Merge pull request #525 from DJI-Colin/fixed_setWaypointEventCallback…

…_failed fixed:fix setWaypointEventCallback fail problem.
dji-sdk · Jun 4, 2020 · f63c0fd · f63c0fd
2 parents f8bbad7 + fa6d3a0
commit f63c0fd
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Showing 3 changed files with 20 additions and 0 deletions.
diff --git a/osdk-core/api/src/dji_legacy_linker.cpp b/osdk-core/api/src/dji_legacy_linker.cpp
@@ -95,6 +95,7 @@ CmdListData cmdListData[] = {
     {{0}, {0, 0, OpenProtocolCMD::CMDSet::Broadcast::broadcast[0],          OpenProtocolCMD::CMDSet::Broadcast::broadcast[1],           MASK_HOST_XXXXXX_SET_ID, malloc(sizeof(legacyAdaptingData)), NULL}},
     {{0}, {0, 0, OpenProtocolCMD::CMDSet::Broadcast::fromMobile[0],         OpenProtocolCMD::CMDSet::Broadcast::fromMobile[1],          MASK_HOST_XXXXXX_SET_ID, malloc(sizeof(legacyAdaptingData)), NULL}},
     {{0}, {0, 0, OpenProtocolCMD::CMDSet::Broadcast::fromPayload[0],        OpenProtocolCMD::CMDSet::Broadcast::fromPayload[1],         MASK_HOST_XXXXXX_SET_ID, malloc(sizeof(legacyAdaptingData)), NULL}},
+    {{0}, {0, 0, OpenProtocolCMD::CMDSet::Broadcast::waypoint[0],           OpenProtocolCMD::CMDSet::Broadcast::waypoint[1],            MASK_HOST_XXXXXX_SET_ID, malloc(sizeof(legacyAdaptingData)), NULL}},
     {{0}, {0, 0, OpenProtocolCMD::CMDSet::HardwareSync::ppsNMEAGPSGSA[0],   OpenProtocolCMD::CMDSet::HardwareSync::ppsNMEAGPSGSA[1],    MASK_HOST_XXXXXX_SET_ID, malloc(sizeof(legacyAdaptingData)), NULL}},
     {{0}, {0, 0, OpenProtocolCMD::CMDSet::HardwareSync::ppsNMEAGPSRMC[0],   OpenProtocolCMD::CMDSet::HardwareSync::ppsNMEAGPSRMC[1],    MASK_HOST_XXXXXX_SET_ID, malloc(sizeof(legacyAdaptingData)), NULL}},
     {{0}, {0, 0, OpenProtocolCMD::CMDSet::HardwareSync::ppsNMEARTKGSA[0],   OpenProtocolCMD::CMDSet::HardwareSync::ppsNMEARTKGSA[1],    MASK_HOST_XXXXXX_SET_ID, malloc(sizeof(legacyAdaptingData)), NULL}},

diff --git a/osdk-core/api/src/dji_waypoint.cpp b/osdk-core/api/src/dji_waypoint.cpp
@@ -590,6 +590,11 @@ WaypointMission::setWaypointEventCallback(VehicleCallBack callback,
 {
   wayPointEventCallback.callback = callback;
   wayPointEventCallback.userData = userData;
+  vehicle->legacyLinker->registerCMDCallback(
+    OpenProtocolCMD::CMDSet::Broadcast::waypoint[0],
+     OpenProtocolCMD::CMDSet::Broadcast::waypoint[1],
+         wayPointEventCallback.callback,
+         wayPointEventCallback.userData);
 }
 
 void

diff --git a/sample/platform/linux/missions/mission_sample.cpp b/sample/platform/linux/missions/mission_sample.cpp
@@ -31,6 +31,7 @@
  */
 
 #include "mission_sample.hpp"
+#include "osdkosal_linux.h"
 
 using namespace DJI::OSDK;
 using namespace DJI::OSDK::Telemetry;
@@ -95,6 +96,15 @@ teardownSubscription(DJI::OSDK::Vehicle* vehicle, const int pkgIndex,
   return true;
 }
 
+static void WaypointEventCallBack(Vehicle* vehicle, RecvContainer recvFrame,
+                                  UserData userData)
+{
+  DSTATUS("%s",__FUNCTION__ );
+  DSTATUS("waypoint_index is %d.\n", recvFrame.recvData.wayPointReachedData.waypoint_index);
+  DSTATUS("current_status is %d.\n", recvFrame.recvData.wayPointReachedData.current_status);
+  DSTATUS("incident_type is %d.\n", recvFrame.recvData.wayPointReachedData.incident_type);
+}
+
 bool
 runWaypointMission(Vehicle* vehicle, uint8_t numWaypoints, int responseTimeout)
 {
@@ -120,6 +130,9 @@ runWaypointMission(Vehicle* vehicle, uint8_t numWaypoints, int responseTimeout)
 
   ACK::ErrorCode initAck = vehicle->missionManager->init(
     DJI_MISSION_TYPE::WAYPOINT, responseTimeout, &fdata);
+
+  vehicle->missionManager->wpMission->setWaypointEventCallback(&WaypointEventCallBack,vehicle);
+
   if (ACK::getError(initAck))
   {
     ACK::getErrorCodeMessage(initAck, __func__);
@@ -149,6 +162,7 @@ runWaypointMission(Vehicle* vehicle, uint8_t numWaypoints, int responseTimeout)
     std::cout << "Starting Waypoint Mission.\n";
   }
 
+  OsdkOsal_TaskSleepMs(120000);
   // Cleanup before return. The mission isn't done yet, but it doesn't need any
   // more input from our side.
   if (!vehicle->isM100() && !vehicle->isLegacyM600())