Use Winsock for Windows

include/camera.h

@@ -38,28 +38,3 @@ stream_ctrl (
 		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

@@ -3,14 +3,20 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#define PACKED __attribute__((__packed__))
+#if defined(_MSC_VER)  // Check if compiling with Microsoft Visual Studio
+#define PACKED(__DECL__) __pragma(pack(push, 1)) __DECL__ __pragma(pack(pop))
+#elif defined(__GNUC__)  // Check if compiling with GCC or any compiler defining __GNUC__, including Clang
+#define PACKED(__DECL__) __DECL__ __attribute__((packed))
+#else
+#error "Unsupported compiler"
+#endif
 
 static const uint8_t CLIENT_HOST = 9;
 static const uint8_t CLIENT_INDEX = 6;
 
 static const uint8_t PREAMBLE = 0x55;
 
-struct PACKED Header {
+PACKED( struct Header {
 
     // The preamble marks the start of a message and is always 0x55
     uint8_t preamble;
@@ -53,13 +59,13 @@ struct PACKED Header {
         };
     };
 
-};
+});
 
-struct PACKED Footer {
+PACKED( struct Footer {
     uint16_t crc;
-};
+});
 
-struct PACKED SetSystemLedReq {
+PACKED( struct SetSystemLedReq {
 
     struct Header header;
 
@@ -88,87 +94,87 @@ struct PACKED SetSystemLedReq {
 
     struct Footer footer;
 
-};
+});
 
-struct PACKED SetSystemLedResp {
+PACKED( struct SetSystemLedResp {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SubscribeAddNodeReq
+PACKED( struct SubscribeAddNodeReq
 {
     struct Header header;
     uint8_t hostbyte;
     uint32_t sub_vision; // always 0x03000000
     struct Footer footer;
-};
+});
 
-struct PACKED SubscribeAddNodeResp
+PACKED( struct SubscribeAddNodeResp
 {
     struct Header header;
     uint8_t retcode; // 0x00 or 0x50 are acceptable here
     uint8_t hostbyte;
     struct Footer footer;
-};
+});
 
-struct PACKED SubNodeResetReq
+PACKED( struct SubNodeResetReq
 {
     struct Header header;
     uint8_t hostbyte;
     struct Footer footer;
-};
+});
 
-struct PACKED SubNodeResetResp
+PACKED( struct SubNodeResetResp
 {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SetRobotModeReq
+PACKED( struct SetRobotModeReq
 {
     struct Header header;
     uint8_t mode;
     struct Footer footer;
-};
+});
 
-struct PACKED SetRobotModeResp
+PACKED( struct SetRobotModeResp
 {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED ChassisSpeedModeReq
+PACKED( struct ChassisSpeedModeReq
 {
     struct Header header;
     float speed[3];
     struct Footer footer;
-};
+});
 
-struct PACKED ChassisSpeedModeResp
+PACKED( struct ChassisSpeedModeResp
 {
     struct Header header;
     int8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SetChassisWheelSpeedReq
+PACKED( struct SetChassisWheelSpeedReq
 {
     struct Header header;
     int8_t wheel_speed[4];
     struct Footer footer;
-};
+});
 
-struct PACKED SetChassisWheelSpeedResp
+PACKED( struct SetChassisWheelSpeedResp
 {
     struct Header header;
     int8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED GimbalCtrlSpeedReq
+PACKED( struct GimbalCtrlSpeedReq
 {
     struct Header header;
     // Values between -360 and 360
@@ -183,53 +189,53 @@ struct PACKED GimbalCtrlSpeedReq
     // Always 0xDC
     uint8_t ctrl;
     struct Footer footer;
-};
+});
 
-struct PACKED GimbalCtrlSpeedResp
+PACKED( struct GimbalCtrlSpeedResp
 {
     struct Header header;
     int8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SetWheelSpeedReq
+PACKED( struct SetWheelSpeedReq
 {
     struct Header header;
     int16_t wheel_speed[4];
     struct Footer footer;
-};
+});
 
-struct PACKED SetWheelSpeedResp
+PACKED( struct SetWheelSpeedResp
 {
     struct Header header;
     int8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SdkHeartbeatReq {
+PACKED( struct SdkHeartbeatReq {
     struct Header header;
     struct Footer footer;
-};
+});
 
