrorCodeType ACTUATOR_CAMERA_FOCAL_DISTANCE_INVALID;
    static const ErrorCodeType ACTUATOR_CAMERA_EXEC_FAIL;

    static const ErrorCodeType ACTUATOR_GIMBAL_RESV;
    static const ErrorCodeType ACTUATOR_GIMBAL_INVALID_RPY_ANGLE_CTRL_CMD;
    static const ErrorCodeType ACTUATOR_GIMBAL_INVALID_DURATION_CMD;
    static const ErrorCodeType ACTUATOR_GIMBAL_FAIL_TO_ARRIVE_TGT_ANGLE;
    static const ErrorCodeType ACTUATOR_GIMBAL_FAIL_TO_SEND_CMD_TO_GIMBAL;
    static const ErrorCodeType ACTUATOR_GIMBAL_THIS_INDEX_OF_GIMBAL_NOT_DOING_UNIFORM_CTRL;

    static const ErrorCodeType ACTUATOR_FLIGHT_RESV;
    static const ErrorCodeType ACTUATOR_FLIGHT_YAW_INVALID_YAW_ANGLE;
    static const ErrorCodeType ACTUATOR_FLIGHT_YAW_TO_TGT_ANGLE_TIMEOUT;
    static const ErrorCodeType ACTUATOR_FLIGHT_ACTION_YAW_OCCUPIED;
    static const ErrorCodeType ACTUATOR_FLIGHT_CUR_AND_TGT_VEL_CLE_STATUE_EQUAL;

    static const ErrorCodeType ACTUATOR_PAYLOAD_RESV;
    static const ErrorCodeType ACTUATOR_PAYLOAD_FAIL_TO_SEND_CMD_TO_PAYLOAD;
    static const ErrorCodeType ACTUATOR_PAYLOAD_EXEC_FAILED;

  };

  class CommonACK {
   public:
    const static uint16_t SUCCESS;
    const static uint16_t KEY_ERROR;
    const static uint16_t NO_AUTHORIZATION_ERROR;
    const static uint16_t NO_RIGHTS_ERROR;
    const static uint16_t SYSTEM_ERROR;
    const static uint16_t NO_RESPONSE_ERROR;

