Add issue template

.github/issue_template

@@ -0,0 +1,59 @@
+name: Bug Report
+about: File a bug report
+title: "[Bug]: "
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to fill out this bug report!        
+  - type: input
+    id: contact
+    attributes:
+      label: Contact Details
+      description: How can we get in touch with you if we need more info?
+      placeholder: ex. email@example.com
+    validations:
+      required: false
+  - type: textarea
+    id: what-happened
+    attributes:
+      label: What happened?
+      description: Also tell us, what did you expect to happen?
+      placeholder: Tell us what you see!
+      value: "A bug happened!"
+    validations:
+      required: true
+  - type: dropdown
+    id: version
+    attributes:
+      label: Version
+      description: What version of our software are you running?
+      options:
+        - 1.0.2 (Default)
+        - 1.0.3 (Edge)
+    validations:
+      required: true
+  - type: dropdown
+    id: browsers
+    attributes:
+      label: What browsers are you seeing the problem on?
+      multiple: true
+      options:
+        - Firefox
+        - Chrome
+        - Safari
+        - Microsoft Edge
+  - type: textarea
+    id: logs
+    attributes:
+      label: Relevant log output
+      description: Please copy and paste any relevant log output. This will be automatically formatted into code, so no need for backticks.
+      render: shell
+  - type: checkboxes
+    id: terms
+    attributes:
+      label: Code of Conduct
+      description: By submitting this issue, you agree to follow our [Code of Conduct](https://example.com)
+      options:
+        - label: I agree to follow this project's Code of Conduct
+          required: true

CMakeLists.txt

@@ -16,8 +16,6 @@ add_library(robomaster
     src/modules/sdk.c
     src/modules/chassis.c
     src/modules/gimbal.c
-    src/modules/blaster.c
-    src/modules/camera.c
     src/connection.c
     src/robomaster.c
     src/robo.c
@@ -30,19 +28,14 @@ target_include_directories(robomaster
     include
 )
 
-include(FetchContent)
+find_package(SDL2)
-FetchContent_Declare (
-    SDL2
-    GIT_REPOSITORY https://github.com/libsdl-org/SDL
-    GIT_TAG release-2.0.20
-    GIT_SHALLOW TRUE
-)
-FetchContent_MakeAvailable(SDL2)
 
-add_executable(robomasterapp
+if(SDL2_FOUND)
-    src/sdl.c
+    add_executable(robomasterapp
-)
+        src/sdl.c
-target_link_libraries(robomasterapp
+    )
-    robomaster
+    target_link_libraries(robomasterapp
-    SDL2-static
+        robomaster
-)
+	SDL2::SDL2-static
+    )
+endif()

include/blaster.h

@@ -1,33 +0,0 @@
-#pragma once
-
-#include "message.h"
-
-#include <stdbool.h>
-#include <stdint.h>
-
-static const uint8_t BLASTER_HOST = 23;
-static const uint8_t BLASTER_INDEX = 0;
-
-#define BLASTER_FIRE_CMD 0x513F
-
-enum FIRETYPE {
-    FIRETYPE_WATER = 0,
-    FIRETYPE_INFRARED = 1
-};
-
-enum FIRETIMES {
-    ONE = 1,
-    TWO = 2,
-    THREE = 3,
-    FOUR = 4,
-    FIVE = 5
-};
-
-void
-blaster_fire (
-		union Request* req,
-        uint16_t seq,
-        bool ack,
-		enum FIRETYPE type,
-		enum FIRETIMES times );
-

