Add blaster fire message

CMakeLists.txt

@@ -16,6 +16,7 @@ add_library(robomaster
     src/modules/sdk.c
     src/modules/chassis.c
     src/modules/gimbal.c
+    src/modules/blaster.c
     src/connection.c
     src/robomaster.c
     src/robo.c

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);

src/connection.c

@@ -37,6 +37,8 @@ message_length(int cmd) {
             return sizeof(struct ChassisSpeedModeReq);
         case GIMBAL_CTRL_SPEED_CMD:
             return sizeof(struct GimbalCtrlSpeedReq);
+        case BLASTER_FIRE_CMD:
+            return sizeof(struct BlasterFireReq);
         default:
             return 0;
     }
@@ -60,6 +62,8 @@ message_module(int cmd) {
             return host2byte(CHASSIS_HOST, CHASSIS_INDEX);
         case GIMBAL_CTRL_SPEED_CMD:
             return host2byte(GIMBAL_HOST, GIMBAL_INDEX);
+        case BLASTER_FIRE_CMD:
+            return host2byte(BLASTER_HOST, BLASTER_INDEX);
         default:
             return 0;
     }

src/modules/blaster.c

@@ -0,0 +1,16 @@
+#include "message.h"
+#include "connection.h"
+#include "robomaster.h"
+
+void
+blaster_fire (
+		union Request* req,
+        uint16_t seq,
+        bool ack,
+		enum FIRETYPE type,
+		enum FIRETIMES times ) {
+    req->blaster.type = type;
+    req->blaster.times = times;
+    req_finalize(seq, BLASTER_FIRE_CMD, ack, req);
+}
+

src/robo.c

@@ -5,6 +5,8 @@
 #include <string.h>
 #include <stdlib.h>
 
+#include <stdio.h>
+
 struct RobotImp {
 
     struct Client* client;
@@ -19,6 +21,8 @@ struct RobotImp {
     int16_t gimbal[2];
     bool dirty_gimbal;
 
+    bool dirty_blaster;
+
     bool sdk_mode;
 
     enum {
@@ -37,6 +41,12 @@ struct RobotImp {
 
 };
 
+int
+robot_blast(Robot robot) {
+    robot->dirty_blaster = true;
+    return 1;
+}
+
 int
 robot_drive(Robot robot, float x, float y, float r) {
     // TODO: move individual wheel speed calculation to work function
@@ -185,6 +195,15 @@ robot_work(Robot robot) {
                 req_send(robot->client->dev_conn, &req);
                 robot->dirty_colors = false;
             }
+            if(robot->dirty_blaster) {
+                blaster_fire (
+                    &req, robot->seq++, false,
+                    FIRETYPE_INFRARED,
+                    ONE
+                );
+                req_send(robot->client->dev_conn, &req);
+                robot->dirty_blaster = false;
+            }
             break;
         }
 

src/sdl.c

@@ -90,6 +90,9 @@ int main(int argc, char* argv[]) {
                             robot_led(robot, colors[color].r, colors[color].g, colors[color].b);
                             color = (color + 1) % 3;
                             break;
+                        case SDL_SCANCODE_RETURN:
+                            robot_blast(robot);
+                            break;
                         default: break;
 		            }
                     break;