    // These error codes would return either from
    // CMDSet Control::Task or from Missions
    const static uint8_t MOTOR_FAIL_NONE;
    const static uint8_t MOTOR_FAIL_COMPASS_ABNORMAL;
    const static uint8_t MOTOR_FAIL_ASSISTANT_PROTECTED;
    const static uint8_t MOTOR_FAIL_DEVICE_LOCKED;
    const static uint8_t MOTOR_FAIL_IMU_NEED_ADV_CALIBRATION;
    const static uint8_t MOTOR_FAIL_IMU_SN_ERROR;
    const static uint8_t MOTOR_FAIL_IMU_PREHEATING;
    const static uint8_t MOTOR_FAIL_COMPASS_CALIBRATING;
    const static uint8_t MOTOR_FAIL_IMU_NO_ATTITUDE;
    const static uint8_t MOTOR_FAIL_NO_GPS_IN_NOVICE_MODE;
    const static uint8_t MOTOR_FAIL_BATTERY_CELL_ERROR;
    const static uint8_t MOTOR_FAIL_BATTERY_COMMUNICATION_ERROR;
    const static uint8_t MOTOR_FAIL_BATTERY_VOLTAGE_TOO_LOW;
    const static uint8_t MOTOR_FAIL_BATTERY_USER_LOW_LAND;
    const static uint8_t MOTOR_FAIL_BATTERY_MAIN_VOL_LOW;
    const static uint8_t MOTOR_FAIL_BATTERY_TEMP_VOL_LOW;
    const static uint8_t MOTOR_FAIL_BATTERY_SMART_LOW_LAND;
    const static uint8_t MOTOR_FAIL_BATTERY_NOT_READY;
    const static uint8_t MOTOR_FAIL_RUNNING_SIMULATOR;
    const static uint8_t MOTOR_FAIL_PACK_MODE;
    const static uint8_t MOTOR_FAIL_IMU_ATTI_LIMIT;
    const static uint8_t MOTOR_FAIL_NOT_ACTIVATED;
    const static uint8_t MOTOR_FAIL_IN_FLYLIMIT_AREA;
    const static uint8_t MOTOR_FAIL_IMU_BIAS_LIMIT;
    const static uint8_t MOTOR_FAIL_ESC_ERROR;
    const static uint8_t MOTOR_FAIL_IMU_INITING;
    const static uint8_t MOTOR_FAIL_UPGRADING;
    const static uint8_t MOTOR_FAIL_HAVE_RUN_SIM;
    const static uint8_t MOTOR_FAIL_IMU_CALIBRATING;
    const static uint8_t MOTOR_FAIL_TAKEOFF_TILT_TOO_LARGE;
    const static uint8_t MOTOR_FAIL_RESERVED_31;
    const static uint8_t MOTOR_FAIL_RESERVED_32;
    const static uint8_t MOTOR_FAIL_RESERVED_33;
    const static uint8_t MOTOR_FAIL_RESERVED_34;
    const static uint8_t MOTOR_FAIL_RESERVED_35;
    const static uint8_t MOTOR_FAIL_RESERVED_36;
    const static uint8_t MOTOR_FAIL_RESERVED_37;
    const static uint8_t MOTOR_FAIL_RESERVED_38;
    const static uint8_t MOTOR_FAIL_RESERVED_39;
    const static uint8_t MOTOR_FAIL_RESERVED_40;
    const static uint8_t MOTOR_FAIL_INVALID_SN;
    const static uint8_t MOTOR_FAIL_RESERVED_42;
    const static uint8_t MOTOR_FAIL_RESERVED_43;
    const static uint8_t MOTOR_FAIL_FLASH_OPERATING;
    /* The GPS is disconnected. */
    const static uint8_t MOTOR_FAIL_GPS_DISCONNECT;
    const static uint8_t MOTOR_FAIL_INTERNAL_46;
    const static uint8_t MOTOR_FAIL_RECORDER_ERROR;
    const static uint8_t MOTOR_FAIL_INVALID_PRODUCT;
    const static uint8_t MOTOR_FAIL_RESERVED_49;
    const static uint8_t MOTOR_FAIL_RESERVED_50;
    const static uint8_t MOTOR_FAIL_RESERVED_51;
    const static uint8_t MOTOR_FAIL_RESERVED_52;
    const static uint8_t MOTOR_FAIL_RESERVED_53;
    const static uint8_t MOTOR_FAIL_RESERVED_54;
    const static uint8_t MOTOR_FAIL_RESERVED_55;
    const static uint8_t MOTOR_FAIL_RESERVED_56;
    const static uint8_t MOTOR_FAIL_RESERVED_57;
    const static uint8_t MOTOR_FAIL_RESERVED_58;
    const static uint8_t MOTOR_FAIL_RESERVED_59;
    const static uint8_t MOTOR_FAIL_RESERVED_60;
    const static uint8_t MOTOR_FAIL_IMU_DISCONNECTED;
    const static uint8_t MOTOR_FAIL_RC_CALIBRATING;
    const static uint8_t MOTOR_FAIL_RC_CALI_DATA_OUT_RANGE;
    /* RC calibration is unfinished. Please calibrate the RC. */
    const static uint8_t MOTOR_FAIL_RC_QUIT_CALI;
    /* The center value of RC is out of range. */
    const static uint8_t MOTOR_FAIL_RC_CENTER_OUT_RANGE;
    /* RC mapping has an exception. Please check RC channel mapping. */
    const static uint8_t MOTOR_FAIL_RC_MAP_ERROR;
    const static uint8_t MOTOR_FAIL_WRONG_AIRCRAFT_TYPE;
    const static uint8_t MOTOR_FAIL_SOME_MODULE_NOT_CONFIGURED;
    const static uint8_t MOTOR_FAIL_RESERVED_69;
    const static uint8_t MOTOR_FAIL_RESERVED_70;
    const static uint8_t MOTOR_FAIL_RESERVED_71;
    const static uint8_t MOTOR_FAIL_RESERVED_72;
    const static uint8_t MOTOR_FAIL_RESERVED_73;
    const static uint8_t MOTOR_FAIL_NS_ABNORMAL;
    const static uint8_t MOTOR_FAIL_TOPOLOGY_ABNORMAL;
    const static uint8_t MOTOR_FAIL_RC_NEED_CALI;
    const static uint8_t MOTOR_FAIL_INVALID_FLOAT;
    const static uint8_t MOTOR_FAIL_M600_BAT_TOO_FEW;
    const static uint8_t MOTOR_FAIL_M600_BAT_AUTH_ERR;
    const static uint8_t MOTOR_FAIL_M600_BAT_COMM_ERR;
    const static uint8_t MOTOR_FAIL_M600_BAT_DIF_VOLT_LARGE_1;
    const static uint8_t MOTOR_FAIL_BATTERY_BOLTAHGE_DIFF_82;
    const static uint8_t MOTOR_FAIL_INVALID_VERSION;
    const static uint8_t MOTOR_FAIL_GIMBAL_GYRO_ABNORMAL;
    const static uint8_t MOTOR_FAIL_GIMBAL_ESC_PITCH_NO_DATA;
    const static uint8_t MOTOR_FAIL_GIMBAL_ESC_ROLL_NO_DATA;
    const static uint8_t MOTOR_FAIL_GIMBAL_ESC_YAW_NO_DATA;
    const static uint8_t MOTOR_FAIL_GIMBAL_FIRM_IS_UPDATING;
    /* The gimbal is out of control. This happens only in M600. */
    const static uint8_t MOTOR_FAIL_GIMBAL_OUT_OF_CONTROL;
    const static uint8_t MOTOR_FAIL_GIMBAL_PITCH_SHOCK;
    const static uint8_t MOTOR_FAIL_GIMBAL_ROLL_SHOCK;
    const static uint8_t MOTOR_FAIL_GIMBAL_YAW_SHOCK;
    const static uint8_t MOTOR_FAIL_IMU_CALI_SUCCESS;
    const static uint8_t MOTOR_FAIL_TAKEOFF_EXCEPTION;
    const static uint8_t MOTOR_FAIL_ESC_STALL_NEAR_GOUND;
    const static uint8_t MOTOR_FAIL_ESC_UNBALANCE_ON_GRD;
    const static uint8_t MOTOR_FAIL_ESC_PART_EMPTY_ON_GRD;
    const static uint8_t MOTOR_FAIL_ENGINE_START_FAILED;
    const static uint8_t MOTOR_FAIL_AUTO_TAKEOFF_LAUNCH_FAILED;
    const static uint8_t MOTOR_FAIL_ROLL_OVER_ON_GRD;
    const static uint8_t MOTOR_FAIL_BAT_VERSION_ERR;
    const static uint8_t MOTOR_FAIL_RTK_INITING;
    const static uint8_t MOTOR_FAIL_RTK_FAIL_TO_INIT;
    const static uint8_t MOTOR_FAIL_RESERVED_104;
    const static uint8_t MOTOR_FAIL_RESERVED_105;
    const static uint8_t MOTOR_FAIL_RESERVED_106;
    const static uint8_t MOTOR_FAIL_RESERVED_107;
    const static uint8_t MOTOR_FAIL_RESERVED_108;
    const static uint8_t MOTOR_FAIL_RESERVED_109;
    const static uint8_t START_MOTOR_FAIL_MOTOR_STARTED;
    const static uint8_t MOTOR_FAIL_INTERNAL_111;
    const static uint8_t MOTOR_FAIL_ESC_CALIBRATING;
    /* GPS signature is invalid because the GPS module
     * has not received valid signature information for 2s. */
    const static uint8_t MOTOR_FAIL_GPS_SIGNATURE_INVALID;
    /* The gimbal is in calibration. */
    const static uint8_t MOTOR_FAIL_GIMBAL_CALIBRATING;
    const static uint8_t MOTOR_FAIL_FORCE_DISABLE;
    const static uint8_t TAKEOFF_HEIGHT_EXCEPTION;
    const static uint8_t MOTOR_FAIL_ESC_NEED_UPGRADE;
    const static uint8_t MOTOR_FAIL_GYRO_DATA_NOT_MATCH;
    const static uint8_t MOTOR_FAIL_APP_NOT_ALLOW;
    const static uint8_t MOTOR_FAIL_COMPASS_IMU_MISALIGN;
    const static uint8_t MOTOR_FAIL_FLASH_UNLOCK;
    const static uint8_t MOTOR_FAIL_ESC_SCREAMING;
    const static uint8_t MOTOR_FAIL_ESC_TEMP_HIGH;
    const static uint8_t MOTOR_FAIL_BAT_ERR;
    const static uint8_t IMPACT_IS_DETECTED;
    const static uint8_t MOTOR_FAIL_MODE_FAILURE;
    const static uint8_t MOTOR_FAIL_CRAFT_FAIL_LATELY;
    const static uint8_t KILL_SWITCH_ON;
    const static uint8_t MOTOR_FAIL_MOTOR_CODE_ERROR;
  };

