/*void test(void * null){
while(1){
printf("将来在这里处理无人机控制事件");
//sleep(2);
}}*/
int main(int argc, char **argv)
{
C_RESULT res;
const char* appname = argv[0];
WSADATA wsaData = {0};
int iResult = 0;
iResult = WSAStartup(MAKEWORD(2, 2), &wsaData);
if (iResult != 0) {
wprintf(L"WSAStartup failed: %d\n", iResult);
return 1;
}
#include <VP_Os/vp_os_signal.h>
#if defined USE_PTHREAD_FOR_WIN32
#pragma comment (lib,"pthreadVC2.lib")
#endif
res = test_drone_connection();//检测WiFi连接
if(res!=0) {
printf("%s","Could not detect the drone version ... press <Enter> to try connecting anyway.\n");
getchar();
WSACleanup();
exit(-1);
}
init_client();
res = ardrone_tool_setup_com( NULL );//配置AT命令，视频传输
if( FAILED(res) ) {
PRINT("Wifi initialization failed.\n");
return -1;
}
res = ardrone_tool_init(argc, argv);//调用ardrone_tool_init_custom()函数
while( VP_SUCCEEDED(res) && ardrone_tool_exit() == FALSE ) {
res = ardrone_tool_update();
}//循环调用ardrone_too_update()函数
res = ardrone_tool_shutdown();
closesocket(ConnectSocket);
WSACleanup();
system("cls");
printf("End of SDK Demo for Windows\n");
getchar();
return VP_SUCCEEDED(res) ? 0 : -1;
}
int main(int argc , char** argv)
{
int cnt=0;
C_RESULT res; // functions return value
WSADATA wsaData = {0};
int iResult = 0;
/* Initializes Windows socket subsystem */
iResult = WSAStartup(MAKEWORD(2, 2), &wsaData);
if (iResult != 0) { wprintf(L"WSAStartup failed: %d\n", iResult); return 1; }
/* Includes the Pthread for Win32 Library if necessary */
#include <VP_Os/vp_os_signal.h>
#if defined USE_PTHREAD_FOR_WIN32
#pragma comment (lib,"pthreadVC2.lib")
#endif
#ifdef VIDEO_RECORD
cv_writer = cvCreateVideoWriter("D:\\out.avi",-1,15,cvSize(320,240),1);
#endif
cv_image = cvCreateImage(cvSize(320,240),IPL_DEPTH_8U,3);
//Kinect_Init();
/* Initializes communication sockets */
hSocketThread = CreateThread(NULL,0,Socket_ProcessThread,NULL,0,0);
// while (1);
res = test_drone_connection();
if(res!=0){
printf("%s","Could not detect the drone version ... press <Enter> to try connecting anyway.\n");
getchar();
//WSACleanup(); exit(-1);
}
res = ardrone_tool_setup_com( NULL );
if( FAILED(res) ){ PRINT("Wifi initialization failed.\n"); return -1; }
/* Initialises ARDroneTool */
res = ardrone_tool_init(argc, argv);
/*record video*/
/* Keeps sending AT commands to control the drone as long as
everything is OK */
while( VP_SUCCEEDED(res) && ardrone_tool_exit() == FALSE) {
#ifdef VIDEO_RECORD
if ( cnt++ > 3000 )
cvReleaseVideoWriter(&cv_writer);
#endif
res = ardrone_tool_update();
}
printf("out\n");
/**/
//close Socket Thread
if ( hSocketThread!=NULL ) {
WaitForSingleObject(hSocketThread,INFINITE);
CloseHandle(hSocketThread);
}
res = ardrone_tool_shutdown();
//Kinect_UnInit();
WSACleanup();
/* Bye bye */
cvReleaseVideoWriter(&cv_writer);
system("cls");
printf("End of SDK Demo for Windows\n");
getchar();
return VP_SUCCEEDED(res) ? 0 : -1;
}
DEFINE_THREAD_ROUTINE(ihm, data)
{
C_RESULT res;
WSADATA wsaData = {0};
int iResult = 0;
/* Initializes Windows socket subsystem */
iResult = WSAStartup(MAKEWORD(2, 2), &wsaData);
if (iResult != 0)
{
wprintf(L"WSAStartup failed: %d\n", iResult);
return 1;
}
/* Initializes communication sockets */
res = test_drone_connection(); // Nick disabled the press enter (wait)
if(res!=0)
{
