From c721dc756c69f76ab218b8a5bc3f333b65c423af Mon Sep 17 00:00:00 2001
From: PgSocks <pgsocks@pm.me>
Date: Fri, 23 Dec 2022 16:44:34 -0600
Subject: [PATCH] Set SDK port back default removed seq_id bounds

---
 src/robomaster.c   | 4 ++--
 src/robomaster.h   | 4 ----
 src/robomastersh.c | 9 ++-------
 3 files changed, 4 insertions(+), 13 deletions(-)

diff --git a/src/robomaster.c b/src/robomaster.c
index 1cdd75f..73f3eb0 100644
--- a/src/robomaster.c
+++ b/src/robomaster.c
@@ -11,7 +11,7 @@ struct Session* session_new(void* buffer, size_t size) {
     else
         session->buffer = buffer;
     session->size = 0;
-    session->seq = RM_SDK_FIRST_SEQ_ID;
+    session->seq = 0;
     session->max_size = size;
     // TODO: Make this configurable
     session->hostbyte = host2byte(DEFAULT_CLIENT_HOST, DEFAULT_CLIENT_INDEX);
@@ -30,7 +30,7 @@ message_new(struct Session* session, uint8_t cmdset, uint8_t cmdid, size_t lengt
     memcpy((void*)message->body, body, length);
     length += sizeof(struct Header) + sizeof(struct Footer);
     session->size += length;
-    int16_t seq = ++session->seq;
+    int16_t seq = session->seq++;
 
     message->header.preamble = 0x55;
     message->header.length_l = length & 0xFF;
diff --git a/src/robomaster.h b/src/robomaster.h
index e1556f2..2089dd4 100644
--- a/src/robomaster.h
+++ b/src/robomaster.h
@@ -74,10 +74,6 @@ Session session_new(void* buffer, size_t size);
 
 size_t session_size(Session session);
 
-// SEQ ID will loop around
-static const int16_t RM_SDK_FIRST_SEQ_ID = 11239;
-static const int16_t RM_SDK_LAST_SEQ_ID = 20000;
-
 static const uint8_t CONNECTION_WIFI_AP = 0;
 static const uint8_t CONNECTION_WIFI_STA = 1;
 static const uint8_t CONNECTION_USB_RNDIS = 2;
diff --git a/src/robomastersh.c b/src/robomastersh.c
index 6968641..de279c3 100644
--- a/src/robomastersh.c
+++ b/src/robomastersh.c
@@ -16,8 +16,7 @@ int main(int argc, char* argv[])
     req.connection = CONNECTION_WIFI_AP;
     req.protocol = 0;
     req.ip_address = 0;
-    //req.port = 10010;
-    req.port = 10242;
+    req.port = 10010;
     const Message msg = set_sdk_connection_req_new(session, &req);
 
     int sockfd = socket(AF_INET, SOCK_DGRAM, 0);
@@ -43,14 +42,10 @@ int main(int argc, char* argv[])
 
     // check footer crc
     uint16_t expected_crc16 = crc16(recvbuff, recvb - 2);
-    uint16_t actual_crc16 = ntohs(*(uint16_t*)(recvbuff + recvb - 2));
+    uint16_t actual_crc16 = *(uint16_t*)(recvbuff + recvb - 2);
     if(actual_crc16 != expected_crc16)
         fprintf(stderr, "expected crc16 %d got %d", actual_crc16, expected_crc16);
 
-    // check hostbyte
-    if(resp->header.receiver != session->hostbyte)
-        fprintf(stderr, "expected receiver %d got %d", session->hostbyte, resp->header.receiver);
-
     return 0;
 }