  class ActivationACK {
   public:
    const static uint16_t SUCCESS;
    const static uint16_t PARAMETER_ERROR;
    const static uint16_t ENCODE_ERROR;
    const static uint16_t NEW_DEVICE_ERROR;
    const static uint16_t DJIGO_APP_NOT_CONNECTED;
    const static uint16_t NETWORK_ERROR;
    const static uint16_t SERVER_ACCESS_REFUSED;
    const static uint16_t ACCESS_LEVEL_ERROR;
    const static uint16_t OSDK_VERSION_ERROR;
  };

  class ControlACK {
   public:
    typedef struct SetControl {
      const static uint16_t RC_MODE_ERROR;
      const static uint16_t RELEASE_CONTROL_SUCCESS;
      const static uint16_t OBTAIN_CONTROL_SUCCESS;
      const static uint16_t OBTAIN_CONTROL_IN_PROGRESS;
      const static uint16_t RELEASE_CONTROL_IN_PROGRESS;
      const static uint16_t RC_NEED_MODE_F;
      const static uint16_t RC_NEED_MODE_P;
      const static uint16_t IOC_OBTAIN_CONTROL_ERROR;
    } SetControl;

    typedef struct Task {
      const static uint16_t SUCCESS;
      const static uint16_t MOTOR_ON;
      const static uint16_t MOTOR_OFF;
      const static uint16_t IN_AIR;
      const static uint16_t NOT_IN_AIR;
      const static uint16_t NO_HOMEPOINT;
      const static uint16_t BAD_GPS;
      // Do not consider as error?
      const static uint16_t IN_SIMULATOR_MODE;
      const static uint16_t ALREADY_RUNNING;
      const static uint16_t NOT_RUNNING;
      const static uint16_t INVAILD_COMMAND;
      const static uint16_t NO_LANDING_GEAR;
      // Do not consider as error?
      const static uint16_t GIMBAL_MOUNTED;
      const static uint16_t BAD_SENSOR;
      const static uint16_t ALREADY_PACKED;
      const static uint16_t NO_PACKED;
      const static uint16_t PACKED_MODE_NOT_SUPPORTED;
    } Task;

    /*
     * Task ACKs Supported in firmware version < 3.3
     */
    typedef struct LegacyTask {
      const static uint16_t SUCCESS;
      const static uint16_t FAIL;
    } LegacyTask;

    typedef struct SetArm {
      const static uint16_t SUCCESS;
      const static uint16_t OBTAIN_CONTROL_NEEDED_ERROR;
      const static uint16_t ALREADY_ARMED_ERROR;
      const static uint16_t AIRCRAFT_IN_AIR_ERROR;
    } SetArm;

    typedef struct KillSwitch {
      const static uint16_t SUCCESS;
    } KillSwitch;

    enum ParamReadWrite : RawRetCodeType
    {
      PARAM_READ_WRITE_SUCCESS = 0,
      PARAM_READ_WRITE_FAIL = 1,
      PARAM_READ_WRITE_INVALID_PARAMETER = 2,
    };

    enum SetHomeLocation : RawRetCodeType
    {
      SET_HOME_LOCATION_SUCCESS = 0,
      SET_HOME_LOCATION_FAIL = 1,
    };

