Add blaster fire message

include/blaster.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include "message.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+
+static const uint8_t BLASTER_HOST = 23;
+static const uint8_t BLASTER_INDEX = 0;
+
+#define BLASTER_FIRE_CMD 0x513F
+
+enum FIRETYPE {
+    FIRETYPE_WATER = 0,
+    FIRETYPE_INFRARED = 1
+};
+
+enum FIRETIMES {
+    ONE = 1,
+    TWO = 2,
+    THREE = 3,
+    FOUR = 4,
+    FIVE = 5
+};
+
+void
+blaster_fire (
+		union Request* req,
+        uint16_t seq,
+        bool ack,
+		enum FIRETYPE type,
+		enum FIRETIMES times );
+

include/message.h

@@ -248,6 +248,21 @@ struct PACKED SetSdkConnectionResp {
     struct Footer footer;
 };
 
+struct PACKED BlasterFireReq {
+    struct Header header;
+    struct {
+        uint8_t type : 4;
+        uint8_t times : 4;
+    };
+    struct Footer footer;
+};
+
+struct PACKED BlasterFireResp {
+    struct Header header;
+    uint8_t retcode;
+    struct Footer footer;
+};
+
 union Request {
     struct Header header;
     struct SetSdkConnectionReq sdkconn;
@@ -261,6 +276,7 @@ union Request {
     struct SubNodeResetReq subnodereset;
     struct SubscribeAddNodeReq subnodeadd;
     struct GimbalCtrlSpeedReq gimbspeed;
+    struct BlasterFireReq blaster;
 };
 union Response {
     struct Header header;
@@ -275,6 +291,7 @@ union Response {
     struct SubNodeResetResp subnodereset;
     struct SubscribeAddNodeResp subnodeadd;
     struct GimbalCtrlSpeedResp gimbspeed;
+    struct BlasterFireResp blaster;
 };
 union Message {
     struct Header header;

include/roboeasy.h

@@ -65,6 +65,8 @@ int robot_drive(Robot, float x, float y, float r);
  */
 int robot_led(Robot, unsigned char r, unsigned char g, unsigned char b);
 
+int robot_blast(Robot);
+
 /*
  * If the robot is in ready mode, this makes the robot send a heartbeat in
  * the next tick of the work function. The work function will not do anything

include/robomaster.h

@@ -8,6 +8,7 @@ typedef struct Client* Client;
 #include "chassis.h"
 #include "sdk.h"
 #include "gimbal.h"
+#include "blaster.h"
 
 Client client_new();
 void client_connect(Client client);