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Set SDK port back default removed seq_id bounds

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pgsocks
2023-02-02 01:14:29 -06:00
parent 71f01f93cf
commit c721dc756c
3 changed files with 4 additions and 13 deletions
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src/robomaster.c
+2 -2
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@@ -11,7 +11,7 @@ struct Session* session_new(void* buffer, size_t size) {
else else
session->buffer = buffer; session->buffer = buffer;
session->size = 0; session->size = 0;
session->seq = RM_SDK_FIRST_SEQ_ID; session->seq = 0;
session->max_size = size; session->max_size = size;
// TODO: Make this configurable // TODO: Make this configurable
session->hostbyte = host2byte(DEFAULT_CLIENT_HOST, DEFAULT_CLIENT_INDEX); 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); memcpy((void*)message->body, body, length);
length += sizeof(struct Header) + sizeof(struct Footer); length += sizeof(struct Header) + sizeof(struct Footer);
session->size += length; session->size += length;
int16_t seq = ++session->seq; int16_t seq = session->seq++;
message->header.preamble = 0x55; message->header.preamble = 0x55;
message->header.length_l = length & 0xFF; message->header.length_l = length & 0xFF;
src/robomaster.h
-4
View File
@@ -74,10 +74,6 @@ Session session_new(void* buffer, size_t size);
size_t session_size(Session session); 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_AP = 0;
static const uint8_t CONNECTION_WIFI_STA = 1; static const uint8_t CONNECTION_WIFI_STA = 1;
static const uint8_t CONNECTION_USB_RNDIS = 2; static const uint8_t CONNECTION_USB_RNDIS = 2;
src/robomastersh.c
+2 -7
View File
@@ -16,8 +16,7 @@ int main(int argc, char* argv[])
req.connection = CONNECTION_WIFI_AP; req.connection = CONNECTION_WIFI_AP;
req.protocol = 0; req.protocol = 0;
req.ip_address = 0; req.ip_address = 0;
//req.port = 10010; req.port = 10010;
req.port = 10242;
const Message msg = set_sdk_connection_req_new(session, &req); const Message msg = set_sdk_connection_req_new(session, &req);
int sockfd = socket(AF_INET, SOCK_DGRAM, 0); int sockfd = socket(AF_INET, SOCK_DGRAM, 0);
@@ -43,14 +42,10 @@ int main(int argc, char* argv[])
// check footer crc // check footer crc
uint16_t expected_crc16 = crc16(recvbuff, recvb - 2); 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) if(actual_crc16 != expected_crc16)
fprintf(stderr, "expected crc16 %d got %d", 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; return 0;
} }