printf("%s","Could not detect the drone version ... press <Enter> to try connecting anyway.\n");
getchar();
//WSACleanup();
exit(-1);
}
res = ardrone_tool_setup_com( NULL );
if( FAILED(res) )
{
PRINT("Wifi initialization failed.\n");
return -1;
}
START_THREAD(video_stage, 0);
res = ardrone_tool_init(WIFI_ARDRONE_IP, strlen(WIFI_ARDRONE_IP), NULL, ARDRONE_CLIENT_APPNAME, ARDRONE_CLIENT_USRNAME);
ardrone_tool_set_refresh_time(20); // 20 ms
ardrone_at_reset_com_watchdog();
// config
ardrone_control_config.euler_angle_max = 0.20943951f; // 12 degrees
ardrone_control_config.video_channel = ZAP_CHANNEL_VERT;
ardrone_control_config.video_codec = UVLC_CODEC; //P264_CODEC;
ardrone_control_config.navdata_demo = FALSE;
ardrone_control_config.altitude_max = 10000;
ardrone_control_config.control_vz_max = 1000.0f;
ardrone_control_config.outdoor = FALSE;
//ardrone_control_config.flight_without_shell = TRUE;
ARDRONE_TOOL_CONFIGURATION_ADDEVENT(video_channel, &ardrone_control_config.video_channel, (ardrone_tool_configuration_callback) ardrone_demo_config_callback);
//ARDRONE_TOOL_CONFIGURATION_ADDEVENT(video_channel, &ardrone_control_config.video_channel, NULL);
//ARDRONE_TOOL_CONFIGURATION_ADDEVENT(video_codec, &ardrone_control_config.video_codec, NULL);
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (navdata_demo, &ardrone_control_config.navdata_demo, NULL);
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (altitude_max, &ardrone_control_config.altitude_max, NULL);
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (control_vz_max, &ardrone_control_config.control_vz_max, NULL);
//ARDRONE_TOOL_CONFIGURATION_ADDEVENT (outdoor, &ardrone_control_config.outdoor, NULL);
//ARDRONE_TOOL_CONFIGURATION_ADDEVENT (flight_without_shell, &ardrone_control_config.flight_without_shell, NULL);
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (euler_angle_max, &ardrone_control_config.euler_angle_max, NULL);
// flat trim
ardrone_at_set_flat_trim();
//SetEvent(ardrone_ready);
//ardrone_demo_redirect_to_interface = 1;
while( VP_SUCCEEDED(res) && ardrone_tool_exit() == FALSE )
{
res = ardrone_tool_update();
}
JOIN_THREAD(video_stage);
res = ardrone_tool_shutdown();
WSACleanup();
return (THREAD_RET)res;
}
int _stdcall InitDrone() // TODO : Should SSID be passed in here?
{
C_RESULT res; // functions return value
const char* appname = "droneapp";
WSADATA wsaData = {0};
int iResult = 0;
/* Initializes Windows socket subsystem */
iResult = WSAStartup(MAKEWORD(2, 2), &wsaData);
if (iResult != 0)
{
wprintf(L"WSAStartup failed: %d\n", iResult);
return -3;
}
/* Includes the Pthread for Win32 Library if necessary */
#include <VP_Os/vp_os_signal.h>
#if defined USE_PTHREAD_FOR_WIN32
#pragma comment (lib,"pthreadVC2.lib")
#endif
res = test_drone_connection();
if( res !=0 )
{
// Failed;
WSACleanup();
return -1;
}
res = ardrone_tool_setup_com(NULL); // Can pass in the SSID here
if(FAILED(res))
{
// Wifi init has failed
return -2;
}
/* Initialises ARDroneTool */
res = ardrone_tool_init(0, NULL);
if(FAILED(res))
{
return -4;
}
// Success
return 0;
//-----------------------------------
//while (VP_SUCCEEDED(res) && ardrone_tool_exit() == FALSE)
// res = ardrone_tool_update();
//res = ardrone_tool_shutdown();
//WSACleanup();
/* Bye bye */
return VP_SUCCEEDED(res) ? 0 : -1;
}
