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robomaster-sdk
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Reorganize messages into module groups

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refactor
PgSocks 3 years ago
parent f0befa0b7b
commit 60673a5283
16 changed files with 271 additions and 314 deletions
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6
CMakeLists.txt
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@ -13,10 +13,8 @@ add_compile_options(-Wall)
add_library(robomaster
src/message.c
src/messages/sdk_connection.c
src/messages/led.c
src/messages/sdk_mode.c
src/messages/set_wheel_speed.c
src/modules/sdk.c
src/modules/chassis.c
src/connection.c
src/robomaster.c
)

28
include/chassis.h
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@ -0,0 +1,28 @@
#pragma once
#include "message.h"
#include <stdbool.h>
#include <stdint.h>
static const uint8_t CHASSIS_HOST = 3;
static const uint8_t CHASSIS_INDEX = 6;
static const uint8_t SET_WHEEL_SPEED_CMDID = 0x20;
void
set_wheel_speed (
Client session,
int16_t w1,
int16_t w2,
int16_t w3,
int16_t w4 );
static const uint8_t CHASSIS_SPEED_MODE_CMDID = 0x21;
void
chassis_speed_mode (
Client session,
float x,
float y,
float z );

39
include/led.h
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@ -1,39 +0,0 @@
#pragma once
#include "message.h"
#include <stdbool.h>
#include <stdint.h>
static const uint8_t SET_SYSTEM_LED_CMDID = 0x33;
enum LEDCOMP {
LEDCOMP_BOTTOM_BACK = 0x1,
LEDCOMP_BOTTOM_FRONT = 0x2,
LEDCOMP_BOTTOM_LEFT = 0x4,
LEDCOMP_BOTTOM_RIGHT = 0x8,
LEDCOMP_BOTTOM_ALL = 0xf,
LEDCOMP_TOP_LEFT = 0x10,
LEDCOMP_TOP_RIGHT = 0x20,
LEDCOMP_TOP_ALL = 0x30,
LEDCOMP_ALL = 0x3f
};
enum LEDEFFECT {
LEDEFFECT_OFF = 0,
LEDEFFECT_ON = 1,
LEDEFFECT_BREATH = 2,
LEDEFFECT_FLASH = 3,
LEDEFFECT_SCROLLING = 4
};
void set_system_led (
Client session,
uint8_t red,
uint8_t green,
uint8_t blue,
enum LEDCOMP comp,
uint16_t led_mask,
enum LEDEFFECT effect,
uint16_t t1,
uint16_t t2 );

15
include/robomaster.h
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@ -5,10 +5,8 @@ struct Client;
typedef struct Client* Client;
#include "message.h"
#include "led.h"
#include "sdk_connection.h"
#include "sdk_mode.h"
#include "wheel.h"
#include "chassis.h"
#include "sdk.h"
// SIMPLE
// Create a client
@ -20,3 +18,12 @@ Client client_new();
void client_connect(Client client);
void poll_message(Client client, union Message* message);
static inline uint8_t host2byte(uint8_t host, uint8_t index) {
return index * 32 + host;
}
static inline void byte2host(uint8_t b, uint8_t* host, uint8_t* index) {
*host = (b & 0x1F);
*index = b >> 5;
}

