bool Ts2Rtp::makeSocket()
{
int iRet, iLoop = 1;
if ( !makeSenderSocket( address, senderPort ) ) return false;
rtpSocket = socket( AF_INET, SOCK_DGRAM, 0 );
if ( rtpSocket < 0) {
KMessageBox::error( 0, i18n("Can't open DVB broadcast socket.") );
rtpSocket = 0;
closeSender();
return false;
}
rtpAddr.sin_family = AF_INET;
rtpAddr.sin_port = htons( port );
rtpAddr.sin_addr.s_addr = inet_addr( address.ascii() );
iRet = setsockopt( rtpSocket, SOL_SOCKET, SO_BROADCAST, &iLoop, sizeof(iLoop));
if (iRet < 0) {
KMessageBox::error( 0, i18n("Can't init DVB broadcast socket.") );
close( rtpSocket );
rtpSocket = 0;
closeSender();
return false;
}
go();
fprintf( stderr, "rtp socket opened\n" );
return true;
}
int main (int argc, char** argv)
{
int choix;
int lg_message = LG_MESS_DEFAUT;
int *n;
char * msg = malloc(sizeof(char)*lg_message);
pthread_mutex_t displayMutex = PTHREAD_MUTEX_INITIALIZER;
initBeaconsLocation(beaconsLocation, (int) NUMBER_BEACONS);
n = malloc(sizeof(int));
//*n = 500000;
*n = 1;
char * adr = malloc(12*sizeof(char));
adr = ADR_DIST;
msgSend = malloc(sizeof(char)*lg_message);
msgRcv = malloc(sizeof(char)*lg_message);
pthread_t tid[2];
pthread_create(&tid[0], NULL, receiverThread, NULL);
// initialisation socket sender.
// initialisation ici car on a besoin d'un receiver à l'écoute pour lancer le sender, donc pour le test en localhost on le fait après le receiver
//printf("before %s\n", adr);
usleep(30000);
initSender(adr);
//printf("%s\n", adr);
pthread_create(&tid[1], NULL, coordinatesThread, n);
pthread_mutex_lock(&displayMutex);
printf("\n Drone position : \n");
printf(" Send : \n\n");
pthread_mutex_unlock(&displayMutex);
while(1) {
pthread_mutex_lock(&displayMutex);
printf("What do you want to do ?\n");
printf("0 -> Calibration (drone must lay flat on the floor)\n");
printf("1 -> Magnetic calibration\n");
printf("2 -> landing\n");
printf("3 -> take off\n");
printf("4 -> move roll \n");
printf("5 -> move pitch\n");
printf("6 -> move pitch roll\n");
printf("7 -> emergency\n");
printf("8 -> anti emergency\n");
printf("9 -> start mission\n");
printf("10 -> stop mission\n");
printf("-1 to close the programm\n");
pthread_mutex_unlock(&displayMutex);
scanf("%d", &choix);
getchar();
pthread_mutex_lock(&displayMutex);
printf("\033[%dA", 2);
printf("\033[%dM", 1);
printf("\033[%dJ", 2);
pthread_mutex_unlock(&displayMutex);
if (choix >= 0 && choix < 10) {
sprintf(msg, " %d ", choix);
}
else {
sprintf(msg, "%d ", choix);
}
if (choix == 9) {
pthread_mutex_lock(&displayMutex);
printf("\033[%dA", 12);
printf("\033[%dM", 12);
printf("Choose your beacon (from 0 to 7)\n");
printf("0 -> %s\n", beaconsLocation[0]);
printf("1 -> %s\n", beaconsLocation[1]);
printf("2 -> %s\n", beaconsLocation[2]);
printf("3 -> %s\n", beaconsLocation[3]);
printf("4 -> %s\n", beaconsLocation[4]);
printf("5 -> %s\n", beaconsLocation[5]);
printf("6 -> %s\n", beaconsLocation[6]);
printf("7 -> %s\n", beaconsLocation[7]);
printf("\n\n");
pthread_mutex_unlock(&displayMutex);
scanf("%d", &choix);
strcat(msg, beaconsLocation[choix]);
//printf("######## msg : %s\n", msg);
if (choix >= 0 && choix <=7) {
pthread_mutex_lock(&messageMutex);
emettre(lg_message, msgSend, msg);
pthread_mutex_unlock(&messageMutex);
}
else {
pthread_mutex_lock(&displayMutex);
printf("incorrect choice\n");
pthread_mutex_unlock(&displayMutex);
}
pthread_mutex_lock(&displayMutex);
printf("\033[%dA", 12);
printf("\033[%dM", 12);
printf("\033[%dJ", 2);
pthread_mutex_unlock(&displayMutex);
}
else if (choix >= 0 && choix <= 10) {
pthread_mutex_lock(&messageMutex);
emettre(lg_message, msgSend, msg);
pthread_mutex_unlock(&messageMutex);
}
else if (choix == -1) {
pthread_cancel(tid[0]);
pthread_cancel(tid[1]);
closeSender();
closeReceiver();
break;
}
else {
pthread_mutex_lock(&displayMutex);
printf("incorrect choice\n");
pthread_mutex_unlock(&displayMutex);
}
}
// pthread_exit(NULL);
return 0;
}
