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Merge pull request #37 from dji-sdk/dev
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Update available Library fos 2.3 SDK
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justwillim committed Dec 11, 2015
2 parents 93028bc + 2be2a26 commit 78eea1e
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Showing 19 changed files with 949 additions and 580 deletions.
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190 changes: 75 additions & 115 deletions lib/inc/DJI_API.h
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Original file line number Diff line number Diff line change
@@ -1,9 +1,10 @@
/*! @brief
* @file DJI_Pro_API.h
* @version 1.0
* @file DJI_API.h
* @version 3.0
* @date Nov 15, 2015
*
* @abstract
* Core API for DJI onboardSDK library
*
* @attention
* Project configuration:
Expand All @@ -16,8 +17,8 @@
*
* */

#ifndef DJI_PRO_API_H
#define DJI_PRO_API_H
#ifndef DJI_API_H
#define DJI_API_H
#include "DJI_Type.h"

#include "DJI_HardDriver.h"
Expand All @@ -29,28 +30,37 @@ namespace onboardSDK
class CoreAPI;
class Flight;
class Camera;
class Mission;
class Swarm;
class VirtualRC;

//! @todo sort enum and move to a new file
enum TASK
{
TASK_GOHOME = 1,
TASK_TAKEOFF = 4,
TASK_LANDING = 6
};

enum ACK_CODE
{
ACK_SUCCESS = 0x0000,
ACK_KEYERROR = 0xFF00,
ACK_NO_AUTHORIZATION = 0xFF01,
ACK_NO_RIGHTS = 0xFF02,
ACK_NO_RESPONSE = 0xFFFF
};

enum CMD_SET
{
SET_ACTIVATION = 0x00,
SET_CONTROL = 0x01,
SET_BROADCAST = 0x02
SET_BROADCAST = 0x02,
SET_VIRTUALRC = 0x05
};

enum ACTIVATION_CODE
{
CODE_GETVERSION = 0,
CODE_ACTIVATE = 1,
CODE_FREQUENCY = 0x10,
CODE_TOMOBILE = 0xFE
};

Expand All @@ -59,29 +69,23 @@ enum CONTROL_CODE
CODE_SETCONTROL = 0,
CODE_TASK = 1,
CODE_STATUS = 2,
CODE_CONTORL = 3,
CODE_GIMBAL_SPEED = 0x1A,
CODE_GIMBAL_ANGLE = 0x1B,
CODE_CAMERA_SHOT = 0x20,
CODE_CAMERA_VIDEO_START = 0x21,
CODE_CAMERA_VIDEO_STOP = 0x22
CODE_CONTROL = 3,
CODE_SETARM = 5,
};

enum BROADCAST_CODE
{
CODE_BROADCAST = 0x00,
CODE_LOSTCTRL = 0x01,
CODE_FROMMOBILE = 0x02
CODE_FROMMOBILE = 0x02,
CODE_MISSION = 0x03,
CODE_WAYPOINT = 0x04
};

/*! @note overdefined in CONTROL_CODE
* Just using for test
* */
enum CAMERA
enum VIRTUALRC_CODE
{
CAMERA_SHOT = 0x20,
CAMERA_VIDEO_START = 0x21,
CAMERA_VIDEO_STOP = 0x22
CODE_VIRTUALRC_SETTINGS,
CODE_VIRTUALRC_DATA
};

class CoreAPI
Expand All @@ -94,83 +98,79 @@ class CoreAPI
*
* @note
* if you can read data in a interrupt, try to pass data through
*byteHandler();
* byteHandler() or byteStreamHandler()
* */
public:
void sendPoll(void);
void readPoll(void);
void callbackPoll(void);//! @todo not available yet
void autoResendPoll(void);//! @todo not available yet

//! @todo modify to a new algorithm
void byteHandler(const uint8_t in_data);
void byteStreamHandler(uint8_t *buffer, size_t size);

public:
/*! @code API*/
CoreAPI(HardDriver *Driver, ReceiveHandler user_cmd_handler_entrance = 0);
/*! @code CoreAPI*/
//! @note init API
CoreAPI(HardDriver *Driver, bool useCallbackThread = false, CallBack userRecvCallback = 0);

//! @note Core Control API
void ack(req_id_t req_id, unsigned char *ackdata, int len);
void send(unsigned char session_mode, unsigned char is_enc, CMD_SET cmd_set,
unsigned char cmd_id, unsigned char *pdata, int len,
CallBack ack_callback, int timeout, int retry_time);
unsigned char cmd_id, void *pdata, int len,
CallBack ack_callback = 0, int timeout = 0, int retry_time = 1);
void send(Command *parameter);
void ack(req_id_t req_id, unsigned char *ackdata, int len);
void getVersion(Get_API_Version_Notify user_notice_entrance);
void task(TASK taskname, CommandResult user_notice_entrance);
void activate(ActivateData_t *p_user_data,
CommandResult user_notice_entrance);
void sendToMobile(unsigned char *data, unsigned char len,
CommandResult user_notice_entrance);
void setControl(unsigned char cmd, CommandResult user_notice_entrance);

