Refactor for public API

include/led.h

@@ -0,0 +1,39 @@
+#pragma once
+
+#include "message.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+
+static const uint8_t SET_SYSTEM_LED_CMDID = 0x33;
+
+enum LEDCOMP {
+    LEDCOMP_BOTTOM_BACK = 0x1,
+    LEDCOMP_BOTTOM_FRONT = 0x2,
+    LEDCOMP_BOTTOM_LEFT = 0x4,
+    LEDCOMP_BOTTOM_RIGHT = 0x8,
+    LEDCOMP_BOTTOM_ALL = 0xf,
+    LEDCOMP_TOP_LEFT = 0x10,
+    LEDCOMP_TOP_RIGHT = 0x20,
+    LEDCOMP_TOP_ALL = 0x30,
+    LEDCOMP_ALL = 0x3f
+};
+
+enum LEDEFFECT {
+    LEDEFFECT_OFF = 0,
+    LEDEFFECT_ON = 1,
+    LEDEFFECT_BREATH = 2,
+    LEDEFFECT_FLASH = 3,
+    LEDEFFECT_SCROLLING = 4
+};
+
+void set_system_led (
+		Client session,
+		uint8_t red,
+		uint8_t green,
+		uint8_t blue,
+		enum LEDCOMP comp,
+		uint16_t led_mask,
+		enum LEDEFFECT effect,
+		uint16_t t1,
+		uint16_t t2 );

include/message.h

@@ -0,0 +1,167 @@
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#define PACKED __attribute__((__packed__))
+
+struct PACKED Header {
+
+    // The preamble marks the start of a message and is always 0x55
+    uint8_t preamble;
+
+    // The length of the message includes the preamble and CRC16 at the end
+    union {
+        uint16_t length;
+        struct {
+            uint8_t length_l;
+            uint8_t length_h;
+        };
+    };
+
+    // This is a CRC8 checksum for the preamble and length together
+    uint8_t crc;
+
+    // hostbyte of the message sender
+    uint8_t sender;
+
+    // hostbyte of the message receiver
+    uint8_t receiver;
+
+    // Each message has a sequence ID
+    // The Robomaster will respond with the same ID for each request
+    // The value of the sequence ID doesn't matter to the Robomaster
+    // Repeating sequence IDs are acceptable
+    int16_t seq_id;
+
+    // The message attribute flags designate if a response is needed or if the
+    // message is a response.
+    union {
+        uint8_t attribute;
+        struct {
+            uint8_t reserved : 6;
+            bool ack_needed : 1;
+            bool is_ack : 1;
+        };
+    };
+
+    // Each command has a cmdset and cmdid that together make a cmd key
+    uint8_t cmdset;
+    uint8_t cmdid;
+
+};
+
+struct PACKED Footer {
+    uint16_t crc;
+};
+
+struct PACKED SetSystemLedReq {
+
+    struct Header header;
+
+    // Which LEDs on which component to control
+    uint32_t comp_mask;
+    uint16_t led_mask;
+
+    struct {
+        // off, on, flashing, etc.
+        uint8_t effect_mode : 4;
+	// Always 7
+        uint8_t control_mode : 4;
+    };
+
+    // RGB values for the LED color
+    uint8_t red;
+    uint8_t green;
+    uint8_t blue;
+
+    // Always 0
+    uint8_t loop;
+
+    // These time intervals have different meaning depending on effect
+    uint16_t t1;
+    uint16_t t2;
+
+    struct Footer footer;
+
+};
+
+struct PACKED SetSystemLedResp {
+    struct Header header;
+    uint8_t retcode;
+    struct Footer footer;
+};
+
+struct PACKED SetWheelSpeedReq
+{
+    struct Header header;
+    int16_t wheel_speed[4];
+    struct Footer footer;
+};
+
+struct PACKED SetWheelSpeedResp
+{
+    struct Header header;
+    int8_t retcode;
+    struct Footer footer;
+};
+
+struct PACKED SetSdkModeReq {
+    struct Header header;
+    uint8_t enable;
+    struct Footer footer;
+};
+
+struct PACKED SetSdkModeResp {
+    struct Header header;
+    uint8_t retcode;
+    struct Footer footer;
+};
+
+struct PACKED SetSdkConnectionReq {
+    struct Header header;
+    uint8_t control;
+    uint8_t host;
+    uint8_t connection;
+    uint8_t protocol;
+    uint32_t ip_address;
+    uint16_t port;
+    struct Footer footer;
+};
+
+struct PACKED SetSdkConnectionResp {
+    struct Header header;
+    uint8_t retcode;
+    uint8_t state;
+    uint32_t config_ip;
+    struct Footer footer;
+};
+
+union Request {
+    struct Header header;
+    struct SetSdkConnectionReq sdkconn;
+    struct SetSdkModeReq sdkmode;
+    struct SetSystemLedReq led;
+    struct SetWheelSpeedReq wheel;
+};
+union Response {
+    struct Header header;
+    struct SetSdkConnectionResp sdkconn;
+    struct SetSdkModeReq sdkmode;
+    struct SetSystemLedResp led;
+    struct SetWheelSpeedResp wheel;
+};
+union Message {
+    struct Header header;
+    union Request req;
+    union Response resp;
+};
+
+enum MESSAGEERR {
+    MESSAGEERR_NONE,
+    MESSAGEERR_HEADERCRC,
+    MESSAGEERR_FOOTERCRC
+};
+
+enum MESSAGEERR
+message_validate(const union Message* message);

include/robomaster.h

@@ -1,17 +1,22 @@
 #pragma once
 
-#include <stdlib.h>
-#include <stddef.h>
-#include <inttypes.h>
-#include <stdbool.h>
-
 // Public stuff
-struct Message;
 struct Client;
 typedef struct Client* Client;
-typedef struct Message* Message;
 
-Client client_new(void* buffer, size_t size);
+#include "message.h"
+#include "led.h"
+#include "sdk_connection.h"
+#include "sdk_mode.h"
+#include "wheel.h"
+
+// SIMPLE
+// Create a client
+// Connect to a drone
+// Send messages
+// Poll for responses
+
+Client client_new();
 void client_connect(Client client);
-Message poll_message(Client client);
+void poll_message(Client client, union Message* message);
 

include/sdk_connection.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#include "message.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+
+static const uint8_t SET_SDK_CONNECTION_CMDID = 0xD4;
+
+enum CONNECTION {
+    CONNECTION_WIFI_AP = 0,
+    CONNECTION_WIFI_STA = 1,
+    CONNECTION_USB_RNDIS = 2
+};
+
+void
+set_sdk_connection(
+		Client session,
+		enum CONNECTION connection_type,
+		uint32_t ip_address,
+		uint16_t port );

include/sdk_mode.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "message.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+
+static const uint8_t SET_SDK_MODE_CMDID = 0xd1;
+
+void
+set_sdk_mode(Client session, bool enable);

include/wheel.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#include "message.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+
+static const uint8_t SET_WHEEL_SPEED_CMDID = 0x20;
+
+void
+set_wheel_speed (
+		Client session,
+		int16_t w1,
+		int16_t w2,
+		int16_t w3,
+		int16_t w4 );