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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| #DJI Script | ||
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| DJI Script is a minimal implementation of Onboard SDK library. | ||
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| You can modify it directly as an easy client, which is the way our cmdline example works. | ||
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| Check the code of [cmdline example](../../sample/commandline) for the detial usage. | ||
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| # DJI 脚本 | ||
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| DJI 脚本是 Onboard SDK 库文件的最小实现。 | ||
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| 你可以将其当成最小系统来编辑，实现自己所需的控制逻辑，这也是终端例程的实现方式。 | ||
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| 参阅 [终端例程](../../sample/commandline) 的代码来查询详细调用方法。 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,32 @@ | ||
| #ifndef DJI_INTERPRETER_H | ||
| #define DJI_INTERPRETER_H | ||
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| #include "DJI_Script.h" | ||
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| namespace DJI | ||
| { | ||
| namespace onboardSDK | ||
| { | ||
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| typedef struct ScriptName | ||
| { | ||
| char* name; | ||
| Task task; | ||
| }ScriptName; | ||
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| class Interpreter | ||
| { | ||
| public: | ||
| Interpreter(CoreAPI *controlAPI); | ||
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| private: | ||
| Script *script; | ||
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| public: | ||
| ScriptName *list; | ||
| }; | ||
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| } // namespace onboardSDK | ||
| } // namespace DJI | ||
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| #endif // DJI_INTERPRETER_H |
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| #ifndef DJI_SCRIPT_H | ||
| #define DJI_SCRIPT_H | ||
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| #include <DJI_API.h> | ||
| //! @todo replace Flight and VRC to DJI-Drone | ||
| #include <DJI_Flight.h> | ||
| #include <DJI_Camera.h> | ||
| #include <DJI_Follow.h> | ||
| #include <DJI_HotPoint.h> | ||
| #include <DJI_WayPoint.h> | ||
| #include <DJI_VirtualRC.h> | ||
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| #define TASK_ITEM(x, r) \ | ||
| { \ | ||
| (UserData) #x, x, r \ | ||
| } | ||
| namespace DJI | ||
| { | ||
| namespace onboardSDK | ||
| { | ||
| class Script; | ||
| class Interpreter; | ||
| typedef bool (*Task)(DJI::onboardSDK::Script *, DJI::onboardSDK::UserData); | ||
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| class TaskList | ||
| { | ||
| public: | ||
| TaskList(Task t = 0, UserData Data = 0, int Repeat = 0, time_ms Timeout = 0, | ||
| TaskList *Pre = 0, TaskList *Next = 0); | ||
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| void run(Script *s); | ||
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| TaskList *getNext() const; | ||
| TaskList *tail(); | ||
| void insert(TaskList *list); | ||
| void setNext(TaskList *value); | ||
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| Task getTask() const; | ||
| void setTask(const Task &value); | ||
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| private: | ||
| TaskList(const TaskList &); //! @note TaskList can not be copied | ||
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| private: | ||
| Task task; | ||
| time_ms start; //! @note for time management and allocation | ||
| time_ms timeout; | ||
| UserData data; | ||
| TaskList *next; | ||
| int repeat; | ||
| }; | ||
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| typedef struct TaskSetItem | ||
| { | ||
| UserData name; | ||
| Task task; | ||
| int repeat; | ||
| } TaskSetItem; | ||
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| class Script | ||
| { | ||
| /*! @note | ||
| * class Script only offers a platform frame for scriptional flight control, | ||
| * like command line. | ||
| * */ | ||
| public: | ||
| Script(CoreAPI *controlAPI = 0, TaskSetItem *set = 0, size_t SetSize = 0); | ||
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| void addTaskList(TaskList *list, TaskList *pre = 0); | ||
| void addTask(Task t, UserData Data = 0, int Repeat = 0, time_ms Timeout = 0); | ||
| bool addTask(UserData name, UserData Data = 0, time_ms Timeout = 0); | ||
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| void If(Task condition, TaskList *True = 0, TaskList *False = 0); | ||
| void Loop(Task condition, TaskList *Loop); | ||
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| //! @note run must poll in a independent thread. | ||
| void run(); | ||
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| virtual TaskSetItem match(UserData name); | ||
| virtual bool quitCurrent(); | ||
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| public: | ||
| static void run(Script *script); | ||
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| static TaskList *addIf(Task condition, TaskList *True = 0, TaskList *False = 0); | ||
| static TaskList *addLoop(Task condition, TaskList *Loop); | ||
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| static bool emptyTask(Script *script, UserData data __UNUSED); | ||
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| public: | ||
| ActivateData adata; | ||
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| void setApi(CoreAPI *value); | ||
| void setFlight(Flight *value); | ||
| void setFollow(Follow *value); | ||
| void setCamera(Camera *value); | ||
| void setHotpoint(HotPoint *value); | ||
| void setVirtualRC(VirtualRC *value); | ||
| void setWaypoint(WayPoint *value); | ||
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| CoreAPI *getApi() const; | ||
| Flight *getFlight() const; | ||
| Follow *getFollow() const; | ||
| HotPoint *getHotpoint() const; | ||
| VirtualRC *getVirtualRC() const; | ||
| Camera *getCamera() const; | ||
| WayPoint *getWaypoint() const; | ||
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| private: | ||
| TaskList *taskTree; | ||
| TaskSetItem *taskSet; | ||
| size_t setSize; | ||
| CoreAPI *api; | ||
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| VirtualRC *virtualRC; | ||
| HotPoint *hotpoint; | ||
| WayPoint *waypoint; | ||
| Flight *flight; | ||
| Camera *camera; | ||
| Follow *follow; | ||
| }; | ||
| } // namespace onboardSDK | ||
| } // namespace DJI | ||
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| #endif // DJI_SCRIPT_H |
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