-struct PACKED SdkHeartbeatResp {
+PACKED( struct SdkHeartbeatResp {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SetSdkModeReq {
+PACKED( struct SetSdkModeReq {
     struct Header header;
     uint8_t enable;
     struct Footer footer;
-};
+});
 
-struct PACKED SetSdkModeResp {
+PACKED( struct SetSdkModeResp {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED SetSdkConnectionReq {
+PACKED( struct SetSdkConnectionReq {
     struct Header header;
     uint8_t control;
     uint8_t host;
@@ -238,32 +244,32 @@ struct PACKED SetSdkConnectionReq {
     uint32_t ip_address;
     uint16_t port;
     struct Footer footer;
-};
+});
 
-struct PACKED SetSdkConnectionResp {
+PACKED( struct SetSdkConnectionResp {
     struct Header header;
     uint8_t retcode;
     uint8_t state;
     uint32_t config_ip;
     struct Footer footer;
-};
+});
 
-struct PACKED BlasterFireReq {
+PACKED( struct BlasterFireReq {
     struct Header header;
     struct {
         uint8_t type : 4;
         uint8_t times : 4;
     };
     struct Footer footer;
-};
+});
 
-struct PACKED BlasterFireResp {
+PACKED( struct BlasterFireResp {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED StreamCtrlReq {
+PACKED( struct StreamCtrlReq {
     struct Header header;
     uint8_t ctrl;
     struct {
@@ -272,62 +278,59 @@ struct PACKED StreamCtrlReq {
     };
     uint8_t resolution;
     struct Footer footer;
-};
+});
 
-struct PACKED StreamCtrlResp {
+PACKED( struct StreamCtrlResp {
     struct Header header;
     uint8_t retcode;
     struct Footer footer;
-};
+});
 
-struct PACKED VisionRect {
+PACKED( struct AddSubMsgReq {
+    struct Header header;
+    uint8_t node_id;
+    uint8_t msg_id;
+    uint8_t reserved;
+    uint8_t sub_mode;
+    uint8_t subject_count;
+    uint64_t subject_uuid;
+    uint16_t freq;
+    struct Footer footer;
+});
+
+PACKED( struct AddSubMsgResp {
+    struct Header header;
+    uint8_t retcode;
+    uint8_t pub_node_id;
+    uint8_t ack_sub_mode;
+    uint8_t ack_msg_id;
+    uint16_t ack_err_uid_data;
+    struct Footer footer;
+});
+
+PACKED( struct PushPeriodMsg {
+    struct Header header;
+    uint8_t sub_mode;
+    uint8_t msg_id;
     union {
         struct {
             float x;
             float y;
-            float w;
-            float h;
-            uint32_t info;
-        } rect;
+            float z;
+        } position;
         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;
+            uint16_t yaw_ground;
+            uint16_t pitch_ground;
+            uint16_t yaw;
+            uint16_t pitch;
+            struct {
+                uint8_t option_mode : 2;
+                uint8_t return_center : 1;
+            };
+        } gimbal;
     };
-};
-
-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;
@@ -344,7 +347,7 @@ union Request {
     struct GimbalCtrlSpeedReq gimbspeed;
     struct BlasterFireReq blaster;
     struct StreamCtrlReq stream;
-    struct VisionDetectEnableReq enablevision;
+    struct AddSubMsgReq sub;
 };
 union Response {
     struct Header header;
@@ -361,16 +364,13 @@ union Response {
     struct GimbalCtrlSpeedResp gimbspeed;
     struct BlasterFireResp blaster;
     struct StreamCtrlResp stream;
-    struct VisionDetectEnableResp enablevision;
-};
-union Push {
-    struct VisionDetectInfo vision;
+    struct AddSubMsgResp sub;
+    struct PushPeriodMsg push;
 };
 union Message {
     struct Header header;
     union Request req;
     union Response resp;
-    union Push push;
 };
 
 enum MESSAGEERR {

include/roboeasy.h

@@ -1,28 +1,11 @@
 #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.
  */

include/sdk.h

@@ -108,3 +108,34 @@ subscribe_add_node (
         uint16_t seq,
         bool ack );
 
