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

void
set_sdk_connection(
		Client session,
		enum CONNECTION connection_type,
		uint32_t ip_address,
		uint16_t port ) {

    union Request req = {0};
    req.sdkconn.control = 0;
    req.sdkconn.host = session->hostbyte;
    req.sdkconn.connection = connection_type;
    req.sdkconn.protocol = 0;
    req.sdkconn.ip_address = ip_address;
    req.sdkconn.port = port;
    req_finalize(session, 0x3F, SET_SDK_CONNECTION_CMDID, host2byte(SDK_HOST, SDK_INDEX), true, sizeof(struct SetSdkConnectionReq), &req);
    req_send(session->sdk_conn, &req, sizeof(struct SetSdkConnectionReq));
}

void
set_sdk_mode(
		Client session,
		bool enable ) {
    union Request req = {0};
    req.sdkmode.enable = enable;
    req_finalize(session, 0x3F, SET_SDK_MODE_CMDID, host2byte(SDK_HOST, SDK_INDEX), true, sizeof(struct SetSdkModeReq), &req);
    req_send(session->dev_conn, &req, sizeof(struct SetSdkModeReq));
}

void
sdk_heartbeat(
		Client session ) {
    union Request req = {0};
    req_finalize(session, 0x3F, SDK_HEARTBEAT_CMDID, host2byte(SDK_HOST, SDK_INDEX), false, sizeof(struct SdkHeartbeatReq), &req);
    req_send(session->dev_conn, &req, sizeof(struct SdkHeartbeatReq));
}

void
set_robot_mode (
		Client session,
		enum MOVEMENTMODE mode ) {
    union Request req = {0};
    req.mvmode.mode = mode;
    req_finalize(session, 0x3F, SET_ROBOT_MODE_CMDID, host2byte(SDK_HOST, SDK_INDEX), true, sizeof(struct SetRobotModeReq), &req);
    req_send(session->dev_conn, &req, sizeof(struct SetRobotModeReq));
}

void
subnode_reset (
		Client session ) {
    union Request req = {0};
    req.subnodereset.hostbyte = session->hostbyte;
    req_finalize(session, 0x48, SUBNODE_RESET_CMDID, host2byte(SDK_HOST, SDK_INDEX), true, sizeof(struct SubNodeResetReq), &req);
    req_send(session->dev_conn, &req, sizeof(struct SubNodeResetReq));
}

void
subscribe_add_node (
		Client session ) {
    union Request req = {0};
    req.subnodeadd.hostbyte = session->hostbyte;
    req.subnodeadd.sub_vision = 0x03000000;
    req_finalize(session, 0x48, SUBSCRIBE_ADD_NODE_CMDID, host2byte(SDK_HOST, SDK_INDEX), true, sizeof(struct SubscribeAddNodeReq), &req);
    req_send(session->dev_conn, &req, sizeof(struct SubscribeAddNodeReq));
}

void
set_system_led (
		Client session,
		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 ) {

    union Request req = {0};

    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(session, 0x3F, SET_SYSTEM_LED_CMDID, host2byte(SDK_HOST, SDK_INDEX), true, sizeof(struct SetSystemLedReq), &req);
    req_send(session->dev_conn, &req, sizeof(struct SetSystemLedReq));

}