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;
}
void ardrone_switch_to_user(const char *new_user)
{
if (1 == droneSupportsMulticonfig)
{
ardrone_gen_usrid (new_user, usr_id, usr_name, USER_NAME_SIZE);
appSwitch = 0;
usrSwitch = 1;
sesSwitch = 0;
navdataNeeded = 0;
configState = MULTICONFIG_GOT_DRONE_VERSION;
}
}
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;
}