dji_gimbal_manager.hpp

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#ifndef ONBOARDSDK_DJI_GIMBAL_MANAGER_HPP
#define ONBOARDSDK_DJI_GIMBAL_MANAGER_HPP

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

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

  ~GimbalManager();

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

  void deinitAllGimbalModule(void);

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

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

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

  void resetAsync(PayloadIndexType index,
                  void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                                       UserData userData),
                  UserData userData);

  ErrorCode::ErrorCodeType resetSync(
      PayloadIndexType index, int timeout);

  void rotateAsync(PayloadIndexType index, GimbalModule::Rotation rotation,
                   void (*UserCallBack)(ErrorCode::ErrorCodeType retCode,
                                        UserData userData),
                   UserData userData);

  ErrorCode::ErrorCodeType rotateSync(
      PayloadIndexType index, GimbalModule::Rotation rotation, int timeout);
 private:
  Linker *linker;

  std::vector<GimbalModule *> gimbalModuleVector;

  GimbalModule *getGimbalModule(PayloadIndexType index);

  GimbalModule *getGimbalModule(std::string name);

  const char *defaultGimbalName = "uninitialized_gimbal";
};

}  // namespace OSDK
}  // namespace DJI

#endif  // ONBOARDSDK_DJI_GIMBAL_MANAGER_HPP