Add video stream support

2023-08-07 12:02:21 -05:00
parent 90552382db
commit d4123f440e
9 changed files with 118 additions and 0 deletions
@@ -23,6 +23,9 @@ struct RobotImp {

    bool dirty_blaster;

+    bool stream_state;
+    bool dirty_stream;
+
    bool sdk_mode;

    enum {
@@ -41,6 +44,13 @@ struct RobotImp {

 };

+int
+robot_stream(Robot robot, bool state) {
+    robot->stream_state = state;
+    robot->dirty_stream = true;
+    return 1;
+}
+
 int
 robot_blast(Robot robot) {
    robot->dirty_blaster = true;
@@ -204,6 +214,23 @@ robot_work(Robot robot) {
                req_send(robot->client->dev_conn, &req);
                robot->dirty_blaster = false;
            }
+            if(robot->dirty_stream) {
+                stream_ctrl (
+                    &req, robot->seq++, true,
+                    robot->stream_state ? STREAMSTATE_ON : STREAMSTATE_OFF,
+                    RES_720P,
+                    STREAMCTRL_SDK
+                );
+                req_send(robot->client->dev_conn, &req);
+                stream_ctrl (
+                    &req, robot->seq++, true,
+                    robot->stream_state ? STREAMSTATE_ON : STREAMSTATE_OFF,
+                    RES_720P,
+                    STREAMCTRL_VIDEO
+                );
+                req_send(robot->client->dev_conn, &req);
+                robot->dirty_stream = false;
+            }
            break;
        }