pgsocks/robomaster-sdk
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Make two connections for SDK and device

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pgsocks
2023-02-02 01:14:29 -06:00
parent 51b8897d38
commit 0cec23f7f7
8 changed files with 43 additions and 14 deletions
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src/robomaster.c
+7 -5
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@@ -20,19 +20,22 @@ Client client_new() {
}
void client_connect(Client client) {
client->connection = connection_new();
client->sdk_conn = connection_new(0, 0, 30030, "192.168.2.1");
client->dev_conn = connection_new(10010, "192.168.2.24", 20020, "192.168.2.1");
set_sdk_connection(client, CONNECTION_WIFI_AP, 0, 10010);
}
void poll_message(Client client, union Message* resp) {
memset(resp, 0, sizeof(union Message));
// 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);
FD_SET(client->sdk_conn->sockfd, &read_fds);
int result = select(client->sdk_conn->sockfd + 1, &read_fds, NULL, NULL, NULL);
// Check for socket polling errors
if(result < 0) {
@@ -47,8 +50,7 @@ void poll_message(Client client, union Message* resp) {
}
// 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);
int recvb = recvfrom(client->sdk_conn->sockfd, resp, sizeof(union Message), 0, (struct sockaddr*)&client->sdk_conn->remote_addr, &client->sdk_conn->addrlen);
// Check for socket read errors
if(recvb < 0) {