Refactor for public API

src/robomaster.c

@@ -0,0 +1,65 @@
+#include "robomaster.h"
+
+#include "client.h"
+#include "message.h"
+#include "connection.h"
+
+#include <stdlib.h>
+#include <sys/socket.h>
+#include <sys/select.h>
+#include <netinet/in.h>
+#include <string.h>
+#include <stdio.h>
+
+Client client_new() {
+    struct Client* client = malloc(sizeof(struct Client));
+    memset(client, 0, sizeof(struct Client));
+    // TODO: Make this configurable
+    client->hostbyte = host2byte(DEFAULT_CLIENT_HOST, DEFAULT_CLIENT_INDEX);
+    return client;
+}
+
+void client_connect(Client client) {
+    client->connection = connection_new();
+
+    set_sdk_connection(client, CONNECTION_WIFI_AP, 0, 10010);
+}
+
+void poll_message(Client client, union Message* resp) {
+
+    // Poll for messages
+    static struct timeval timeout = {-1, 0};
+    fd_set read_fds;
+    FD_ZERO(&read_fds);
+    FD_SET(client->connection->sockfd, &read_fds);
+    int result = select(client->connection->sockfd + 1, &read_fds, NULL, NULL, &timeout);
+
+    // Check for socket polling errors
+    if(result < 0) {
+        perror("message polling failed");
+	exit(EXIT_FAILURE);
+    }
+
+    // Skip if nothing was received yet
+    // TODO: Make a static "empty" message or something
+    if (result == 0) {
+        return;
+    }
+
+    // Read a message from the socket
+    // TODO: Use union to make all messages same size
+    int recvb = recvfrom(client->connection->sockfd, resp, sizeof(union Message), 0, (struct sockaddr*)&client->connection->remote_addr, &client->connection->addrlen);
+
+    // Check for socket read errors
+    if(recvb < 0) {
+        perror("reading socket failed");
+	exit(EXIT_FAILURE);
+    }
+
+    // Check for message errors
+    if(message_validate(resp)) {
+        perror("invalid message");
+	exit(EXIT_FAILURE);
+    }
+
+}