Start adding task status support.

examples/module/chassis/main_test.go

@@ -8,6 +8,7 @@ import (
 	robomaster "github.com/brunoga/robomaster"
 	"github.com/brunoga/robomaster/module"
 	"github.com/brunoga/robomaster/module/chassis"
+	"github.com/brunoga/robomaster/module/chassis/controller"
 	"github.com/brunoga/robomaster/unitybridge/support"
 	"github.com/brunoga/robomaster/unitybridge/support/logger"
 )
@@ -32,5 +33,11 @@ func TestMain(m *testing.M) {
 
 	chassisModule = c.Chassis()
 
+	// Set controller mode to SDK for the tests here.
+	err = chassisModule.SetControllerMode(controller.ModeSDK)
+	if err != nil {
+		panic(err)
+	}
+
 	os.Exit(m.Run())
 }

examples/module/chassis/set_position_test.go

@@ -0,0 +1,17 @@
+package chassis
+
+import (
+	"testing"
+	"time"
+
+	"github.com/brunoga/robomaster/module/chassis"
+)
+
+func TestSetPosition(t *testing.T) {
+	err := chassisModule.SetPosition(chassis.ModeAngularVelocity, 1, 0, 0)
+	if err != nil {
+		panic(err)
+	}
+
+	time.Sleep(5 * time.Second)
+}

examples/module/chassis/set_speed_test.go

@@ -5,21 +5,15 @@ import (
 	"time"
 
 	"github.com/brunoga/robomaster/module/chassis"
-	"github.com/brunoga/robomaster/module/chassis/controller"
 )
 
 func TestSetSpeed(t *testing.T) {
-	err := chassisModule.SetControllerMode(controller.ModeSDK)
-	if err != nil {
-		panic(err)
-	}
-	defer chassisModule.SetControllerMode(controller.ModeFPV)
-
 	setSpeed(1*time.Second, 0.2, 0.0, 0.0)
-	setSpeed(1*time.Second, 0.0, 0.2, 0.0)
 	setSpeed(1*time.Second, -0.2, 0.0, 0.0)
+	setSpeed(1*time.Second, 0.0, 0.2, 0.0)
 	setSpeed(1*time.Second, 0.0, -0.2, 0.0)
-	setSpeed(1*time.Second, 0.0, 0.0, 360.0)
+	setSpeed(1*time.Second, 0.0, 0.0, 180.0)
+	setSpeed(1*time.Second, 0.0, 0.0, -180.0)
 }
 
 func setSpeed(d time.Duration, x, y, z float64) {

module/chassis/chassis.go

@@ -14,6 +14,7 @@ import (
 	"github.com/brunoga/robomaster/unitybridge/unity/key"
 	"github.com/brunoga/robomaster/unitybridge/unity/result"
 	"github.com/brunoga/robomaster/unitybridge/unity/result/value"
+	"github.com/brunoga/robomaster/unitybridge/unity/task"
 )
 
 // Chassis allows controlling the robot chassis. It also works as the robot main
@@ -115,15 +116,13 @@ func (c *Chassis) SetPosition(m Mode, x, y, z float64) error {
 		controlMode = 1
 	}
 
-	return c.UB().PerformActionForKey(key.KeyMainControllerChassisPosition, &value.ChassisPosition{
-		TaskID:      1,
+	return c.UB().PerformActionForKeySync(key.KeyMainControllerChassisPosition, &value.ChassisPosition{
+		TaskType:    task.TypeChassisPosition,
 		IsCancel:    0,
 		ControlMode: controlMode,
 		X:           float32(x),
 		Y:           float32(y),
 		Z:           float32(z),
-	}, func(r *result.Result) {
-		fmt.Println("ChassisPosition result:", r)
 	})
 }
 

unitybridge/unity/key/key.go

@@ -168,7 +168,7 @@ var (
 	KeyRobomasterSystemConfigSkillTable                 = newKey("KeyRobomasterSystemConfigSkillTable", 83886130, AccessTypeWrite, nil)
 	KeyRobomasterSystemWorkingDevices                   = newKey("KeyRobomasterSystemWorkingDevices", 83886131, AccessTypeRead, &value.List[uint16]{})
 	KeyRobomasterSystemExceptions                       = newKey("KeyRobomasterSystemExceptions", 83886132, AccessTypeRead, nil)
-	KeyRobomasterSystemTaskStatus                       = newKey("KeyRobomasterSystemTaskStatus", 83886133, AccessTypeRead, nil)
+	KeyRobomasterSystemTaskStatus                       = newKey("KeyRobomasterSystemTaskStatus", 83886133, AccessTypeRead, &value.TaskStatus{})
 	KeyRobomasterSystemReturnEnabled                    = newKey("KeyRobomasterSystemReturnEnabled", 83886134, AccessTypeRead|AccessTypeWrite, nil)
 	KeyRobomasterSystemSafeMode                         = newKey("KeyRobomasterSystemSafeMode", 83886135, AccessTypeRead|AccessTypeWrite, nil)
 	KeyRobomasterSystemScratchExecuteState              = newKey("KeyRobomasterSystemScratchExecuteState", 83886136, AccessTypeRead, nil)

unitybridge/unity/result/value/chassis_position.go

@@ -1,10 +1,12 @@
 package value
 
+import "github.com/brunoga/robomaster/unitybridge/unity/task"
+
 type ChassisPosition struct {
-	TaskID      uint8   `json:"taskId"`
-	IsCancel    uint8   `json:"isCancel"`
-	ControlMode uint8   `json:"controlMode"`
-	X           float32 `json:"positionX"`
-	Y           float32 `json:"positionY"`
-	Z           float32 `json:"positionYaw"`
+	TaskType    task.Type `json:"taskId"`
+	IsCancel    uint8     `json:"isCancel"`
+	ControlMode uint8     `json:"controlMode"`
+	X           float32   `json:"positionX"`
+	Y           float32   `json:"positionY"`
+	Z           float32   `json:"positionYaw"`
 }

unitybridge/unity/result/value/task_status.go

@@ -0,0 +1,9 @@
+package value
+
+import "github.com/brunoga/robomaster/unitybridge/unity/task"
+
+type TaskStatus struct {
+	TaskType task.Type   `json:"taskId"` // JSON name seems mismatched. Check.
+	Percent  float64     `json:"percent"`
+	Status   task.Status `json:"status"`
+}

unitybridge/unity/task/status.go

@@ -0,0 +1,10 @@
+package task
+
+type Status int8
+
+const (
+	StatusRunning Status = iota
+	StatusSuccess
+	StatusFailure
+	StatusCount
+)

unitybridge/unity/task/type.go

@@ -0,0 +1,11 @@
+package task
+
+type Type int8
+
+const (
+	TypeUnknown Type = iota
+	TypeChassisPosition
+	TypeGimbalReset
+	TypeGimbalAngle
+	TypeCount
+)