mobile

package module
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 Go to latest Published: Aug 6, 2024 License: Apache-2.0 Imports: 14 Imported by: 0

README

mobile

Go Mobile wrapper for the Robomaster SDK. This is mostly to address several limitations of Go Mobile and to expose things in a way that it will hopefully not complain about. This shoudl hopefully work with both Android and iOS.

Documentation

Index

Constants

View Source 
const (
	CameraHorizontalResolutionPoints = camera.HorizontalResolutionPoints
	CameraVerticalResolutionPoints   = camera.VerticalResolutionPoints
	CameraHorizontalFOVDegrees       = camera.HorizontalFOVDegrees
	CameraVerticalFOVDegrees         = camera.VerticalFOVDegrees
)

Variables

This section is empty.

Functions

This section is empty.

Types

type App 

type App struct {
	// contains filtered or unexported fields
}

App holds the ID for a specific app.

func NewApp 

func NewApp(id int64) (*App, error)

NewApp creates a new App instance with the given ID. If the ID is 0, a new ID will be generated.

func (*App) ID 

func (a *App) ID() int64

ID returns the ID for the App instance.

type Camera 

type Camera struct {
	// contains filtered or unexported fields
}

Camera allows controlling the robot camera.

func (*Camera) GLTextureData 

func (c *Camera) GLTextureData() (*GLTextureData, error)

GLTextureData returns information about the current texture used for rendering frames. See RenderNextFrame() above.

func (*Camera) IsRecordingVideo 

func (c *Camera) IsRecordingVideo() (isRecording bool, err error)

IsRecordingVideo returns true if the camera is currently recording video.

func (*Camera) RecordingTimeInSeconds 

func (c *Camera) RecordingTimeInSeconds() (recordingTime int64)

RecordingTimeInSeconds returns the current recording time in seconds.

func (*Camera) RenderNextFrame 

func (c *Camera) RenderNextFrame()

RenderNextFrame requests the next frame to be rendered. This is used by iOS and the frame will be rendered to a texture associated with an OpenGLES 2.0 context that was current when Start() is called. This should be called for for each frame to be rendered (up to 60 times per second).

func (*Camera) StartRecordingVideo 

func (c *Camera) StartRecordingVideo() (err error)

StartRecordingVideo starts recording video from the camera to the robot's SD card.

func (*Camera) StartVideo 

func (c *Camera) StartVideo() (err error)

StartVideo starts the camera video stream.

func (*Camera) StopRecordingVideo 

func (c *Camera) StopRecordingVideo() (err error)

StopRecordingVideo stops recording video from the camera to the robot's SD card.

func (*Camera) StopVideo 

func (c *Camera) StopVideo() (err error)

StopVideo stops the camera video stream.

type Chassis 

type Chassis struct {
	// contains filtered or unexported fields
}

Chassis allows controlling the robot chassis. It also works as the robot main controller interface.

func (*Chassis) Move 

func (c *Chassis) Move(ls *StickPosition, rs *StickPosition) error

Move moves the robot using the given stick positions. The left stick controls the robot's gimbal and chassis rotation and the right stick controls the robot's chassis (up/down/left/right).

type Client 

type Client struct {
	// contains filtered or unexported fields
}

Client is the main entry point for the mobile SDK.

func NewClient 

func NewClient(appID int64) (*Client, error)

NewClient creates a new Client instance. If appID is 0, the client will try to connect to the first available Robomaster robot. If it is non-zero, it will only connect to a robot that is broadcasting the given appID. The appID can be configured in the robot through a qrcode.

func NewWifiDirectClient 

func NewWifiDirectClient() (*Client, error)

NewWifiDirectClient creates a new Client instance that will connect to a Robomaster robot using Wifi Direct.

func (*Client) Camera 

func (c *Client) Camera() *Camera

Camera returns the Camera instance for the client.

func (*Client) Chassis 

func (c *Client) Chassis() *Chassis

Controller returns the Controller instance for the client.

func (*Client) Connection 

func (c *Client) Connection() *Connection

Connnection returns the Connection instance for the client.

func (*Client) GamePad 

func (c *Client) GamePad() *GamePad

GamePad returns the GamePad instance for the client. The GamePad is optional and may be nil.

func (*Client) Robot 

func (c *Client) Robot() *Robot

Robot returns the Robot instance for the client.

func (*Client) SDCard 

func (c *Client) SDCard() *SDCard

func (*Client) Start 

func (c *Client) Start() error

Start starts the client.

func (*Client) Stop 

func (c *Client) Stop() error

Stop stops the client.

type Connection 

type Connection struct {
	// contains filtered or unexported fields
}

Camera allows controlling the robot's connection.

