dji_waypoint.hpp

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#ifndef DJI_WAYPOINT_H
#define DJI_WAYPOINT_H

#include "dji_mission_base.hpp"

namespace DJI
{
namespace OSDK
{

class WaypointMission : public MissionBase
{
public:
  WaypointMission(Vehicle* vehicle = 0);
  ~WaypointMission();

  const double RAD_2_DEGREE = 57.2957795;

  VehicleCallBackHandler wayPointEventCallback;
  VehicleCallBackHandler wayPointCallback;

  void init(WayPointInitSettings* Info = 0, VehicleCallBack callback = 0,
            UserData userData = 0);
  ACK::ErrorCode init(WayPointInitSettings* Info, int timer);
  void start(VehicleCallBack callback = 0, UserData userData = 0);
  ACK::ErrorCode start(int timer);
  void stop(VehicleCallBack callback = 0, UserData userData = 0);
  ACK::ErrorCode stop(int timer);
  void pause(VehicleCallBack callback = 0, UserData userData = 0);
  ACK::ErrorCode pause(int timer);
  void resume(VehicleCallBack callback = 0, UserData userData = 0);
  ACK::ErrorCode resume(int timer);
  void setInfo(const WayPointInitSettings& value);
  ACK::WayPointInit getWaypointSettings(int timer);
  void getWaypointSettings(VehicleCallBack callback, UserData userData);
  ACK::WayPointIndex getIndex(uint8_t index, int timer);
  void getIndex(uint8_t index, VehicleCallBack callback, UserData userData);
  void setIndex(WayPointSettings* value, size_t pos);
  bool uploadIndexData(WayPointSettings* data, VehicleCallBack callback = 0,
                       UserData userData = 0);
  ACK::WayPointIndex uploadIndexData(WayPointSettings* data, int timer);
  void readIdleVelocity(VehicleCallBack callback = 0, UserData userData = 0);
  ACK::ErrorCode readIdleVelocity(int timeout);
  void updateIdleVelocity(float32_t       meterPreSecond,
                          VehicleCallBack callback = 0, UserData userData = 0);
  ACK::WayPointVelocity updateIdleVelocity(float32_t meterPreSecond,
                                           int       timeout);
  static void idleVelocityCallback(Vehicle* vehicle, RecvContainer recvFrame,
                                   UserData userData);
  static void getWaypointSettingsCallback(Vehicle*      vehicle,
                                          RecvContainer recvFrame,
                                          UserData      userData);
  static void getIndexCallback(Vehicle* vehicle, RecvContainer recvFrame,
                               UserData userData);
  static void uploadIndexDataCallback(Vehicle* vehicle, RecvContainer recvFrame,
                                      UserData userData);
  void setWaypointEventCallback(VehicleCallBack callback, UserData userData);
  void setWaypointCallback(VehicleCallBack callback, UserData userData);


private:
  WayPointInitSettings info;
  WayPointSettings*    index;

};

} // namespace OSDK
} // namespace DJI

#endif // DJI_WAYPOINT_H