DEFINE_THREAD_ROUTINE(main_application_thread, data)
{
/* Mutexes for synchronisation */
vp_os_mutex_init(&test_mutex);
vp_os_cond_init(&test_condition,&test_mutex);
vp_os_delay(1000);
//fflush(stdin);
printf("[IMPORTANT] Please check you deleted all configuration files on the drone before starting.\n");
printf("\n Resetting the drone to the default configuration \n");
/* Switch to the default configuration file */
/* Always start by setting the session, then the application, then the user */
set_string(session_id,"00000000");
set_string(application_id,"00000000");
set_string(profile_id,"00000000");
/* Suppress all other settings. A session and an application were automatically created
* at application startup by ARDrone Tool ; we must delete them.
* The '-' symbol means 'delete'.
* '-all' deletes all the existing configurations.
*/
set_string(session_id,"-all");
set_string(application_id,"-all");
set_string(profile_id,"-all");
set_int(navdata_demo,1);
mypause();
/* Ask the drone configuration and compare it to the expected values */
/* Send time to the drone */
//gettimeofday(&tv,NULL);
//set_int(time,(int32_t)tv.tv_sec);
title("\nGetting the drone configuration ...\n");
ARDRONE_TOOL_CONFIGURATION_GET(test_callback); vp_os_cond_wait(&test_condition);
title("Comparing received values to the config_keys.h defaults ...\n");
#define ARDRONE_CONFIG_KEY_IMM_a9(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK,SCOPE) \
test_float(NAME,DEFAULT);
#undef ARDRONE_CONFIG_KEY_REF_a9
#define ARDRONE_CONFIG_KEY_STR_a9(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK,SCOPE) \
test_string(NAME,DEFAULT);
#include <config_keys.h>
/* Modify one value of each category and see what happens */
/* To test the 'COMMON' category */
set_string(ardrone_name,"TEST_CONFIG");
/* To test the 'APPLIS' category */
test_nint(bitrate_ctrl_mode,1); /* 0 is the default value */
set_int(bitrate_ctrl_mode,1);
/* To test the 'PROFILE' (aka. 'USER') category */
test_nfloat(outdoor_euler_angle_max,F1);
set_float(outdoor_euler_angle_max,F1);
/* To test the 'SESSION' category */
test_string(leds_anim,"0,0,0");
set_string(leds_anim,"1,1,1");
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
title("\nGetting the drone configuration ...\n");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG"); /* CAT_COMMON param */
test_int(bitrate_ctrl_mode,1); /* CAT_APPLI param */
test_float(outdoor_euler_angle_max,F1); /* CAT_USER param */
test_string(leds_anim,"1,1,1"); /* CAT_SESSION param */
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
/*---------------------------------------------------------------------------------------------------------*/
/* Create an application configuration file */
title("\nCreating the application ID 11111111 ...\n");
set_string(application_id,"11111111");
set_string(application_desc,APPDESC1);
title("\nGetting the drone configuration ...\n");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG"); /* CAT_COMMON param; its value should not be changed by creating an application config. */
test_int(bitrate_ctrl_mode,0); /* 0 is the default value ; default values are affected to newly created configurations */
test_float(outdoor_euler_angle_max,F1); /* CAT_USER param ; its value should not be changed by creating an application config. */
test_int(detect_type,CAD_TYPE_NONE); /* CAT_SESSION param; its value should not be changed by creating an application config. */
test_string(application_id,"11111111");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc,APPDESC1);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
set_int(bitrate_ctrl_mode,1);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1);
set_int(bitrate_ctrl_mode,0);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,0);
mypause();
title("\nGoing back to the default application configuration ...\n");
set_string(application_id,"00000000");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1); /* 1 was the value of the config.ini configuration */
test_float(outdoor_euler_angle_max,F1);
test_int(detect_type,CAD_TYPE_NONE);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc,DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
mypause();
title(" Going back to the newly created application configuration ...\n");
set_string(application_id,"11111111");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,0);
test_float(outdoor_euler_angle_max,F1);
test_int(detect_type,CAD_TYPE_NONE);
test_string(application_id,"11111111");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , APPDESC1);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
set_string(application_id,"00000000");
mypause();
/*-----------------------------------------------------------------------------------------------*/
/* Create a user profile configuration file */
title("\nCreating the user profile ID 22222222 ...\n");
set_string(profile_id,"22222222");
set_string(profile_desc,PROFDESC2);
title("\nGetting the drone configuration ...\n");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1); /* 1 was the value of the config.ini configuration */
test_float(outdoor_euler_angle_max,default_outdoor_euler_angle_ref_max);
test_int(detect_type,CAD_TYPE_NONE);
test_string(application_id,"00000000");
test_string(profile_id,"22222222");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, PROFDESC2);//DEFAULT_PROFILE_DESC
