Add robot position push topic

include/message.h

@@ -296,9 +296,23 @@ struct PACKED AddSubMsgResp {
     struct Header header;
     uint8_t retcode;
     uint8_t pub_node_id;
-    uint8_t ack_node_id;
+    uint8_t ack_sub_mode;
     uint8_t ack_msg_id;
-    uint32_t ack_err_uid_data;
+    uint16_t ack_err_uid_data;
+    struct Footer footer;
+};
+
+struct PACKED PushPeriodMsg {
+    struct Header header;
+    uint8_t sub_mode;
+    uint8_t msg_id;
+    union {
+        struct {
+            float x;
+            float y;
+            float z;
+        } position;
+    };
     struct Footer footer;
 };
 
@@ -335,6 +349,7 @@ union Response {
     struct BlasterFireResp blaster;
     struct StreamCtrlResp stream;
     struct AddSubMsgResp sub;
+    struct PushPeriodMsg push;
 };
 union Message {
     struct Header header;

include/sdk.h

@@ -110,6 +110,8 @@ subscribe_add_node (
 
 #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
@@ -134,7 +136,6 @@ add_sub_msg (
         union Request* req,
         uint16_t seq,
         bool ack,
-        uint8_t node_id,
         uint8_t msg_id,
         uint8_t freq,
         uint64_t subject_uuid );

src/modules/sdk.c

@@ -102,12 +102,11 @@ add_sub_msg (
         union Request* req,
         uint16_t seq,
         bool ack,
-        uint8_t node_id,
         uint8_t msg_id,
         uint8_t freq,
         uint64_t subject_uuid ) {
 
-    req->sub.node_id = node_id;
+    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

src/robo.c

@@ -28,6 +28,8 @@ struct RobotImp {
 
     bool sdk_mode;
 
+    float x, y, z;
+
     enum {
         CONNECTING_TO_PROXY_PORT,
         SETTING_SDK_CONNECTION,
@@ -36,6 +38,7 @@ struct RobotImp {
         RESETTING_SUBNODE,
         SUSBCRIBING_SUBNODE,
         SETTING_MOVEMENT_MODE,
+        SUBSCRIBING_POSITION_STATUS,
         SENDING_HEARTBEAT,
         WAITING,
         READY,
@@ -170,6 +173,14 @@ 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 = WAITING;
+            break;
+        }
+
         case READY:
         {
             if(robot->dirty_wheels) {
@@ -244,6 +255,8 @@ robot_work(Robot robot) {
     switch(resp.header.cmd) {
         case 0:
             break;
+        default:
+            break;
         case SET_SDK_CONNECTION_CMD:
             // TODO: Do more with this
             if(resp.resp.sdkconn.retcode) {
@@ -279,6 +292,13 @@ 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:
@@ -288,6 +308,12 @@ robot_work(Robot robot) {
             }
             robot->state = READY;
             break;
+        case PUSH_PERIOD_MSG_CMD:
+            // assume it is a position status for now
+            robot->x = resp.resp.push.position.x;
+            robot->y = resp.resp.push.position.y;
+            robot->z = resp.resp.push.position.z;
+            break;
     }
 
     return 1;