+#define ADD_SUB_MSG_CMD 0x0348
+
+#define PUSH_PERIOD_MSG_CMD 0x0848
+
+#define DDS_BATTERY 0x000200096862229f
+#define DDS_GIMBAL_BASE 0x00020009f5882874
+#define DDS_VELOCITY 0x0002000949a4009c
+#define DDS_ESC 0x00020009c14cb7c5
+#define DDS_ATTITUDE 0x000200096b986306
+#define DDS_IMU 0x00020009a7985b8d
+#define DDS_POSITION 0x00020009eeb7cece
+#define DDS_SA_STATUS 0x000200094a2c6d55
+#define DDS_CHASSIS_MODE 0x000200094fcb1146
+#define DDS_SBUS 0x0002000988223568
+#define DDS_SERVO 0x000200095f0059e7
+#define DDS_ARM 0x0002000926abd64d
+#define DDS_GRIPPER 0x00020009124d156a
+#define DDS_GIMBAL_POS 0x00020009f79b3c97
+#define DDS_STICK 0x0002000955e9a0fa
+#define DDS_MOVE_MODE 0x00020009784c7bfd
+#define DDS_TOF 0x0002000986e4c05a
+#define DDS_PINBOARD 0x00020009eebb9ffc
+
+void
+add_sub_msg (
+        union Request* req,
+        uint16_t seq,
+        bool ack,
+        uint8_t msg_id,
+        uint8_t freq,
+        uint64_t subject_uuid );

src/connection.c

@@ -4,10 +4,26 @@
 #include "connection.h"
 
 #include <stdlib.h>
+
+#ifdef _WIN32
+bool StartupWSA() {
+    static bool wsastarted = false;
+    if (!wsastarted) {
+        WORD		wVersionRequested;
+        WSADATA		wsaData;
+
+        wVersionRequested = MAKEWORD(2, 2);
+        if (WSAStartup(wVersionRequested, &wsaData) == 0) {
+            wsastarted = true;
+        }
+    }
+    return wsastarted;
+}
+#else
 #include <sys/socket.h>
 #include <sys/select.h>
 #include <netinet/in.h>
-#include <arpa/inet.h>
+#endif
 #include <string.h>
 #include <fcntl.h>
 #include <stdio.h>
@@ -41,8 +57,8 @@ message_length(int cmd) {
             return sizeof(struct BlasterFireReq);
         case STREAM_CTRL_CMD:
             return sizeof(struct StreamCtrlReq);
-        case VISION_DETECT_ENABLE_CMD:
-            return sizeof(struct VisionDetectEnableReq);
+        case ADD_SUB_MSG_CMD:
+            return sizeof(struct AddSubMsgReq);
         default:
             return 0;
     }
@@ -60,6 +76,7 @@ message_module(int cmd) {
         case SET_ROBOT_MODE_CMD:
         case SUBNODE_RESET_CMD:
         case SUBSCRIBE_ADD_NODE_CMD:
+        case ADD_SUB_MSG_CMD:
             return host2byte(SDK_HOST, SDK_INDEX);
         case SET_WHEEL_SPEED_CMD:
         case CHASSIS_SPEED_MODE_CMD:
@@ -70,8 +87,6 @@ message_module(int 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;
     }
@@ -83,44 +98,58 @@ int max_fd = -1;
 
 // TODO: Close the socket and return NULL on error
 struct Connection*
-connection_new(unsigned int source_port, const char* source_ip, unsigned int dest_port, const char* dest_ip)
+connection_new(uint16_t source_port, uint32_t source_ip, uint16_t dest_port, uint32_t dest_ip)
 {
     struct Connection* conn = malloc(sizeof(struct Connection));
     memset(conn, 0, sizeof(struct Connection));
 
-    // Request a UDP socket
-    conn->sockfd = socket(AF_INET, SOCK_DGRAM, 0);
-
     // Set the source address and port if they are provided
     if(source_port && source_ip) {
-       struct sockaddr_in loc_addr;
-       loc_addr.sin_family = AF_INET;
-       loc_addr.sin_port = htons(source_port);
-       loc_addr.sin_addr.s_addr = inet_addr(source_ip);
-       if(bind(conn->sockfd, (struct sockaddr*)&loc_addr, sizeof(loc_addr)) < 0)
-       {
-           perror("unable to bind local port");
-           exit(EXIT_FAILURE);
-       }
+       conn->local_addr.sin_family = AF_INET;
+       conn->local_addr.sin_port = htons(source_port);
+       conn->local_addr.sin_addr.s_addr = source_ip;
     }
- 
-    // Make the socket non-blocking
-    int flags = fcntl(conn->sockfd, F_GETFL);
-    fcntl(conn->sockfd, F_SETFL, flags | O_NONBLOCK);
 
