AT_CODEC_ERROR_CODE host_open( void )
{
static bool_t init_ok = FALSE;
if( func_ptrs.open != NULL )
return func_ptrs.open();
if( !init_ok )
{
COM_CONFIG_SOCKET_AT(&at_socket, VP_COM_CLIENT, AT_PORT, wifi_ardrone_ip);
at_socket.protocol = VP_COM_UDP;
if(VP_FAILED(vp_com_init(COM_AT())))
{
PRINT ("Failed to init AT\n");
vp_com_shutdown( COM_AT() );
return AT_CODEC_OPEN_ERROR;
}
if(VP_FAILED(vp_com_open(COM_AT(), &at_socket, &atcodec_read, &atcodec_write)))
{
PRINT ("Failed to open AT\n");
return AT_CODEC_OPEN_ERROR;
}
// set send_buffer to a low value to limit latency
int32_t sendbuf = AT_MUTEX_SNDBUF_SIZE;
if ( setsockopt((int32_t)at_socket.priv, SOL_SOCKET, SO_SNDBUF, &sendbuf, sizeof(sendbuf)) )
{
PRINT ("Error setting SND_BUF for AT socket\n");
}
int opt = IPTOS_PREC_NETCONTROL;
int res = setsockopt((int)at_socket.priv, IPPROTO_IP, IP_TOS, &opt, (socklen_t)sizeof(opt));
if (res)
{
perror("AT stage - setting Live video socket IP Type Of Service : ");
}
else
{
printf ("Set IP_TOS ok\n");
}
init_ok = TRUE;
}
return AT_CODEC_OPEN_OK;
}
AT_CODEC_ERROR_CODE host_close( void )
{
if( func_ptrs.close != NULL )
return func_ptrs.close();
vp_com_close(COM_AT(), &at_socket);
return AT_CODEC_CLOSE_OK;
}
AT_CODEC_ERROR_CODE host_open( void )
{
static bool_t init_ok = FALSE;
if( func_ptrs.open != NULL )
return func_ptrs.open();
if( !init_ok )
{
COM_CONFIG_SOCKET_AT(&at_socket, VP_COM_CLIENT, 0, wifi_ardrone_ip);
at_socket.protocol = VP_COM_UDP;
at_socket.remotePort = AT_PORT;
if(VP_FAILED(vp_com_init(COM_AT())))
{
PRINT ("Failed to init AT\n");
vp_com_shutdown( COM_AT() );
return AT_CODEC_OPEN_ERROR;
}
if(VP_FAILED(vp_com_open(COM_AT(), &at_socket, &atcodec_read, &atcodec_write)))
{
PRINT ("Failed to open AT\n");
return AT_CODEC_OPEN_ERROR;
}
// set send_buffer to a low value to limit latency
int32_t sendbuf = AT_MUTEX_SNDBUF_SIZE;
if ( setsockopt((int32_t)at_socket.priv, SOL_SOCKET, SO_SNDBUF, &sendbuf, sizeof(sendbuf)) )
{
PRINT ("Error setting SND_BUF for AT socket\n");
}
/*
* On android, with IP_TOS set, certain devices can't connect to AR.Drone 1
* So we just disable this functionnality to avoid these cases.
*/
#ifdef USE_ANDROID
if (IS_ARDRONE2)
{
#endif
int opt = IPTOS_PREC_NETCONTROL;
int res = setsockopt((int)at_socket.priv, IPPROTO_IP, IP_TOS, &opt, (socklen_t)sizeof(opt));
if (res)
{
perror("AT stage - setting Live video socket IP Type Of Service : ");
}
else
{
printf ("Set IP_TOS ok\n");
}
#ifdef USE_ANDROID
}
#endif
init_ok = TRUE;
}
return AT_CODEC_OPEN_OK;
}