  }; // Control class
  
  class SubscribeACK {
   public:
    const static uint8_t SUCCESS;
    const static uint8_t ILLEGAL_DATA_LENGTH;
    const static uint8_t VERSION_DOES_NOT_MATCH;
    const static uint8_t PACKAGE_OUT_OF_RANGE;
    const static uint8_t PACKAGE_ALREADY_EXISTS;
    const static uint8_t PACKAGE_DOES_NOT_EXIST;
    const static uint8_t ILLEGAL_FREQUENCY;
    const static uint8_t PACKAGE_TOO_LARGE;
    const static uint8_t PIPELINE_OVERFLOW;
    const static uint8_t INTERNAL_ERROR_0X09;
    const static uint8_t PACKAGE_EMPTY;
    const static uint8_t INCORRECT_NUM_OF_TOPICS;
    const static uint8_t ILLEGAL_UID;
    const static uint8_t PERMISSION_DENY;
    const static uint8_t MULTIPLE_SUBSCRIBE;
    const static uint8_t SOURCE_DEVICE_OFFLINE;
    const static uint8_t PAUSED;
    const static uint8_t RESUMED;
    const static uint8_t INTERNAL_ERROR_0X4A;
    const static uint8_t FAILED_AUTHENTICATION;
    const static uint8_t VERSION_VERSION_TOO_FAR;
    const static uint8_t VERSION_UNKNOWN_ERROR;
    const static uint8_t INTERNAL_ERROR_0XFF;
  };

  class MissionACK {
   public:
    typedef struct Common {
      const static uint8_t SUCCESS;
      const static uint8_t WRONG_WAYPOINT_INDEX;
      const static uint8_t RC_NOT_IN_MODE_F;
      const static uint8_t OBTAIN_CONTROL_REQUIRED;
      const static uint8_t CLOSE_IOC_REQUIRED;
      const static uint8_t NOT_INITIALIZED;
      const static uint8_t NOT_RUNNING;
      const static uint8_t IN_PROGRESS;
      const static uint8_t TASK_TIMEOUT;
      const static uint8_t OTHER_MISSION_RUNNING;
      const static uint8_t BAD_GPS;
      const static uint8_t RTK_NOT_READY;
      const static uint8_t LOW_BATTERY;
      const static uint8_t VEHICLE_DID_NOT_TAKE_OFF;
      const static uint8_t INVALID_PARAMETER;
      const static uint8_t CONDITIONS_NOT_SATISFIED;
      const static uint8_t CROSSING_NO_FLY_ZONE;
      const static uint8_t UNRECORDED_HOME;
      const static uint8_t AT_NO_FLY_ZONE;
      const static uint8_t TOO_HIGH;
      const static uint8_t TOO_LOW;
      const static uint8_t TOO_FAR_FROM_HOME;
      const static uint8_t NOT_SUPPORTED;
      const static uint8_t TOO_FAR_FROM_CURRENT_POSITION;
      const static uint8_t BEGGINER_MODE_NOT_SUPPORTED;
      const static uint8_t TAKE_OFF_IN_PROGRESS;
      const static uint8_t LANDING_IN_PROGRESS;
      const static uint8_t RRETURN_HOME_IN_PROGRESS;
      const static uint8_t START_MOTORS_IN_PROGRESS;
      const static uint8_t INVALID_COMMAND;
      const static uint8_t UNKNOWN_ERROR;
    } Common;

    typedef struct Follow {
      const static uint8_t TOO_FAR_FROM_YOUR_POSITION_LACK_OF_RADIO_CONNECTION;
      const static uint8_t CUTOFF_TIME_OVERFLOW;
      const static uint8_t GIMBAL_PITCH_ANGLE_OVERFLOW;
    } Follow;

    typedef struct HotPoint {
      const static uint8_t INVALID_RADIUS;
      const static uint8_t YAW_RATE_OVERFLOW;
      /*
       * Start point given by user during HotPoint mission initialization is
       * invalid.
       * Available options are :
       * 0 - North to the HP
       * 1 - South
       * 2 - West
       * 3 - East
       * 4 - Nearest Point
       */
      const static uint8_t INVALID_START_POINT;
      const static uint8_t INVALID_YAW_MODE;
      const static uint8_t TOO_FAR_FROM_HOTPOINT;
      const static uint8_t INVALID_PAREMETER;
      const static uint8_t INVALID_LATITUDE_OR_LONGITUTE;
      const static uint8_t INVALID_DIRECTION;
      const static uint8_t IN_PAUSED_MODE;
      const static uint8_t FAILED_TO_PAUSE;
    } HotPoint;