     // Set the address of the drone
     memset(&conn->remote_addr, 0, sizeof(conn->remote_addr));
     conn->addrlen = sizeof(conn->remote_addr);
     conn->remote_addr.sin_family = AF_INET;
     conn->remote_addr.sin_port = htons(dest_port);
-    conn->remote_addr.sin_addr.s_addr = inet_addr(dest_ip);
+    conn->remote_addr.sin_addr.s_addr = dest_ip;
+
+    return conn;
+}
+
+enum connection_error
+connection_connect(struct Connection* conn) {
+
+#ifdef _WIN32
+    StartupWSA();
+#endif
+
+    // Request a UDP socket
+    conn->sockfd = socket(AF_INET, SOCK_DGRAM, 0);
+
+    if(conn->local_addr.sin_addr.s_addr
+            && bind(conn->sockfd, (struct sockaddr*)&conn->local_addr, sizeof(conn->local_addr)) < 0)
+        return CONNECTION_LOCAL_BIND;
+ 
+    // Make the socket non-blocking
+#ifdef _WIN32
+    static unsigned long sock_opts = 1;
+    ioctlsocket(conn->sockfd, FIONBIO, &sock_opts);	//Non-Blocking
+#else
+    int flags = fcntl(conn->sockfd, F_GETFL);
+    fcntl(conn->sockfd, F_SETFL, flags | O_NONBLOCK);
+#endif
 
     // File descriptors are numbers that count up sequentially,
     // so save the last one as the greatest file descriptor.
     // This is needed for polling the sockets later.
     max_fd = conn->sockfd;
 
-    return conn;
+    return CONNECTION_NO_ERROR;
+
 }
 
 struct Connection*

src/connection.h

@@ -6,14 +6,25 @@
 #include <stddef.h>
 #include <netinet/in.h>
 
+#define ROBOT_DEFAULT_WIFI_ADDR 0X102A8C0
+
 struct Connection {
     int sockfd;
     socklen_t addrlen;
     struct sockaddr_in remote_addr;
+    struct sockaddr_in local_addr;
 };
 
 struct Connection*
-connection_new(unsigned int source_port, const char* source_ip, unsigned int dest_port, const char* dest_ip);
+connection_new(uint16_t source_port, uint32_t source_ip, uint16_t dest_port, uint32_t dest_ip);
+
+enum connection_error {
+    CONNECTION_NO_ERROR,
+    CONNECTION_LOCAL_BIND
+};
+
+enum connection_error
+connection_connect();
 
 struct Connection*
 connection_poll_ready(struct Client* client);

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/camera.c

@@ -17,12 +17,4 @@ stream_ctrl (
     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/modules/sdk.c

@@ -96,3 +96,24 @@ set_system_led (
     req_finalize(seq, SET_SYSTEM_LED_CMD, ack, req);
 
 }
+
+void
+add_sub_msg (
+        union Request* req,
+        uint16_t seq,
+        bool ack,
+        uint8_t msg_id,
+        uint8_t freq,
+        uint64_t subject_uuid ) {
+
+    req->sub.node_id = host2byte(CLIENT_HOST, CLIENT_INDEX);
+    req->sub.msg_id = msg_id;
+    req->sub.reserved = 0; // NOTE: Always 0
+    req->sub.sub_mode = 0; // NOTE: Always 0
+    req->sub.subject_count = 1; // TODO: Add support for multiple
+    req->sub.subject_uuid = subject_uuid; // TODO: Add support for multiple
+    req->sub.freq = freq;
+
+    req_finalize(seq, ADD_SUB_MSG_CMD, ack, req);
+
+}

src/robo.c

@@ -4,21 +4,12 @@
 
 #include <string.h>
 #include <stdlib.h>
+#include <arpa/inet.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;
 
@@ -38,6 +29,13 @@ struct RobotImp {
 
     bool sdk_mode;
 
