Make ack bit and receiver byte parameters

README.md

@@ -61,7 +61,8 @@ The data is always at least one byte.
 
 The last two bits of the attri byte starting from the LSB represent if the
 message is an ack and if an ack is needed. The other bits in the byte are
-unused.
+unused. Any request can specify if an ack is required, or not. If no ack is
+required, the drone will not send a response.
 
 | bit | set         | unset |
 |-----|-------------|-------|

src/connection.c

@@ -124,7 +124,7 @@ req_send(struct Connection* conn, union Request* req, size_t length) {
 }
 
 void
-req_finalize(struct Client* client, uint8_t cmdset, uint8_t cmdid, size_t length, union Request* req) {
+req_finalize(struct Client* client, uint8_t cmdset, uint8_t cmdid, uint8_t hostbyte, bool need_ack, size_t length, union Request* req) {
 
     req->header.preamble = 0x55;
     req->header.length_l = length & 0xFF;
@@ -133,8 +133,9 @@ req_finalize(struct Client* client, uint8_t cmdset, uint8_t cmdid, size_t length
     req->header.seq_id = client->seq++;
     req->header.sender = client->hostbyte;
     // TODO: Figure out what this is supposed to be
-    req->header.receiver = host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX);
-    req->header.ack_needed = true;
+    //req->header.receiver = host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX);
+    req->header.receiver = hostbyte;
+    req->header.ack_needed = need_ack;
     req->header.cmdset = cmdset;
     req->header.cmdid = cmdid;
 

src/connection.h

@@ -22,7 +22,7 @@ void
 connection_read(struct Connection* connection, union Message* resp);
 
 void
-req_finalize(struct Client* client, uint8_t cmdset, uint8_t cmdid, size_t length, union Request* req);
+req_finalize(struct Client* client, uint8_t cmdset, uint8_t cmdid, uint8_t hostbyte, bool need_ack, size_t length, union Request* req);
 
 void
 req_send(struct Connection* conn, union Request* req, size_t length);

src/messages/led.c

@@ -27,7 +27,7 @@ set_system_led (
     req.led.t1 = t1;
     req.led.t2 = t2;
 
-    req_finalize(session, 0x3F, SET_SYSTEM_LED_CMDID, sizeof(struct SetSystemLedReq), &req);
+    req_finalize(session, 0x3F, SET_SYSTEM_LED_CMDID, host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX), true, sizeof(struct SetSystemLedReq), &req);
     req_send(session->dev_conn, &req, sizeof(struct SetSystemLedReq));
 
 }

src/messages/sdk_connection.c

@@ -16,6 +16,6 @@ set_sdk_connection(
     req.sdkconn.protocol = 0;
     req.sdkconn.ip_address = ip_address;
     req.sdkconn.port = port;
-    req_finalize(session, 0x3F, SET_SDK_CONNECTION_CMDID, sizeof(struct SetSdkConnectionReq), &req);
+    req_finalize(session, 0x3F, SET_SDK_CONNECTION_CMDID, host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX), true, sizeof(struct SetSdkConnectionReq), &req);
     req_send(session->sdk_conn, &req, sizeof(struct SetSdkConnectionReq));
 }

src/messages/sdk_mode.c

@@ -8,6 +8,6 @@ set_sdk_mode(
 		bool enable ) {
     union Request req = {0};
     req.sdkmode.enable = enable;
-    req_finalize(session, 0x3F, SET_SDK_MODE_CMDID, sizeof(struct SetSdkModeReq), &req);
+    req_finalize(session, 0x3F, SET_SDK_MODE_CMDID, host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX), true, sizeof(struct SetSdkModeReq), &req);
     req_send(session->dev_conn, &req, sizeof(struct SetSdkModeReq));
 }

src/messages/set_wheel_speed.c

@@ -14,7 +14,7 @@ set_wheel_speed (
     req.wheel.wheel_speed[1] = w2;
     req.wheel.wheel_speed[2] = w3;
     req.wheel.wheel_speed[3] = w4;
-    req_finalize(session, 0x3F, SET_WHEEL_SPEED_CMDID, sizeof(struct SetWheelSpeedReq), &req);
+    req_finalize(session, 0x3F, SET_WHEEL_SPEED_CMDID, host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX), true, sizeof(struct SetWheelSpeedReq), &req);
     req_send(session->dev_conn, &req, sizeof(struct SetWheelSpeedReq));
 }
 
@@ -30,7 +30,7 @@ set_chassis_wheel_speed (
     req.chswheel.wheel_speed[1] = w2;
     req.chswheel.wheel_speed[2] = w3;
     req.chswheel.wheel_speed[3] = w4;
-    req_finalize(session, 0x3F, SET_CHASSIS_WHEEL_SPEED_CMDID, sizeof(struct SetChassisWheelSpeedReq), &req);
+    req_finalize(session, 0x3F, SET_CHASSIS_WHEEL_SPEED_CMDID, host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX), true, sizeof(struct SetChassisWheelSpeedReq), &req);
     req_send(session->dev_conn, &req, sizeof(struct SetChassisWheelSpeedReq));
 }
 
@@ -44,7 +44,7 @@ chassis_speed_mode (
     req.chsspeed.speed[0] = x;
     req.chsspeed.speed[1] = y;
     req.chsspeed.speed[2] = z;
-    req_finalize(session, 0x3F, CHASSIS_SPEED_MODE_CMDID, sizeof(struct ChassisSpeedModeReq), &req);
+    req_finalize(session, 0x3F, CHASSIS_SPEED_MODE_CMDID, host2byte(3, 6), false, sizeof(struct ChassisSpeedModeReq), &req);
     req_send(session->dev_conn, &req, sizeof(struct ChassisSpeedModeReq));
 }
 
@@ -54,7 +54,7 @@ set_robot_mode (
 		enum MOVEMENTMODE mode ) {
     union Request req = {0};
     req.mvmode.mode = mode;
-    req_finalize(session, 0x3F, SET_ROBOT_MODE_CMDID, sizeof(struct SetRobotModeReq), &req);
+    req_finalize(session, 0x3F, SET_ROBOT_MODE_CMDID, host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX), true, sizeof(struct SetRobotModeReq), &req);
     req_send(session->dev_conn, &req, sizeof(struct SetRobotModeReq));
 }
 
@@ -63,7 +63,7 @@ subnode_reset (
 		Client session ) {
     union Request req = {0};
     req.subnodereset.hostbyte = session->hostbyte;
-    req_finalize(session, 0x48, SUBNODE_RESET_CMDID, sizeof(struct SubNodeResetReq), &req);
+    req_finalize(session, 0x48, SUBNODE_RESET_CMDID, host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX), true, sizeof(struct SubNodeResetReq), &req);
     req_send(session->dev_conn, &req, sizeof(struct SubNodeResetReq));
 }
 
@@ -73,6 +73,6 @@ subscribe_add_node (
     union Request req = {0};
     req.subnodeadd.hostbyte = session->hostbyte;
     req.subnodeadd.sub_vision = 0x03000000;
-    req_finalize(session, 0x48, SUBSCRIBE_ADD_NODE_CMDID, sizeof(struct SubscribeAddNodeReq), &req);
+    req_finalize(session, 0x48, SUBSCRIBE_ADD_NODE_CMDID, host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX), true, sizeof(struct SubscribeAddNodeReq), &req);
     req_send(session->dev_conn, &req, sizeof(struct SubscribeAddNodeReq));
 }