    typedef struct WayPoint {
      const static uint8_t INVALID_DATA;
      const static uint8_t INVALID_POINT_DATA;
      const static uint8_t TRACE_TOO_LONG;
      const static uint8_t TOTAL_DISTANCE_TOO_LONG;
      const static uint8_t POINT_OVERFLOW;
      const static uint8_t POINTS_TOO_CLOSE;
      const static uint8_t POINTS_TOO_FAR;
      const static uint8_t CHECK_FAILED;
      const static uint8_t INVALID_ACTION;
      const static uint8_t POINT_DATA_NOT_ENOUGH;
      const static uint8_t DATA_NOT_ENOUGH;
      const static uint8_t POINTS_NOT_ENOUGH;
      const static uint8_t IN_PROGRESS;
      const static uint8_t NOT_IN_PROGRESS;
      const static uint8_t INVALID_VELOCITY;
      // Backward Compatibility
      const static uint8_t& DISTANCE_OVERFLOW __attribute__((deprecated));
      const static uint8_t& TIMEOUT __attribute__((deprecated));
    } WayPoint;

    typedef struct IOC {
      const static uint8_t TOO_CLOSE_TO_HOME;
      const static uint8_t UNKNOWN_TYPE;
    } IOC;

  };  // Class Mission

  class WaypointV2ACK{
  public:
/* The enum that defines the detail error code of common module */
    enum WaypointV2ErrorCodeCommon
    {
      GS_ERR_CODE_COMMON_SUCCESS                                  = 0x00000,
      GS_ERR_CODE_COMMON_INVALID_DATA_LENGTH                      = 0x00001,   
      GS_ERR_CODE_COMMON_INVALD_FLOAT_NUM                         = 0x00002,   
      GS_ERR_CODE_TRAJ_WP_VERSION_NO_MATCH                        = 0x00003,   
      GS_ERR_CODE_COMMON_UNKNOWN                                  = 0x0ffff,   
    } ;

/* The enum that defines the detail error code of flight-trajectory module */
    enum WaypointV2ErrorCodeTraj
    {
      GS_ERR_CODE_TRAJ_RESV                                       = 0x10000,
      GS_ERR_CODE_TRAJ_INIT_WP_NUM_TOO_MANY                       = 0x10001,   
      GS_ERR_CODE_TRAJ_INIT_WP_NUM_TOO_FEW                        = 0x10002,   
      GS_ERR_CODE_TRAJ_INIT_INVALID_END_INDEX                     = 0x10003,   
      GS_ERR_CODE_TRAJ_UPLOAD_START_ID_GT_END_ID                  = 0x10004,   
      GS_ERR_CODE_TRAJ_UPLOAD_END_ID_GT_TOTAL_NUM                 = 0x10005,   
      GS_ERR_CODE_TRAJ_DOWNLOAD_WPS_NOT_IN_STORED_RAGNE           = 0x10006,   
      GS_ERR_CODE_TRAJ_CUR_POS_IS_FAR_AWAY_FROM_FIRST_WP          = 0x10008,   
      GS_ERR_CODE_TRAJ_ADJ_WPS_TOO_CLOSE                          = 0x1000a,   
      GS_ERR_CODE_TRAJ_ADJ_WPS_TOO_FAR                            = 0x1000b,   
      GS_ERR_CODE_TRAJ_UPLOAD_MAX_VEL_GT_GLOBAL                   = 0x1000c,   
      GS_ERR_CODE_TRAJ_UPLOAD_LOCAL_CRUISE_VEL_GT_LOCAL_MAX       = 0x1000d,   
      GS_ERR_CODE_TRAJ_UPLOAD_LOCAL_CRUISE_VEL_GT_GLOBAL_MAX      = 0x1000e,   
      GS_ERR_CODE_TRAJ_INIT_INVALID_GLOBAL_MAX_VEL                = 0x1000f,   
      GS_ERR_CODE_TRAJ_GLOBAL_CRUISE_VEL_GT_MAX_VEL               = 0x10010,   
      GS_ERR_CODE_TRAJ_INIT_INVALID_GOTO_FIRST_FLAG               = 0x10011,   
      GS_ERR_CODE_TRAJ_INIT_INVALID_FINISHED_ACTION               = 0x10012,   
      GS_ERR_CODE_TRAJ_INIT_INVALID_RC_LOST_ACTION                = 0x10013,   
      GS_ERR_CODE_TRAJ_UPLOAD_YAW_MODE_INVALID                    = 0x10014,   
      GS_ERR_CODE_TRAJ_UPLOAD_YAW_CMD_NOT_IN_RANGE                = 0x10015,   
      GS_ERR_CODE_TRAJ_UPLOAD_YAW_TURN_DIRECTION_INVALID          = 0x10016,   
      GS_ERR_CODE_TRAJ_UPLOAD_WP_TYPE_INVALID                     = 0x10017,   
      GS_ERR_CODE_TRAJ_GO_STOP_CMD_INVALID                        = 0x10018,   
      GS_ERR_CODE_TRAJ_INVALID_PAUSE_RECOVERY_CMD                 = 0x10019,   
      GS_ERR_CODE_TRAJ_INVALID_BREAK_RESTORE_CMD                  = 0x1001a,   
      GS_ERR_CODE_TRAJ_INIT_INVALID_REF_POINT                     = 0x1001b,   
      GS_ERR_CODE_TRAJ_UPLOAD_CANNT_SET_WP_LINE_EXIT_TYPE         = 0x1001d,   
      GS_ERR_CODE_TRAJ_DAMPING_DIS_GE_DIS_OF_ADJ_POINTS           = 0x1001c,    
      GS_ERR_CODE_TRAJ_INIT_INFO_NOT_UPLOADED                     = 0x1001e,   
      GS_ERR_CODE_TRAJ_WP_HAS_NOT_UPLOADED                        = 0x1001f,   
      GS_ERR_CODE_TRAJ_UPLOADED_WP_NOT_ENOUGH                     = 0x10020,   
      GS_ERR_CODE_TRAJ_GS_HAS_STARTED                             = 0x10021,   
      GS_ERR_CODE_TRAJ_GS_NOT_RUNNING                             = 0x10022,   
      GS_ERR_CODE_TRAJ_GS_NOT_RUNNING_FOR_PAUSE_RECOVERY          = 0x10023,   
      GS_ERR_CODE_TRAJ_GS_NOT_RUNNING_FOR_BREAK_RESTORE           = 0x10024,   
      GS_ERR_CODE_TRAJ_NOT_IN_WP_MIS                              = 0x10025,   
      GS_ERR_CODE_TRAJ_MIS_HAS_BEEN_PAUSED                        = 0x10026,   
      GS_ERR_CODE_TRAJ_MIS_NOT_PAUSED                             = 0x10027,   
      GS_ERR_CODE_TRAJ_MIS_HAS_BEEN_BROKEN                        = 0x10028,   
      GS_ERR_CODE_TRAJ_MIS_NOT_BROKEN                             = 0x10029,   
      GS_ERR_CODE_TRAJ_PAUSE_RECOVERY_NOT_SUPPORTED               = 0x1002a,   
      GS_ERR_CODE_TRAJ_BREAK_RESTORE_NOT_SUPPORTED                = 0x1002b,   
      GS_ERR_CODE_TRAJ_NO_BREAK_POINT                             = 0x1002c,   
      GS_ERR_CODE_TRAJ_NO_CUR_TRAJ_PROJECT                        = 0x1002d,   
      GS_ERR_CODE_TRAJ_NO_NXT_TRAJ_PROJECT                        = 0x1002e,   
      GS_ERR_CODE_TRAJ_NO_NNT_TRAJ_PROJECT                        = 0x1002f,   
      GS_ERR_CODE_TRAJ_UPLOAD_WP_ID_NOT_CONTINUE                  = 0x10030,   
      GS_ERR_CODE_TRAJ_WP_LINE_ENTER_NOT_SET_TO_START_WP          = 0x10031,   
      GS_ERR_CODE_TRAJ_INIT_WP_WHEN_PLAN_HAS_STARTED              = 0x10032,   
      GS_ERR_CODE_TRAJ_DAMPING_DIS_EXCEED_RANGE                   = 0x10033,   
      GS_ERR_CODE_TRAJ_WAYPOINT_COOR_EXCEED_RANGE                 = 0x10034,   
      GS_ERR_CODE_TRAJ_FIRST_WP_TYPE_IS_WP_TURN_NO                = 0x10035,   
      GS_ERR_CODE_TRAJ_WP_EXCEED_RADIUS_LIMIT                     = 0x10038,   
      GS_ERR_CODE_TRAJ_WP_EXCEED_HEIGHT_LIMIT                     = 0x10039,   
    } ;

