dji_gimbal_module.hpp

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#ifndef ONBOARDSDK_DJI_GIMBAL_MODULE_HPP
#define ONBOARDSDK_DJI_GIMBAL_MODULE_HPP

#include <vector>
#include "dji_payload_base.hpp"
#include "dji_payload_link.hpp"

namespace DJI {
namespace OSDK {

class Linker;

class GimbalModule : public PayloadBase {
 public:

  enum GimbalWorkMode : uint8_t {
    WORK_MODE_FREE = 0, 
    WORK_MODE_FPV = 1,  
    WORK_MODE_TAW_FOLLOW = 2, 
    WORK_MODE_DONT_CHANGE = 254, 
  };

  enum ReturnCenterCMD : uint8_t {
    CENTER = 1,  
    SELFIE = 2,  
    PITCH_AND_YAW = 3, 
    PITCH_ONLY = 4, 
    ROLL_ONLY = 5, 
    YAW_ONLY = 6, 
  };

#pragma pack(1)
  typedef uint8_t retCodeType;

  typedef struct Rotation {
    uint8_t rotationMode;
    float pitch;
    float roll;
    float yaw;
    double time;
  } Rotation;

  typedef struct gimbalAngleSetting
  {
    int16_t yaw_angle;
    int16_t roll_angle;
    int16_t pitch_angle;
    int16_t allowance;
    uint8_t reserved                :1;
    uint8_t yaw_follow_enabled      :1;
    uint8_t is_pitch_control_invalid:1;
    uint8_t is_roll_control_invalid :1;
    uint8_t is_yaw_control_invalid  :1;
    uint8_t coordinate              :1;
    uint8_t reference               :1;
    uint8_t is_control              :1;
    uint8_t timeout;
    uint16_t time_for_action;
    uint8_t reserved_13_byte :7;
    uint8_t atti_or_joint_ref:1;
  } gimbalAngleSetting;


  typedef struct gimbalWorkModeAndReturnCenterSetting
  {
    GimbalWorkMode workMode;
    ReturnCenterCMD returnCenterCmd;
  } gimbalWorkModeAndReturnCenterSetting;
#pragma pack()

  typedef struct callbackWarpperHandler {
    void (*cb)(ErrorCode::ErrorCodeType retCode, UserData userData);
    UserData udata;
  } callbackWarpperHandler;

 public:
  GimbalModule(Linker *linker, PayloadIndexType payloadIndex,
               std::string name, bool enable);

  ~GimbalModule();

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

  ErrorCode::ErrorCodeType resetSync(int timeout);

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

  ErrorCode::ErrorCodeType rotateSync(Rotation rotation, int timeout);

}; /* GimbalModule */
}  // namespace OSDK
}  // namespace DJI

#endif  // ONBOARDSDK_DJI_GIMBAL_MODULE_HPP