157 lines
7.6 KiB
C
157 lines
7.6 KiB
C
/**
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********************************************************************
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* @file dji_mop_channel.h
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* @brief This is the header file for "dji_mop_channel.c", defining the structure and
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* (exported) function prototypes.
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*
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* @copyright (c) 2021 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
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* and protected by trade secret or copyright law. Dissemination of this
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* information, including but not limited to data and other proprietary
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* material(s) incorporated within the information, in any form, is strictly
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
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* source code and notify DJI of its removal. DJI reserves the right to pursue
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef DJI_MOP_CHANNEL_H
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#define DJI_MOP_CHANNEL_H
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/* Includes ------------------------------------------------------------------*/
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#include "dji_typedef.h"
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#include "dji_low_speed_data_channel.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Exported constants --------------------------------------------------------*/
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/* Exported types ------------------------------------------------------------*/
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/**
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* @brief Mop channel handle.
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*/
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typedef void *T_DjiMopChannelHandle;
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/**
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* @brief Mop channel transmission type.
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*/
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typedef enum {
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DJI_MOP_CHANNEL_TRANS_RELIABLE = 0, /*!< Reliable transmission type. */
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DJI_MOP_CHANNEL_TRANS_UNRELIABLE, /*!< Unreliable transmission type. */
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} E_DjiMopChannelTransType;
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/* Exported functions --------------------------------------------------------*/
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/**
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* @brief Initialize the mop channel for operation about mop channel handle later.
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* @note This interface needs to be called before calling other mop channel interfaces. Please make sure the network port
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* is connected properly before calling this interface. Mop channel feature currently only supports linux platform.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiMopChannel_Init(void);
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/**
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* @brief Create the mop channel handle by specified transmission type.
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* @note After calling this interface, you should follow below cases:
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* 1. When mop channel handle created successfully, you need bind channel id to this created mop channel handle and
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* accept other client device connections, such as MSDK or OSDK device;
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* 2. When mop channel accept successfully, you can use send or receive data interface to write or read data by accepted
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* output channel handle;
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* 3. When the mop channel handle do not used, you can use close or destroy interface to release the resource;
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* @param channelHandle: pointer to the created mop channel.
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* @param transType: the transmission type for mop channel ::E_DjiMopChannelTransType.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiMopChannel_Create(T_DjiMopChannelHandle *channelHandle, E_DjiMopChannelTransType transType);
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/**
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* @brief Destroy the created mop channel and release the resource that referenced by the channel handle.
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* @note After calling this interface, we can not do any operation about this channel handle expect create channel handle.
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* @param channelHandle: pointer to the created mop channel.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiMopChannel_Destroy(T_DjiMopChannelHandle channelHandle);
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/**
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* @brief Bind the channel id to the created mop channel handle.
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* @note When mop channel handle created successfully, you can bind channel id to this created mop handle and calling
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* interface ::DjiMopChannel_Accept, then other client device can use this binded channel id to connect created mop handle.
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* @param channelHandle: pointer to the created mop channel handle.
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* @param channelId: the channel id of mop handle for accepting client device connection.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiMopChannel_Bind(T_DjiMopChannelHandle channelHandle,
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uint16_t channelId);
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/**
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* @brief Accept the connection by binded channel id for created mop channel.
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* @note The mop accept channel extracts the connection request on the queue of pennding connections for listening channel
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* handle ::channelHandle. Create a new connected channel handle and return to user ::outChannelHandle by referrng to a new
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* connection. Payload can be a server that allow multiple client connections by binded channel id.
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* @param channelHandle: pointer to the created mop channel.
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* @param outChannelHandle: pointer to the accepted output mop channel.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiMopChannel_Accept(T_DjiMopChannelHandle channelHandle,
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T_DjiMopChannelHandle *outChannelHandle);
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T_DjiReturnCode DjiMopChannel_Connect(T_DjiMopChannelHandle channelHandle, E_DjiChannelAddress channelAddress,
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uint16_t channelId);
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/**
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* @brief Close the created mop channel.
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* @note After calling this interface, we can not do any operation about this channel handle expect destroy channel handle.
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* @param channelHandle: pointer to the created mop channel.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiMopChannel_Close(T_DjiMopChannelHandle channelHandle);
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/**
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* @brief Send data by the accepted output mop channel.
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* @note This interface should be called after successfully calling the interface ::DjiMopChannel_Accept. It is recommended
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* to send more bytes of data at a time to improve read and write efficiency. Need to determine whether the send is
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* successful according to the return code and the actual sent data length.
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* @param channelHandle: pointer to accepted output mop handle ::outChannelHandle by calling interface ::DjiMopChannel_Accept.
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* @param data: pointer to data to be sent.
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* @param len: length of data to be sent via accepted output mop handle, unit: byte.
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* @param realLen: pointer to real length of data that already sent.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiMopChannel_SendData(T_DjiMopChannelHandle channelHandle,
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uint8_t *data,
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uint32_t len,
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uint32_t *realLen);
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/**
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* @brief Receive data from the accepted output mop channel.
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* @note This interface should be called after successfully calling the interface ::DjiMopChannel_Accept. It is recommended
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* to receive more bytes of data at a time to improve read and write efficiency. Need to determine whether the receive
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* is successful according to the return code and the actual received data length.
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* @param channelHandle: pointer to accepted output mop handle ::outChannelHandle by calling interface ::DjiMopChannel_Accept.
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* @param data: pointer to data to store the received data.
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* @param len: length of data to be received via accepted output mop handle, unit: byte.
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* @param realLen: pointer to real length of data that already received.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiMopChannel_RecvData(T_DjiMopChannelHandle channelHandle,
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uint8_t *data,
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uint32_t len,
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uint32_t *realLen);
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#ifdef __cplusplus
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}
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#endif
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#endif
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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