int main (int argc, char *argv[])
{
// local declarations
int failed = 0;
ARDISCOVERY_Device_t *device = NULL;
ARCONTROLLER_Device_t *deviceController = NULL;
eARCONTROLLER_ERROR error = ARCONTROLLER_OK;
eARCONTROLLER_DEVICE_STATE deviceState = ARCONTROLLER_DEVICE_STATE_MAX;
pid_t child = 0;
ARSAL_Sem_Init (&(stateSem), 0, 0);
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "Select your Bebop : Bebop (1) ; Bebop2 (2)");
char answer = '1';
scanf("%c", &answer);
if (answer == '2')
{
isBebop2 = 1;
}
if(isBebop2)
{
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "-- Bebop 2 Piloting --");
}
else
{
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "-- Bebop Piloting --");
}
if (!failed)
{
if (DISPLAY_WITH_MPLAYER)
{
// fork the process to launch mplayer
if ((child = fork()) == 0)
{
execlp("xterm", "xterm", "-e", "mplayer", "-demuxer", "h264es", "video_fifo.h264", "-benchmark", "-really-quiet", NULL);
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Missing mplayer, you will not see the video. Please install mplayer and xterm.");
return -1;
}
}
if (DISPLAY_WITH_MPLAYER)
{
videoOut = fopen("./video_fifo.h264", "w");
}
}
#ifdef IHM
ihm = IHM_New (&onInputEvent);
if (ihm != NULL)
{
gErrorStr[0] = '\0';
ARSAL_Print_SetCallback (customPrintCallback); //use a custom callback to print, for not disturb ncurses IHM
if(isBebop2)
{
IHM_PrintHeader (ihm, "-- Bebop 2 Piloting --");
}
else
{
IHM_PrintHeader (ihm, "-- Bebop Piloting --");
}
}
else
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, TAG, "Creation of IHM failed.");
failed = 1;
}
#endif
// create a discovery device
if (!failed)
{
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- init discovey device ... ");
eARDISCOVERY_ERROR errorDiscovery = ARDISCOVERY_OK;
device = ARDISCOVERY_Device_New (&errorDiscovery);
if (errorDiscovery == ARDISCOVERY_OK)
{
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, " - ARDISCOVERY_Device_InitWifi ...");
// create a Bebop drone discovery device (ARDISCOVERY_PRODUCT_ARDRONE)
if(isBebop2)
{
errorDiscovery = ARDISCOVERY_Device_InitWifi (device, ARDISCOVERY_PRODUCT_BEBOP_2, "bebop2", BEBOP_IP_ADDRESS, BEBOP_DISCOVERY_PORT);
}
else
{
errorDiscovery = ARDISCOVERY_Device_InitWifi (device, ARDISCOVERY_PRODUCT_ARDRONE, "bebop", BEBOP_IP_ADDRESS, BEBOP_DISCOVERY_PORT);
}
if (errorDiscovery != ARDISCOVERY_OK)
{
failed = 1;
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Discovery error :%s", ARDISCOVERY_Error_ToString(errorDiscovery));
}
}
else
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Discovery error :%s", ARDISCOVERY_Error_ToString(errorDiscovery));
failed = 1;
}
}
// create a device controller
if (!failed)
{
deviceController = ARCONTROLLER_Device_New (device, &error);
if (error != ARCONTROLLER_OK)
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, TAG, "Creation of deviceController failed.");
failed = 1;
}
else
{
IHM_setCustomData(ihm, deviceController);
}
}
if (!failed)
{
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- delete discovey device ... ");
ARDISCOVERY_Device_Delete (&device);
}
// add the state change callback to be informed when the device controller starts, stops...
