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robomaster-sdk/include/roboeasy.h

103 lines
3.0 KiB
C

#pragma once
#include <stdbool.h>
// Handle for the high level robot interface
struct RobotImp;
typedef struct RobotImp* Robot;
/*
* Return a handle to the high level robot interface, or NULL on error.
*/
Robot robot_new();
/*
* Queue initialization tasks before further commands can be sent to the robot.
* The robot is not guaranteed to be ready until a ready message is popped from
* the work function.
*
* robot: The robot to initialize
* returns: 0 on success, non-zero on failure
*/
int robot_init(Robot robot);
/*
* Request the robot to stop. This does not stop the robot immediately. The
* robot has stopped once the work function returns that there is no more work
* to do.
*
* robot: The robot to stop
* returns: 0 on success, non-zero on failure
*/
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);
int robot_target(Robot robot, float pitch, float yaw);
int robot_target_to(Robot robot, float pitch, float yaw);
/*
* Set the velocity of the robot chassis. 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
* x: strafe velocity
* y: forward and backward velocity
* r: rotation velocity
* returns: 0 on success, non-zero on failure
*/
int robot_drive(Robot, float x, float y, float r);
/*
* TODO: This is too simplistic for what the lights are capable of.
* Set the color of all LEDs on the robot. A packet will be sent to the robot
* on the next ready tick of the work function.
*
* robot: The robot to set LED colors of
* r: red
* g: green
* b: blue
* returns: 0 on success, non-zero on failure
*/
int robot_led(Robot, unsigned char r, unsigned char g, unsigned char b);
int robot_blast(Robot);
int robot_stream(Robot, bool);
/*
* If the robot is in ready mode, this makes the robot send a heartbeat in
* the next tick of the work function. The work function will not do anything
* else until a heartbeat response is received.
*
* A heartbeat must be sent periodically or else the robot will become
* unresponsive. This function is thread-safe and can be called in a
* busy-waiting loop, signal handler, or background thread.
*
* robot: The robot to send a heartbeat to
* returns: 0 on success, non-zero on failure
*/
int robot_heartbeat(Robot robot);
/*
* This does all of the work in small pieces so it returns as quickly as
* possible. Most of the other functions in this API simply set a flag
* to signal this function to work. A non-zero value is returned until
* no more work is left, which would only happen shortly after the stop
* function is called and any remaining tasks have been worked through.
*
* robot: The robot to do periodic work on
* returns: non-zero until stop function is called
*/
int robot_work(Robot robot);