/* The enum that defines the detail error code of flight-status module */
    enum WaypointV2ErrorCodeStatus
    {
      GS_ERR_CODE_STATUS_RESV                                     = 0x20000,
      GS_ERR_CODE_STATUS_WP_MIS_CHECK_FAIL                        = 0x20001,   
      GS_ERR_CODE_STATUS_HOME_NOT_RECORDED                        = 0x20002,   
      GS_ERR_CODE_STATUS_LOW_LOCATION_ACCURACY                    = 0x20003,   
      GS_ERR_CODE_STATUS_RTK_CONDITION_IS_NOT_READY               = 0x20005,   
    } ;

/* The enum that defines the detail error code of flight-secure module */
    enum WaypointV2ErrorCodeSecure
    {
      GS_ERR_CODE_SECURE_RESV                                     = 0x30000,
      GS_ERR_CODE_SECURE_CROSS_NFZ                                = 0x30001,   
      GS_ERR_CODE_SECURE_BAT_LOW                                  = 0x30002,   
    } ;

/* The enum that defines the detail error code of action-common module */
    enum WaypointV2ErrorCodeActionCommon
    {
      GS_ERR_CODE_ACTION_COMMON_RESV                                 = 0x400000,
      GS_ERR_CODE_ACTION_COMMON_ACTION_ID_DUPLICATED                 = 0x400001,   
      GS_ERR_CODE_ACTION_COMMON_ACTION_ITEMS_SPACE_NOT_ENOUGH        = 0x400002,   
      GS_ERR_CODE_ACTION_COMMON_ACTION_SIZE_GT_BUF_SIZE              = 0x400003,   
      GS_ERR_CODE_ACTION_COMMON_ACTION_ID_NOT_FOUND                  = 0x400004,   
      GS_ERR_CODE_ACTION_COMMON_DOWNLOAD_ACTION_ID_RANGE_ERROR       = 0x400005,   
      GS_ERR_CODE_ACTION_COMMON_NO_ACTION_ITEMS_STORED               = 0x400006,   
    } ;