96
include/sdk.h
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@ -0,0 +1,96 @@
#pragma once
#include "message.h"
#include <stdbool.h>
#include <stdint.h>
static const uint8_t SDK_HOST = 9;
static const uint8_t SDK_INDEX = 0;
static const uint8_t SET_SDK_CONNECTION_CMDID = 0xD4;
enum CONNECTION {
CONNECTION_WIFI_AP = 0,
CONNECTION_WIFI_STA = 1,
CONNECTION_USB_RNDIS = 2
};
void
set_sdk_connection(
Client session,
enum CONNECTION connection_type,
uint32_t ip_address,
uint16_t port );
static const uint8_t SDK_HEARTBEAT_CMDID = 0xD5;
void
sdk_heartbeat(
Client session );
static const uint8_t SET_SDK_MODE_CMDID = 0xd1;
void
set_sdk_mode(Client session, bool enable);
static const uint8_t SET_SYSTEM_LED_CMDID = 0x33;
enum LEDCOMP {
LEDCOMP_BOTTOM_BACK = 0x1,
LEDCOMP_BOTTOM_FRONT = 0x2,
LEDCOMP_BOTTOM_LEFT = 0x4,
LEDCOMP_BOTTOM_RIGHT = 0x8,
LEDCOMP_BOTTOM_ALL = 0xf,
LEDCOMP_TOP_LEFT = 0x10,
LEDCOMP_TOP_RIGHT = 0x20,
LEDCOMP_TOP_ALL = 0x30,
LEDCOMP_ALL = 0x3f
};
enum LEDEFFECT {
LEDEFFECT_OFF = 0,
LEDEFFECT_ON = 1,
LEDEFFECT_BREATH = 2,
LEDEFFECT_FLASH = 3,
LEDEFFECT_SCROLLING = 4
};
void set_system_led (
Client session,
uint8_t red,
uint8_t green,
uint8_t blue,
enum LEDCOMP comp,
uint16_t led_mask,
enum LEDEFFECT effect,
uint16_t t1,
uint16_t t2 );
static const uint8_t SET_ROBOT_MODE_CMDID = 0x46;
enum MOVEMENTMODE {
MOVEMENTMODE_FREE,
MOVEMENTMODE_GIMBAL_LEAD,
MOVEMENTMODE_CHASSIS_LEAD
};
void
set_robot_mode (
Client session,
enum MOVEMENTMODE mode );
// cmdset 0x48
static const uint8_t SUBNODE_RESET_CMDID = 0x02;
void
subnode_reset (
Client session );
// cmdset 0x48
static const uint8_t SUBSCRIBE_ADD_NODE_CMDID = 0x01;
void
subscribe_add_node (
Client session );

27
include/sdk_connection.h
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@ -1,27 +0,0 @@
#pragma once
#include "message.h"
#include <stdbool.h>
#include <stdint.h>
static const uint8_t SET_SDK_CONNECTION_CMDID = 0xD4;
enum CONNECTION {
CONNECTION_WIFI_AP = 0,
CONNECTION_WIFI_STA = 1,
CONNECTION_USB_RNDIS = 2
};
void
set_sdk_connection(
Client session,
enum CONNECTION connection_type,
uint32_t ip_address,
uint16_t port );
static const uint8_t SDK_HEARTBEAT_CMDID = 0xD5;
void
sdk_heartbeat(
Client session );

11
include/sdk_mode.h
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@ -1,11 +0,0 @@
#pragma once
#include "message.h"
#include <stdbool.h>
#include <stdint.h>
static const uint8_t SET_SDK_MODE_CMDID = 0xd1;
void
set_sdk_mode(Client session, bool enable);

62
include/wheel.h
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@ -1,62 +0,0 @@
#pragma once
#include "message.h"
#include <stdbool.h>
#include <stdint.h>
static const uint8_t SET_WHEEL_SPEED_CMDID = 0x20;
void
set_wheel_speed (
Client session,
int16_t w1,
int16_t w2,
int16_t w3,
int16_t w4 );
static const uint8_t SET_CHASSIS_WHEEL_SPEED_CMDID = 0x26;
void
set_chassis_wheel_speed (
Client session,
int8_t w1,
int8_t w2,
int8_t w3,
int8_t w4 );
static const uint8_t CHASSIS_SPEED_MODE_CMDID = 0x21;
void
chassis_speed_mode (
Client session,
float x,
float y,
float z );
static const uint8_t SET_ROBOT_MODE_CMDID = 0x46;
enum MOVEMENTMODE {
MOVEMENTMODE_FREE,
MOVEMENTMODE_GIMBAL_LEAD,
MOVEMENTMODE_CHASSIS_LEAD
};
void
set_robot_mode (
Client session,
enum MOVEMENTMODE mode );
// cmdset 0x48
static const uint8_t SUBNODE_RESET_CMDID = 0x02;
void
subnode_reset (
Client session );
// cmdset 0x48
static const uint8_t SUBSCRIBE_ADD_NODE_CMDID = 0x01;
void
subscribe_add_node (
Client session );

15
src/client.h
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@ -18,17 +18,6 @@ struct Client {
};
// Not sure what these are, but they are used for the hostbyte
static const uint8_t DEFAULT_CLIENT_HOST = 9;
static const uint8_t DEFAULT_CLIENT_INDEX = 6;
static const uint8_t DEFAULT_ROBOT_INDEX = 0;
static inline uint8_t host2byte(uint8_t host, uint8_t index) {
return index * 32 + host;
}
static inline void byte2host(uint8_t b, uint8_t* host, uint8_t* index) {
*host = (b & 0x1F);
*index = b >> 5;
}
static const uint8_t CLIENT_HOST = 9;
static const uint8_t CLIENT_INDEX = 6;