include/camera.h

@@ -1,65 +0,0 @@
-#pragma once
-
-#include "message.h"
-
-#include <stdbool.h>
-#include <stdint.h>
-
-static const uint8_t STREAM_HOST = 1;
-static const uint8_t STREAM_INDEX = 0;
-
-#define STREAM_CTRL_CMD 0xD23F
-
-#define VIDEO_STREAM_PORT 40921
-
-enum STREAMSTATE {
-    STREAMSTATE_OFF = 0,
-    STREAMSTATE_ON = 1
-};
-
-enum STREAMRESOLUTION {
-    RES_720P = 0,
-    RES_360P = 1,
-    RES_540P = 2
-};
-
-enum STREAMCTRL {
-    STREAMCTRL_SDK = 1,
-    STREAMCTRL_VIDEO = 2,
-    STREAMCTRL_AUDIO = 3
-};
-
-void
-stream_ctrl (
-		union Request* req,
-        uint16_t seq,
-        bool ack,
-		enum STREAMSTATE state,
-		enum STREAMRESOLUTION res,
-		enum STREAMCTRL ctrl );
-
-static const uint8_t VISION_HOST = 17;
-static const uint8_t VISION_INDEX = 7;
-
-#define VISION_DETECT_ENABLE_CMD 0xA30A
-
-#define VISION_DETECT_ENABLE_PERSON 2
-#define VISION_DETECT_ENABLE_GESTURE 4
-#define VISION_DETECT_ENABLE_LINE 16
-#define VISION_DETECT_ENABLE_MARKER 32
-#define VISION_DETECT_ENABLE_ROBOT 128
-void
-vision_enable (
-		union Request* req,
-        uint16_t seq,
-        bool ack );
-
-#define VISION_DETECT_INFO_CMD 0xA40A
-enum VISIONTYPE {
-    VISIONTYPE_SHOULDER,
-    VISIONTYPE_PERSON,
-    VISIONTYPE_GESTURE,
-    VISIONTYPE_LINE,
-    VISIONTYPE_MARKER,
-    VISIONTYPE_ROBOT
-};

include/message.h

@@ -248,87 +248,6 @@ struct PACKED SetSdkConnectionResp {
     struct Footer footer;
 };
 
-struct PACKED BlasterFireReq {
-    struct Header header;
-    struct {
-        uint8_t type : 4;
-        uint8_t times : 4;
-    };
-    struct Footer footer;
-};
-
-struct PACKED BlasterFireResp {
-    struct Header header;
-    uint8_t retcode;
-    struct Footer footer;
-};
-
-struct PACKED StreamCtrlReq {
-    struct Header header;
-    uint8_t ctrl;
-    struct {
-        uint8_t state : 4;
-        uint8_t conn_type : 4;
-    };
-    uint8_t resolution;
-    struct Footer footer;
-};
-
-struct PACKED StreamCtrlResp {
-    struct Header header;
-    uint8_t retcode;
-    struct Footer footer;
-};
-
-struct PACKED VisionRect {
-    union {
-        struct {
-            float x;
-            float y;
-            float w;
-            float h;
-            uint32_t info;
-        } rect;
-        struct {
-            float x;
-            float y;
-            float theta;
-            float c;
-            uint32_t info;
-        } line;
-        struct {
-            float x;
-            float y;
-            float w;
-            float h;
-            uint16_t info;
-            uint16_t distance;
-        } marker;
-    };
-};
-
-struct PACKED VisionDetectInfo {
-    struct Header header;
-    uint8_t type;
-    uint8_t status;
-    uint16_t errcode;
-    uint8_t count;
-    struct VisionRect rects[];
-};
-
-struct PACKED VisionDetectEnableReq {
-    struct Header header;
-    uint16_t type;
-    struct Footer footer;
-};
-
-struct PACKED VisionDetectEnableResp {
-    struct Header header;
-    uint8_t retcode;
-    uint16_t error;
-    struct Footer footer;
-};
-
 union Request {
     struct Header header;
     struct SetSdkConnectionReq sdkconn;
@@ -342,9 +261,6 @@ union Request {
     struct SubNodeResetReq subnodereset;
     struct SubscribeAddNodeReq subnodeadd;
     struct GimbalCtrlSpeedReq gimbspeed;
-    struct BlasterFireReq blaster;
-    struct StreamCtrlReq stream;
-    struct VisionDetectEnableReq enablevision;
 };
 union Response {
     struct Header header;
@@ -359,18 +275,11 @@ union Response {
     struct SubNodeResetResp subnodereset;
     struct SubscribeAddNodeResp subnodeadd;
     struct GimbalCtrlSpeedResp gimbspeed;
-    struct BlasterFireResp blaster;
-    struct StreamCtrlResp stream;
-    struct VisionDetectEnableResp enablevision;
-};
-union Push {
-    struct VisionDetectInfo vision;
 };
 union Message {
     struct Header header;
     union Request req;
     union Response resp;
-    union Push push;
 };
 
 enum MESSAGEERR {

include/roboeasy.h

@@ -1,28 +1,9 @@
 #pragma once
 
-#include "message.h"
-
-#include <stdbool.h>
-
 // Handle for the high level robot interface
 struct RobotImp;
 typedef struct RobotImp* Robot;
 
