dji_mop_channel.h
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/**
********************************************************************
* @file dji_mop_channel.h
* @brief This is the header file for "dji_mop_channel.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef DJI_MOP_CHANNEL_H
#define DJI_MOP_CHANNEL_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#include "dji_low_speed_data_channel.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/**
* @brief Mop channel handle.
*/
typedef void *T_DjiMopChannelHandle;
/**
* @brief Mop channel transmission type.
*/
typedef enum {
DJI_MOP_CHANNEL_TRANS_RELIABLE = 0, /*!< Reliable transmission type. */
DJI_MOP_CHANNEL_TRANS_UNRELIABLE, /*!< Unreliable transmission type. */
} E_DjiMopChannelTransType;
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialize the mop channel for operation about mop channel handle later.
* @note This interface needs to be called before calling other mop channel interfaces. Please make sure the network port
* is connected properly before calling this interface. Mop channel feature currently only supports linux platform.
* @return Execution result.
*/
T_DjiReturnCode DjiMopChannel_Init(void);
/**
* @brief Create the mop channel handle by specified transmission type.
* @note After calling this interface, you should follow below cases:
* 1. When mop channel handle created successfully, you need bind channel id to this created mop channel handle and
* accept other client device connections, such as MSDK or OSDK device;
* 2. When mop channel accept successfully, you can use send or receive data interface to write or read data by accepted
* output channel handle;
* 3. When the mop channel handle do not used, you can use close or destroy interface to release the resource;
* @param channelHandle: pointer to the created mop channel.
* @param transType: the transmission type for mop channel ::E_DjiMopChannelTransType.
* @return Execution result.
*/
T_DjiReturnCode DjiMopChannel_Create(T_DjiMopChannelHandle *channelHandle, E_DjiMopChannelTransType transType);
/**
* @brief Destroy the created mop channel and release the resource that referenced by the channel handle.
* @note After calling this interface, we can not do any operation about this channel handle expect create channel handle.
* @param channelHandle: pointer to the created mop channel.
* @return Execution result.
*/
T_DjiReturnCode DjiMopChannel_Destroy(T_DjiMopChannelHandle channelHandle);
/**
* @brief Bind the channel id to the created mop channel handle.
* @note When mop channel handle created successfully, you can bind channel id to this created mop handle and calling
* interface ::DjiMopChannel_Accept, then other client device can use this binded channel id to connect created mop handle.
* @param channelHandle: pointer to the created mop channel handle.
* @param channelId: the channel id of mop handle for accepting client device connection.
* @return Execution result.
*/
T_DjiReturnCode DjiMopChannel_Bind(T_DjiMopChannelHandle channelHandle,
uint16_t channelId);
/**
* @brief Accept the connection by binded channel id for created mop channel.
* @note The mop accept channel extracts the connection request on the queue of pennding connections for listening channel
* handle ::channelHandle. Create a new connected channel handle and return to user ::outChannelHandle by referrng to a new
* connection. Payload can be a server that allow multiple client connections by binded channel id.
* @param channelHandle: pointer to the created mop channel.
* @param outChannelHandle: pointer to the accepted output mop channel.
* @return Execution result.
*/
T_DjiReturnCode DjiMopChannel_Accept(T_DjiMopChannelHandle channelHandle,
T_DjiMopChannelHandle *outChannelHandle);
T_DjiReturnCode DjiMopChannel_Connect(T_DjiMopChannelHandle channelHandle, E_DjiChannelAddress channelAddress,
uint16_t channelId);
/**
* @brief Close the created mop channel.
* @note After calling this interface, we can not do any operation about this channel handle expect destroy channel handle.
* @param channelHandle: pointer to the created mop channel.
* @return Execution result.
*/
T_DjiReturnCode DjiMopChannel_Close(T_DjiMopChannelHandle channelHandle);
/**
* @brief Send data by the accepted output mop channel.
* @note This interface should be called after successfully calling the interface ::DjiMopChannel_Accept. It is recommended
* to send more bytes of data at a time to improve read and write efficiency. Need to determine whether the send is
* successful according to the return code and the actual sent data length.
* @param channelHandle: pointer to accepted output mop handle ::outChannelHandle by calling interface ::DjiMopChannel_Accept.
* @param data: pointer to data to be sent.
* @param len: length of data to be sent via accepted output mop handle, unit: byte.
* @param realLen: pointer to real length of data that already sent.
* @return Execution result.
*/
T_DjiReturnCode DjiMopChannel_SendData(T_DjiMopChannelHandle channelHandle,
uint8_t *data,
uint32_t len,
uint32_t *realLen);
/**
* @brief Receive data from the accepted output mop channel.
* @note This interface should be called after successfully calling the interface ::DjiMopChannel_Accept. It is recommended
* to receive more bytes of data at a time to improve read and write efficiency. Need to determine whether the receive
* is successful according to the return code and the actual received data length.
* @param channelHandle: pointer to accepted output mop handle ::outChannelHandle by calling interface ::DjiMopChannel_Accept.
* @param data: pointer to data to store the received data.
* @param len: length of data to be received via accepted output mop handle, unit: byte.
* @param realLen: pointer to real length of data that already received.
* @return Execution result.
*/
T_DjiReturnCode DjiMopChannel_RecvData(T_DjiMopChannelHandle channelHandle,
uint8_t *data,
uint32_t len,
uint32_t *realLen);
#ifdef __cplusplus
}
#endif
#endif
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/