|
|
@ -3,14 +3,20 @@
|
|
|
|
#include <stdbool.h>
|
|
|
|
#include <stdbool.h>
|
|
|
|
#include <stdint.h>
|
|
|
|
#include <stdint.h>
|
|
|
|
|
|
|
|
|
|
|
|
#define PACKED __attribute__((__packed__))
|
|
|
|
#if defined(_MSC_VER) // Check if compiling with Microsoft Visual Studio
|
|
|
|
|
|
|
|
#define PACKED(__DECL__) __pragma(pack(push, 1)) __DECL__ __pragma(pack(pop))
|
|
|
|
|
|
|
|
#elif defined(__GNUC__) // Check if compiling with GCC or any compiler defining __GNUC__, including Clang
|
|
|
|
|
|
|
|
#define PACKED(__DECL__) __DECL__ __attribute__((packed))
|
|
|
|
|
|
|
|
#else
|
|
|
|
|
|
|
|
#error "Unsupported compiler"
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
static const uint8_t CLIENT_HOST = 9;
|
|
|
|
static const uint8_t CLIENT_HOST = 9;
|
|
|
|
static const uint8_t CLIENT_INDEX = 6;
|
|
|
|
static const uint8_t CLIENT_INDEX = 6;
|
|
|
|
|
|
|
|
|
|
|
|
static const uint8_t PREAMBLE = 0x55;
|
|
|
|
static const uint8_t PREAMBLE = 0x55;
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED Header {
|
|
|
|
PACKED( struct Header {
|
|
|
|
|
|
|
|
|
|
|
|
// The preamble marks the start of a message and is always 0x55
|
|
|
|
// The preamble marks the start of a message and is always 0x55
|
|
|
|
uint8_t preamble;
|
|
|
|
uint8_t preamble;
|
|
|
@ -53,13 +59,13 @@ struct PACKED Header {
|
|
|
|
};
|
|
|
|
};
|
|
|
|
};
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED Footer {
|
|
|
|
PACKED( struct Footer {
|
|
|
|
uint16_t crc;
|
|
|
|
uint16_t crc;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SetSystemLedReq {
|
|
|
|
PACKED( struct SetSystemLedReq {
|
|
|
|
|
|
|
|
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
|
|
|
|
|
|
|
@ -88,87 +94,87 @@ struct PACKED SetSystemLedReq {
|
|
|
|
|
|
|
|
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
|
|
|
|
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SetSystemLedResp {
|
|
|
|
PACKED( struct SetSystemLedResp {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t retcode;
|
|
|
|
uint8_t retcode;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SubscribeAddNodeReq
|
|
|
|
PACKED( struct SubscribeAddNodeReq
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t hostbyte;
|
|
|
|
uint8_t hostbyte;
|
|
|
|
uint32_t sub_vision; // always 0x03000000
|
|
|
|
uint32_t sub_vision; // always 0x03000000
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SubscribeAddNodeResp
|
|
|
|
PACKED( struct SubscribeAddNodeResp
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t retcode; // 0x00 or 0x50 are acceptable here
|
|
|
|
uint8_t retcode; // 0x00 or 0x50 are acceptable here
|
|
|
|
uint8_t hostbyte;
|
|
|
|
uint8_t hostbyte;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SubNodeResetReq
|
|
|
|
PACKED( struct SubNodeResetReq
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t hostbyte;
|
|
|
|
uint8_t hostbyte;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SubNodeResetResp
|
|
|
|
PACKED( struct SubNodeResetResp
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t retcode;
|
|
|
|
uint8_t retcode;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SetRobotModeReq
|
|
|
|
PACKED( struct SetRobotModeReq
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t mode;
|
|
|
|
uint8_t mode;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SetRobotModeResp
|
|
|
|
PACKED( struct SetRobotModeResp
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t retcode;
|
|
|
|
uint8_t retcode;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED ChassisSpeedModeReq
|
|
|
|
PACKED( struct ChassisSpeedModeReq
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
float speed[3];
|
|
|
|
float speed[3];
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED ChassisSpeedModeResp
|
|
|
|
PACKED( struct ChassisSpeedModeResp
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
int8_t retcode;
|
|
|
|
int8_t retcode;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SetChassisWheelSpeedReq
|
|
|
|
PACKED( struct SetChassisWheelSpeedReq
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
int8_t wheel_speed[4];
|
|
|
|
int8_t wheel_speed[4];
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SetChassisWheelSpeedResp
|
|
|
|
PACKED( struct SetChassisWheelSpeedResp
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
int8_t retcode;
|
|
|
|
int8_t retcode;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED GimbalCtrlSpeedReq
|
|
|
|
PACKED( struct GimbalCtrlSpeedReq
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
// Values between -360 and 360
|
|
|
|
// Values between -360 and 360
|
|
|
@ -183,53 +189,53 @@ struct PACKED GimbalCtrlSpeedReq
|
|
|
|
// Always 0xDC
|
|
|
|
// Always 0xDC