/* The enum that defines the detail error code of trigger module */
    enum WaypointV2ErrorCodeTriggerModule
    {
      GS_ERR_CODE_TRIGGER_RESV                                   = 0x410000,
      GS_ERR_CODE_TRIGGER_TYPE_INVALID                           = 0x410001,   
      GS_ERR_CODE_TRIGGER_REACH_WP_END_INDEX_LT_START_INDEX      = 0x410021,   
      GS_ERR_CODE_TRIGGER_REACH_WP_INVALID_INTERVAL_WP_NUM       = 0x410022,   
      GS_ERR_CODE_TRIGGER_REACH_WP_INVALID_AUTO_TERMINATE_WP_NUM = 0x410023,   
      GS_ERR_CODE_TRIGGER_ASSOCIATE_INVALID_TYPE                 = 0x410041,   
      GS_ERR_CODE_TRIGGER_SIMPLE_INTERVAL_INVALID_TYPE           = 0x410081,   
    } ;

/* The enum that defines the detail error code of actuator-common module */
    enum WaypointV2ErrorCodeActuatorCommon
    {
      GS_ERR_CODE_ACTUATOR_COMMON_RESV                                 = 0x420000,
      GS_ERR_CODE_ACTUATOR_COMMON_ACTUATOR_EXEC_NON_SUPPORTED          = 0x420001,   
      GS_ERR_CODE_ACTUATOR_COMMON_ACTUATOR_TYPE_INVALID                = 0x420002,   
      GS_ERR_CODE_ACTUATOR_COMMON_ACTUATOR_FUNC_INVALID                = 0x420003,   
    } ;

/* The enum that defines the detail error code of action-camera module */
    enum WaypointV2ErrorCodeActuatorCamera
    {
      GS_ERR_CODE_ACTUATOR_CAMERA_RESV                                 = 0x430000,
      GS_ERR_CODE_ACTUATOR_CAMERA_SEND_SINGLE_SHOT_CMD_TO_CAMERA_FAIL  = 0x430001,   
      GS_ERR_CODE_ACTUATOR_CAMERA_SEND_VIDEO_START_CMD_TO_CAMERA_FAIL  = 0x430002,    
      GS_ERR_CODE_ACTUATOR_CAMERA_SEND_VIDEO_STOP_CMD_TO_CAMERA_FAIL   = 0x430003,    
      GS_ERR_CODE_ACTUATOR_CAMERA_FOCUS_PARAM_XY_INVALID               = 0x430004,   
      GS_ERR_CODE_ACTUATOR_CAMERA_SEND_FOCUS_CMD_TO_CAMERA_FAIL        = 0x430005,   
      GS_ERR_CODE_ACTUATOR_CAMERA_SEND_FOCALIZE_CMD_TO_CAMERA_FAIL     = 0x430006,   
      GS_ERR_CODE_ACTUATOR_CAMERA_FOCAL_DISTANCE_INVALID               = 0x430007,   
      GS_ERR_CODE_ACTUATOR_CAMERA_EXEC_FAIL                            = 0x430100,   
    } ;

/* The enum that defines the detail error code of action-gimbal module */
    enum WaypointV2ErrorCodeActuatorGimbal
    {
      GS_ERR_CODE_ACTUATOR_GIMBAL_RESV                                 = 0x440000,
      GS_ERR_CODE_ACTUATOR_GIMBAL_INVALID_RPY_ANGLE_CTRL_CMD           = 0x440001,   
      GS_ERR_CODE_ACTUATOR_GIMBAL_INVALID_DURATION_CMD                 = 0x440002,   
      GS_ERR_CODE_ACTUATOR_GIMBAL_FAIL_TO_ARRIVE_TGT_ANGLE             = 0x440003,   
      GS_ERR_CODE_ACTUATOR_GIMBAL_FAIL_TO_SEND_CMD_TO_GIMBAL           = 0x440004,   
      GS_ERR_CODE_ACTUATOR_GIMBAL_THIS_INDEX_OF_GIMBAL_NOT_DOING_UNIFORM_CTRL =  0x440005, 
    } ;

/* The enum that defines the detail error code of action-flight module */
    enum WaypointV2ErrorCodeActuatorFlight
    {
      GS_ERR_CODE_ACTUATOR_FLIGHT_RESV                                 = 0x460000,
      GS_ERR_CODE_ACTUATOR_FLIGHT_YAW_INVALID_YAW_ANGLE                = 0x460001,   
      GS_ERR_CODE_ACTUATOR_FLIGHT_YAW_TO_TGT_ANGLE_TIMEOUT             = 0x460002,   
      GS_ERR_CODE_ACTUATOR_FLIGHT_ACTION_YAW_OCCUPIED                  = 0x460003,
      GS_ERR_CODE_ACTUATOR_FLIGHT_CUR_AND_TGT_VEL_CLE_STATUE_EQUAL     = 0x460004,   
    } ;

    enum WaypointV2ErrorCodeActuatorPayload
    {
      GS_ERR_CODE_ACTUATOR_PAYLOAD_RESV                                 = 0x470000,
      GS_ERR_CODE_ACTUATOR_PAYLOAD_FAIL_TO_SEND_CMD_TO_PAYLOAD          = 0x470001,   
      GS_ERR_CODE_ACTUATOR_PAYLOAD_EXEC_FAILED                          = 0x470002,   
    } ;

