C_RESULT ardrone_tool_init( const char* ardrone_ip, size_t n, AT_CODEC_FUNCTIONS_PTRS *ptrs, const char *appname, const char *usrname)
{
// Initalize mutex and condition
vp_os_mutex_init(&ardrone_tool_mutex);
ardrone_tool_in_pause = FALSE;
// Initialize ardrone_control_config structures;
ardrone_tool_reset_configuration();
// ardrone_control_config_default initialisation. Sould not be modified after that !
vp_os_memcpy ((void *)&ardrone_control_config_default, (const void *)&ardrone_control_config, sizeof (ardrone_control_config_default));
// initialization of application defined default values
vp_os_memcpy ((void *)&ardrone_application_default_config, (const void *)&ardrone_control_config, sizeof (ardrone_application_default_config));
//Fill structure AT codec and built the library AT commands.
if( ptrs != NULL )
ardrone_at_init_with_funcs( ardrone_ip, n, ptrs );
else
ardrone_at_init( ardrone_ip, n );
// Save appname/appid for reconnections
if (NULL != appname)
{
ardrone_gen_appid (appname, __SDK_VERSION__, app_id, app_name, sizeof (app_name));
}
// Save usrname/usrid for reconnections
if (NULL != usrname)
{
ardrone_gen_usrid (usrname, usr_id, usr_name, sizeof (usr_name));
}
// Create pseudorandom session id
ardrone_gen_sessionid (ses_id, ses_name, sizeof (ses_name));
// Init subsystems
ardrone_timer_reset(&ardrone_tool_timer);
ardrone_timer_update(&ardrone_tool_timer);
ardrone_tool_input_init();
ardrone_control_init();
ardrone_tool_configuration_init();
ardrone_navdata_client_init();
//Opens a connection to AT port.
ardrone_at_open();
START_THREAD(navdata_update, 0);
START_THREAD(ardrone_control, 0);
// Send start up configuration
ardrone_at_set_pmode( MiscVar[0] );
ardrone_at_set_ui_misc( MiscVar[0], MiscVar[1], MiscVar[2], MiscVar[3] );
return C_OK;
}
C_RESULT ardrone_tool_init(int argc, char **argv)
{
C_RESULT res;
int32_t b_value = FALSE;
// Initalize mutex and condition
vp_os_mutex_init(&ardrone_tool_mutex);
ardrone_tool_in_pause = FALSE;
// Initialize ardrone_control_config structures;
ardrone_tool_reset_configuration();
// ardrone_control_config_default initialisation. Sould not be modified after that !
vp_os_memcpy ((void *)&ardrone_control_config_default, (const void *)&ardrone_control_config, sizeof (ardrone_control_config_default));
// initialization of application defined default values
vp_os_memcpy ((void *)&ardrone_application_default_config, (const void *)&ardrone_control_config, sizeof (ardrone_application_default_config));
ardrone_application_default_config.navdata_demo = b_value;
// Save appname/appid for reconnections
if (NULL != argv[0])
{
char *appname = NULL;
int lastSlashPos;
/* Cut the invoking name to the last / or \ character on the command line
* This avoids using differents app_id for applications called from different directories
* e.g. if argv[0] is "Build/Release/ardrone_navigation", appname will point to "ardrone_navigation" only
*/
for (lastSlashPos = strlen (argv[0])-1;
lastSlashPos > 0 &&
argv[0][lastSlashPos] != '/' &&
argv[0][lastSlashPos] != '\\';
lastSlashPos--);
appname = &argv[0][lastSlashPos+1];
ardrone_gen_appid (appname, __SDK_VERSION__, app_id, app_name, sizeof (app_name));
}
// Create pseudorandom session id
ardrone_gen_sessionid (ses_id, ses_name, sizeof (ses_name));
//Fill structure AT codec and built the library AT commands.