if (!failed)
{
error = ARCONTROLLER_Device_AddStateChangedCallback (deviceController, stateChanged, deviceController);
if (error != ARCONTROLLER_OK)
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, TAG, "add State callback failed.");
failed = 1;
}
}
// add the command received callback to be informed when a command has been received from the device
if (!failed)
{
error = ARCONTROLLER_Device_AddCommandReceivedCallback (deviceController, commandReceived, deviceController);
if (error != ARCONTROLLER_OK)
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, TAG, "add callback failed.");
failed = 1;
}
}
// add the frame received callback to be informed when a streaming frame has been received from the device
if (!failed)
{
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- set Video callback ... ");
error = ARCONTROLLER_Device_SetVideoStreamCallbacks (deviceController, decoderConfigCallback, didReceiveFrameCallback, NULL , NULL);
if (error != ARCONTROLLER_OK)
{
failed = 1;
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error :%", ARCONTROLLER_Error_ToString(error));
}
}
if (!failed)
{
IHM_PrintInfo(ihm, "Connecting ...");
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "Connecting ...");
error = ARCONTROLLER_Device_Start (deviceController);
if (error != ARCONTROLLER_OK)
{
failed = 1;
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error :%s", ARCONTROLLER_Error_ToString(error));
}
}
if (!failed)
{
// wait state update update
ARSAL_Sem_Wait (&(stateSem));
deviceState = ARCONTROLLER_Device_GetState (deviceController, &error);
if ((error != ARCONTROLLER_OK) || (deviceState != ARCONTROLLER_DEVICE_STATE_RUNNING))
{
failed = 1;
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- deviceState :%d", deviceState);
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error :%s", ARCONTROLLER_Error_ToString(error));
}
}
// send the command that tells to the Bebop to begin its streaming
if (!failed)
{
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- send StreamingVideoEnable ... ");
error = deviceController->aRDrone3->sendMediaStreamingVideoEnable (deviceController->aRDrone3, 1);
if (error != ARCONTROLLER_OK)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error :%s", ARCONTROLLER_Error_ToString(error));
failed = 1;
}
}
if (!failed)
{
IHM_PrintInfo(ihm, "Running ... ('t' to takeoff ; Spacebar to land ; 'e' for emergency ; Arrow keys and ('r','f','d','g') to move ; 'q' to quit)");
#ifdef IHM
while (gIHMRun)
{
usleep(50);
}
#else
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- sleep 20 ... ");
sleep(20);
#endif
}
#ifdef IHM
IHM_Delete (&ihm);
#endif
// we are here because of a disconnection or user has quit IHM, so safely delete everything
if (deviceController != NULL)
{
deviceState = ARCONTROLLER_Device_GetState (deviceController, &error);
if ((error == ARCONTROLLER_OK) && (deviceState != ARCONTROLLER_DEVICE_STATE_STOPPED))
{
IHM_PrintInfo(ihm, "Disconnecting ...");
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "Disconnecting ...");
error = ARCONTROLLER_Device_Stop (deviceController);
if (error == ARCONTROLLER_OK)
{
// wait state update update
ARSAL_Sem_Wait (&(stateSem));
}
}
IHM_PrintInfo(ihm, "");
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "ARCONTROLLER_Device_Delete ...");
ARCONTROLLER_Device_Delete (&deviceController);
if (DISPLAY_WITH_MPLAYER)
{
fflush (videoOut);
fclose (videoOut);
if (child > 0)
{
kill(child, SIGKILL);
}
}
}
ARSAL_Sem_Destroy (&(stateSem));
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "-- END --");
return EXIT_SUCCESS;
}
ARCONTROLLER_Network_t *ARCONTROLLER_Network_New (ARDISCOVERY_Device_t *discoveryDevice, ARCONTROLLER_Network_DisconnectionCallback_t disconnectionCallback, ARDISCOVERY_Device_ConnectionJsonCallback_t sendJsonCallback, ARDISCOVERY_Device_ConnectionJsonCallback_t receiveJsonCallback, void *customData, eARCONTROLLER_ERROR *error)
{
// -- Create a new Network Controller --
//local declarations
eARCONTROLLER_ERROR localError = ARCONTROLLER_OK;
ARCONTROLLER_Network_t *networkController = NULL;
eARDISCOVERY_ERROR dicoveryError = ARDISCOVERY_OK;
// Check parameters
if (discoveryDevice == NULL)
{
localError = ARCONTROLLER_ERROR_BAD_PARAMETER;
}
// No Else: the checking parameters sets localError to ARNETWORK_ERROR_BAD_PARAMETER and stop the processing
if (localError == ARCONTROLLER_OK)
{
