robomaster-sdk/include/camera.h

#pragma once

#include "message.h"

#include <stdbool.h>
#include <stdint.h>

static const uint8_t STREAM_HOST = 1;
static const uint8_t STREAM_INDEX = 0;

#define STREAM_CTRL_CMD 0xD23F

#define VIDEO_STREAM_PORT 40921

enum STREAMSTATE {
    STREAMSTATE_OFF = 0,
    STREAMSTATE_ON = 1
};

enum STREAMRESOLUTION {
    RES_720P = 0,
    RES_360P = 1,
    RES_540P = 2
};

enum STREAMCTRL {
    STREAMCTRL_SDK = 1,
    STREAMCTRL_VIDEO = 2,
    STREAMCTRL_AUDIO = 3
};

void
stream_ctrl (
		union Request* req,
        uint16_t seq,
        bool ack,
		enum STREAMSTATE state,
		enum STREAMRESOLUTION res,
		enum STREAMCTRL ctrl );

static const uint8_t VISION_HOST = 17;
static const uint8_t VISION_INDEX = 7;

#define VISION_DETECT_ENABLE_CMD 0xA30A

#define VISION_DETECT_ENABLE_PERSON 2
#define VISION_DETECT_ENABLE_GESTURE 4
#define VISION_DETECT_ENABLE_LINE 16
#define VISION_DETECT_ENABLE_MARKER 32
#define VISION_DETECT_ENABLE_ROBOT 128
void
vision_enable (
		union Request* req,
        uint16_t seq,
        bool ack );

#define VISION_DETECT_INFO_CMD 0xA40A
enum VISIONTYPE {
    VISIONTYPE_SHOULDER,
    VISIONTYPE_PERSON,
    VISIONTYPE_GESTURE,
    VISIONTYPE_LINE,
    VISIONTYPE_MARKER,
    VISIONTYPE_ROBOT
};