ardrone_at_init( wifi_ardrone_ip, strlen( wifi_ardrone_ip) );
// Init subsystems
ardrone_timer_reset(&ardrone_tool_timer);
ardrone_timer_update(&ardrone_tool_timer);
ardrone_tool_input_init();
ardrone_control_init();
ardrone_tool_configuration_init();
ardrone_navdata_client_init();
// Init custom tool
res = ardrone_tool_init_custom(argc, argv);
//Opens a connection to AT port.
ardrone_at_open();
START_THREAD(navdata_update, 0);
START_THREAD(ardrone_control, 0);
// Send start up configuration
ardrone_at_set_pmode( MiscVar[0] );
ardrone_at_set_ui_misc( MiscVar[0], MiscVar[1], MiscVar[2], MiscVar[3] );
return res;
}
int ardrone_tool_main(int argc, char **argv)
{
C_RESULT res;
const char* old_locale;
const char* appname = argv[0];
int argc_backup = argc;
char** argv_backup = argv;
char * drone_ip_address = NULL;
struct in_addr drone_ip_address_in;
bool_t show_usage = FAILED( ardrone_tool_check_argc_custom(argc) ) ? TRUE : FALSE;
argc--; argv++;
while( argc && *argv[0] == '-' )
{
if( !strcmp(*argv, "-ip") && ( argc > 1 ) )
{
drone_ip_address = *(argv+1);
printf("Using custom ip address %s\n",drone_ip_address);
argc--; argv++;
}
else if( !strcmp(*argv, "-?") || !strcmp(*argv, "-h") || !strcmp(*argv, "-help") || !strcmp(*argv, "--help") )
{
ardrone_tool_usage( appname );
exit( 0 );
}
else if( !ardrone_tool_parse_cmd_line_custom( *argv ) )
{
printf("Option %s not recognized\n", *argv);
show_usage = TRUE;
}
argc--; argv++;
}
if( show_usage || (argc != 0) )
{
ardrone_tool_usage( appname );
exit(-1);
}
/* After a first analysis, the arguments are restored so they can be passed to the user-defined functions */
argc=argc_backup;
argv=argv_backup;
old_locale = setlocale(LC_NUMERIC, "en_GB.UTF-8");
if( old_locale == NULL )
{
PRINT("You have to install new locales in your dev environment! (avoid the need of conv_coma_to_dot)\n");
PRINT("As root, do a \"dpkg-reconfigure locales\" and add en_GB.UTF8 to your locale settings\n");
}
else
{
PRINT("Setting locale to %s\n", old_locale);
}
vp_com_wifi_config_t *config = (vp_com_wifi_config_t*)wifi_config();
if(config)
{
vp_os_memset( &wifi_ardrone_ip[0], 0, sizeof(wifi_ardrone_ip) );
if(drone_ip_address && inet_aton(drone_ip_address,&drone_ip_address_in)!=0)
{
/* If the drone IP address was given on the command line and is valid */
printf("===================+> %s\n", drone_ip_address);
strncpy( &wifi_ardrone_ip[0], drone_ip_address, sizeof(wifi_ardrone_ip)-1);
}
else
{
printf("===================+> %s\n", config->server);
strncpy( &wifi_ardrone_ip[0], config->server, sizeof(wifi_ardrone_ip)-1);
}
}
while (-1 == getDroneVersion (root_dir, wifi_ardrone_ip, &ardroneVersion))
{
printf ("Getting AR.Drone version ...\n");
vp_os_delay (250);
}
res = ardrone_tool_setup_com( NULL );
if( FAILED(res) )
{
PRINT("Wifi initialization failed. It means either:\n");
PRINT("\t* you're not root (it's mandatory because you can set up wifi connection only as root)\n");
PRINT("\t* wifi device is not present (on your pc or on your card)\n");
PRINT("\t* you set the wrong name for wifi interface (for example rausb0 instead of wlan0) \n");
PRINT("\t* ap is not up (reboot card or remove wifi usb dongle)\n");
PRINT("\t* wifi device has no antenna\n");
}
else
{
// Save appname/appid for reconnections