// Create the Network Controller
networkController = malloc (sizeof (ARCONTROLLER_Network_t));
if (networkController != NULL)
{
// Initialize to default values
networkController->discoveryDevice = NULL;
networkController->networkALManager = NULL;
networkController->networkManager = NULL;
networkController->rxThread = NULL;
networkController->txThread = NULL;
networkController->readerThreads = NULL;
networkController->readerThreadsData = NULL;
networkController->state = ARCONTROLLER_NETWORK_STATE_RUNNING;
//video part
networkController->hasVideo = 0;
networkController->videoController = NULL;
//Connection callback
networkController->sendJsonCallback = sendJsonCallback;
networkController->receiveJsonCallback = receiveJsonCallback;
networkController->disconnectionCallback = disconnectionCallback;
networkController->callbacksCustomData = customData;
// init networkConfiguration
networkController->networkConfig.controllerToDeviceNotAckId = -1;
networkController->networkConfig.controllerToDeviceAckId = -1;
networkController->networkConfig.controllerToDeviceHightPriority = -1;
networkController->networkConfig.controllerToDeviceARStreamAck = -1;
networkController->networkConfig.deviceToControllerNotAckId = -1;
networkController->networkConfig.deviceToControllerAckId = -1;
//networkController->networkConfig.deviceToControllerHightPriority = -1;
networkController->networkConfig.deviceToControllerARStreamData = -1;
networkController->networkConfig.numberOfControllerToDeviceParam = 0;
networkController->networkConfig.controllerToDeviceParams = NULL;
networkController->networkConfig.numberOfDeviceToControllerParam = 0;
networkController->networkConfig.deviceToControllerParams = NULL;
networkController->networkConfig.pingDelayMs =-1;
networkController->networkConfig.numberOfDeviceToControllerCommandsBufferIds = 0;
networkController->networkConfig.deviceToControllerCommandsBufferIds = NULL;
/* Create the mutex/condition */
if ( (localError == ARCONTROLLER_OK) &&
(ARSAL_Mutex_Init (&(networkController->mutex)) != 0))
{
localError = ARCONTROLLER_ERROR_INIT_MUTEX;
}
}
else
{
localError = ARCONTROLLER_ERROR_ALLOC;
}
}
if (localError == ARCONTROLLER_OK)
{
// Copy the device
eARDISCOVERY_ERROR dicoveryError = ARDISCOVERY_OK;
networkController->discoveryDevice = ARDISCOVERY_Device_NewByCopy (discoveryDevice, &dicoveryError);
if (dicoveryError != ARDISCOVERY_OK)
{
localError = ARCONTROLLER_ERROR_INIT_DEVICE_COPY;
}
}
// Check if it is a wifi device
if ((localError == ARCONTROLLER_OK) &&
(ARDISCOVERY_getProductService (networkController->discoveryDevice->productID) == ARDISCOVERY_PRODUCT_NSNETSERVICE))
{
// Add callbacks for the connection json part
dicoveryError = ARDISCOVERY_Device_WifiAddConnectionCallbacks (networkController->discoveryDevice, ARCONTROLLER_Network_OnSendJson, ARCONTROLLER_Network_OnReceiveJson, networkController);
if (dicoveryError != ARDISCOVERY_OK)
{
localError = ARCONTROLLER_ERROR_INIT_DEVICE_JSON_CALLBACK;
}
}
if (localError == ARCONTROLLER_OK)
{
// Initialize the network Configuration
eARDISCOVERY_ERROR dicoveryError = ARDISCOVERY_OK;
dicoveryError = ARDISCOVERY_Device_InitNetworkConfiguration (networkController->discoveryDevice, &(networkController->networkConfig));
if (dicoveryError != ARDISCOVERY_OK)
{
localError = ARCONTROLLER_ERROR_INIT_NETWORK_CONFIG;
}
}
if (localError == ARCONTROLLER_OK)
{
// Check if the device has video
if (networkController->networkConfig.deviceToControllerARStreamData != -1)
{
networkController->hasVideo = 1;
networkController->videoController = ARCONTROLLER_Stream_New (&(networkController->networkConfig), networkController->discoveryDevice, &localError);
}
//NO else ; device has not video
}
// No else: skipped by an error
if (localError == ARCONTROLLER_OK)
{
// Create the NetworkAL
eARDISCOVERY_ERROR dicoveryError = ARDISCOVERY_OK;
eARNETWORKAL_ERROR netALError = ARNETWORKAL_OK;
networkController->networkALManager = ARDISCOVERY_Device_NewARNetworkAL (networkController->discoveryDevice, &dicoveryError, &netALError);
if (dicoveryError != ARDISCOVERY_OK)
{
if (netALError != ARNETWORKAL_OK)
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, ARCONTROLLER_NETWORK_TAG, "error: %s", ARNETWORKAL_Error_ToString (netALError));
}
localError = ARCONTROLLER_ERROR_INIT_ARNETWORKAL_MANAGER;
}
}
if (localError == ARCONTROLLER_OK)
{
// Create the ARNetworkManager.
