dji_waypoint_v2_action.hpp

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#ifndef DJIOSDK_CORE_DJI_WAYPOINT_V2_ACTION_HPP
#define DJIOSDK_CORE_DJI_WAYPOINT_V2_ACTION_HPP

#include "dji_mission_type.hpp"
namespace DJI {
  namespace OSDK {
#pragma pack(1)

typedef struct CGPoint {
  float32_t x;
  float32_t y;
} CGPoint;

typedef struct DJIGimbalRotation {

  int16_t x;  
  int16_t y;  
  int16_t z;  
  uint8_t ctrl_mode:1;   
  uint8_t rollCmdIgnore:1;
  uint8_t pitchCmdIgnore:1;
  uint8_t yawCmdIgnore:1;  
  uint8_t absYawModeRef:1; 
  uint8_t reserved:3;
  uint8_t duationTime;  
} DJIGimbalRotation;

typedef struct DJIWaypointV2SampleReachPointTriggerParam {
  uint16_t waypointIndex;

  uint16_t terminateNum;

} DJIWaypointV2SampleReachPointTriggerParam;

typedef struct DJIWaypointV2AssociateTriggerParam {
  DJIWaypointV2TriggerAssociatedTimingType actionAssociatedType;

  uint8_t waitingTime;

  uint16_t actionIdAssociated;
} DJIWaypointV2AssociateTriggerParam;

typedef struct DJIWaypointV2TrajectoryTriggerParam {
  uint16_t startIndex;

  uint16_t endIndex;
} DJIWaypointV2TrajectoryTriggerParam;

typedef struct DJIWaypointV2IntervalTriggerParam {
  uint16_t startIndex;

  uint16_t interval;
  DJIWaypointV2ActionIntervalType actionIntervalType;

} DJIWaypointV2IntervalTriggerParam;

typedef struct DJIWaypointV2CameraFocusParam {
  CGPoint focusTarget;

  uint8_t regionType;

  float32_t width;

  float32_t height;

  uint32_t reserve;

  uint8_t retryTimes = 1;
} DJIWaypointV2CameraFocusParam;

typedef struct DJIWaypointV2CameraFocalLengthParam {
  uint16_t focalLength;

  uint8_t retryTimes = 1;

} DJIWaypointV2CameraFocalLengthParam;

typedef struct DJIWaypointV2AircraftControlRotateHeadingParam {
  uint8_t isRelative:1;

  uint8_t reserved:7;

  float32_t yaw;

} DJIWaypointV2AircraftControlRotateHeadingParam;

typedef struct DJIWaypointV2AircraftControlFlyingParam {
  uint8_t  isStartFlying:1;
  uint8_t  reserved:7;
} DJIWaypointV2AircraftControlFlyingParam;

#pragma pack()

typedef struct DJIWaypointV2Trigger
{
  DJIWaypointV2Trigger(const DJIWaypointV2ActionTriggerType &type,const void *param)
  {actionTriggerType = type;
    switch (actionTriggerType) {
      case DJIWaypointV2ActionTriggerTypeActionAssociated: {
        associateTriggerParam = *(DJIWaypointV2AssociateTriggerParam *)param;
        break;
      }
      case DJIWaypointV2ActionTriggerTypeTrajectory: {
        trajectoryTriggerParam = *(DJIWaypointV2TrajectoryTriggerParam *)param;
        break;
      }
      case DJIWaypointV2ActionTriggerTypeInterval: {
        intervalTriggerParam = *(DJIWaypointV2IntervalTriggerParam *)param;
        break;
      }
      case DJIWaypointV2ActionTriggerTypeSampleReachPoint:{
        sampleReachPointTriggerParam = *(DJIWaypointV2SampleReachPointTriggerParam *)param;
        break;
      }
      default:
        DERROR("Invalid trigger type%d\n", actionTriggerType);
        break;
    }}
  DJIWaypointV2ActionTriggerType actionTriggerType;
  union {
    DJIWaypointV2SampleReachPointTriggerParam sampleReachPointTriggerParam;
    DJIWaypointV2AssociateTriggerParam associateTriggerParam;
    DJIWaypointV2TrajectoryTriggerParam trajectoryTriggerParam;
    DJIWaypointV2IntervalTriggerParam intervalTriggerParam;
  };
}DJIWaypointV2Trigger;

