Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009 #ifndef _DJI2MAV_HOTPOINTDATA_H_
00010 #define _DJI2MAV_HOTPOINTDATA_H_
00011
00012
00013 #include <iostream>
00014 #include <new>
00015 #include <stdio.h>
00016
00017 namespace dji2mav {
00018
00019 class HotpointData {
00020 public:
00021 HotpointData() {
00022 m_isEmpty = true;
00023 }
00024
00025
00026 ~HotpointData() {
00027 }
00028
00029
00030 void getHotpointData(uint16_t seq, uint16_t& cmd, float& param1,
00031 float& param2, float& param3, float& param4, float& x,
00032 float& y, float& z) {
00033
00034 if(false == m_isEmpty && 0 == seq) {
00035 param1 = m_data[0];
00036 param2 = m_data[1];
00037 param3 = m_data[2];
00038 param4 = m_data[3];
00039 x = m_data[4];
00040 y = m_data[5];
00041 z = m_data[6];
00042 cmd = m_cmd;
00043 }
00044
00045 }
00046
00047
00048 void setHotpointData(uint16_t seq, uint16_t cmd, float param1,
00049 float param2, float param3, float param4, float x,
00050 float y, float z) {
00051
00052 if(0 == seq) {
00053 m_data[0] = param1;
00054 m_data[1] = param2;
00055 m_data[2] = param3;
00056 m_data[3] = param4;
00057 m_data[4] = x;
00058 m_data[5] = y;
00059 m_data[6] = z;
00060 m_cmd = cmd;
00061 m_isEmpty = false;
00062 }
00063
00064 }
00065
00066
00067 void display() {
00068 DJI2MAV_INFO("Display the full hotpoint mission:");
00069 DJI2MAV_INFO("param1: %f, param2: %f, param3: %f, param4: %f, "
00070 "lat: %f, lon: %f, alt: %f", m_data[0], m_data[1],
00071 m_data[2], m_data[3], m_data[4], m_data[5], m_data[6]);
00072 DJI2MAV_INFO("--- End of display ---");
00073 }
00074
00075
00076 inline const float *getHotpoint() {
00077 return m_data;
00078 }
00079
00080
00081 inline uint16_t getCmd() {
00082 return m_cmd;
00083 }
00084
00085
00086 void clear() {
00087 m_isEmpty = true;
00088 }
00089
00090
00091 private:
00092 float m_data[7];
00093 uint16_t m_cmd;
00094 bool m_isEmpty;
00095
00096
00097 };
00098
00099 }
00100
00101
00102 #endif