eARNETWORK_ERROR netError = ARNETWORK_OK;
networkController->networkManager = ARNETWORK_Manager_New (networkController->networkALManager, networkController->networkConfig.numberOfControllerToDeviceParam, networkController->networkConfig.controllerToDeviceParams, networkController->networkConfig.numberOfDeviceToControllerParam, networkController->networkConfig.deviceToControllerParams, networkController->networkConfig.pingDelayMs, ARCONTROLLER_Network_OnDisconnectNetwork, networkController, &netError);
if (netError != ARNETWORK_OK)
{
localError = ARCONTROLLER_ERROR_INIT_ARNETWORK_MANAGER;
}
}
if (localError == ARCONTROLLER_OK)
{
// Create the Network receiver and transmitter Threads
localError = ARCONTROLLER_Network_CreateNetworkThreads (networkController);
}
if (localError == ARCONTROLLER_OK)
{
// Create the reader Threads
localError = ARCONTROLLER_Network_CreateReaderThreads (networkController);
}
// delete the Network Controller if an error occurred
if (localError != ARCONTROLLER_OK)
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, ARCONTROLLER_NETWORK_TAG, "error: %s", ARCONTROLLER_Error_ToString (localError));
ARCONTROLLER_Network_Delete (&networkController);
}
// No else: skipped by an error
// Return the error
if (error != NULL)
{
*error = localError;
}
// No else: error is not returned
return networkController;
}
void *ARCONTROLLER_Network_ReaderRun (void *data)
{
// -- Read and decode one input network buffer --
eARCONTROLLER_ERROR error = ARCONTROLLER_OK;
ARCONTROLLER_Network_t *networkController = NULL;
int readerBufferId = -1;
// Allocate some space for incoming data.
const size_t maxLength = 128 * 1024;
void *readData = malloc (maxLength);
if (readData == NULL)
{
error = ARCONTROLLER_ERROR_ALLOC;
}
if (error == ARCONTROLLER_OK)
{
if (data != NULL)
{
//get thread data
networkController = ((ARCONTROLLER_NETWORK_THREAD_DATA_t *) data)->networkController;
readerBufferId = ((ARCONTROLLER_NETWORK_THREAD_DATA_t *) data)->readerBufferId;
if (networkController == NULL)
{
error = ARCONTROLLER_ERROR_BAD_PARAMETER;
}
}
else
{
error = ARCONTROLLER_ERROR_BAD_PARAMETER;
}
}
if (error == ARCONTROLLER_OK)
{
while (networkController->state != ARCONTROLLER_NETWORK_STATE_STOPPED)
{
if (networkController->state == ARCONTROLLER_NETWORK_STATE_RUNNING)
{
eARNETWORK_ERROR netError = ARNETWORK_OK;
int length = 0;
int skip = 0;
//read data
netError = ARNETWORK_Manager_ReadDataWithTimeout (networkController->networkManager, readerBufferId, readData, maxLength, &length, ARCONTROLLER_NETWORK_READING_TIMEOUT_MS);
if (netError != ARNETWORK_OK)
{
if (netError != ARNETWORK_ERROR_BUFFER_EMPTY)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, ARCONTROLLER_NETWORK_TAG, "ARNETWORK_Manager_ReadDataWithTimeout () failed : %s", ARNETWORK_Error_ToString(netError));
}
skip = 1;
}
if (!skip)
{
// Forward data to the CommandsManager
eARCOMMANDS_DECODER_ERROR cmdError = ARCOMMANDS_DECODER_OK;
cmdError = ARCOMMANDS_Decoder_DecodeBuffer ((uint8_t *)readData, length);
if ((cmdError != ARCOMMANDS_DECODER_OK) && (cmdError != ARCOMMANDS_DECODER_ERROR_NO_CALLBACK))
{
char msg[128];
ARCOMMANDS_Decoder_DescribeBuffer ((uint8_t *)readData, length, msg, sizeof(msg));
ARSAL_PRINT(ARSAL_PRINT_ERROR, ARCONTROLLER_NETWORK_TAG, "ARCOMMANDS_Decoder_DecodeBuffer () failed : %d %s", cmdError, msg);
}
}
//NO ELSE ; no data read
}
else
{
//sleep
sleep (1); //TODO !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! replace by signal
}
}
}
// Print Error
if (error != ARCONTROLLER_OK)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, ARCONTROLLER_NETWORK_TAG, "error: %s", ARCONTROLLER_Error_ToString (error));
}
// cleanup
if (readData != NULL)
{
free (readData);
readData = NULL;
}
return NULL;
}
/*********************************** MAIN ****************************/
int main(int argc, char *argv[]) {
//local declarations
int failed = 0;
ARDISCOVERY_Device_t *device = NULL;
ARCONTROLLER_Device_t *deviceController = NULL;
eARCONTROLLER_ERROR error = ARCONTROLLER_OK;
eARCONTROLLER_DEVICE_STATE deviceState =
ARCONTROLLER_DEVICE_STATE_MAX;
pid_t child = 0;
ARSAL_Sem_Init(&(stateSem), 0, 0);
#ifdef _ROLLINGSPIDER_PILOTING_IHM_H_
