Add issue template

The low level API needed to change to accomodate the hight level API,
which is a major revision.

.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

@@ -15,8 +15,10 @@ add_library(robomaster
     src/message.c
     src/modules/sdk.c
     src/modules/chassis.c
+    src/modules/gimbal.c
     src/connection.c
     src/robomaster.c
+    src/robo.c
 )
 
 target_include_directories(robomaster

include/gimbal.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "message.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+
+static const uint8_t GIMBAL_HOST = 4;
+static const uint8_t GIMBAL_INDEX = 0;
+
+#define GIMBAL_CTRL_SPEED_CMD 0x0C04
+
+void
+gimbal_ctrl_speed (
+		union Request* req,
+        uint16_t seq,
+        bool ack,
+		int16_t p,
+		int16_t y,
+		int16_t r );

include/message.h

@@ -168,6 +168,30 @@ struct PACKED SetChassisWheelSpeedResp
     struct Footer footer;
 };
 
+struct PACKED GimbalCtrlSpeedReq
+{
+    struct Header header;
+    // Values between -360 and 360
+    union {
+        int16_t yrp[3];
+        struct {
+            int16_t yaw;
+            int16_t roll;
+            int16_t pitch;
+        };
+    };
+    // Always 0xDC
+    uint8_t ctrl;
+    struct Footer footer;
+};
+
+struct PACKED GimbalCtrlSpeedResp
+{
+    struct Header header;
+    int8_t retcode;
+    struct Footer footer;
+};
+
 struct PACKED SetWheelSpeedReq
 {
     struct Header header;
@@ -236,6 +260,7 @@ union Request {
     struct SetRobotModeReq mvmode;
     struct SubNodeResetReq subnodereset;
     struct SubscribeAddNodeReq subnodeadd;
+    struct GimbalCtrlSpeedReq gimbspeed;
 };
 union Response {
     struct Header header;
@@ -249,6 +274,7 @@ union Response {
     struct SetRobotModeResp mvmode;
     struct SubNodeResetResp subnodereset;
     struct SubscribeAddNodeResp subnodeadd;
+    struct GimbalCtrlSpeedResp gimbspeed;
 };
 union Message {
     struct Header header;

include/roboeasy.h

@@ -1,8 +1,8 @@
 #pragma once
 
 // Handle for the high level robot interface
-struct Robot;
-typedef struct Robot* Robot;
+struct RobotImp;
+typedef struct RobotImp* Robot;
 
 /*
  * Return a handle to the high level robot interface, or NULL on error.
@@ -29,6 +29,17 @@ int robot_init(Robot robot);
  */
 int robot_stop(Robot robot);
 
+/*
+ * Set the gimble speed. A packet will be sent to the robot on
+ * the next ready tick of the work function.
+ *
+ * robot: The robot to set the velocity of
+ * p: pitch speed
+ * y: yaw speed
+ * returns: 0 on success, non-zero on failure
+ */
+int robot_aim(Robot, float p, float y);
+
 /*
  * Set the velocity of the robot chassis. A packet will be sent to the robot on
  * the next ready tick of the work function.

include/robomaster.h

@@ -7,6 +7,7 @@ typedef struct Client* Client;
 #include "message.h"
 #include "chassis.h"
 #include "sdk.h"
+#include "gimbal.h"
 
 Client client_new();
 void client_connect(Client client);

src/connection.c

@@ -35,6 +35,8 @@ message_length(int cmd) {
             return sizeof(struct SetWheelSpeedReq);
         case CHASSIS_SPEED_MODE_CMD:
             return sizeof(struct ChassisSpeedModeReq);
+        case GIMBAL_CTRL_SPEED_CMD:
+            return sizeof(struct GimbalCtrlSpeedReq);
         default:
             return 0;
     }
@@ -56,6 +58,8 @@ message_module(int cmd) {
         case SET_WHEEL_SPEED_CMD:
         case CHASSIS_SPEED_MODE_CMD:
             return host2byte(CHASSIS_HOST, CHASSIS_INDEX);
+        case GIMBAL_CTRL_SPEED_CMD:
+            return host2byte(GIMBAL_HOST, GIMBAL_INDEX);
         default:
             return 0;
     }

src/modules/chassis.c

@@ -15,7 +15,7 @@ set_wheel_speed (
     req->wheel.wheel_speed[1] = w2;
     req->wheel.wheel_speed[2] = w3;
     req->wheel.wheel_speed[3] = w4;
-    req_finalize(seq, SET_WHEEL_SPEED_CMD, false, req);
+    req_finalize(seq, SET_WHEEL_SPEED_CMD, ack, req);
 }
 
 void
@@ -29,5 +29,5 @@ chassis_speed_mode (
     req->chsspeed.speed[0] = x;
     req->chsspeed.speed[1] = y;
     req->chsspeed.speed[2] = z;
-    req_finalize(seq, CHASSIS_SPEED_MODE_CMD, false, req);
+    req_finalize(seq, CHASSIS_SPEED_MODE_CMD, ack, req);
 }

src/modules/gimbal.c

@@ -0,0 +1,18 @@
+#include "message.h"
+#include "connection.h"
+#include "robomaster.h"
+
+void
+gimbal_ctrl_speed (
+		union Request* req,
+        uint16_t seq,
+        bool ack,
+		int16_t p,
+		int16_t y,
+		int16_t r ) {
+    req->gimbspeed.yaw = y;
+    req->gimbspeed.roll = r;
+    req->gimbspeed.pitch = p;
+    req->gimbspeed.ctrl = 0xDC;
+    req_finalize(seq, GIMBAL_CTRL_SPEED_CMD, ack, req);
+}

src/modules/sdk.c

@@ -17,7 +17,7 @@ set_sdk_connection(
     req->sdkconn.protocol = 0;
     req->sdkconn.ip_address = ip_address;
     req->sdkconn.port = port;
-    req_finalize(seq, SET_SDK_CONNECTION_CMD, true, req);
+    req_finalize(seq, SET_SDK_CONNECTION_CMD, ack, req);
 }
 
 void
@@ -27,7 +27,7 @@ set_sdk_mode(
         bool ack,
 		bool enable ) {
     req->sdkmode.enable = enable;
-    req_finalize(seq, SET_SDK_MODE_CMD, true, req);
+    req_finalize(seq, SET_SDK_MODE_CMD, ack, req);
 }
 
 void
@@ -35,7 +35,7 @@ sdk_heartbeat(
 		union Request* req,
         uint16_t seq,
         bool ack ) {
-    req_finalize(seq, SDK_HEARTBEAT_CMD, false, req);
+    req_finalize(seq, SDK_HEARTBEAT_CMD, ack, req);
 }
 
 void
@@ -45,7 +45,7 @@ set_robot_mode (
         bool ack,
 		enum MOVEMENTMODE mode ) {
     req->mvmode.mode = mode;
-    req_finalize(seq, SET_ROBOT_MODE_CMD, true, req);
+    req_finalize(seq, SET_ROBOT_MODE_CMD, ack, req);
 }
 
 void
@@ -54,7 +54,7 @@ subnode_reset (
         uint16_t seq,
         bool ack ) {
     req->subnodereset.hostbyte = host2byte(CLIENT_HOST, CLIENT_INDEX);
-    req_finalize(seq, SUBNODE_RESET_CMD, true, req);
+    req_finalize(seq, SUBNODE_RESET_CMD, ack, req);
 }
 
 void
@@ -64,7 +64,7 @@ subscribe_add_node (
         bool ack ) {
     req->subnodeadd.hostbyte = host2byte(CLIENT_HOST, CLIENT_INDEX);
     req->subnodeadd.sub_vision = 0x03000000;
-    req_finalize(seq, SUBSCRIBE_ADD_NODE_CMD, true, req);
+    req_finalize(seq, SUBSCRIBE_ADD_NODE_CMD, ack, req);
 }
 
 void
@@ -93,6 +93,6 @@ set_system_led (
     req->led.t1 = t1;
     req->led.t2 = t2;
 
-    req_finalize(seq, SET_SYSTEM_LED_CMD, true, req);
+    req_finalize(seq, SET_SYSTEM_LED_CMD, ack, req);
 
 }

src/robo.c

@@ -5,7 +5,7 @@
 #include <string.h>
 #include <stdlib.h>
 
-struct Robot {
+struct RobotImp {
 
     struct Client* client;
     uint16_t seq;
@@ -16,6 +16,9 @@ struct Robot {
     uint8_t colors[3];
     bool dirty_colors;
 
+    int16_t gimbal[2];
+    bool dirty_gimbal;
+
     bool sdk_mode;
 
     enum {
@@ -46,6 +49,14 @@ robot_drive(Robot robot, float x, float y, float r) {
     return 1;
 }
 
+int
+robot_aim(Robot robot, float p, float y) {
+    robot->gimbal[0] = p * 360;
+    robot->gimbal[1] = y * 360;
+    robot->dirty_gimbal = true;
+    return 1;
+}
+
 int
 robot_led(Robot robot, unsigned char r, unsigned char g, unsigned char b) {
     robot->colors[0] = r;
@@ -151,6 +162,15 @@ robot_work(Robot robot) {
                 req_send(robot->client->dev_conn, &req);
                 robot->dirty_wheels = false;
             }
+            if(robot->dirty_gimbal) {
+                gimbal_ctrl_speed (
+                        &req, robot->seq++, false,
+                        robot->gimbal[0],
+                        robot->gimbal[1],
+                        0 );
+                req_send(robot->client->dev_conn, &req);
+                robot->dirty_gimbal = false;
+            }
             if(robot->dirty_colors) {
                 set_system_led (
                         &req, robot->seq++, false,
@@ -229,8 +249,8 @@ robot_work(Robot robot) {
 }
 
 Robot robot_new() {
-    struct Robot* robot = malloc(sizeof(struct Robot));
-    memset(robot, 0, sizeof(struct Robot));
+    struct RobotImp* robot = malloc(sizeof(struct RobotImp));
+    memset(robot, 0, sizeof(struct RobotImp));
     return robot;
 }
 

src/sdl.c

@@ -16,9 +16,11 @@ struct {
 };
 int color = 0;
 
+float pitch = 0, yaw = 0;
 float x = 0, y = 0, z = 0;
 static Uint32 drive_timer_handler(Uint32 interval, void* param) {
     robot_drive((Robot)param, x, y, z);
+    robot_aim((Robot)param, pitch, yaw);
     return 75;
 }
 static Uint32 heartbeat_timer_handler(Uint32 interval, void* param) {
@@ -27,10 +29,15 @@ static Uint32 heartbeat_timer_handler(Uint32 interval, void* param) {
 }
 
 int main(int argc, char* argv[]) {
-    if(SDL_Init(SDL_INIT_VIDEO | SDL_INIT_GAMECONTROLLER) < 0) {
+    if(SDL_Init(SDL_INIT_VIDEO | SDL_INIT_JOYSTICK) < 0) {
         fprintf(stderr, "%s", SDL_GetError());
         return 1;
     }
+    printf("Detected %d joysticks\n", SDL_NumJoysticks());
+    SDL_Joystick* joystick = NULL;
+    if(SDL_NumJoysticks() > 0) {
+        joystick = SDL_JoystickOpen(0);
+    }
     SDL_Window* win = SDL_CreateWindow(
 		    "Robomaster",
 		    SDL_WINDOWPOS_UNDEFINED,
@@ -47,6 +54,9 @@ int main(int argc, char* argv[]) {
     SDL_AddTimer(75, drive_timer_handler, robot);
     SDL_AddTimer(1000, heartbeat_timer_handler, robot);
 
+    int h, w;
+    SDL_GetWindowSize(win, &w, &h);
+
     while(robot_work(robot)) {
         SDL_Event event;
         while(SDL_PollEvent(&event)) {
@@ -79,8 +89,36 @@ int main(int argc, char* argv[]) {
                         case SDL_SCANCODE_SPACE:
                             robot_led(robot, colors[color].r, colors[color].g, colors[color].b);
                             color = (color + 1) % 3;
+                            break;
                         default: break;
 		            }
+                    break;
+                case SDL_MOUSEMOTION:
+                    yaw = (float)event.motion.xrel;
+                    pitch = (float)event.motion.yrel;
+                    break;
+                case SDL_JOYAXISMOTION:
+                    switch(event.jaxis.axis) {
+                        case 0:
+                            x = (float)event.jaxis.value / 32767;
+                            break;
+                        case 1:
+                            y = (float)event.jaxis.value / 32767;
+                            break;
+                        case 4:
+                            z = (float)event.jaxis.value / 32767 / 2;
+                            break;
+                        case 2:
+                            yaw = (float)event.jaxis.value / 32767;
+                            break;
+                        case 3:
+                            pitch = (float)event.jaxis.value / 32767;
+                            break;
+                        default:
+                            printf("axis: %d\n", event.jaxis.axis);
+                            break;
+                    }
+                    break;
                 case SDL_WINDOWEVENT:
                     if(event.window.event != SDL_WINDOWEVENT_CLOSE) break;
                 case SDL_QUIT:
@@ -90,6 +128,7 @@ int main(int argc, char* argv[]) {
 	    }
     }
 
+    SDL_JoystickClose(joystick);
     SDL_Quit();
     return 0;
 }