  };

  class MFIOACK {
   public:
    typedef struct init {
      const static uint8_t SUCCESS;
      const static uint8_t UNKNOWN_ERROR;
      const static uint8_t PORT_NUMBER_ERROR;
      const static uint8_t PORT_MODE_ERROR;
      const static uint8_t PORT_DATA_ERROR;
    } init;

    typedef struct set {
      const static uint8_t SUCCESS;
      const static uint8_t CHANNEL_ERROR;
      const static uint8_t PORT_NOT_MAPPED_ERROR;
    } set;

    typedef struct get {
      const static uint8_t SUCCESS;  
    } get;

  };  // Class MFIO


  enum DJI_CMD_RETURN_CODE {
    SUCCESS                          = 0x00, 
    FILE_TRANSFER_BUSY               = 0xC0, 
    NAVIGATION_IS_FORBIDDEN          = 0xD0, 
    NAVIGATION_IS_OFF                = 0xD1, 
    INVALID_TASK_INFORMATION         = 0xD2, 
    TASK_UPLOAD_ERROR                = 0xD3, 
    INVALID_REQUEST_PARAMETER        = 0xD4, 
    MAY_CROSS_RESTRICTED_AREA        = 0xD5, 
    EXCEEDED_INPUT_TIME_LIMIT        = 0xD6, 
    EXECUTING_HIGHER_PRIORITY_TASK   = 0xD7, 
    CANNOT_START_TASK_WEAK_GPS       = 0xD8, 
    CANNOT_START_TASK_VLOTAGE_ALARM  = 0xD9, 
    UNSUPPORTED_COMMAND              = 0xE0, 
    TIMEOUT                          = 0xE1, 
    RAM_ALLOCATION_FAILED            = 0xE2, 
    INVALID_COMMAND_PARAMETER        = 0xE3, 
    UNSUPPORTED_COMMAND_IN_CUR_STATE = 0xE4, 
    CAMERA_TIME_NOT_SYNCHRONIZED     = 0xE5, 
    PARAMETER_SET_FAILED             = 0xE6, 
    PARAMETER_GET_FAILED             = 0xE7, 
    SD_CARD_MISSING                  = 0xE8, 
    SD_CARD_FULL                     = 0xE9, 
    SD_CARD_ERROR                    = 0xEA, 
    SENSOR_ERROR                     = 0xEB, 
    SYSTEM_ERROR                     = 0xEC, 
    PARAMETER_TOTAL_TOO_LONG         = 0xED, 
    MODULE_INACTIVATED               = 0xEE, 
    USER_UNBOND                      = 0xEF, 
    FIRMWARE_DATA_NUM_DISCONTINUOUS  = 0xF0, 
    FIRMWARE_DATA_OVERLOAD_FLASH     = 0xF1, 
    FIRMWARE_VERIFICATION_ERROR      = 0xF2, 
    FLASH_ERASE_ERROR                = 0xF3, 
    FLASH_WRITE_ERROR                = 0xF4, 
    UPGRADE_STATUS_ERROR             = 0xF5, 
    FIRMWARE_TYPE_MISMATCH           = 0xF6, 
    WAITING_CLIENT_UPGRADE_STATUS    = 0xF7, 
    REMOTE_CONTROL_UNCONNECTED       = 0xF8, 
    MOTOR_NOT_STOPPED                = 0xF9, 
    HARDWARE_ERROR                   = 0xFA, 
    INSUFFICIENT_ELECTRICITY         = 0xFB, 
    AIRCRAFT_UNCONNECTED             = 0xFC, 
    FLASH_IS_ERASING                 = 0xFD, 
    CANNOT_UPGRADE_IN_CUR_STATE      = 0xFE, 
    UNDEFINE_ERROR                   = 0xFF, 
  };
 private:
  static const uint8_t moduleIDLeftMove = 40;
  static const uint8_t functionIDLeftMove = 32;

  static const std::pair<const ErrorCode::ErrorCodeType, ErrorCode::ErrorCodeMsg> PSDKCommonErrData[];

  static const ErrorCodeMapType getPSDKCommonErrorMap();

  static const std::pair<const ErrorCode::ErrorCodeType, ErrorCode::ErrorCodeMsg> CameraCommonErrData[];

  static const ErrorCodeMapType getCameraCommonErrorMap();

  static const std::pair<const ErrorCode::ErrorCodeType, ErrorCode::ErrorCodeMsg> GimbalCommonErrData[];

  static const ErrorCodeMapType getGimbalCommonErrorMap();

  static const std::pair<const ErrorCode::ErrorCodeType, ErrorCode::ErrorCodeMsg> SystemCommonErrData[];

  static const ErrorCodeMapType getWaypointV2CommonErrorMap();

  static const std::pair<const ErrorCode::ErrorCodeType, ErrorCode::ErrorCodeMsg> WaypointV2CommonErrData[];


  static const ErrorCodeMapType getSystemCommonErrorMap();

  static const FunctionDataType GimbalFunction[functionMaxCnt];

  static const FunctionDataType CameraFunction[functionMaxCnt];

  static const FunctionDataType PSDKFunction[functionMaxCnt];

  static const FunctionDataType SystemFunction[functionMaxCnt];

  static const FunctionDataType WaypointV2Function[functionMaxCnt];
  static const ModuleDataType module[ModuleMaxCnt];


};  // Class ErrorCode

}  // namespace OSDK
}  // namespace DJI

#endif /* DJI_ERROR_H */