-#define FRAGMENT_MESSAGE 1
-#define FRAGMENT_RECTANGLE 2
-#define FRAGMENT_LINE 3
-#define FRAGMENT_MARKER 4
-
-struct Fragment {
-    int type;
-    union {
-        union Message message;
-        struct VisionRect rect;
-    };
-};
-
-int robot_poll(Robot robot, struct Fragment* fragment);
-
 /*
  * Return a handle to the high level robot interface, or NULL on error.
  */
@@ -84,10 +65,6 @@ int robot_drive(Robot, float x, float y, float r);
  */
 int robot_led(Robot, unsigned char r, unsigned char g, unsigned char b);
 
-int robot_blast(Robot);
-
-int robot_stream(Robot, bool);
-
 /*
  * If the robot is in ready mode, this makes the robot send a heartbeat in
  * the next tick of the work function. The work function will not do anything

include/robomaster.h

@@ -8,8 +8,6 @@ typedef struct Client* Client;
 #include "chassis.h"
 #include "sdk.h"
 #include "gimbal.h"
-#include "blaster.h"
-#include "camera.h"
 
 Client client_new();
 void client_connect(Client client);

src/connection.c

@@ -37,12 +37,6 @@ message_length(int cmd) {
             return sizeof(struct ChassisSpeedModeReq);
         case GIMBAL_CTRL_SPEED_CMD:
             return sizeof(struct GimbalCtrlSpeedReq);
-        case BLASTER_FIRE_CMD:
-            return sizeof(struct BlasterFireReq);
-        case STREAM_CTRL_CMD:
-            return sizeof(struct StreamCtrlReq);
-        case VISION_DETECT_ENABLE_CMD:
-            return sizeof(struct VisionDetectEnableReq);
         default:
             return 0;
     }
@@ -66,12 +60,6 @@ message_module(int cmd) {
             return host2byte(CHASSIS_HOST, CHASSIS_INDEX);
         case GIMBAL_CTRL_SPEED_CMD:
             return host2byte(GIMBAL_HOST, GIMBAL_INDEX);
-        case BLASTER_FIRE_CMD:
-            return host2byte(BLASTER_HOST, BLASTER_INDEX);
-        case STREAM_CTRL_CMD:
-            return host2byte(STREAM_HOST, STREAM_INDEX);
-        case VISION_DETECT_ENABLE_CMD:
-            return host2byte(VISION_HOST, VISION_INDEX);
         default:
             return 0;
     }

src/message.c

@@ -1,14 +1,9 @@
 #include "message.h"
-#include "camera.h" // FIXME: hack
 #include "crc.h"
 
 enum MESSAGEERR
 message_validate(const union Message* message) {
 
-    // FIXME: hack
-    if(message->header.cmd == VISION_DETECT_INFO_CMD)
-        return MESSAGEERR_NONE;
-
     uint16_t length = message->header.length & 0x1FFF & ~0x400;
 
     if(message->header.crc != crc8(message, 3))

src/modules/blaster.c

@@ -1,16 +0,0 @@
-#include "message.h"
-#include "connection.h"
-#include "robomaster.h"
-
-void
-blaster_fire (
-		union Request* req,
-        uint16_t seq,
-        bool ack,
-		enum FIRETYPE type,
-		enum FIRETIMES times ) {
-    req->blaster.type = type;
-    req->blaster.times = times;
-    req_finalize(seq, BLASTER_FIRE_CMD, ack, req);
-}
-