33
src/messages/led.c
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@ -1,33 +0,0 @@
#include "message.h"
#include "connection.h"
#include "robomaster.h"
void
set_system_led (
Client session,
uint8_t red,
uint8_t green,
uint8_t blue,
enum LEDCOMP comp,
uint16_t led_mask,
enum LEDEFFECT effect,
uint16_t t1,
uint16_t t2 ) {
union Request req = {0};
req.led.comp_mask = comp;
req.led.led_mask = led_mask;
req.led.effect_mode = effect;
req.led.control_mode = 7;
req.led.red = red;
req.led.green = green;
req.led.blue = blue;
req.led.loop = 0;
req.led.t1 = t1;
req.led.t2 = t2;
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));
}

21
src/messages/sdk_connection.c
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@ -1,21 +0,0 @@
#include "message.h"
#include "connection.h"
#include "robomaster.h"
void
set_sdk_connection(
Client session,
enum CONNECTION connection_type,
uint32_t ip_address,
uint16_t port ) {
union Request req = {0};
req.sdkconn.control = 0;
req.sdkconn.host = session->hostbyte;
req.sdkconn.connection = connection_type;
req.sdkconn.protocol = 0;
req.sdkconn.ip_address = ip_address;
req.sdkconn.port = port;
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));
}

21
src/messages/sdk_mode.c
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@ -1,21 +0,0 @@
#include "message.h"
#include "connection.h"
#include "robomaster.h"
void
set_sdk_mode(
Client session,
bool enable ) {
union Request req = {0};
req.sdkmode.enable = enable;
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));
}
void
sdk_heartbeat(
Client session ) {
union Request req = {0};
req_finalize(session, 0x3F, SDK_HEARTBEAT_CMDID, host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX), true, sizeof(struct SdkHeartbeatReq), &req);
req_send(session->dev_conn, &req, sizeof(struct SdkHeartbeatReq));
}

78
src/messages/set_wheel_speed.c
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@ -1,78 +0,0 @@
#include "message.h"
#include "connection.h"
#include "robomaster.h"
void
set_wheel_speed (
Client session,
int16_t w1,
int16_t w2,
int16_t w3,
int16_t w4 ) {
union Request req = {0};
req.wheel.wheel_speed[0] = w1;
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, host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX), true, sizeof(struct SetWheelSpeedReq), &req);
req_send(session->dev_conn, &req, sizeof(struct SetWheelSpeedReq));
}
void
set_chassis_wheel_speed (
Client session,
int8_t w1,
int8_t w2,
int8_t w3,
int8_t w4 ) {
union Request req = {0};
req.chswheel.wheel_speed[0] = w1;
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, host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX), true, sizeof(struct SetChassisWheelSpeedReq), &req);
req_send(session->dev_conn, &req, sizeof(struct SetChassisWheelSpeedReq));
}
void
chassis_speed_mode (
Client session,
float x,
float y,
float z ) {
union Request req = {0};
req.chsspeed.speed[0] = x;
req.chsspeed.speed[1] = y;
req.chsspeed.speed[2] = z;
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));
}
void
set_robot_mode (
Client session,
enum MOVEMENTMODE mode ) {
union Request req = {0};
req.mvmode.mode = mode;
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));
}
void
subnode_reset (
Client session ) {
union Request req = {0};
req.subnodereset.hostbyte = session->hostbyte;
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));
}
void
subscribe_add_node (
Client session ) {
union Request req = {0};
req.subnodeadd.hostbyte = session->hostbyte;
req.subnodeadd.sub_vision = 0x03000000;
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));
}

33
src/modules/chassis.c
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@ -0,0 +1,33 @@
#include "message.h"
#include "connection.h"
#include "robomaster.h"
void
set_wheel_speed (
Client session,
int16_t w1,
int16_t w2,
int16_t w3,
int16_t w4 ) {
union Request req = {0};
req.wheel.wheel_speed[0] = w1;
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, host2byte(CHASSIS_HOST, CHASSIS_INDEX), true, sizeof(struct SetWheelSpeedReq), &req);
req_send(session->dev_conn, &req, sizeof(struct SetWheelSpeedReq));
}
void
chassis_speed_mode (
Client session,
float x,
float y,
float z ) {
union Request req = {0};
req.chsspeed.speed[0] = x;
req.chsspeed.speed[1] = y;
req.chsspeed.speed[2] = z;
req_finalize(session, 0x3F, CHASSIS_SPEED_MODE_CMDID, host2byte(CHASSIS_HOST, CHASSIS_INDEX), false, sizeof(struct ChassisSpeedModeReq), &req);
req_send(session->dev_conn, &req, sizeof(struct ChassisSpeedModeReq));
}

