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Make ack bit and receiver byte parameters

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pgsocks
2023-02-02 01:14:29 -06:00
parent 1eca1b25e7
commit 3a2afcc93a
7 changed files with 16 additions and 14 deletions
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src/connection.c
+4 -3
View File
@@ -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
+1 -1
View File
@@ -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
+1 -1
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@@ -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
+1 -1
View File
@@ -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
+1 -1
View File
@@ -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
+6 -6
View File
@@ -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));
}