Add robot position push topic

2024-04-25 09:52:58 -05:00
parent 19861ca234
commit 23a07f99d9
3 changed files with 32 additions and 9 deletions
@@ -302,6 +302,20 @@ struct PACKED AddSubMsgResp {
    struct Footer footer;
 };

+struct PACKED PushPeriodMsg {
+    struct Header header;
+    uint8_t sub_mode;
+    uint8_t msg_id;
+    union {
+        struct {
+            float x;
+            float y;
+            float z;
+        } position;
+    };
+    struct Footer footer;
+};
+
 union Request {
    struct Header header;
    struct SetSdkConnectionReq sdkconn;
@@ -335,6 +349,7 @@ union Response {
    struct BlasterFireResp blaster;
    struct StreamCtrlResp stream;
    struct AddSubMsgResp sub;
+    struct PushPeriodMsg push;
 };
 union Message {
    struct Header header;
@@ -110,6 +110,8 @@ subscribe_add_node (

 #define ADD_SUB_MSG_CMD 0x0348

+#define PUSH_PERIOD_MSG_CMD 0x0848
+
 #define DDS_BATTERY 0x000200096862229f
 #define DDS_GIMBAL_BASE 0x00020009f5882874
 #define DDS_VELOCITY 0x0002000949a4009c