dji_hms.hpp

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#ifndef ONBOARDSDK_DJI_HMS_H
#define ONBOARDSDK_DJI_HMS_H

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


namespace  DJI{
namespace OSDK{

// Forward Declarations
class Vehicle;
class DJIHMSImpl;

#pragma pack(1)

typedef  struct ErrList{
    uint32_t alarmID;     
    uint8_t  sensorIndex; 
    uint8_t  reportLevel; 
} ErrList;

typedef struct HMSPushData {
    uint8_t msgVersion;           
    uint8_t globalIndex;          
    uint8_t msgEnd : 1;           
    uint8_t msgIndex : 7;         
    std::vector<ErrList> errList; 
} HMSPushData;
#pragma pack()

typedef struct HMSPushPacket
{
    HMSPushData  hmsPushData; 
    uint32_t     timeStamp;   
} HMSPushPacket;

typedef enum
{
    CameraIndex1 = 1,
    CameraIndex2 = 2,
    CameraIndex3 = 3,
} CameraIndex;

typedef enum
{
    GimbalIndex1 = 1,
    GimbalIndex2 = 2,
    GimbalIndex3 = 3,
    InvalidIndex = 0xff,
} GimbalIndex;

typedef enum
{
    ResetALLSubcriberExceptAPP = 0,
    OSDKSubALLData = 1,
} HMSSubcribeCmd;

typedef enum
{
    OSDKSubSuccess = 0,
} HMSSubcribeStatus;

class DJIHMS {
public:
    DJIHMS(Vehicle *vehicle = 0);

    ~DJIHMS();

    bool subscribeHMSInf(bool enable, uint32_t timeOutMs = 500);

    std::string getHMSVersion();

    HMSPushPacket getHMSPushPacket();

    uint8_t  getDeviceIndex();

private:
    Vehicle *vehicle;
    DJIHMSImpl *djiHMSImpl;

    bool enableListeningHmsData(bool enable);
};
  }
}
#endif //ONBOARDSDK_DJI_HMS_H