Increment major version

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

.github/issue_template

@@ -1,59 +0,0 @@
-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

@@ -15,10 +15,8 @@ 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

@@ -1,20 +0,0 @@
-#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

@@ -168,30 +168,6 @@ 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;
@@ -260,7 +236,6 @@ union Request {
     struct SetRobotModeReq mvmode;
     struct SubNodeResetReq subnodereset;
     struct SubscribeAddNodeReq subnodeadd;
-    struct GimbalCtrlSpeedReq gimbspeed;
 };
 union Response {
     struct Header header;
@@ -274,7 +249,6 @@ 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 RobotImp;
-typedef struct RobotImp* Robot;
+struct Robot;
+typedef struct Robot* Robot;
 
 /*
  * Return a handle to the high level robot interface, or NULL on error.
@@ -29,17 +29,6 @@ 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

@@ -7,7 +7,6 @@ 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

@@ -35,8 +35,6 @@ 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;
     }
@@ -58,8 +56,6 @@ 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, ack, req);
+    req_finalize(seq, SET_WHEEL_SPEED_CMD, false, 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, ack, req);
+    req_finalize(seq, CHASSIS_SPEED_MODE_CMD, false, req);
 }

src/modules/gimbal.c

@@ -1,18 +0,0 @@
-#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, ack, req);
+    req_finalize(seq, SET_SDK_CONNECTION_CMD, true, req);
 }
 
 void
@@ -27,7 +27,7 @@ set_sdk_mode(
         bool ack,
 		bool enable ) {
     req->sdkmode.enable = enable;
-    req_finalize(seq, SET_SDK_MODE_CMD, ack, req);
+    req_finalize(seq, SET_SDK_MODE_CMD, true, req);
 }
 
 void
@@ -35,7 +35,7 @@ sdk_heartbeat(
 		union Request* req,
         uint16_t seq,
         bool ack ) {
-    req_finalize(seq, SDK_HEARTBEAT_CMD, ack, req);
+    req_finalize(seq, SDK_HEARTBEAT_CMD, false, 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, ack, req);
+    req_finalize(seq, SET_ROBOT_MODE_CMD, true, 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, ack, req);
+    req_finalize(seq, SUBNODE_RESET_CMD, true, 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, ack, req);
+    req_finalize(seq, SUBSCRIBE_ADD_NODE_CMD, true, req);
 }
 
 void
@@ -93,6 +93,6 @@ set_system_led (
     req->led.t1 = t1;
     req->led.t2 = t2;
 
-    req_finalize(seq, SET_SYSTEM_LED_CMD, ack, req);
+    req_finalize(seq, SET_SYSTEM_LED_CMD, true, req);
 
 }

src/robo.c

@@ -5,7 +5,7 @@
 #include <string.h>
 #include <stdlib.h>
 
-struct RobotImp {
+struct Robot {
 
     struct Client* client;
     uint16_t seq;
@@ -16,9 +16,6 @@ struct RobotImp {
     uint8_t colors[3];
     bool dirty_colors;
 
-    int16_t gimbal[2];
-    bool dirty_gimbal;
-
     bool sdk_mode;
 
     enum {
@@ -49,14 +46,6 @@ 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;
@@ -162,15 +151,6 @@ 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,
@@ -249,8 +229,8 @@ robot_work(Robot robot) {
 }
 
 Robot robot_new() {
-    struct RobotImp* robot = malloc(sizeof(struct RobotImp));
-    memset(robot, 0, sizeof(struct RobotImp));
+    struct Robot* robot = malloc(sizeof(struct Robot));
+    memset(robot, 0, sizeof(struct Robot));
     return robot;
 }
 

src/sdl.c

@@ -16,11 +16,9 @@ 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) {
@@ -29,15 +27,10 @@ static Uint32 heartbeat_timer_handler(Uint32 interval, void* param) {
 }
 
 int main(int argc, char* argv[]) {
-    if(SDL_Init(SDL_INIT_VIDEO | SDL_INIT_JOYSTICK) < 0) {
+    if(SDL_Init(SDL_INIT_VIDEO | SDL_INIT_GAMECONTROLLER) < 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,
@@ -54,9 +47,6 @@ 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)) {
@@ -89,36 +79,8 @@ 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:
@@ -128,7 +90,6 @@ int main(int argc, char* argv[]) {
 	    }
     }
 
-    SDL_JoystickClose(joystick);
     SDL_Quit();
     return 0;
 }