Move messages to their own headers

2023-02-02 01:14:29 -06:00
parent dc1d5f77af
commit 8170b3aa90
12 changed files with 343 additions and 334 deletions
@@ -1,95 +0,0 @@
-#include <stdlib.h>
-#include <string.h>
-#include <arpa/inet.h>
-
-#include "robomaster.h"
-
-struct Client* session_new(void* buffer, size_t size) {
-    struct Client* session = malloc(sizeof(struct Client*));
-    if(!buffer)
-        session->buffer = malloc(sizeof(struct Header));
-    else
-        session->buffer = buffer;
-    session->size = 0;
-    session->seq = 0;
-    session->max_size = size;
-    // TODO: Make this configurable
-    session->hostbyte = host2byte(DEFAULT_CLIENT_HOST, DEFAULT_CLIENT_INDEX);
-    return session;
-}
-
-// private
-struct Message*
-message_new(struct Client* session, uint8_t cmdset, uint8_t cmdid, size_t length, const void* body) {
-
-    struct Message* message = session->buffer + session->size;
-    memcpy((void*)message->body, body, length);
-    length += sizeof(struct Header) + sizeof(struct Footer);
-    session->size += length;
-    int16_t seq = session->seq++;
-
-    message->header.preamble = 0x55;
-    message->header.length_l = length & 0xFF;
-    message->header.length_h = (length >> 8) & 0x3 | 4;
-    message->header.crc = crc8(message, 3);
-    message->header.seq_id = seq;
-    message->header.sender = session->hostbyte;
-    message->header.receiver = host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX);
-    message->header.ack_needed = true;
-    message->header.cmdset = cmdset;
-    message->header.cmdid = cmdid;
-
-    struct Footer* footer = (void*)message + length - sizeof(struct Footer);
-    uint16_t crc = crc16(message, length - sizeof(struct Footer));
-    footer->crc = crc;
-
-    return message;
-
-}
-
-// public
-const Message
-set_sdk_connection_req_new(
-		Client session,
-		enum CONNECTION connection_type,
-		uint32_t ip_address,
-		uint16_t port ) {
-
-    const struct SetSdkConnectionReq msg = {
-        0,
-	session->hostbyte,
-	connection_type,
-	0,
-	ip_address,
-	port
-    };
-    return message_new(session, 0x3F, SET_SDK_CONNECTION_CMDID, sizeof(msg), &msg);
-}
-
-const Message
-set_sdk_mode_req_new(
-		Client session,
-		bool enable ) {
-    const struct SetSdkModeReq msg = { enable };
-    return message_new(session, 0x3F, SET_SDK_MODE_CMDID, sizeof(msg), &msg);
-}
-
-const Message
-set_system_led_req_new (
-		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 ) {
-    const struct SetSystemLedReq msg = {
-        comp, led_mask,
-	{ effect, 7 },
-	red, green, blue,
-	0, t1, t2
-    };
-    return message_new(session, 0x3F, SET_SYSTEM_LED_CMDID, sizeof(msg), &msg);
-}