+    float x, y, z;
+
+    uint16_t yaw_ground;
+    uint16_t pitch_ground;
+    uint16_t yaw;
+    uint16_t pitch;
+
     enum {
         CONNECTING_TO_PROXY_PORT,
         SETTING_SDK_CONNECTION,
@@ -46,6 +44,8 @@ struct RobotImp {
         RESETTING_SUBNODE,
         SUSBCRIBING_SUBNODE,
         SETTING_MOVEMENT_MODE,
+        SUBSCRIBING_POSITION_STATUS,
+        SUBSCRIBING_GIMBAL_STATUS,
         SENDING_HEARTBEAT,
         WAITING,
         READY,
@@ -108,61 +108,6 @@ 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) {
 
@@ -175,7 +120,8 @@ robot_work(Robot robot) {
 
         case CONNECTING_TO_PROXY_PORT:
         {
-            robot->client->sdk_conn = connection_new(0, 0, 30030, "192.168.2.1");
+            robot->client->sdk_conn = connection_new(0, 0, 30030, ROBOT_DEFAULT_WIFI_ADDR);
+            connection_connect(robot->client->sdk_conn);
             robot->state = SETTING_SDK_CONNECTION;
             break;
         }
@@ -190,7 +136,8 @@ robot_work(Robot robot) {
 
         case CONNECTING_TO_DEVICE_PORT:
         {
-            robot->client->dev_conn = connection_new(10010, "192.168.2.24", 20020, "192.168.2.1");
+            if(connection_connect(robot->client->dev_conn))
+                robot->state = STOPPED;
             robot->state = SETTING_SDK_MODE;
             break;
         }
@@ -235,6 +182,22 @@ robot_work(Robot robot) {
             break;
         }
 
+        case SUBSCRIBING_POSITION_STATUS:
+        {
+            add_sub_msg ( &req, robot->seq++, true, 20, 1, DDS_POSITION );
+            req_send(robot->client->dev_conn, &req);
+            robot->state = SUBSCRIBING_GIMBAL_STATUS;
+            break;
+        }
+
+        case SUBSCRIBING_GIMBAL_STATUS:
+        {
+            add_sub_msg ( &req, robot->seq++, true, 21, 1, DDS_GIMBAL_POS );
+            req_send(robot->client->dev_conn, &req);
+            robot->state = WAITING;
+            break;
+        }
+
         case READY:
         {
             if(robot->dirty_wheels) {
@@ -306,37 +269,10 @@ 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);
-            }
+        default:
             break;
         case SET_SDK_CONNECTION_CMD:
             // TODO: Do more with this
@@ -344,6 +280,7 @@ robot_work(Robot robot) {
                 robot->state = STOPPED;
                 break;
             }
+            robot->client->dev_conn = connection_new(10010, resp.resp.sdkconn.config_ip, 20020, ROBOT_DEFAULT_WIFI_ADDR);
             robot->state = CONNECTING_TO_DEVICE_PORT;
             break;
         case SET_SDK_MODE_CMD:
@@ -373,6 +310,13 @@ robot_work(Robot robot) {
                 robot->state = STOPPED;
                 break;
             }
+            robot->state = SUBSCRIBING_POSITION_STATUS;
+            break;
+        case ADD_SUB_MSG_CMD:
+            if(resp.resp.sub.retcode) {
+                robot->state = STOPPED;
+                break;
+            }
             robot->state = SENDING_HEARTBEAT;
             break;
         case SDK_HEARTBEAT_CMD:
@@ -382,6 +326,20 @@ robot_work(Robot robot) {
             }
             robot->state = READY;
             break;
+        case PUSH_PERIOD_MSG_CMD:
+            switch(resp.resp.push.msg_id) {
+                case 20:
+                    robot->x = resp.resp.push.position.x;
+                    robot->y = resp.resp.push.position.y;
+                    robot->z = resp.resp.push.position.z;
+                    break;
+                case 21:
+                    robot->yaw_ground = resp.resp.push.gimbal.yaw_ground;
+                    robot->pitch_ground = resp.resp.push.gimbal.pitch_ground;
+                    robot->yaw = resp.resp.push.gimbal.yaw;
+                    robot->pitch = resp.resp.push.gimbal.pitch;
+            }
+            break;
     }
 
     return 1;

src/sdl.c

@@ -1,4 +1,3 @@
-#include "robomaster.h"
 #include "roboeasy.h"
 #include "SDL2/SDL.h"
 
@@ -61,64 +60,6 @@ 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) {