pgsocks/robomaster-sdk
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Add heartbeat message

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This commit is contained in:
pgsocks
2023-02-02 01:14:29 -06:00
parent 3a2afcc93a
commit f0befa0b7b
4 changed files with 34 additions and 5 deletions
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src/messages/sdk_mode.c
+8
View File
@@ -11,3 +11,11 @@ set_sdk_mode(
req_finalize(session, 0x3F, SET_SDK_MODE_CMDID, host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX), true, sizeof(struct SetSdkModeReq), &req);
req_send(session->dev_conn, &req, sizeof(struct SetSdkModeReq));
}
void
sdk_heartbeat(
Client session ) {
union Request req = {0};
req_finalize(session, 0x3F, SDK_HEARTBEAT_CMDID, host2byte(DEFAULT_CLIENT_HOST, DEFAULT_ROBOT_INDEX), true, sizeof(struct SdkHeartbeatReq), &req);
req_send(session->dev_conn, &req, sizeof(struct SdkHeartbeatReq));
}
src/robomastersh.c
+7 -5
View File
@@ -44,6 +44,13 @@ int main(int argc, char* argv[])
return 1;
}
sdk_heartbeat(client);
poll_message(client, &msg);
if(msg.header.cmdid != SDK_HEARTBEAT_CMDID || msg.resp.heartbeat.retcode) {
fprintf(stderr, "Did not receive heartbeat\n");
return 1;
}
int c;
while((c = getopt(argc, argv, "hl:::s:::")) != -1) {
switch(c) {
@@ -70,11 +77,6 @@ int main(int argc, char* argv[])
atof(argv[optind + 0]),
atof(argv[optind + 1]),
atof(argv[optind + 2]) );
poll_message(client, &msg);
if(msg.header.cmdid != CHASSIS_SPEED_MODE_CMDID || msg.resp.chsspeed.retcode) {
fprintf(stderr, "Could not set speed\n");
return 1;
}
break;
case '?':
default: