include/message.h

@@ -280,52 +280,6 @@ struct PACKED StreamCtrlResp {
     struct Footer footer;
 };
 
-struct PACKED 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;
-};
-
-struct PACKED 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;
-};
-
-struct PACKED PushPeriodMsg {
-    struct Header header;
-    uint8_t sub_mode;
-    uint8_t msg_id;
-    union {
-        struct {
-            float x;
-            float y;
-            float z;
-        } position;
-        struct {
-            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 Footer footer;
-};
-
 union Request {
     struct Header header;
     struct SetSdkConnectionReq sdkconn;
@@ -341,7 +295,6 @@ union Request {
     struct GimbalCtrlSpeedReq gimbspeed;
     struct BlasterFireReq blaster;
     struct StreamCtrlReq stream;
-    struct AddSubMsgReq sub;
 };
 union Response {
     struct Header header;
@@ -358,8 +311,6 @@ union Response {
     struct GimbalCtrlSpeedResp gimbspeed;
     struct BlasterFireResp blaster;
     struct StreamCtrlResp stream;
-    struct AddSubMsgResp sub;
-    struct PushPeriodMsg push;
 };
 union Message {
     struct Header header;

include/sdk.h

@@ -108,34 +108,3 @@ 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

@@ -7,6 +7,7 @@
 #include <sys/socket.h>
 #include <sys/select.h>
 #include <netinet/in.h>
+#include <arpa/inet.h>
 #include <string.h>
 #include <fcntl.h>
 #include <stdio.h>
@@ -40,8 +41,6 @@ message_length(int cmd) {
             return sizeof(struct BlasterFireReq);
         case STREAM_CTRL_CMD:
             return sizeof(struct StreamCtrlReq);
-        case ADD_SUB_MSG_CMD:
-            return sizeof(struct AddSubMsgReq);
         default:
             return 0;
     }
@@ -59,7 +58,6 @@ 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:
@@ -81,49 +79,44 @@ int max_fd = -1;
 
 // TODO: Close the socket and return NULL on error
 struct Connection*
-connection_new(uint16_t source_port, uint32_t source_ip, uint16_t dest_port, uint32_t dest_ip)
+connection_new(unsigned int source_port, const char* source_ip, unsigned int dest_port, const char* 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) {
-       conn->local_addr.sin_family = AF_INET;
+       struct sockaddr_in loc_addr;
-       conn->local_addr.sin_port = htons(source_port);
+       loc_addr.sin_family = AF_INET;
-       conn->local_addr.sin_addr.s_addr = source_ip;
+       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);
+       }
     }
+ 
+    // 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 = dest_ip;
+    conn->remote_addr.sin_addr.s_addr = inet_addr(dest_ip);
-
-    return conn;
-}
-
-enum connection_error
-connection_connect(struct Connection* conn) {
-
-    // 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
-    int flags = fcntl(conn->sockfd, F_GETFL);
-    fcntl(conn->sockfd, F_SETFL, flags | O_NONBLOCK);
 
     // 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 CONNECTION_NO_ERROR;
+    return conn;
-
 }
 
 struct Connection*

src/connection.h

@@ -6,25 +6,14 @@
 #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(uint16_t source_port, uint32_t source_ip, uint16_t dest_port, uint32_t dest_ip);
+connection_new(unsigned int source_port, const char* source_ip, unsigned int dest_port, const char* 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/modules/sdk.c

@@ -96,24 +96,3 @@ 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

@@ -4,7 +4,6 @@
 
 #include <string.h>
 #include <stdlib.h>
-#include <arpa/inet.h>
 
 #include <stdio.h>
 
@@ -29,13 +28,6 @@ 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,
@@ -44,8 +36,6 @@ struct RobotImp {
         RESETTING_SUBNODE,
         SUSBCRIBING_SUBNODE,
         SETTING_MOVEMENT_MODE,
-        SUBSCRIBING_POSITION_STATUS,
-        SUBSCRIBING_GIMBAL_STATUS,
         SENDING_HEARTBEAT,
         WAITING,
         READY,
@@ -120,8 +110,7 @@ robot_work(Robot robot) {
 
         case CONNECTING_TO_PROXY_PORT:
         {
-            robot->client->sdk_conn = connection_new(0, 0, 30030, ROBOT_DEFAULT_WIFI_ADDR);
+            robot->client->sdk_conn = connection_new(0, 0, 30030, "192.168.2.1");
-            connection_connect(robot->client->sdk_conn);
             robot->state = SETTING_SDK_CONNECTION;
             break;
         }
@@ -136,8 +125,7 @@ robot_work(Robot robot) {
 
         case CONNECTING_TO_DEVICE_PORT:
         {
-            if(connection_connect(robot->client->dev_conn))
+            robot->client->dev_conn = connection_new(10010, "192.168.2.24", 20020, "192.168.2.1");
-                robot->state = STOPPED;
             robot->state = SETTING_SDK_MODE;
             break;
         }
@@ -182,22 +170,6 @@ 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) {
@@ -272,15 +244,12 @@ 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) {
                 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:
@@ -310,13 +279,6 @@ 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:
@@ -326,20 +288,6 @@ 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;