获得当前正在执行的WayPoint
 0
在OSDK3.9当中
哪位大神知道，如何获得正在执行的WayPointMission当中 正在被执行的目标WayPoint。下面是我找的源代码，但是还是看不出来哪个函数可以实现这个功能。
class WaypointMission : public MissionBase
{
public:
WaypointMission(Vehicle* vehicle = 0);
~WaypointMission();
const double RAD_2_DEGREE = 57.2957795;
VehicleCallBackHandler wayPointEventCallback;
VehicleCallBackHandler wayPointCallback;
/*! @brief
*
* init waypoint mission settings
*
* @param Info action command from DJI_ControllerCMD.h
* @param callback callback function
* @param userData user data (void ptr)
*/
void init(WayPointInitSettings* Info = 0, VehicleCallBack callback = 0,
UserData userData = 0);
/*! @brief
*
* init waypoint mission settings
*
* @param Info action command from DJI_ControllerCMD.h
* @param timeout timeout to wait for ACK
*/
ACK::ErrorCode init(WayPointInitSettings* Info, int timer);
/*! @brief
*
* start the waypt mission
*
* @param callback callback function
* @param userData user data (void ptr)
*/
void start(VehicleCallBack callback = 0, UserData userData = 0);
/*! @brief
*
* start the waypt mission
*
* @param timer timeout to wait for ACK
*/
ACK::ErrorCode start(int timer);
/*! @brief
*
* stop the waypt mission
*
* @param callback callback function
* @param userData user data (void ptr)
*/
void stop(VehicleCallBack callback = 0, UserData userData = 0);
/*! @brief
*
* stop the waypt mission
*
* @param timer timeout to wait for ACK
*/
ACK::ErrorCode stop(int timer);
/*! @brief
*
* pause the waypt mission
*
* @param callback callback function
* @param userData user data (void ptr)
*/
void pause(VehicleCallBack callback = 0, UserData userData = 0);
/*! @brief
*
* pause the waypt mission
*
* @param timer timeout to wait for ACK
*/
ACK::ErrorCode pause(int timer);
/*! @brief
*
* resume the waypt mission
*
* @param callback callback function
* @param userData user data (void ptr)
*/
void resume(VehicleCallBack callback = 0, UserData userData = 0);
/*! @brief
*
* resume the waypt mission
*
* @param timer timeout to wait for ACK
*/
ACK::ErrorCode resume(int timer);
/*! @brief
*
* setting waypt init data
*
* @param value user specified WayPointInitData
*/
void setInfo(const WayPointInitSettings& value);
/*!
* @Brief Read WayPoint mission settings from the flight controller
*
* @Return Information about uploaded WayPoint mission, error if
* mission settings not uploaded.
*
*/
ACK::WayPointInit getWaypointSettings(int timer);
/*!
* @brief Read WayPoint mission settings from the flight controller
*
* Information about uploaded WayPoint mission, error if
* mission settings not uploaded will be handled in a user defined or
* default callback.
*/
void getWaypointSettings(VehicleCallBack callback, UserData userData);
/*!
* @brief Read WayPoint index settings from the flight controller
*
* @return Information about uploaded WayPoint index, error if
* index not uploaded.
*/
ACK::WayPointIndex getIndex(uint8_t index, int timer);
/*!
* @brief Read WayPoint index settings from the flight controller
*
* Information about uploaded WayPoint index, error if
* index not uploaded will be handled in a user defined or
* default callback.
*/
void getIndex(uint8_t index, VehicleCallBack callback, UserData userData);
/*! @brief
*
* setting waypt data to the waypt container with specified idx
*
* @param value user specified WayPointData
* @param pos the index of the waypt
*/
void setIndex(WayPointSettings* value, size_t pos);
/*! @brief
*
* setting waypt init data
*
* @param value user specified WayPointInitData
*/
bool uploadIndexData(WayPointSettings* data, VehicleCallBack callback = 0,
UserData userData = 0);
/*! @brief
*
* setting waypt init data
*
* @param value user specified WayPointInitData
* @param timer timeout to wait for ACK
*/
ACK::WayPointIndex uploadIndexData(WayPointSettings* data, int timer);
/*! @brief
*
* getting waypt idle velocity
*
* @param callback callback function
* @param userData user data (void ptr)
*/
void readIdleVelocity(VehicleCallBack callback = 0, UserData userData = 0);
/*! @brief
*
* getting waypt idle velocity
*
* @param timer timeout to wait for ACK
*/
ACK::ErrorCode readIdleVelocity(int timeout);
/*! @brief
*
* setting waypt idle velocity
*
* @param meterPreSecond specified velocity
* @param callback callback function
* @param userData user data (void ptr)
*/
void updateIdleVelocity(float32_t meterPreSecond,
VehicleCallBack callback = 0, UserData userData = 0);
/*! @brief
*
* setting waypt idle velocity
*
* @param meterPreSecond specified velocity
* @param timer timeout to wait for ACK
*/
ACK::WayPointVelocity updateIdleVelocity(float32_t meterPreSecond,
int timeout);
/*! @brief
*
* A callback function for setting idle velocity non-blocking calls
*
* @param recvFrame the data comes with the callback function
* @param userData a void ptr that user can manipulate inside the callback
*/
static void idleVelocityCallback(Vehicle* vehicle, RecvContainer recvFrame,
UserData userData);
/*! @brief
*
* A callback function for reading initialization data non-blocking calls
*
* @param recvFrame the data comes with the callback function
* @param userData a void ptr that user can manipulate inside the callback
*/
static void getWaypointSettingsCallback(Vehicle* vehicle,
RecvContainer recvFrame,
UserData userData);
/*! @brief
*
* A callback function for getting waypoint information for a specified index
* (non-blocking call)
*
* @param recvFrame the data comes with the callback function
* @param userData a void ptr that user can manipulate inside the callback
*/
static void getIndexCallback(Vehicle* vehicle, RecvContainer recvFrame,
UserData userData);
/*! @brief
*
* A callback function for uploading waypt index non-blocking calls
*
* @param recvFrame the data comes with the callback function
* @param userData a void ptr that user can manipulate inside the callback
*/
static void uploadIndexDataCallback(Vehicle* vehicle, RecvContainer recvFrame,
UserData userData);
/*! @brief
*
* Set waypoint push data callback
*
* @param callback callback function
* @param userData a void ptr that user can manipulate inside the callback
*/
void setWaypointEventCallback(VehicleCallBack callback, UserData userData);
/*! @brief
*
* Set waypoint callback
*
* @param callback callback function
* @param userData a void ptr that user can manipulate inside the callback
*/
void setWaypointCallback(VehicleCallBack callback, UserData userData);
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