dji_waypoint_v2.hpp

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#ifndef DJI_WAYPOINT_MISSION_V2_HPP
#define DJI_WAYPOINT_MISSION_V2_HPP

#include <vector>
#include "osdk_command.h"
#include "dji_mission_base.hpp"
#include "dji_waypoint_v2_action.hpp"

namespace DJI
{
namespace OSDK
{
  typedef E_OsdkStat (*PushCallback)(struct _CommandHandle *cmdHandle,
                                     const T_CmdInfo *cmdInfo,
                                     const uint8_t *cmdData, void *userData);

  class WaypointV2MissionOperator
  {
  public:
    const uint16_t MAX_WAYPOINT_NUM_SIGNAL_PUSH = 260;

    WaypointV2MissionOperator(Vehicle* vehiclePtr);

    ~WaypointV2MissionOperator();

    ErrorCode::ErrorCodeType init(WayPointV2InitSettings *info, int timeout);

    ErrorCode::ErrorCodeType downloadInitSetting(WayPointV2InitSettingsInternal &info, int timeout);

    ErrorCode::ErrorCodeType start(int timeout);

    ErrorCode::ErrorCodeType stop(int timeout);

    ErrorCode::ErrorCodeType pause(int timeout);

    ErrorCode::ErrorCodeType resume(int timeout);

    ErrorCode::ErrorCodeType uploadMission(int timeout);

    ErrorCode::ErrorCodeType downloadMission(std::vector<WaypointV2> &mission, int timeout);

    ErrorCode::ErrorCodeType getGlobalCruiseSpeed(GlobalCruiseSpeed &cruiseSpeed, int timeout);

    ErrorCode::ErrorCodeType setGlobalCruiseSpeed(const GlobalCruiseSpeed &cruiseSpeed, int timeout);

    ErrorCode::ErrorCodeType uploadAction(std::vector<DJIWaypointV2Action> &actions, int timeout);

    ErrorCode::ErrorCodeType getActionRemainMemory(GetRemainRamAck &remainRamAck, int timeout);

    ErrorCode::ErrorCodeType getWaypointIndexInList(GetWaypontStartEndIndexAck &startEndIndexAck, int timeout);

    inline DJIWaypointV2MissionState getCurrentState() { return currentState; }

    inline DJIWaypointV2MissionState getPrevState() { return prevState; }

    void setPrevState(DJIWaypointV2MissionState state) {prevState = state; }

    void setCurrentState(DJIWaypointV2MissionState state) {currentState = state; }

    float32_t getTakeoffAltitude(){return takeoffAltitude;};

    void setTakeoffAltitude(float32_t altitude){ takeoffAltitude =  altitude;};

    void RegisterMissionEventCallback(void *userData, PushCallback cb = NULL);

    void RegisterMissionStateCallback(void *userData, PushCallback cb = NULL) ;

  private:
    std::vector<WaypointV2> missionV2;
    DJIWaypointV2MissionState currentState;
    DJIWaypointV2MissionState prevState;
    Vehicle *vehiclePtr;

    float32_t takeoffAltitude;

    void RegisterOSDInfoCallback(Vehicle *vehiclePtr);

  };

} // namespace OSDK
} // namespace DJI

#endif // DJI_WAYPOINT_MISSION_V2_HPP