PgSocks 79682c1d04 | 2 years ago | |
---|---|---|
include | 2 years ago | |
src | 2 years ago | |
CMakeLists.txt | 2 years ago | |
README.md |
README.md
Ports
ROBOT_SDK_PORT_MIN = 10100
ROBOT_SDK_PORT_MAX = 10500
ROBOT_DEVICE_PORT = 20020
ROBOT_PROXY_PORT = 30030
ROBOT_BROADCAST_PORT = 40927
ROBOT_DEFAULT_WIFI_ADDR = 192.168.2.1
Direct WIFI connection
Send a SetSdkConnection
message to 192.168.2.1:30030
containing local IP
address (0.0.0.0
is fine) and a random port between 10100
and 10500
. The
Robomaster responds with a state, which should be 2, and the IP address
192.168.2.24
that the client should use. The client will then send further
messages to 192.168.2.1:20020
via 192.168.2.24:<random port>
.
Commands
- UTF-8 encoded
- command
- version
- quit
Message Format
All big-endian unless otherwise noted.
Header
The preamble 0x55
indicates the start of every message and is part of the
message header along with the length and a checksum of the header. A header is
always 4 bytes long.
bytes | description |
---|---|
1 | 0x55 preamble |
2 | length of message |
1 | 8-bit CRC |
The CRC is a checksum of the preamble and message length together. The length in bytes is of the entire message including the header.
Body
The data is always at least one byte.
bytes | description |
---|---|
1 | sender |
1 | receiver |
2 | seq ID |
1 | attri |
1 | cmdset |
1 | cmdid |
>1 | data |
2 | 16-bit CRC |
The last two bits of the attri byte starting from the LSB represent if the message is an ack and if an ack is needed. The other bits in the byte are unused. Any request can specify if an ack is required, or not. If no ack is required, the drone will not send a response.
bit | set | unset |
---|---|---|
8 | is ack | enc |
7 | ack needed | no ack needed |
TODO
- What is a seq ID?
- What is the format of sender and receiver?
- may not actually matter
- index always seems to be 0
index * 32 + host
- sender is
_client.hostbyte
- What is the difference between cmdid and cmdset?
Messages
name | cmdset | cmdid | bytes |
---|---|---|---|
led | 0x3f |
0x33 |
15 |
set sdk connection | 0x3f |
0xd4 |
10 |
SetSdkConnection
bytes | description |
---|---|
1 | control |
1 | host |
1 | connection |
1 | protocol |
4 | IP address |
Response message.
bytes | description |
---|---|
1 | Return code |
1 | state |
4 | IP address |
What is config_ip
? What is state
?
LED
bytes | description |
---|---|
4 | comp mask |
2 | LED mask |
1 | ctrl & effect mode |
1 | red |
1 | green |
1 | blue |
1 | loop |
2 | t1 |
2 | t2 |
Control and effect modes share one byte, in MSB and LSB respectively.