ihm = IHM_New(&onInputEvent);
if (ihm != NULL) {
gErrorStr[0] = '\0';
ARSAL_Print_SetCallback(customPrintCallback); //use a custom callback to print, for not disturb ncurses IHM
IHM_PrintHeader(ihm, "-- Rolling Spider Piloting --");
} else {
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG,
"Creation of IHM failed.");
failed = 1;
}
#endif
//create a discovery device
if(!failed){
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- init discovery device ...");
eARDISCOVERY_ERROR errorDiscovery = ARDISCOVERY_OK;
device = ARDISCOVERY_Device_New(&errorDiscovery);
if (errorDiscovery == ARDISCOVERY_OK) {
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- ARDISCOVERY_Device_InitBLE ...");
// create a Rolling Spider discovery device (ARDISCOVERY_PRODUCT_JS)
/**errorDiscovery = ARDISCOVERY_Device_InitBLE(device,
ARDISCOVERY_PRODUCT_MINIDRONE,bleDeviceManager,BLEDevice);**/
}
}
// create a device controller
if (!failed) {
deviceController = ARCONTROLLER_Device_New(device, &error);
if (error != ARCONTROLLER_OK) {
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG,
"Creation of deviceController failed.");
failed = 1;
} else {
IHM_setCustomData(ihm, deviceController);
}
}
if (!failed) {
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- delete discovey device ... ");
ARDISCOVERY_Device_Delete(&device);
}
//add commands received callback
// add the command received callback to be informed when a command has been received from the device
if (!failed) {
error = ARCONTROLLER_Device_AddCommandReceivedCallback(deviceController,
commandReceived, deviceController);
if (error != ARCONTROLLER_OK) {
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "add callback failed.");
failed = 1;
}
}
// add the state change callback to be informed when the device controller starts, stops...
if (!failed) {
error = ARCONTROLLER_Device_AddStateChangedCallback(deviceController,
stateChanged, deviceController);
if (error != ARCONTROLLER_OK) {
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "add State callback failed.");
failed = 1;
}
}
// connecting to the minidrone
if (!failed) {
IHM_PrintInfo(ihm, "Connecting ...");
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "Connecting ...");
error = ARCONTROLLER_Device_Start(deviceController);
if (error != ARCONTROLLER_OK) {
failed = 1;
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error :%s",
ARCONTROLLER_Error_ToString(error));
}
}
//waiting for a state update
if (!failed) {
ARSAL_Sem_Wait(&(stateSem));
deviceState = ARCONTROLLER_Device_GetState(deviceController, &error);
if ((error != ARCONTROLLER_OK)
|| (deviceState != ARCONTROLLER_DEVICE_STATE_RUNNING)) {
failed = 1;
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- deviceState :%d",
deviceState);
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error :%s",
ARCONTROLLER_Error_ToString(error));
}
}
//running step when the drone is ready to work
if (!failed) {
IHM_PrintInfo(ihm,
"Running ... ('t' to takeoff; 'l' to land; 'e' for emergency; 'q' to quit)");
#ifdef _ROLLINGSPIDER_PILOTING_IHM_H_
while (gIHMRun) {
usleep(50);
}
#else
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- sleep 20 ... ");
sleep(20);
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- sleep end ... ");
#endif
}
#ifdef _ROLLINGSPIDER_PILOTING_IHM_H_
IHM_Delete(&ihm);
#endif
// we are here because of a disconnection or user has quit IHM, so safely delete everything
if (deviceController != NULL) {
deviceState = ARCONTROLLER_Device_GetState(deviceController, &error);
if ((error == ARCONTROLLER_OK)
&& (deviceState != ARCONTROLLER_DEVICE_STATE_STOPPED)) {
IHM_PrintInfo(ihm, "Disconnecting ...");
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "Disconnecting ...");
error = ARCONTROLLER_Device_Stop(deviceController);
if (error == ARCONTROLLER_OK) {
// wait state update update
ARSAL_Sem_Wait(&(stateSem));
}
}
IHM_PrintInfo(ihm, "");
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "ARCONTROLLER_Device_Delete ...");
ARCONTROLLER_Device_Delete(&deviceController);
}
ARSAL_Sem_Destroy(&(stateSem));
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "-- END --");
return EXIT_SUCCESS;
}
