dji_mission_type.hpp

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#ifndef ONBOARDSDK_DJI_MISSION_TYPE_H
#define ONBOARDSDK_DJI_MISSION_TYPE_H
#include <vector>
#include "dji_type.hpp"

namespace DJI
{

namespace OSDK
{
  const float32_t EARTH_RADIUS =  6378137.0;

// clang-format off
/**********Mission structs/Enums***********/

#pragma pack(1)

typedef struct HotPointSettings
{
  uint8_t   version;   
  float64_t latitude;  
  float64_t longitude; 
  float64_t height;    
  float64_t radius;    
  float32_t yawRate;   
  uint8_t   clockwise; 
  uint8_t startPoint;  
  uint8_t yawMode; 
  uint8_t reserved[11]; 
} HotPointSettings;     // pack(1)

typedef struct WayPointInitSettings
{
  uint8_t   indexNumber; 
  float32_t maxVelocity; 
  float32_t idleVelocity; 
  uint8_t finishAction; 
  uint8_t executiveTimes; 
  uint8_t yawMode; 
  uint8_t traceMode; 
  uint8_t RCLostAction; 
  uint8_t gimbalPitch; 
  float64_t latitude;     
  float64_t longitude;    
  float32_t altitude;     
  uint8_t   reserved[16]; 
} WayPointInitSettings; // pack(1)

typedef struct WayPointSettings
{
  uint8_t   index;     
  float64_t latitude;  
  float64_t longitude; 
  float32_t altitude;  
  float32_t damping; 
  int16_t   yaw;     
  int16_t   gimbalPitch; 
  uint8_t   turnMode;    
  uint8_t reserved[8]; 
  uint8_t hasAction;   
  uint16_t actionTimeLimit;      
  uint8_t  actionNumber : 4;     
  uint8_t  actionRepeat : 4;     
  uint8_t  commandList[16];      
  int16_t  commandParameter[16]; 
} WayPointSettings;              // pack(1)

typedef enum WaypointActionTypeFormat
{
  WP_ACTION_STAY                 = 0,  
  WP_ACTION_SIMPLE_SHOT          = 1,  
  WP_ACTION_VIDEO_START          = 2,  
  WP_ACTION_VIDEO_STOP           = 3,  
  WP_ACTION_CRAFT_YAW            = 4,  
  WP_ACTION_GIMBAL_PITCH         = 5,  
} WaypointActionTypeFormat;

typedef enum WayPointIncidentType
{
  NAVI_UPLOAD_FINISH,
  NAVI_MISSION_FINISH,
  NAVI_MISSION_WP_REACH_POINT
} WayPointIncidentType;

typedef enum WayPointPushDataIncidentType
{
  NAVI_MODE_ATTI,
  NAVI_MISSION_WAYPOINT,
  NAVI_MISSION_HOTPOINT,
  NAVI_MISSION_FOLLOWME,
  NAVI_MISSION_IOC,
} WayPointPushDataIncidentType;

typedef struct WayPointFinishData
{
  uint8_t  incident_type; 
  uint8_t  repeat;
  uint16_t reserved_1;
  uint16_t reserved_2;
} WayPointFinishData; // pack(1)


/**********Mission waypoint V2 structs/Enums***********/

enum DJIWaypointV2MissionV2RCLostAction:uint8_t {


    DJIWaypointV2MissionV2RCLostActionStopMission,

    DJIWaypointV2MissionV2RCLostActionContinue,
};


enum DJIWaypointV2MissionFinishedAction:uint8_t {

    DJIWaypointV2MissionFinishedNoAction,

    DJIWaypointV2MissionFinishedGoHome,

    DJIWaypointV2MissionFinishedAutoLanding,

    DJIWaypointV2MissionFinishedGoToFirstWaypoint,

    DJIWaypointV2MissionFinishedContinueUntilStop
};


enum  DJIWaypointV2MissionGotoFirstWaypointMode:uint8_t {

    DJIWaypointV2MissionGotoFirstWaypointModeSafely,

    DJIWaypointV2MissionGotoFirstWaypointModePointToPoint,
};


enum DJIWaypointV2TriggerAssociatedTimingType:uint8_t {

    DJIWaypointV2TriggerAssociatedTimingTypeSimultaneously = 1,

    DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised,

    DJIWaypointV2TriggerAssociatedTimingTypeUnknown = 0xFF,
};


enum DJIWaypointV2ActionIntervalType:uint8_t {
    DJIWaypointV2ActionIntervalTypeTime  = 1,

