123 lines
4.8 KiB
C
123 lines
4.8 KiB
C
/**
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********************************************************************
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* @file dji_waypoint_v3.h
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* @brief This is the header file for "dji_waypoint_v3.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_WAYPOINT_V3_H
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#define DJI_WAYPOINT_V3_H
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/* Includes ------------------------------------------------------------------*/
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#include "dji_typedef.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 Waypoint v3 mission action.
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*/
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typedef enum {
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DJI_WAYPOINT_V3_ACTION_START = 0, /*!< Waypoint v3 mission start action. */
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DJI_WAYPOINT_V3_ACTION_STOP = 1, /*!< Waypoint v3 mission stop action. */
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DJI_WAYPOINT_V3_ACTION_PAUSE = 2, /*!< Waypoint v3 mission pause action. */
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DJI_WAYPOINT_V3_ACTION_RESUME = 3, /*!< Waypoint v3 mission resume action. */
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} E_DjiWaypointV3Action;
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/**
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* Waypoint v3 current aircraft state.
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*/
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typedef enum {
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DJI_WAYPOINT_V3_STATE_IDLE = 0, /*!< Waypoint v3 aircraft in idle state. */
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DJI_WAYPOINT_V3_STATE_PREPARE = 16, /*!< Waypoint v3 aircraft in prepare state. */
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DJI_WAYPOINT_V3_STATE_TRANS_MISSION = 32, /*!< Waypoint v3 aircraft in trans mission state. */
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DJI_WAYPOINT_V3_STATE_MISSION = 48, /*!< Waypoint v3 aircraft in mission state. */
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DJI_WAYPOINT_V3_STATE_BREAK = 64, /*!< Waypoint v3 aircraft in break state. */
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DJI_WAYPOINT_V3_STATE_RESUME = 80, /*!< Waypoint v3 aircraft in resume state. */
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DJI_WAYPOINT_V3_STATE_RETURN_FIRSTPOINT = 98, /*!< Waypoint v3 aircraft in return first point state. */
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} E_DjiWaypointV3State;
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/**
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* Waypoint v3 mission state.
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*/
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typedef struct {
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E_DjiWaypointV3State state; /*!< Waypoint v3 current aircraft state, #E_DjiWaypointV3State. */
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uint32_t wayLineId; /*!< Waypoint v3 current way line id. */
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uint16_t currentWaypointIndex; /*!< Waypoint v3 current waypoint index. */
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} T_DjiWaypointV3MissionState;
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/**
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* @brief Prototype of callback function used to receive the waypoint v3 mission state.
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* @warning User can not execute blocking style operations or functions in callback function, because that will block
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* root thread, causing problems such as slow system response, payload disconnection or infinite loop.
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* @param missionState: current waypoint v3 mission state.
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* @return Execution result.
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*/
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typedef T_DjiReturnCode (*WaypointV3StateCallback)(T_DjiWaypointV3MissionState missionState);
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/* Exported functions --------------------------------------------------------*/
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/**
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* @brief Initialise waypoint v3 module, and user should call this function.
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* before using waypoint v3 features.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiWaypointV3_Init(void);
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/**
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* @brief Deinitialise waypoint v3 module.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiWaypointV3_DeInit(void);
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/**
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* @brief Upload kmz file by raw data.
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* @note The size of kmz file is very small, you can use this interface to upload quickly.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiWaypointV3_UploadKmzFile(const uint8_t *data, uint32_t dataLen);
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/**
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* @brief Execute the mission action.
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* @note This action should be called after uploading the kmz file.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiWaypointV3_Action(E_DjiWaypointV3Action action);
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/**
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* @brief Register the mission state callback for waypoint mission.
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* @note If you want to monitor the state of waypoint mission, this interface should be called before uploading kmz
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* file or executing this mission action.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiWaypointV3_RegMissionStateCallback(WaypointV3StateCallback callback);
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#ifdef __cplusplus
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}
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#endif
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#endif // DJI_WAYPOINT_V3_H
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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