func (*Connection) SignalQualityBars 

func (c *Connection) SignalQualityBars() int8

SignalQualityBars returns the current signal quality bars (1 to 4).

func (*Connection) SignalQualityLevel 

func (c *Connection) SignalQualityLevel() int8

SignalQualityLevel returns the current signal quality level (0 to 60).

type GLTextureData 

type GLTextureData struct {
	ID     int64
	Width  int32
	Height int32
}

type GamePad 

type GamePad struct {
	// contains filtered or unexported fields
}

GamePad allows controlling the DJI Robomaster gamepad accessory.

func (*GamePad) C1Pressed 

func (g *GamePad) C1Pressed() bool

C1Pressed returns whether the C1 button is pressed.

func (*GamePad) C2Pressed 

func (g *GamePad) C2Pressed() bool

C2Pressed returns whether the C2 button is pressed.

func (*GamePad) FirePressed 

func (g *GamePad) FirePressed() bool

FirePressed returns whether the fire button is pressed.

func (*GamePad) FnPressed 

func (g *GamePad) FnPressed() bool

FnPressed returns whether the Fn button is pressed.

type QRCode 

type QRCode struct {
	// contains filtered or unexported fields
}

QRCode allows generating QRCodes that can be read by a Robomaster robot.

func NewQRCode 

func NewQRCode(appID int64, countryCode, ssID, password,
	bssID string) (*QRCode, error)

NewQRCode creates a new QRCode instance. The bssID parameter is optional and may be an empty string.

func (*QRCode) Image 

func (q *QRCode) Image(size int) ([]byte, error)

Image returns the QRCode image (with size as its width and height) as a byte slice with RGB24 image data.

type Robot 

type Robot struct {
	// contains filtered or unexported fields
}

Robot allows reading the robot parameters.

func (*Robot) BatteryPowerPercent 

func (r *Robot) BatteryPowerPercent() int8

BatteryPowerPercent returns the current battery power percent (0 to 100).

func (*Robot) ChassisSpeedLevel 

func (r *Robot) ChassisSpeedLevel() (int8, error)

ChassisSpeedLevel returns the current chassis speed level.

func (*Robot) SetChassisSpeedLevel 

func (r *Robot) SetChassisSpeedLevel(speedLevel int8) error

SetChassisSpeedLevel sets the chassis speed level. Valid values are 0 (Fast), 1 (Medium) and 2 (Slow).

type SDCard 

type SDCard struct {
	// contains filtered or unexported fields
}

SDCard allows handling an SD card inserted into the robot.

func (*SDCard) AvailablePhotoCount 

func (s *SDCard) AvailablePhotoCount() (int64, error)

AvailablePhotoCount returns the estimated available photo count in the SD card.

func (*SDCard) AvailableRecordingTimeInSeconds 

func (s *SDCard) AvailableRecordingTimeInSeconds() (int64, error)

AvailableRecordingTimeInSeconds returns the estimated available recording time in seconds.

func (*SDCard) Format 

func (s *SDCard) Format() error

Format formats the SD card.

func (*SDCard) HasError 

func (s *SDCard) HasError() (bool, error)

HasError returns true if the SD card has an error.

func (*SDCard) IsFormatting 

func (s *SDCard) IsFormatting() (bool, error)

IsFormatting returns true if the SD card is being formatted.

func (*SDCard) IsFull 

func (s *SDCard) IsFull() (bool, error)

IsFull returns true if the SD card is full.

func (*SDCard) IsInserted 

func (s *SDCard) IsInserted() (bool, error)

IsInserted returns true if an SD card is inserted into the robot.

func (*SDCard) RemainingSpaceInMB 

func (s *SDCard) RemainingSpaceInMB() (int64, error)

RemainingSpaceInMB returns the remaining space in MB of the SD card.

func (*SDCard) TotalSpaceInMB 

func (s *SDCard) TotalSpaceInMB() (int64, error)

TotalSpaceInMB returns the total space in MB of the SD card.

type StickPosition 

type StickPosition struct {
	// contains filtered or unexported fields
}

StickPosition represents the position of a stick controller.

func NewStickPosition 

func NewStickPosition(x, y float64) *StickPosition

NewStickPosition creates a new StickPosition with the given X and Y positions.

func (*StickPosition) InterpolatedX 

func (s *StickPosition) InterpolatedX() int64

InterpolatedX returns the interpolated X position of the stick controller.

func (*StickPosition) InterpolatedY 

func (s *StickPosition) InterpolatedY() int64

InterpolatedY returns the interpolated Y position of the stick controller.

func (*StickPosition) Set 

func (s *StickPosition) Set(x, y float64)

Set sets the position of the stick controller. X and Y must be between 0.0 and 1.0.

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