char *appname = NULL;
int lastSlashPos;
/* Cut the invoking name to the last / or \ character on the command line
* This avoids using differents app_id for applications called from different directories
* e.g. if argv[0] is "Build/Release/ardrone_navigation", appname will point to "ardrone_navigation" only
*/
for (lastSlashPos = strlen (argv[0])-1; lastSlashPos > 0 && argv[0][lastSlashPos] != '/' && argv[0][lastSlashPos] != '\\'; lastSlashPos--);
appname = &argv[0][lastSlashPos+1];
ardrone_gen_appid (appname, __SDK_VERSION__, app_id, app_name, sizeof (app_name));
res = ardrone_tool_init(wifi_ardrone_ip, strlen(wifi_ardrone_ip), NULL, appname, NULL, NULL, NULL, MAX_FLIGHT_STORING_SIZE, NULL);
while( SUCCEED(res) && ardrone_tool_exit() == FALSE )
{
res = ardrone_tool_update();
}
res = ardrone_tool_shutdown();
}
if( old_locale != NULL )
{
setlocale(LC_NUMERIC, old_locale);
}
return SUCCEED(res) ? 0 : -1;
}
C_RESULT ardrone_tool_init( const char* ardrone_ip, size_t n, AT_CODEC_FUNCTIONS_PTRS *ptrs, const char *appname, const char *usrname, const char *rootdir, const char *flightdir, int flight_storing_size, academy_download_new_media academy_download_new_media_func)
{
C_RESULT res;
// Initalize mutex and condition
vp_os_mutex_init(&ardrone_tool_mutex);
ardrone_tool_in_pause = FALSE;
// Initialize ardrone_control_config structures;
ardrone_tool_reset_configuration();
// ardrone_control_config_default initialisation. Sould not be modified after that !
vp_os_memcpy ((void *)&ardrone_control_config_default, (const void *)&ardrone_control_config, sizeof (ardrone_control_config_default));
// initialization of application defined default values
vp_os_memcpy ((void *)&ardrone_application_default_config, (const void *)&ardrone_control_config, sizeof (ardrone_application_default_config));
// Save appname/appid for reconnections
if (NULL != appname)
{
ardrone_gen_appid (appname, __SDK_VERSION__, app_id, app_name, sizeof (app_name));
}
// Save usrname/usrid for reconnections
if (NULL != usrname)
{
ardrone_gen_usrid (usrname, usr_id, usr_name, sizeof (usr_name));
}
// Create pseudorandom session id
ardrone_gen_sessionid (ses_id, ses_name, sizeof (ses_name));
// copy root directory
if((rootdir != NULL) && strlen(rootdir) < ROOT_NAME_SIZE)
strcpy(root_dir, rootdir);
//Fill structure AT codec and built the library AT commands.
if( ptrs != NULL )
ardrone_at_init_with_funcs( ardrone_ip, n, ptrs );
else
ardrone_at_init( ardrone_ip, n );
// Init subsystems
ardrone_timer_reset(&ardrone_tool_timer);
ardrone_timer_update(&ardrone_tool_timer);
ardrone_tool_input_init();
ardrone_control_init();
ardrone_tool_configuration_init();
ardrone_navdata_client_init();
PRINT("Before usbdata_client_init\n");
ardrone_usbdata_client_init(); //add Alex
// Init custom tool
res = ardrone_tool_init_custom();
//Opens a connection to AT port.
ardrone_at_open();
START_THREAD(navdata_update, 0);
START_THREAD(usbdata_update, 0);
START_THREAD(ardrone_control, 0);
// Send start up configuration
ardrone_at_set_pmode( MiscVar[0] );
ardrone_at_set_ui_misc( MiscVar[0], MiscVar[1], MiscVar[2], MiscVar[3] );
academy_download_init(academy_download_new_media_func);
academy_init(flightdir, flight_storing_size);
return res;
}
