waypoint_v2_sample.hpp

Go to the documentation of this file.

#ifndef DJIOSDK_WAYPOINT_V2_SAMPLE_HPP
#define DJIOSDK_WAYPOINT_V2_SAMPLE_HPP

// System Includes
#include <chrono>
#include <cmath>
#include <condition_variable>
#include <mutex>
#include <vector>
// DJI OSDK includes
#include <dji_vehicle.hpp>
#include "dji_waypoint_v2.hpp"
// Helpers
#include <dji_linux_helpers.hpp>
const int DEFAULT_PACKAGE_INDEX = 0;
class WaypointV2MissionSample {

public:
  WaypointV2MissionSample(Vehicle *vehicle);

  ~WaypointV2MissionSample();

public:
  ErrorCode::ErrorCodeType runWaypointV2Mission();

  ErrorCode::ErrorCodeType initMissionSetting(int timeout);

  ErrorCode::ErrorCodeType uploadWaypointMission(int timeout);

  ErrorCode::ErrorCodeType uploadWapointActions(int timeout);

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

  ErrorCode::ErrorCodeType startWaypointMission(int timeout);

  ErrorCode::ErrorCodeType stopWaypointMission(int timeout);

  ErrorCode::ErrorCodeType pauseWaypointMission(int timeout);

  ErrorCode::ErrorCodeType resumeWaypointMission(int timeout);

  void getGlobalCruiseSpeed(int timeout);

  void setGlobalCruiseSpeed(const GlobalCruiseSpeed &cruiseSpeed, int timeout);

  bool setUpSubscription(int timeout);

  bool teardownSubscription(const int pkgIndex,
                            int timeout);
//  void setWaypointV2Defaults(DJIWaypointV2& waypointV2);

  void setWaypointV2Defaults(WaypointV2& waypointV2);
//  std::vector<DJIWaypointV2> generatePolygonWaypoints(float32_t radius, uint16_t polygonNum);

  std::vector<WaypointV2> generatePolygonWaypoints(float32_t radius, uint16_t polygonNum);


  std::vector<DJIWaypointV2Action> generateWaypointActions(uint16_t actionNum);

private:
  Vehicle *vehiclePtr;
  std::vector<DJIWaypointV2Action> actions;
};

#endif  // DJIOSDK_WAYPOINT_V2_SAMPLE_HPP