src/modules/camera.c

@@ -1,28 +0,0 @@
-#include "message.h"
-#include "connection.h"
-#include "robomaster.h"
-
-void
-stream_ctrl (
-		union Request* req,
-        uint16_t seq,
-        bool ack,
-		enum STREAMSTATE state,
-		enum STREAMRESOLUTION res,
-		enum STREAMCTRL ctrl ) {
-    req->stream.state = state;
-    req->stream.resolution = res;
-    req->stream.ctrl = ctrl;
-    req->stream.conn_type = 0; // Hardcode to WiFi
-    req_finalize(seq, STREAM_CTRL_CMD, ack, req);
-}
-
-void
-vision_enable (
-		union Request* req,
-        uint16_t seq,
-        bool ack ) {
-    req->enablevision.type = VISION_DETECT_ENABLE_PERSON;
-    req_finalize(seq, VISION_DETECT_ENABLE_CMD, ack, req);
-}
-

src/robo.c

@@ -5,20 +5,8 @@
 #include <string.h>
 #include <stdlib.h>
 
-#include <stdio.h>
-
-struct FragmentLink {
-    struct Fragment fragment;
-    struct FragmentLink *next;
-};
-
 struct RobotImp {
 
-    struct {
-        struct FragmentLink *head;
-        struct FragmentLink *free;
-    } frag_queue;
-
     struct Client* client;
     uint16_t seq;
 
@@ -31,11 +19,6 @@ struct RobotImp {
     int16_t gimbal[2];
     bool dirty_gimbal;
 
-    bool dirty_blaster;
-
-    bool stream_state;
-    bool dirty_stream;
-
     bool sdk_mode;
 
     enum {
@@ -54,19 +37,6 @@ 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;
-    return 1;
-}
-
 int
 robot_drive(Robot robot, float x, float y, float r) {
     // TODO: move individual wheel speed calculation to work function
@@ -108,61 +78,6 @@ robot_heartbeat(Robot robot) {
 
 }
 
-inline
-static
-void
-enqueue_fragment (
-        Robot robot,
-        const struct Fragment fragment ) {
-
-    struct FragmentLink *link;
-    if(robot->frag_queue.free) {
-        link = robot->frag_queue.free;
-        robot->frag_queue.free = link->next;
-    } else {
-        link = malloc(sizeof(struct FragmentLink));
-        link->next = NULL;
-    }
-
-    link->fragment = fragment;
-
-    if(robot->frag_queue.head) {
-        robot->frag_queue.head->next = link;
-    } else {
-        robot->frag_queue.head = link;
-    }
-
-}
-
-inline
-static
-void
-dequeue_fragment (
-        Robot robot,
-        struct Fragment *fragment ) {
-
-    fragment->type = 0;
-    if(!robot->frag_queue.head)
-        return;
-
-    struct FragmentLink *link = robot->frag_queue.head;
-    *fragment = link->fragment;
-
-    robot->frag_queue.head = link->next;
-    link->next = NULL;
-    if(robot->frag_queue.free) {
-        robot->frag_queue.free->next = link;
-    } else {
-        robot->frag_queue.free = link;
-    }
-
-}
-
-int robot_poll(Robot robot, struct Fragment* fragment) {
-    dequeue_fragment(robot, fragment);
-    return fragment->type;
-}
-
 int
 robot_work(Robot robot) {
 
@@ -270,32 +185,6 @@ robot_work(Robot robot) {
                 req_send(robot->client->dev_conn, &req);
                 robot->dirty_colors = false;
             }
-            if(robot->dirty_blaster) {
-                blaster_fire (
-                    &req, robot->seq++, false,
-                    FIRETYPE_INFRARED,
-                    ONE
-                );
-                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;
         }
 
