From 103086b1a448cec58eb1fbcffe4911adaa3443e9 Mon Sep 17 00:00:00 2001
From: PgSocks <pgsocks@pm.me>
Date: Tue, 29 Aug 2023 10:34:44 -0500
Subject: [PATCH] Add Push message type with vision detect info message

---
 include/message.h | 40 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 40 insertions(+)

diff --git a/include/message.h b/include/message.h
index 00a6e09..ee9a07f 100644
--- a/include/message.h
+++ b/include/message.h
@@ -280,6 +280,42 @@ struct PACKED StreamCtrlResp {
     struct Footer footer;
 };
 
+struct PACKED VisionRect {
+    union {
+        struct {
+            float x;
+            float y;
+            float w;
+            float h;
+            uint32_t info;
+        } rect;
+        struct {
+            float x;
+            float y;
+            float theta;
+            float c;
+            uint32_t info;
+        } line;
+        struct {
+            float x;
+            float y;
+            float w;
+            float h;
+            uint16_t info;
+            uint16_t distance;
+        } marker;
+    };
+};
+
+struct PACKED VisionDetectInfo {
+    struct Header header;
+    uint8_t type;
+    uint8_t status;
+    uint16_t errcode;
+    uint8_t count;
+    struct VisionRect rects[];
+};
+
 union Request {
     struct Header header;
     struct SetSdkConnectionReq sdkconn;
@@ -312,10 +348,14 @@ union Response {
     struct BlasterFireResp blaster;
     struct StreamCtrlResp stream;
 };
+union Push {
+    struct VisionDetectInfo vision;
+};
 union Message {
     struct Header header;
     union Request req;
     union Response resp;
+    union Push push;
 };
 
 enum MESSAGEERR {