Reorganize messages into module groups

2023-02-02 01:14:29 -06:00
parent f0befa0b7b
commit 60673a5283
16 changed files with 271 additions and 314 deletions
@@ -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));
+
+}