typedef struct DJIWaypointV2CameraActuatorParam {


  DJIWaypointV2CameraActuatorParam(const DJIWaypointV2ActionActuatorCameraOperationType &type , void *param)
  {
    operationType =type;
    switch (type) {
      case DJIWaypointV2ActionActuatorCameraOperationTypeTakePhoto:
      case DJIWaypointV2ActionActuatorCameraOperationTypeStartRecordVideo:
      case DJIWaypointV2ActionActuatorCameraOperationTypeStopRecordVideo: {
        break;
      }
      case DJIWaypointV2ActionActuatorCameraOperationTypeFocus: {
        focusParam = *(DJIWaypointV2CameraFocusParam *)param;
        break;
      }
      case DJIWaypointV2ActionActuatorCameraOperationTypeFocalLength: {
        zoomParam = *(DJIWaypointV2CameraFocalLengthParam *)param;
        break;
      }
      default:
        break;
    }};

  DJIWaypointV2ActionActuatorCameraOperationType operationType;

  union {
    DJIWaypointV2CameraFocusParam focusParam;

    DJIWaypointV2CameraFocalLengthParam zoomParam;
  };

}DJIWaypointV2CameraActuatorParam;

typedef struct DJIWaypointV2GimbalActuatorParam {

  DJIWaypointV2GimbalActuatorParam(const DJIWaypointV2ActionActuatorGimbalOperationType &type , void *param)
  {
    operationType =type;
    switch (type) {
      case DJIWaypointV2ActionActuatorGimbalOperationTypeRotateGimbal:
        rotation =  *(DJIGimbalRotation*)param;
        break;
      default:
        break;
    }
  };
  DJIWaypointV2ActionActuatorGimbalOperationType operationType;

  DJIGimbalRotation rotation;
}DJIWaypointV2GimbalActuatorParam;

typedef struct DJIWaypointV2AircraftControlParam {

  DJIWaypointV2AircraftControlParam(const DJIWaypointV2ActionActuatorAircraftControlOperationType &type , void *param)
  {
    operationType =type;
    switch (type) {
      case DJIWaypointV2ActionActuatorAircraftControlOperationTypeRotateYaw: {
        yawRotatingParam =  *(DJIWaypointV2AircraftControlRotateHeadingParam *)param;
        break;
      }
      case DJIWaypointV2ActionActuatorAircraftControlOperationTypeFlyingControl: {
        flyControlParam  = *(DJIWaypointV2AircraftControlFlyingParam *)param;
        break;
      }
      default:
        break;
    }
  }
  DJIWaypointV2ActionActuatorAircraftControlOperationType operationType;

union {
  DJIWaypointV2AircraftControlRotateHeadingParam yawRotatingParam;

  DJIWaypointV2AircraftControlFlyingParam flyControlParam;
};


}DJIWaypointV2AircraftControlParam;

typedef struct DJIWaypointV2Actuator {

  DJIWaypointV2Actuator(const DJIWaypointV2ActionActuatorType &type, const uint8_t &index, void *param){
    actuatorType = type;
    actuatorIndex = index;

    switch (type) {
      case DJIWaypointV2ActionActuatorTypeCamera: {
        cameraActuatorParam = *(DJIWaypointV2CameraActuatorParam *)param;
        break;
      }

      case DJIWaypointV2ActionActuatorTypeGimbal: {
        gimbalActuatorParam = *(DJIWaypointV2GimbalActuatorParam *)param;
        break;
      }

      case DJIWaypointV2ActionActuatorTypeAircraftControl: {
        aircraftControlActuatorParam = *(DJIWaypointV2AircraftControlParam *)param;
        break;
      }
      default:
        break;
    }
  };

  DJIWaypointV2ActionActuatorType actuatorType;

  uint8_t actuatorIndex;

  union
  {
    DJIWaypointV2CameraActuatorParam cameraActuatorParam;

    DJIWaypointV2GimbalActuatorParam gimbalActuatorParam;

    DJIWaypointV2AircraftControlParam aircraftControlActuatorParam;
  };
  //void *actuatorParam;
}DJIWaypointV2Actuator;

typedef struct DJIWaypointV2Action {

  DJIWaypointV2Action(const uint32_t id, const DJIWaypointV2Trigger &trigger, const DJIWaypointV2Actuator &actuator):actionId(id), trigger(trigger), actuator(actuator){};

  uint16_t actionId;

  DJIWaypointV2Trigger trigger;

  DJIWaypointV2Actuator actuator;
}DJIWaypointV2Action;
  }
}
#endif //DJIOSDK_CORE_DJI_WAYPOINT_V2_ACTION_HPP