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robomaster-sdk/src/robomaster.c

66 lines
1.7 KiB
C

#include "robomaster.h"
#include "client.h"
#include "message.h"
#include "connection.h"
#include <stdlib.h>
#include <sys/socket.h>
#include <sys/select.h>
#include <netinet/in.h>
#include <string.h>
#include <stdio.h>
Client client_new() {
struct Client* client = malloc(sizeof(struct Client));
memset(client, 0, sizeof(struct Client));
// TODO: Make this configurable
client->hostbyte = host2byte(DEFAULT_CLIENT_HOST, DEFAULT_CLIENT_INDEX);
return client;
}
void client_connect(Client client) {
client->connection = connection_new();
set_sdk_connection(client, CONNECTION_WIFI_AP, 0, 10010);
}
void poll_message(Client client, union Message* resp) {
// Poll for messages
static struct timeval timeout = {0, 0};
fd_set read_fds;
FD_ZERO(&read_fds);
FD_SET(client->connection->sockfd, &read_fds);
int result = select(client->connection->sockfd + 1, &read_fds, NULL, NULL, NULL);
// Check for socket polling errors
if(result < 0) {
perror("message polling failed");
exit(EXIT_FAILURE);
}
// Skip if nothing was received yet
// TODO: Make a static "empty" message or something
if (result == 0) {
return;
}
// Read a message from the socket
// TODO: Use union to make all messages same size
int recvb = recvfrom(client->connection->sockfd, resp, sizeof(union Message), 0, (struct sockaddr*)&client->connection->remote_addr, &client->connection->addrlen);
// Check for socket read errors
if(recvb < 0) {
perror("reading socket failed");
exit(EXIT_FAILURE);
}
// Check for message errors
if(message_validate(resp) != MESSAGEERR_NONE) {
perror("invalid message");
exit(EXIT_FAILURE);
}
}