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99 lines
2.1 KiB
C
99 lines
2.1 KiB
C
#include "message.h"
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#include "connection.h"
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#include "robomaster.h"
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void
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set_sdk_connection(
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union Request* req,
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uint16_t seq,
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bool ack,
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enum CONNECTION connection_type,
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uint32_t ip_address,
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uint16_t port ) {
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req->sdkconn.control = 0;
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req->sdkconn.host = host2byte(CLIENT_HOST, CLIENT_INDEX);
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req->sdkconn.connection = connection_type;
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req->sdkconn.protocol = 0;
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req->sdkconn.ip_address = ip_address;
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req->sdkconn.port = port;
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req_finalize(seq, SET_SDK_CONNECTION_CMD, ack, req);
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}
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void
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set_sdk_mode(
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union Request* req,
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uint16_t seq,
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bool ack,
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bool enable ) {
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req->sdkmode.enable = enable;
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req_finalize(seq, SET_SDK_MODE_CMD, ack, req);
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}
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void
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sdk_heartbeat(
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union Request* req,
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uint16_t seq,
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bool ack ) {
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req_finalize(seq, SDK_HEARTBEAT_CMD, ack, req);
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}
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void
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set_robot_mode (
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union Request* req,
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uint16_t seq,
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bool ack,
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enum MOVEMENTMODE mode ) {
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req->mvmode.mode = mode;
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req_finalize(seq, SET_ROBOT_MODE_CMD, ack, req);
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}
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void
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subnode_reset (
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union Request* req,
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uint16_t seq,
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bool ack ) {
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req->subnodereset.hostbyte = host2byte(CLIENT_HOST, CLIENT_INDEX);
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req_finalize(seq, SUBNODE_RESET_CMD, ack, req);
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}
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void
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subscribe_add_node (
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union Request* req,
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uint16_t seq,
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bool ack ) {
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req->subnodeadd.hostbyte = host2byte(CLIENT_HOST, CLIENT_INDEX);
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req->subnodeadd.sub_vision = 0x03000000;
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req_finalize(seq, SUBSCRIBE_ADD_NODE_CMD, ack, req);
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}
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void
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set_system_led (
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union Request* req,
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uint16_t seq,
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bool ack,
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uint8_t red,
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uint8_t green,
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uint8_t blue,
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enum LEDCOMP comp,
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uint16_t led_mask,
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enum LEDEFFECT effect,
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uint16_t t1,
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uint16_t t2 ) {
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req->led.comp_mask = comp;
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req->led.led_mask = led_mask;
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req->led.effect_mode = effect;
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req->led.control_mode = 7;
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req->led.red = red;
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req->led.green = green;
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req->led.blue = blue;
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req->led.loop = 0;
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req->led.t1 = t1;
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req->led.t2 = t2;
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req_finalize(seq, SET_SYSTEM_LED_CMD, ack, req);
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}
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