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123 lines
3.0 KiB
Markdown
123 lines
3.0 KiB
Markdown
2 years ago
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# Ports
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* `ROBOT_SDK_PORT_MIN = 10100`
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* `ROBOT_SDK_PORT_MAX = 10500`
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* `ROBOT_DEVICE_PORT = 20020`
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* `ROBOT_PROXY_PORT = 30030`
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* `ROBOT_BROADCAST_PORT = 40927`
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* `ROBOT_DEFAULT_WIFI_ADDR = 192.168.2.1`
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# Direct WIFI connection
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Send a `SetSdkConnection` message to `192.168.2.1:30030` containing local IP
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address (`0.0.0.0` is fine) and a random port between `10100` and `10500`. The
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Robomaster responds with a state, which should be 2, and the IP address
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`192.168.2.24` that the client should use. The client will then send further
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messages to `192.168.2.1:20020` via `192.168.2.24:<random port>`.
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# Commands
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* UTF-8 encoded
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* command
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* version
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* quit
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[1]: https://github.com/dji-sdk/RoboMaster-SDK/blob/v0.1.2/sample_code/RoboMasterEP/connection/network/robot_connection.py
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[2]: https://github.com/SMerrony/tello/blob/master/messages.go
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# Message Format
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All big-endian unless otherwise noted.
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## Header
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The preamble `0x55` indicates the start of every message and is part of the
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message header along with the length and a checksum of the header. A header is
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always 4 bytes long.
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| bytes | description |
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|-------|-------------|
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| 1 | `0x55` preamble |
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| 2 | length of message |
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| 1 | 8-bit CRC |
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The CRC is a checksum of the preamble and message length together. The length
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in bytes is of the entire message including the header.
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## Body
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The data is always at least one byte.
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| bytes | description |
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|-------|-------------|
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| 1 | sender |
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| 1 | receiver |
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| 2 | seq ID |
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| 1 | attri |
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| 1 | cmdset |
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| 1 | cmdid |
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| >1 | data |
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| 2 | 16-bit CRC |
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The last two bits of the attri byte starting from the LSB represent if the
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message is an ack and if an ack is needed. The other bits in the byte are
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unused.
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| bit | set | unset |
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|-----|-------------|-------|
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| 8 | is ack | enc |
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| 7 | ack needed | no ack needed |
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### TODO
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* What is a seq ID?
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* What is the format of sender and receiver?
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* may not actually matter
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* index always seems to be 0
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* `index * 32 + host`
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* sender is `_client.hostbyte`
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* What is the difference between cmdid and cmdset?
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# Messages
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| name | cmdset | cmdid | bytes |
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|------|--------|--------|-------|
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| led | `0x3f` | `0x33` | 15 |
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| set sdk connection | `0x3f` | `0xd4` | 10 |
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## SetSdkConnection
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| bytes | description |
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|-------|-------------|
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| 1 | control |
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| 1 | host |
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| 1 | connection |
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| 1 | protocol |
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| 4 | IP address |
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Response message.
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| bytes | description |
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|-------|-------------|
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| 1 | Return code |
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| 1 | state |
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| 4 | IP address |
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What is `config_ip`? What is `state`?
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## LED
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| bytes | description |
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|-------|-------------|
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| 4 | comp mask |
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| 2 | LED mask |
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| 1 | ctrl & effect mode |
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| 1 | red |
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| 1 | green |
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| 1 | blue |
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| 1 | loop |
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| 2 | t1 |
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| 2 | t2 |
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Control and effect modes share one byte, in MSB and LSB respectively.
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