    DJIWaypointV2ActionIntervalTypeDistance,



    DJIWaypointV2ActionIntervalTypeUnknown = 0xFF,
};

enum  DJIWaypointV2ActionTriggerType:uint8_t {
    DJIWaypointV2ActionTriggerTypeActionAssociated = 2,

    DJIWaypointV2ActionTriggerTypeTrajectory,

    DJIWaypointV2ActionTriggerTypeInterval,

    DJIWaypointV2ActionTriggerTypeSampleReachPoint,

    DJIWaypointV2ActionTriggerTypeUnknown = 0xFF
};


enum  DJIWaypointV2ActionActuatorType:uint8_t {

    DJIWaypointV2ActionActuatorTypeCamera = 1,

    DJIWaypointV2ActionActuatorTypeGimbal = 2,

    DJIWaypointV2ActionActuatorTypeAircraftControl = 4,

    DJIWaypointV2ActionActuatorTypeUnknown = 0xFF
};


enum  DJIWaypointV2ActionActuatorGimbalOperationType:uint16_t {

    DJIWaypointV2ActionActuatorGimbalOperationTypeRotateGimbal = 1,

  // DJIWaypointV2ActionActuatorGimbalOperationTypeAircraftControlGimbal,

    DJIWaypointV2ActionActuatorGimbalOperationTypeUnknown = 0xFF,
};


enum DJIWaypointV2ActionActuatorCameraOperationType:uint16_t {

    DJIWaypointV2ActionActuatorCameraOperationTypeTakePhoto = 1,

    DJIWaypointV2ActionActuatorCameraOperationTypeStartRecordVideo,

    DJIWaypointV2ActionActuatorCameraOperationTypeStopRecordVideo,

    DJIWaypointV2ActionActuatorCameraOperationTypeFocus,

    DJIWaypointV2ActionActuatorCameraOperationTypeFocalLength,

  //  DJIWaypointV2ActionActuatorCameraOperationTypeUnknown = 0xFF,
};


enum  DJIWaypointV2ActionActuatorAircraftControlOperationType:uint16_t {

    DJIWaypointV2ActionActuatorAircraftControlOperationTypeRotateYaw = 1,

    DJIWaypointV2ActionActuatorAircraftControlOperationTypeFlyingControl = 2,

    DJIWaypointV2ActionActuatorAircraftControlOperationTypeUnknown = 0xFF,
};


enum  DJIWaypointV2MissionExecutionState:uint8_t{

    DJIWaypointV2MissionExecutionStateInitializing,

    DJIWaypointV2MissionExecutionStateGoToFirstWaypoint,

    DJIWaypointV2MissionExecutionStateMoving,

    DJIWaypointV2MissionExecutionStateInterrupted,

    DJIWaypointV2MissionExecutionStateFinished,

    DJIWaypointV2MissionExecutionStateGoHome,

    DJIWaypointV2MissionExecutionStateLanding,

    DJIWaypointV2MissionExecutionStateReturnToFirstWaypoint,

    DJIWaypointV2MissionExecutionStateUnknown = 0xFF,
};


enum DJIWaypointV2ActionExecutionEvent:uint8_t{
    DJIWaypointV2ActionExecutionEventBeginAction,

    DJIWaypointV2ActionExecutionEventFinishedAction,

    DJIWaypointV2ActionExecutionEventUnknown = 0xFF,
};

typedef enum  DJIWaypointV2FlightPathMode:uint8_t {

    DJIWaypointV2FlightPathModeGoToPointAlongACurve,

    DJIWaypointV2FlightPathModeGoToPointAlongACurveAndStop,

    DJIWaypointV2FlightPathModeGoToPointInAStraightLineAndStop,

    DJIWaypointV2FlightPathModeCoordinateTurn,

    DJIWaypointV2FlightPathModeGoToFirstPointAlongAStraightLine,

    DJIWaypointV2FlightPathModeStraightOut,

    DJIWaypointV2FlightPathModeUnknown = 0xFF,
}DJIWaypointV2FlightPathMode;

typedef enum  DJIWaypointV2HeadingMode:uint8_t {

    DJIWaypointV2HeadingModeAuto,

    DJIWaypointV2HeadingFixed,

    DJIWaypointV2HeadingManual,

    DJIWaypointV2HeadingWaypointCustom,

    DJIWaypointV2HeadingTowardPointOfInterest,

    DJIWaypointV2HeadingGimbalYawFollow,

    DJIWaypointV2HeadingUnknown = 0xFF,
}DJIWaypointV2HeadingMode;

typedef enum  DJIWaypointV2TurnMode:uint8_t {

    DJIWaypointV2TurnModeClockwise,

    DJIWaypointV2TurnModeCounterClockwise,

    DJIWaypointV2TurnModeUnknown = 0xFF,
}DJIWaypointV2TurnMode;


enum DJIWaypointV2MissionState{
    DJIWaypointV2MissionStateUnWaypointActionActuatorknown = -1,

