Add message fragment queue to easy robo API for vision info

include/camera.h

@@ -38,3 +38,28 @@ stream_ctrl (
 		enum STREAMRESOLUTION res,
 		enum STREAMCTRL ctrl );
 
+static const uint8_t VISION_HOST = 17;
+static const uint8_t VISION_INDEX = 7;
+
+#define VISION_DETECT_ENABLE_CMD 0xA30A
+
+#define VISION_DETECT_ENABLE_PERSON 2
+#define VISION_DETECT_ENABLE_GESTURE 4
+#define VISION_DETECT_ENABLE_LINE 16
+#define VISION_DETECT_ENABLE_MARKER 32
+#define VISION_DETECT_ENABLE_ROBOT 128
+void
+vision_enable (
+		union Request* req,
+        uint16_t seq,
+        bool ack );
+
+#define VISION_DETECT_INFO_CMD 0xA40A
+enum VISIONTYPE {
+    VISIONTYPE_SHOULDER,
+    VISIONTYPE_PERSON,
+    VISIONTYPE_GESTURE,
+    VISIONTYPE_LINE,
+    VISIONTYPE_MARKER,
+    VISIONTYPE_ROBOT
+};

include/message.h

@@ -316,6 +316,19 @@ struct PACKED VisionDetectInfo {
     struct VisionRect rects[];
 };
 
+struct PACKED VisionDetectEnableReq {
+    struct Header header;
+    uint16_t type;
+    struct Footer footer;
+};
+
+struct PACKED VisionDetectEnableResp {
+    struct Header header;
+    uint8_t retcode;
+    uint16_t error;
+    struct Footer footer;
+};
+
 union Request {
     struct Header header;
     struct SetSdkConnectionReq sdkconn;
@@ -331,6 +344,7 @@ union Request {
     struct GimbalCtrlSpeedReq gimbspeed;
     struct BlasterFireReq blaster;
     struct StreamCtrlReq stream;
+    struct VisionDetectEnableReq enablevision;
 };
 union Response {
     struct Header header;
@@ -347,6 +361,7 @@ union Response {
     struct GimbalCtrlSpeedResp gimbspeed;
     struct BlasterFireResp blaster;
     struct StreamCtrlResp stream;
+    struct VisionDetectEnableResp enablevision;
 };
 union Push {
     struct VisionDetectInfo vision;

include/roboeasy.h

@@ -1,11 +1,28 @@
 #pragma once
 
+#include "message.h"
+
 #include <stdbool.h>
 
 // Handle for the high level robot interface
 struct RobotImp;
 typedef struct RobotImp* Robot;
 
+#define FRAGMENT_MESSAGE 1
+#define FRAGMENT_RECTANGLE 2
+#define FRAGMENT_LINE 3
+#define FRAGMENT_MARKER 4
+
+struct Fragment {
+    int type;
+    union {
+        union Message message;
+        struct VisionRect rect;
+    };
+};
+
+int robot_poll(Robot robot, struct Fragment* fragment);
+
 /*
  * Return a handle to the high level robot interface, or NULL on error.
  */