|
|
|
|
uint8_t ctrl;
|
|
|
|
uint8_t ctrl;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED GimbalCtrlSpeedResp
|
|
|
|
PACKED( struct GimbalCtrlSpeedResp
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
int8_t retcode;
|
|
|
|
int8_t retcode;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SetWheelSpeedReq
|
|
|
|
PACKED( struct SetWheelSpeedReq
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
int16_t wheel_speed[4];
|
|
|
|
int16_t wheel_speed[4];
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SetWheelSpeedResp
|
|
|
|
PACKED( struct SetWheelSpeedResp
|
|
|
|
{
|
|
|
|
{
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
int8_t retcode;
|
|
|
|
int8_t retcode;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SdkHeartbeatReq {
|
|
|
|
PACKED( struct SdkHeartbeatReq {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SdkHeartbeatResp {
|
|
|
|
PACKED( struct SdkHeartbeatResp {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t retcode;
|
|
|
|
uint8_t retcode;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SetSdkModeReq {
|
|
|
|
PACKED( struct SetSdkModeReq {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t enable;
|
|
|
|
uint8_t enable;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SetSdkModeResp {
|
|
|
|
PACKED( struct SetSdkModeResp {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t retcode;
|
|
|
|
uint8_t retcode;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SetSdkConnectionReq {
|
|
|
|
PACKED( struct SetSdkConnectionReq {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t control;
|
|
|
|
uint8_t control;
|
|
|
|
uint8_t host;
|
|
|
|
uint8_t host;
|
|
|
@ -238,32 +244,32 @@ struct PACKED SetSdkConnectionReq {
|
|
|
|
uint32_t ip_address;
|
|
|
|
uint32_t ip_address;
|
|
|
|
uint16_t port;
|
|
|
|
uint16_t port;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED SetSdkConnectionResp {
|
|
|
|
PACKED( struct SetSdkConnectionResp {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t retcode;
|
|
|
|
uint8_t retcode;
|
|
|
|
uint8_t state;
|
|
|
|
uint8_t state;
|
|
|
|
uint32_t config_ip;
|
|
|
|
uint32_t config_ip;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED BlasterFireReq {
|
|
|
|
PACKED( struct BlasterFireReq {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
struct {
|
|
|
|
struct {
|
|
|
|
uint8_t type : 4;
|
|
|
|
uint8_t type : 4;
|
|
|
|
uint8_t times : 4;
|
|
|
|
uint8_t times : 4;
|
|
|
|
};
|
|
|
|
};
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED BlasterFireResp {
|
|
|
|
PACKED( struct BlasterFireResp {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t retcode;
|
|
|
|
uint8_t retcode;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED StreamCtrlReq {
|
|
|
|
PACKED( struct StreamCtrlReq {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t ctrl;
|
|
|
|
uint8_t ctrl;
|
|
|
|
struct {
|
|
|
|
struct {
|
|
|
@ -272,15 +278,15 @@ struct PACKED StreamCtrlReq {
|
|
|
|
};
|
|
|
|
};
|
|
|
|
uint8_t resolution;
|
|
|
|
uint8_t resolution;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED StreamCtrlResp {
|
|
|
|
PACKED( struct StreamCtrlResp {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t retcode;
|
|
|
|
uint8_t retcode;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED AddSubMsgReq {
|
|
|
|
PACKED( struct AddSubMsgReq {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t node_id;
|
|
|
|
uint8_t node_id;
|
|
|
|
uint8_t msg_id;
|
|
|
|
uint8_t msg_id;
|
|
|
@ -290,9 +296,9 @@ struct PACKED AddSubMsgReq {
|
|
|
|
uint64_t subject_uuid;
|
|
|
|
uint64_t subject_uuid;
|
|
|
|
uint16_t freq;
|
|
|
|
uint16_t freq;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED AddSubMsgResp {
|
|
|
|
PACKED( struct AddSubMsgResp {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t retcode;
|
|
|
|
uint8_t retcode;
|
|
|
|
uint8_t pub_node_id;
|
|
|
|
uint8_t pub_node_id;
|
|
|
@ -300,9 +306,9 @@ struct PACKED AddSubMsgResp {
|
|
|
|
uint8_t ack_msg_id;
|
|
|
|
uint8_t ack_msg_id;
|
|
|
|
uint16_t ack_err_uid_data;
|
|
|
|
uint16_t ack_err_uid_data;
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
struct PACKED PushPeriodMsg {
|
|
|
|
PACKED( struct PushPeriodMsg {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|
uint8_t sub_mode;
|
|
|
|
uint8_t sub_mode;
|
|
|
|
uint8_t msg_id;
|
|
|
|
uint8_t msg_id;
|
|
|
@ -324,7 +330,7 @@ struct PACKED PushPeriodMsg {
|
|
|
|
} gimbal;
|
|
|
|
} gimbal;
|
|
|
|
};
|
|
|
|
};
|
|
|
|
struct Footer footer;
|
|
|
|
struct Footer footer;
|
|
|
|
};
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
union Request {
|
|
|
|
union Request {
|
|
|
|
struct Header header;
|
|
|
|
struct Header header;
|
|
|
|