dji_flight_controller.hpp

Go to the documentation of this file.

#ifndef DJI_FLIGHT_CONTROLLER_HPP
#define DJI_FLIGHT_CONTROLLER_HPP

#include "dji_flight_actions_module.hpp"
#include "dji_flight_assistant_module.hpp"
#include "dji_flight_joystick_module.hpp"
#include "dji_telemetry.hpp"
namespace DJI {
namespace OSDK {

class FlightController {
 public:
  FlightController(Vehicle *vehicle);
  ~FlightController();

  typedef Telemetry::HomeLocationData HomeLocation;
  typedef FlightAssistant::RtkEnableData
      RtkEnabled; 
  typedef FlightAssistant::AvoidEnable AvoidEnable;
  typedef FlightAssistant::UpwardsAvoidEnable UpwardsAvoidEnable;
  typedef FlightAssistant::GoHomeAltitude
      GoHomeHeight; 
  typedef FlightJoystick::ControlCommand JoystickCommand;
  typedef enum FlightJoystick::HorizontalLogic HorizontalLogic;
  typedef enum FlightJoystick::VerticalLogic VerticalLogic;
  typedef enum FlightJoystick::YawLogic YawLogic;
  typedef enum FlightJoystick::HorizontalCoordinate HorizontalCoordinate;
  typedef enum FlightJoystick::StableMode StableMode;
  typedef enum FlightActions::KillSwitch KillSwitch;

  typedef struct JoystickMode {
    HorizontalLogic horizontalLogic;
    VerticalLogic verticalLogic;
    YawLogic yawLogic;
    HorizontalCoordinate horizontalCoordinate;
    StableMode stableMode;
  } JoystickMode;

  void obtainJoystickCtrlAuthorityAsync(void (*userCB)(ErrorCode::ErrorCodeType,
                                                       UserData userData),
                                        UserData userData, int timeout, int retryTime);
  ErrorCode::ErrorCodeType obtainJoystickCtrlAuthoritySync(int timeout);
  void releaseJoystickCtrlAuthorityAsync(void (*userCB)(ErrorCode::ErrorCodeType,
                                                        UserData userData),
                                         UserData userData, int timeout, int retryTime);
  ErrorCode::ErrorCodeType releaseJoystickCtrlAuthoritySync(int timeout);
  ErrorCode::ErrorCodeType setRtkEnableSync(RtkEnabled rtkEnable, int timeout);

  void setRtkEnableAsync(RtkEnabled rtkEnable,
                         void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                                              UserData userData),
                         UserData userData);

  ErrorCode::ErrorCodeType getRtkEnableSync(RtkEnabled &rtkEnable, int timeout);

  void getRtkEnableAsync(void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                                              RtkEnabled rtkEnable,
                                              UserData userData),
                         UserData userData);

  ErrorCode::ErrorCodeType setGoHomeAltitudeSync(GoHomeHeight altitude,
                                                 int timeout);

  void setGoHomeAltitudeAsync(
      GoHomeHeight altitude,
      void (*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData),
      UserData userData);

  ErrorCode::ErrorCodeType getGoHomeAltitudeSync(GoHomeHeight &altitude,
                                                 int timeout);

  void getGoHomeAltitudeAsync(
      void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                           GoHomeHeight altitude, UserData userData),
      UserData userData);

  ErrorCode::ErrorCodeType setCollisionAvoidanceEnabledSync(
      AvoidEnable avoidEnable, int timeout);

  void setCollisionAvoidanceEnabledAsync(
    AvoidEnable avoidEnable,
    void (*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData),
    UserData userData);

  ErrorCode::ErrorCodeType getCollisionAvoidanceEnabledSync(
    AvoidEnable &avoidEnable, int timeout);

  void getCollisionAvoidanceEnabledAsync(
    void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                         AvoidEnable avoidEnable, UserData userData),
    UserData userData);


  ErrorCode::ErrorCodeType setUpwardsAvoidanceEnabledSync(UpwardsAvoidEnable upwardsAvoidEnable,
                                                          int timeout);

  void setUpwardsAvoidanceEnabledAsync(UpwardsAvoidEnable upwardsAvoidEnable,
                                       void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                                                            UserData userData),
                                       UserData userData);

  ErrorCode::ErrorCodeType getUpwardsAvoidanceEnabledSync(UpwardsAvoidEnable &upwardsAvoidEnable,
                                                          int timeout);

  void getUpwardsAvoidanceEnabledAsync(void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                                                            UpwardsAvoidEnable upwardsEnable,
                                                            UserData userData),
                                       UserData userData);


  ErrorCode::ErrorCodeType setHomeLocationSync(HomeLocation homeLocation,
                                               int timeout);

  void setHomeLocationAsync(
      HomeLocation homeLocation,
      void (*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData),
      UserData userData);

  ErrorCode::ErrorCodeType setHomeLocationUsingCurrentAircraftLocationSync(
      int timeout);

  void setHomeLocationUsingCurrentAircraftLocationAsync(
      void (*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData),
      UserData userData);

  ErrorCode::ErrorCodeType turnOnMotorsSync(int timeout);

  void turnOnMotorsAsync(void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                                              UserData userData),
                         UserData userData);

  ErrorCode::ErrorCodeType turnOffMotorsSync(int timeout);

  void turnOffMotorsAsync(void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                                              UserData userData),
                         UserData userData);


  ErrorCode::ErrorCodeType startTakeoffSync(int timeout);

  void startTakeoffAsync(void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                                              UserData userData),
                         UserData userData);

  ErrorCode::ErrorCodeType startLandingSync(int timeout);

  void startLandingAsync(void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                                              UserData userData),
                         UserData userData);

  ErrorCode::ErrorCodeType cancelLandingSync(int timeout);

  void cancelLandingAsync(void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                                              UserData userData),
                         UserData userData);

  ErrorCode::ErrorCodeType startForceLandingSync(int timeout);

  void startForceLandingAsync(
      void (*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData),
      UserData userData);

  ErrorCode::ErrorCodeType startConfirmLandingSync(int timeout);

  void startConfirmLandingAsync(
      void (*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData),
      UserData userData);

  ErrorCode::ErrorCodeType startGoHomeSync(int timeout);

  void startGoHomeAsync(void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                                             UserData userData),
                        UserData userData);

  ErrorCode::ErrorCodeType cancelGoHomeSync(int timeout);

  void cancelGoHomeAsync(void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                                             UserData userData),
                        UserData userData);

  void setJoystickMode(const JoystickMode &joystickMode);

  void setJoystickCommand(const JoystickCommand &JoystickCommand);

  void joystickAction();

  void getJoystickMode(FlightJoystick::ControlMode &joystickMode);

  void getJoystickCommand(JoystickCommand &joystickCommand);

  ErrorCode::ErrorCodeType killSwitch(KillSwitch cmd,int wait_timeout,
                                                     char debugMsg[10]);

  void emergencyBrakeAction(void);

 private:
  FlightAssistant *flightAssistant;
  FlightActions *flightActions;
  FlightJoystick *flightJoystick;
};
}  // namespace OSDK
}  // namespace DJI
#endif  // DJI_FLIGHT_CONTROLLER_HPP