#include "message.h"
#include "connection.h"
#include "robomaster.h"

void
set_sdk_connection(
		union Request* req,
        uint16_t seq,
        bool ack,
		enum CONNECTION connection_type,
		uint32_t ip_address,
		uint16_t port ) {

    req->sdkconn.control = 0;
    req->sdkconn.host = host2byte(CLIENT_HOST, CLIENT_INDEX);
    req->sdkconn.connection = connection_type;
    req->sdkconn.protocol = 0;
    req->sdkconn.ip_address = ip_address;
    req->sdkconn.port = port;
    req_finalize(seq, SET_SDK_CONNECTION_CMD, ack, req);
}

void
set_sdk_mode(
		union Request* req,
        uint16_t seq,
        bool ack,
		bool enable ) {
    req->sdkmode.enable = enable;
    req_finalize(seq, SET_SDK_MODE_CMD, ack, req);
}

void
sdk_heartbeat(
		union Request* req,
        uint16_t seq,
        bool ack ) {
    req_finalize(seq, SDK_HEARTBEAT_CMD, ack, req);
}

void
set_robot_mode (
		union Request* req,
        uint16_t seq,
        bool ack,
		enum MOVEMENTMODE mode ) {
    req->mvmode.mode = mode;
    req_finalize(seq, SET_ROBOT_MODE_CMD, ack, req);
}

void
subnode_reset (
		union Request* req,
        uint16_t seq,
        bool ack ) {
    req->subnodereset.hostbyte = host2byte(CLIENT_HOST, CLIENT_INDEX);
    req_finalize(seq, SUBNODE_RESET_CMD, ack, req);
}

void
subscribe_add_node (
		union Request* req,
        uint16_t seq,
        bool ack ) {
    req->subnodeadd.hostbyte = host2byte(CLIENT_HOST, CLIENT_INDEX);
    req->subnodeadd.sub_vision = 0x03000000;
    req_finalize(seq, SUBSCRIBE_ADD_NODE_CMD, ack, req);
}

void
set_system_led (
		union Request* req,
        uint16_t seq,
        bool ack,
		uint8_t red,
		uint8_t green,
		uint8_t blue,
		enum LEDCOMP comp,
		uint16_t led_mask,
		enum LEDEFFECT effect,
		uint16_t t1,
		uint16_t t2 ) {


    req->led.comp_mask = comp;
    req->led.led_mask = led_mask;
    req->led.effect_mode = effect;
    req->led.control_mode = 7;
    req->led.red = red;
    req->led.green = green;
    req->led.blue = blue;
    req->led.loop = 0;
    req->led.t1 = t1;
    req->led.t2 = t2;

    req_finalize(seq, SET_SYSTEM_LED_CMD, ack, req);

}