eARCONTROLLER_ERROR ARCONTROLLER_Network_CreateReaderThreads (ARCONTROLLER_Network_t *networkController)
{
// -- Create the reader Threads --
eARCONTROLLER_ERROR error = ARCONTROLLER_OK;
// Check parameters
if (networkController == NULL)
{
error = ARCONTROLLER_ERROR_BAD_PARAMETER;
}
// No Else: the checking parameters sets error to ARNETWORK_ERROR_BAD_PARAMETER and stop the processing
if (error == ARCONTROLLER_OK)
{
// allocate reader thread array.
networkController->readerThreads = calloc(networkController->networkConfig.numberOfDeviceToControllerCommandsBufferIds, sizeof(ARSAL_Thread_t));
if (networkController->readerThreads == NULL)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, ARCONTROLLER_NETWORK_TAG, "Allocation of reader threads failed.");
error = ARCONTROLLER_ERROR_ALLOC;
}
}
if (error == ARCONTROLLER_OK)
{
// allocate reader thread data array.
networkController->readerThreadsData = calloc(networkController->networkConfig.numberOfDeviceToControllerCommandsBufferIds, sizeof(ARCONTROLLER_NETWORK_THREAD_DATA_t));
if (networkController->readerThreadsData == NULL)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, ARCONTROLLER_NETWORK_TAG, "Allocation of reader threads data failed.");
error = ARCONTROLLER_ERROR_ALLOC;
}
}
if (error == ARCONTROLLER_OK)
{
// Create and start reader threads.
int readerThreadIndex = 0;
for (readerThreadIndex = 0 ; readerThreadIndex < networkController->networkConfig.numberOfDeviceToControllerCommandsBufferIds ; readerThreadIndex++)
{
// initialize reader thread data
networkController->readerThreadsData[readerThreadIndex].networkController = networkController;
networkController->readerThreadsData[readerThreadIndex].readerBufferId = networkController->networkConfig.deviceToControllerCommandsBufferIds[readerThreadIndex];
if (ARSAL_Thread_Create(&(networkController->readerThreads[readerThreadIndex]), ARCONTROLLER_Network_ReaderRun, &(networkController->readerThreadsData[readerThreadIndex])) != 0)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, ARCONTROLLER_NETWORK_TAG, "Creation of reader thread failed.");
error = ARCONTROLLER_ERROR_INIT_THREAD;
break; //Stop the loop of the creation of the reader threads
}
}
}
return error;
}
IHM_t *IHM_New (IHM_onInputEvent_t onInputEventCallback)
{
int failed = 0;
IHM_t *newIHM = NULL;
// check parameters
if (onInputEventCallback == NULL)
{
failed = 1;
}
if (!failed)
{
// Initialize IHM
newIHM = malloc(sizeof(IHM_t));
if (newIHM != NULL)
{
// Initialize ncurses
newIHM->mainWindow = initscr();
newIHM->inputThread = NULL;
newIHM->run = 1;
newIHM->onInputEventCallback = onInputEventCallback;
newIHM->customData = NULL;
}
else
{
failed = 1;
}
}
if (!failed)
{
raw(); // Line buffering disabled
keypad(stdscr, TRUE);
noecho(); // Don't echo() while we do getch
timeout(100);
refresh();
}
if (!failed)
{
//start input thread
if(ARSAL_Thread_Create(&(newIHM->inputThread), IHM_InputProcessing, newIHM) != 0)
{
failed = 1;
}
}
if (failed)
{
IHM_Delete (&newIHM);
}
return newIHM;
}
/**
* Fonction qui permet de se connecter au drone Bebop
* @params *deviceManager Instance de la structure de données de BD_MANAGER_t. Cette structure est définie dans
* test_connexion_1.h
*/
int startNetwork (BD_MANAGER_t *deviceManager){
/* Initialisation des variables d'erreur */
int failed = 0;
eARNETWORKAL_ERROR netAlError = ARNETWORKAL_OK;
eARNETWORK_ERROR netError = ARNETWORK_OK;
int pingDelay = 0;
/* Test du print ARSAL_PRINT_INFO
* Imprime les info du drone (nom fichier, heure, fonction, Message écrit par l'utilisateur)
* sur la console
*/
printf("\n");
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- Start ARNetwork");
/* Crée un nouveau manager NETWORKAL
* @param: erreur de type eARNETWORKAL_ERROR
*/
deviceManager->alManager = ARNETWORKAL_Manager_New(&netAlError);
printf("Failed: %i\n",failed);
/* Initialise le wifi*/
netAlError = ARNETWORKAL_Manager_InitWifiNetwork(deviceManager->alManager, BD_IP_ADDRESS, BD_C2D_PORT, BD_D2C_PORT, 1);
if (netAlError != ARNETWORKAL_OK)
{
printf("ARNETWORKAL_Manager_InitWifiNetwork fail !! \n");
failed = 1;
}
else
printf("ARNETWORKAL_Manager_InitWifiNetwork success !!\n");
/* Créer un manager de network avec (Manager de NetworkAL, nombre de buffer d'entrée, vecteur paramètre d'entrée, * nombre de buufer de sortie, vecteur paramètre de sortie,Delay entre 2 ping, fonction de déconnexion, paramètre * de connexion, erreur)
*/
if(!failed){
deviceManager->netManager = ARNETWORK_Manager_New(deviceManager->alManager, numC2dParams, c2dParams, numD2cParams, d2cParams, pingDelay, onDisconnectNetwork, deviceManager, &netError);
if (netError != ARNETWORK_OK)
{
failed = 1;
}
}
if(failed)
printf("Manager erreur!!\n");
else
printf("Manager créer !! \n");
/* Création des threads pour la réception et la transmission
*
*/
if (!failed)
{
// Create and start Tx and Rx threads.
printf("Tx thread !! \n");
if (ARSAL_Thread_Create(&(deviceManager->rxThread), ARNETWORK_Manager_ReceivingThreadRun, deviceManager->netManager) != 0)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Creation of Rx thread failed.");
failed = 1;
}
printf("Rx thread!! \n");
if (ARSAL_Thread_Create(&(deviceManager->txThread), ARNETWORK_Manager_SendingThreadRun, deviceManager->netManager) != 0)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Creation of Tx thread failed.");
failed = 1;
}
}
return failed;
}