/*! @code Flight contorl
* @note These functions is based on API functions above.
* @todo move to a new class
*/
void setAttitude(AttitudeData_t *p_user_data);
void setGimbalAngle(GimbalAngleData *p_user_data);
void setGimbalSpeed(GimbalSpeedData *p_user_data);
void setCamera(CAMERA camera_cmd);

QuaternionData getQuaternion() const;

void activate(ActivateData *data, CallBack callback = 0);
void setControl(bool enable, CallBack callback = 0);
void getVersion(CallBack callback = 0);
void sendToMobile(uint8_t *data, uint8_t len, CallBack callback = 0);
void setBroadcastFeq(uint8_t *data, CallBack callback = 0);
void setActivation(bool isActivated);
void setKey(const char *key);

//! @note Core read API
BroadcastData getBroadcastData() const;
TimeStampData getTime() const;
FlightStatus getFlightStatus() const;
CtrlInfoData getCtrlInfo() const;
BatteryData getBatteryCapacity() const;
CommonData getGroundAcc() const;
SpeedData getGroundSpeed() const;

/*! @code user functions entrance*/
/*! @todo user functions entrance*/
void setTransparentTransmissionCallback(
TransparentHandler transparentHandlerEntrance);
void setBroadcastCallback(BroadcastHandler broadcastHandlerEntrance);

//! @note call back functions
public:
void setBroadcastCallback(CallBack callback);

static void activateCallback(CoreAPI *This, Header *header);
static void getVersionCallback(CoreAPI *This, Header *header);
static void setControlCallback(CoreAPI *This, Header *header);
static void sendToMobileCallback(CoreAPI *This, Header *header);
static void setFrequencyCallback(CoreAPI *This, Header *header);

private:
BroadcastData broadcastData;

private:
//! @note reconstructed from DJI_Pro_App.cpp
unsigned char encodeSendData[BUFFER_SIZE];
unsigned char encodeACK[ACK_SIZE];

CommandResult taskResult;
CommandResult activateResult;
CommandResult toMobileResult;
CommandResult setControlResult;

ReceiveHandler recvHandler;
BroadcastHandler broadcastHandler;
CallBack cbList[CALLBACK_LIST_NUM];
CallBack broadcastCallback;
CallBack recvCallback;
uint8_t cblistTail;
TransparentHandler transparentHandler;

TaskData_t taskData;
VersionData_t versionData;
ActivateData_t accountData;
VersionData versionData;
ActivateData accountData;

unsigned short seq_num;

SDKFilter filter;

private:
static void taskCallback(CoreAPI *This, Header *header);
static void activateCallback(CoreAPI *This, Header *header);
static void getVersionCallback(CoreAPI *This, Header *header);
static void setControlCallback(CoreAPI *This, Header *header);
static void sendToMobileCallback(CoreAPI *This, Header *header);

private:
void recvReqData(Header *header);
void appHandler(Header *header);
Expand Down Expand Up @@ -212,62 +212,22 @@ class CoreAPI
void verifyHead(SDKFilter *p_filter);
void verifyData(SDKFilter *p_filter);
void callApp(SDKFilter *p_filter);
void setKey(const char *key);
void storeData(SDKFilter *p_filter, unsigned char in_data);
bool decodeACKStatus(unsigned short ack);

public:
HardDriver *getDriver() const;
void setDriver(HardDriver *value);

ActivateData getAccountData() const;
void setAccountData(const ActivateData &value);

private:
HardDriver *driver;
};

class Flight
{
public:
Flight(CoreAPI* ContorlAPI);
private:
Flight();
CoreAPI* api;
};

class Camera
{
public:
Camera(CoreAPI* ContorlAPI);
private:
Camera();
CoreAPI* api;
};

class Mission
{
public:
Mission(CoreAPI* ContorlAPI);
private:
Mission();
CoreAPI* api;
};

class Swarm
{
public:
Swarm(CoreAPI* ContorlAPI);
private:
Swarm();
CoreAPI* api;
};

class VirtualRC
{
public:
VirtualRC(CoreAPI* ContorlAPI);
private:
VirtualRC();
CoreAPI* api;
bool CallbackThread;
};

} // namespace onboardSDK
} // namespace DJI

#endif // DJI_PRO_API_H
#endif // DJI_API_H
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