    DJIWaypointV2MissionStateDisconnected = 0,

    DJIWaypointV2MissionStateReadyToExecute = 1,

    DJIWaypointV2MissionStateExecuting = 2,

    DJIWaypointV2MissionStateInterrupted = 3,

    DJIWaypointV2MissionStateResumeAfterInterrupted = 4,

    DJIWaypointV2MissionStateExitMission = 5,

    DJIWaypointV2MissionStateFinishedMission = 6,
};

typedef uint8_t  RetCodeType;

typedef uint32_t WaypointV2CommonAck;

typedef float32_t GlobalCruiseSpeed;

typedef struct UploadMissionRawAck
{
  uint32_t result;

  uint16_t startIndex;

  uint16_t endIndex;
}UploadMissionRawAck;

typedef struct UploadActionsRawAck
{
  uint32_t result;

  uint16_t errorActionId;
}UploadActionsRawAck;

typedef struct DownloadMissionRsp
{
  uint16_t startIndex;
  uint16_t endIndex;
}DownloadMissionRsp;

typedef struct DownloadMissionAck
{
  uint32_t result;

  uint16_t startIndex;

  uint16_t endIndex;
}DownloadMissionAck;

typedef struct GetGlobalCruiseVelAck{

  uint32_t result;

  uint16_t globalCruiseVel;
}GetGlobalCruiseVelAck;

typedef struct GetRemainRamAck
{
  uint16_t totalMemory;
  uint16_t remainMemory;
}getRemainRamAck;

typedef struct GetWaypontStartEndIndexAck
{
  uint32_t result;
  uint16_t startIndex;
  uint16_t endIndex;
}GetWaypontStartEndIndexAck;

typedef struct MissionStateCommanData
{
  uint16_t curWaypointIndex;
  uint8_t  reserved1:4;
  uint8_t  state:4;  //0x0:ground station not start. 0x1:mission prepared. 0x2:enter mission.
                     //0x3:execute flying route mission.
                     //0x4:pause state. 0x5:enter mission after ending pause.
                     //0x6:exit mission.
  uint16_t velocity; //uint:0.01m/s
  uint8_t  reserved2;   
}MissionStateCommanData;

typedef struct MissionStatePushAck
{
  uint8_t commonDataVersion = 1;
  uint16_t commonDataLen;
  MissionStateCommanData data;
}MissionStatePushAck;

typedef union Eventdata
{
  /*ID:0x01*/
  uint8_t interruptReason; //0x00:rc triggered interrupt

  /*ID:0x02*/
  uint8_t recoverProcess; //0x00:finished pause recover

  /*ID:0x03*/
  uint8_t finishReason; //0x00:finished normally; 0x10:External user trigger ended successfully

  /*ID:0x10*/
  uint16_t waypointIndex;

  /*ID:0x11*/
  struct MissionExecEvent{
    uint8_t currentMissionExecNum;
    uint8_t finishedAllExecNum:1; //0:not finished; 1:finished all exec num
    uint8_t reserved:7;
  }MissionExecEvent;

  // /*ID:0x12*/
  // uint8_t avoidState;

  /*ID:0x20*/
  // struct MissionValidityEvent {
  //   uint8_t misValidityFlag;
  //   float32_t estimateRunTime;
  // }MissionValidityEvent;

  /*ID:0x30*/
  // struct ActionExecEvent{
  //   uint16_t actionId;
  //   uint8_t preActuatorState;
  //   uint8_t curActuatorState;
  //   uint32_t result;
  // }ActionExecEvent;
}Eventdata;

typedef struct MissionEventPushAck
{
  uint8_t event ;
  uint32_t FCTimestamp;
  Eventdata data;
}MissionEventPushAck;

typedef struct WayPointV2InitSettingsInternal{

  uint16_t version = 0x6500;

  uint8_t  reserved = 0;

  uint32_t missionID;

  uint16_t missTotalLen;

  uint16_t waypointCount = 2;

  uint8_t repeatTimes;