98
src/modules/sdk.c
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@ -0,0 +1,98 @@
#include "message.h"
#include "connection.h"
#include "robomaster.h"
void
set_sdk_connection(
Client session,
enum CONNECTION connection_type,
uint32_t ip_address,
uint16_t port ) {
union Request req = {0};
req.sdkconn.control = 0;
req.sdkconn.host = session->hostbyte;
req.sdkconn.connection = connection_type;
req.sdkconn.protocol = 0;
req.sdkconn.ip_address = ip_address;
req.sdkconn.port = port;
req_finalize(session, 0x3F, SET_SDK_CONNECTION_CMDID, host2byte(SDK_HOST, SDK_INDEX), true, sizeof(struct SetSdkConnectionReq), &req);
req_send(session->sdk_conn, &req, sizeof(struct SetSdkConnectionReq));
}
void
set_sdk_mode(
Client session,
bool enable ) {
union Request req = {0};
req.sdkmode.enable = enable;
req_finalize(session, 0x3F, SET_SDK_MODE_CMDID, host2byte(SDK_HOST, SDK_INDEX), true, sizeof(struct SetSdkModeReq), &req);
req_send(session->dev_conn, &req, sizeof(struct SetSdkModeReq));
}
void
sdk_heartbeat(
Client session ) {
union Request req = {0};
req_finalize(session, 0x3F, SDK_HEARTBEAT_CMDID, host2byte(SDK_HOST, SDK_INDEX), true, sizeof(struct SdkHeartbeatReq), &req);
req_send(session->dev_conn, &req, sizeof(struct SdkHeartbeatReq));
}
void
set_robot_mode (
Client session,
enum MOVEMENTMODE mode ) {
union Request req = {0};
req.mvmode.mode = mode;
req_finalize(session, 0x3F, SET_ROBOT_MODE_CMDID, host2byte(SDK_HOST, SDK_INDEX), true, sizeof(struct SetRobotModeReq), &req);
req_send(session->dev_conn, &req, sizeof(struct SetRobotModeReq));
}
void
subnode_reset (
Client session ) {
union Request req = {0};
req.subnodereset.hostbyte = session->hostbyte;
req_finalize(session, 0x48, SUBNODE_RESET_CMDID, host2byte(SDK_HOST, SDK_INDEX), true, sizeof(struct SubNodeResetReq), &req);
req_send(session->dev_conn, &req, sizeof(struct SubNodeResetReq));
}
void
subscribe_add_node (
Client session ) {
union Request req = {0};
req.subnodeadd.hostbyte = session->hostbyte;
req.subnodeadd.sub_vision = 0x03000000;
req_finalize(session, 0x48, SUBSCRIBE_ADD_NODE_CMDID, host2byte(SDK_HOST, SDK_INDEX), true, sizeof(struct SubscribeAddNodeReq), &req);
req_send(session->dev_conn, &req, sizeof(struct SubscribeAddNodeReq));
}
void
set_system_led (
Client session,
uint8_t red,
uint8_t green,
uint8_t blue,
enum LEDCOMP comp,
uint16_t led_mask,
enum LEDEFFECT effect,
uint16_t t1,
uint16_t t2 ) {
union Request req = {0};
req.led.comp_mask = comp;
req.led.led_mask = led_mask;
req.led.effect_mode = effect;
req.led.control_mode = 7;
req.led.red = red;
req.led.green = green;
req.led.blue = blue;
req.led.loop = 0;
req.led.t1 = t1;
req.led.t2 = t2;
req_finalize(session, 0x3F, SET_SYSTEM_LED_CMDID, host2byte(SDK_HOST, SDK_INDEX), true, sizeof(struct SetSystemLedReq), &req);
req_send(session->dev_conn, &req, sizeof(struct SetSystemLedReq));
}

2
src/robomaster.c
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@ -11,7 +11,7 @@ Client client_new() {
struct Client* client = malloc(sizeof(struct Client));
memset(client, 0, sizeof(struct Client));
// TODO: Make this configurable
client->hostbyte = host2byte(DEFAULT_CLIENT_HOST, DEFAULT_CLIENT_INDEX);
client->hostbyte = host2byte(CLIENT_HOST, CLIENT_INDEX);
return client;
}

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