dji_perception.hpp

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#ifndef ONBOARDSDK_DJI_PERCEPTION_H
#define ONBOARDSDK_DJI_PERCEPTION_H

#include "cstring"
#include "stdint.h"

#define IMAGE_MAX_DIRECTION_NUM        (6)

namespace DJI {
namespace OSDK {

// Forward Declaration
class Vehicle;
class PerceptionImpl;

class Perception {
 public:
  Perception(Vehicle *vehiclePtr);

  ~Perception();

 public:

  typedef enum {
    OSDK_PERCEPTION_PASS = 0,
    OSDK_PERCEPTION_TIMEOUT = 1,
    OSDK_PERCEPTION_SUBSCRIBE_FAIL = 2,
    OSDK_PERCEPTION_PARAM_ERR = 3,
    OSDK_PERCEPTION_REQ_REFUSED = 4,
    OSDK_PERCEPTION_REQ_UNSUPPORT = 5,
    OSDK_LIVEVIEW_UNKNOWN = 0xFF,
  } PerceptionErrCode;

  typedef enum CamPositionType : uint32_t {
    RECTIFY_DOWN_LEFT = 1,
    RAW_DOWN_FRONT = RECTIFY_DOWN_LEFT, //only for M210V2
    RECTIFY_DOWN_RIGHT = 2,
    RAW_DOWN_BACK = RECTIFY_DOWN_RIGHT, //only for M210V2
    RECTIFY_FRONT_LEFT = 3,
    RAW_FRONT_LEFT = RECTIFY_FRONT_LEFT, //only for M210V2
    RECTIFY_FRONT_RIGHT = 4,
    RAW_FRONT_RIGHT = RECTIFY_FRONT_RIGHT, //only for M210V2
    RECTIFY_REAR_LEFT = 5,
    RECTIFY_REAR_RIGHT = 6,
    RECTIFY_UP_LEFT = 21,
    RECTIFY_UP_RIGHT = 22,
    RECTIFY_LEFT_LEFT = 23,
    RECTIFY_LEFT_RIGHT = 24,
    RECTIFY_RIGHT_LEFT = 25,
    RECTIFY_RIGHT_RIGHT = 26
  } CamPositionType;

  typedef enum DirectionType : uint8_t {
    RECTIFY_DOWN = 0,
    RECTIFY_FRONT = 1,
    RECTIFY_REAR = 2,
    RECTIFY_UP = 3,
    RECTIFY_LEFT = 4,
    RECTIFY_RIGHT = 5
  } DirectionType;

#pragma pack(1)
  typedef struct RawImageInfoType {
    uint32_t index;
    DirectionType direction;
    uint8_t bpp;
    uint32_t width;
    uint32_t height;
  } RawImageInfoType;

  typedef struct ImageInfoType {
    RawImageInfoType rawInfo;
    uint16_t dataId;
    uint16_t sequence;
    CamPositionType dataType;
    uint64_t timeStamp;
  } ImageInfoType;

  typedef struct CamParamType {
    DirectionType direction;
    float leftIntrinsics[9];
    float rightIntrinsics[9];
    float rotaionLeftInRight[9];
    float translationLeftInRight[3];
  } CamParamType;

  typedef struct {
    uint32_t timeStamp;//ms
    uint32_t directionNum;
    CamParamType cameraParam[IMAGE_MAX_DIRECTION_NUM];
  } CamParamPacketType;
#pragma pack()

  typedef void(*PerceptionCamParamCB)
      (Perception::CamParamPacketType paramPacket, void *userData);

  typedef void(*PerceptionImageCB)
      (Perception::ImageInfoType, uint8_t *imageRawBuffer, int bufferLen, void *userData);

 public:

  PerceptionErrCode subscribePerceptionImage(DirectionType direction, PerceptionImageCB cb, void* userData);

  PerceptionErrCode unsubscribePerceptionImage(DirectionType direction);

  PerceptionErrCode triggerStereoCamParamsPushing();

  void setStereoCamParamsObserver(PerceptionCamParamCB cb, void *userData);

  void cancelAllSubsciptions();

 private:
  Vehicle *vehicle;
  PerceptionImpl *impl;
};
} // OSDK
} // DJI

#endif //ONBOARDSDK_DJI_PERCEPTION_H