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97 lines
1.7 KiB
C
97 lines
1.7 KiB
C
#pragma once
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#include "message.h"
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#include <stdbool.h>
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#include <stdint.h>
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static const uint8_t SDK_HOST = 9;
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static const uint8_t SDK_INDEX = 0;
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static const uint8_t SET_SDK_CONNECTION_CMDID = 0xD4;
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enum CONNECTION {
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CONNECTION_WIFI_AP = 0,
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CONNECTION_WIFI_STA = 1,
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CONNECTION_USB_RNDIS = 2
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};
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void
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set_sdk_connection(
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Client session,
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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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static const uint8_t SDK_HEARTBEAT_CMDID = 0xD5;
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void
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sdk_heartbeat(
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Client session );
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static const uint8_t SET_SDK_MODE_CMDID = 0xd1;
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void
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set_sdk_mode(Client session, bool enable);
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static const uint8_t SET_SYSTEM_LED_CMDID = 0x33;
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enum LEDCOMP {
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LEDCOMP_BOTTOM_BACK = 0x1,
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LEDCOMP_BOTTOM_FRONT = 0x2,
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LEDCOMP_BOTTOM_LEFT = 0x4,
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LEDCOMP_BOTTOM_RIGHT = 0x8,
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LEDCOMP_BOTTOM_ALL = 0xf,
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LEDCOMP_TOP_LEFT = 0x10,
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LEDCOMP_TOP_RIGHT = 0x20,
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LEDCOMP_TOP_ALL = 0x30,
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LEDCOMP_ALL = 0x3f
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};
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enum LEDEFFECT {
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LEDEFFECT_OFF = 0,
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LEDEFFECT_ON = 1,
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LEDEFFECT_BREATH = 2,
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LEDEFFECT_FLASH = 3,
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LEDEFFECT_SCROLLING = 4
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};
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void set_system_led (
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Client session,
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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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static const uint8_t SET_ROBOT_MODE_CMDID = 0x46;
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enum MOVEMENTMODE {
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MOVEMENTMODE_FREE,
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MOVEMENTMODE_GIMBAL_LEAD,
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MOVEMENTMODE_CHASSIS_LEAD
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};
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void
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set_robot_mode (
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Client session,
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enum MOVEMENTMODE mode );
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// cmdset 0x48
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static const uint8_t SUBNODE_RESET_CMDID = 0x02;
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void
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subnode_reset (
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Client session );
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// cmdset 0x48
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static const uint8_t SUBSCRIBE_ADD_NODE_CMDID = 0x01;
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void
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subscribe_add_node (
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Client session );
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