@@ -306,38 +195,9 @@ robot_work(Robot robot) {
 
     union Message resp;
     poll_message(robot->client, &resp);
-    if(resp.header.cmd) {
-        const struct Fragment fragment = {
-            .type = FRAGMENT_MESSAGE,
-            .message = resp
-        };
-        enqueue_fragment(robot, fragment);
-    }
     switch(resp.header.cmd) {
         case 0:
             break;
-        case VISION_DETECT_INFO_CMD:
-            // enqueue rectangles
-            for(int i = 0; i < resp.push.vision.count; i++) {
-                int type;
-                switch(resp.push.vision.type) {
-                    case VISIONTYPE_SHOULDER:
-                    case VISIONTYPE_PERSON:
-                    case VISIONTYPE_GESTURE:
-                    case VISIONTYPE_ROBOT:
-                        type = FRAGMENT_RECTANGLE;
-                    case VISIONTYPE_LINE:
-                        type = FRAGMENT_LINE;
-                    case VISIONTYPE_MARKER:
-                        type = FRAGMENT_MARKER;
-                }
-                const struct Fragment fragment = {
-                    .type = type,
-                    .rect = resp.push.vision.rects[i]
-                };
-                enqueue_fragment(robot, fragment);
-            }
-            break;
         case SET_SDK_CONNECTION_CMD:
             // TODO: Do more with this
             if(resp.resp.sdkconn.retcode) {

src/sdl.c

@@ -1,4 +1,3 @@
-#include "robomaster.h"
 #include "roboeasy.h"
 #include "SDL2/SDL.h"
 
@@ -52,8 +51,6 @@ int main(int argc, char* argv[]) {
 
     Robot robot = robot_new();
     robot_init(robot);
-    robot_stream(robot, true);
-
     SDL_AddTimer(75, drive_timer_handler, robot);
     SDL_AddTimer(1000, heartbeat_timer_handler, robot);
 
@@ -61,64 +58,6 @@ int main(int argc, char* argv[]) {
     SDL_GetWindowSize(win, &w, &h);
 
     while(robot_work(robot)) {
-
-        struct Fragment fragment;
-        while(robot_poll(robot, &fragment)) {
-            switch(fragment.type) {
-                case FRAGMENT_RECTANGLE:
-                case FRAGMENT_LINE:
-                case FRAGMENT_MARKER:
-                    printf("Rect(%f,%f,%f,%f)\n",
-                            fragment.rect.rect.x,
-                            fragment.rect.rect.y,
-                            fragment.rect.rect.w,
-                            fragment.rect.rect.h );
-                    break;
-                case FRAGMENT_MESSAGE:
-                    switch(fragment.message.header.cmd) {
-                        case VISION_DETECT_INFO_CMD:
-                            if(fragment.message.push.vision.errcode) {
-                                printf("Vision error %d\n", fragment.message.push.vision.errcode);
-                                break;
-                            }
-                            printf("Received %d rectangles\n", fragment.message.push.vision.count);
-                            printf("\tVision type %d\n", fragment.message.push.vision.type);
-                            printf("\tVision status %d\n", fragment.message.push.vision.status);
-                            break;
-                        case SDK_HEARTBEAT_CMD:
-                            if(fragment.message.resp.heartbeat.retcode) {
-                                printf("ERROR: Heartbeat error\n");
-                                break;
-                            }
-                            printf("Heartbeat\n");
-                            break;
-                        case STREAM_CTRL_CMD:
-                            if(fragment.message.resp.stream.retcode) {
-                                printf("ERROR: Stream not enabled\n");
-                                break;
-                            }
-                            printf("Stream enabled\n");
-                            break;
-                        case VISION_DETECT_ENABLE_CMD:
-                            if(fragment.message.resp.enablevision.retcode) {
-                                printf("ERROR: Vision not enabled\n");
-                                break;
-                            }
-                            if(fragment.message.resp.enablevision.error) {
-                                printf("ERROR: Vision not enabled %d\n",
-                                    fragment.message.resp.enablevision.error);
-                                break;
-                            }
-                            printf("Vision enabled\n");
-                            break;
-                    }
-                    break;
-                default:
-                    printf("Unhandled fragment type\n");
-                    break;
-            }
-        }
-
         SDL_Event event;
         while(SDL_PollEvent(&event)) {
             switch(event.type) {
@@ -151,9 +90,6 @@ int main(int argc, char* argv[]) {
                             robot_led(robot, colors[color].r, colors[color].g, colors[color].b);
                             color = (color + 1) % 3;
                             break;
-                        case SDL_SCANCODE_RETURN:
-                            robot_blast(robot);
-                            break;
                         default: break;
 		            }
                     break;