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