  DJIWaypointV2MissionFinishedAction finishedAction;

  uint16_t maxFlightSpeed;

  uint16_t autoFlightSpeed;

  uint16_t startIndex;

  uint8_t exitMissionOnRCSignalLost;

  DJIWaypointV2MissionGotoFirstWaypointMode gotoFirstWaypointMode;

  float64_t refLati;

  float64_t refLong;

  float32_t refAlti;

}WayPointV2InitSettingsInternal;

typedef struct DownloadInitSettingRawAck
{
  uint32_t result;
  WayPointV2InitSettingsInternal initSettingsInternal;

}DownloadInitSettingRawAck;

typedef struct RelativePosition{
  float32_t positionX; 
  float32_t positionY; 
  float32_t positionZ; 
} RelativePosition;

typedef struct WaypointV2Config
  {
    uint16_t  useLocalCruiseVel:1;

    uint16_t  useLocalMaxVel:1;

    uint16_t  reserved :14;

  }WaypointV2Config;

typedef struct WaypointV2Internal
{
  float32_t positionX; 
  float32_t positionY; 
  float32_t positionZ; 
  DJIWaypointV2FlightPathMode   waypointType;

  DJIWaypointV2HeadingMode      headingMode;

  WaypointV2Config config;

  uint16_t dampingDistance;

  float32_t heading;

  DJIWaypointV2TurnMode turnMode;

  RelativePosition pointOfInterest;

  uint16_t maxFlightSpeed;

  uint16_t autoFlightSpeed;
}WaypointV2Internal;

typedef struct WaypointV2
{
  float64_t longitude;
  float64_t latitude;
  float32_t relativeHeight; 
  DJIWaypointV2FlightPathMode   waypointType;

  DJIWaypointV2HeadingMode      headingMode;

  WaypointV2Config config;

  uint16_t dampingDistance;

  float32_t heading;

  DJIWaypointV2TurnMode turnMode;

  RelativePosition pointOfInterest;

  float32_t maxFlightSpeed;

  float32_t autoFlightSpeed;
}WaypointV2;

typedef struct WayPointV2InitSettings{

  uint32_t missionID;

  uint16_t missTotalLen;

  uint8_t repeatTimes;

  DJIWaypointV2MissionFinishedAction finishedAction;

  float32_t maxFlightSpeed;

  float32_t autoFlightSpeed;

  uint8_t exitMissionOnRCSignalLost;

  DJIWaypointV2MissionGotoFirstWaypointMode gotoFirstWaypointMode;

  std::vector<WaypointV2> mission;

}WayPointV2InitSettings;

typedef struct  FCGroundStationDataPush
{
  // If (use_rtk_flag && in_rtk_mode)=1 , longitude is rtk lon, otherwise it's (gps_lon - gps2rtk_lon_offset).
  // (The use_rtk_flag and in_rtk_mode are the members in the later section. )
  // Unit: rad
  double longitude;
  // If (use_rtk_flag && in_rtk_mode)=1 , latitude is rtk lat, otherwise it's (gps_lat - gps2rtk_lat_offset).
  // Unit: rad
  double latitude;
  // If (use_rtk_flag && in_rtk_mode && set_rtk_takeoff_alti_flag)=1 , relative_height is rtk_type, otherwise it's press_type.
  // Unit: m
  float relative_height;
  // Unit: 0.1 degree
  int16_t heading;
  // use rtk or not 0: rtk switch is off or rtk device is not connect， 1: us rtk position。
  uint8_t use_rtk_flag;
  // 0: rtk not healthy, 1: rtk 3d healthy
  uint8_t in_rtk_mode;
  // utc time's seconds
  uint32_t sec;
  //  utc time's nano seconds
  uint32_t nano_sec;
  // home type。0=NA，1=gps_type，2=rtk_type
  uint8_t home_type                :2;
  // use rtk height：0=no，1=yes
  uint8_t set_rtk_takeoff_alti_flag:1;
  // distance to home type。0=NA，1=gps_type，2=rtk_type
  uint8_t d2h_type                 :2;
  // reserve
  uint8_t resv                     :3;
  // RTK or GPS's svn
  uint8_t rtk_or_gps_svn;
  // Unit: rad
  double home_lon;
  // Unit: rad
  double home_lat;
  // take off altitude。
  // Unit: m
  float takeoff_alti;
  // aircraft's distance to home.
  // Unit: m
  float d2h;
  float abs_height;
  float gps_height;
} FCGroundStationDataPush;
#pragma pack()


// clang-format on
} // OSDK

} // DJI

#endif // ONBOARDSDK_DJI_MISSION_TYPE_H