test_string(session_desc, DEFAULT_SESSION_DESC);
set_float(outdoor_euler_angle_max,F2);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
mypause();
title("\nGoing back to the default user profile configuration ...\n");
set_string(profile_id,"00000000");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
/* The default value for this is 1 after the first test */
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1); /* 1 was the value of the config.ini configuration */
test_float(outdoor_euler_angle_max,F1);
test_int(detect_type,CAD_TYPE_NONE);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
mypause();
title(" Going back to the newly created user profile configuration ...\n");
set_string(profile_id,"22222222");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1); /* 1 was the value of the config.ini configuration */
test_float(outdoor_euler_angle_max,F2);
test_int(detect_type,CAD_TYPE_NONE);
test_string(ardrone_name,"TEST_CONFIG");
test_string(application_id,"00000000");
test_string(profile_id,"22222222");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, PROFDESC2);//DEFAULT_PROFILE_DESC
test_string(session_desc, DEFAULT_SESSION_DESC);
set_string(profile_id,"00000000");
mypause();
/*-----------------------------------------------------------------------------------------------*/
/* Create a session configuration file */
title("\nCreating the session ID 33333333 ...\n");
set_string(session_id,"33333333");
title("\nGetting the drone configuration ...\n");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG"); /* CAT_COMMON param; its value should not be changed by creating a session */
test_int(bitrate_ctrl_mode,1); /* CAT_APPLI param; its value should not be changed by creating a session */
test_float(outdoor_euler_angle_max,F1); /* value in default config.ini */
test_int(detect_type,CAD_TYPE_NONE); /* CAT_SESSION param; its value should be the default one */
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"33333333");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC ); //DEFAULT_SESSION_DESC);
/* Test changing a value in the session */
set_int(detect_type,CAD_TYPE_VISION);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_int(detect_type,CAD_TYPE_VISION);
mypause();
title("\nGoing back to the default session configuration ...\n");
set_string(session_id,"00000000");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1); /* value in default config.ini */
test_float(outdoor_euler_angle_max,F1); /* value in default config.ini */
test_int(detect_type,CAD_TYPE_NONE);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
mypause();
title(" Going back to the newly created session configuration ...\n");
set_string(session_id,"33333333");
set_string(session_desc,SESSDESC3);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1); /* value in default config.ini */
test_float(outdoor_euler_angle_max,F1); /* value in default config.ini */
test_int(detect_type,CAD_TYPE_VISION);
test_string(ardrone_name,"TEST_CONFIG");
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"33333333");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, SESSDESC3 ); //DEFAULT_SESSION_DESC);
set_int(detect_type,CAD_TYPE_COCARDE);
set_string(session_id,"00000000");
mypause();
/*-----------------------------------------------------------------------------------------------*/
/* Create a session configuration file */
title("\nCreating the session ID 44444444 ...\n");
set_string(session_id,"44444444");
title("\nGetting the drone configuration ...\n");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_int(detect_type,CAD_TYPE_NONE);
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"44444444");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC ); //FAULT_SESSION_DESC);
set_int(detect_type,CAD_TYPE_VISION);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_int(detect_type,CAD_TYPE_VISION);
set_string(application_id,"11111111");
set_string(profile_id,"22222222");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG"); set_string(ardrone_name,"TEST_CONFIG2");
test_string(application_id,"11111111");
test_string(profile_id,"22222222");
test_string(session_id,"44444444");
test_string(application_desc , APPDESC1);
test_string(profile_desc, PROFDESC2);
test_string(session_desc, DEFAULT_SESSION_DESC);
mypause();
while(1){
title("\nGoing back to the default session ...\n");
set_string(session_id,"00000000");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG2");
test_int(bitrate_ctrl_mode,1);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
mypause();
title("\nGoing back to the 44444444 session ...\n");
set_string(session_id,"44444444");
set_string(session_desc,SESSDESC4);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG2");
test_int(bitrate_ctrl_mode,0);
test_string(application_id,"11111111");
test_string(profile_id,"22222222");
test_string(session_id,"44444444");
test_string(application_desc , APPDESC1);
test_string(profile_desc, PROFDESC2);
test_string(session_desc, SESSDESC4);
mypause();
title("\nGoing back to the default session ...\n");
set_string(session_id,"00000000");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG2"); set_string(ardrone_name,"TEST_CONFIG3");
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
mypause();
title(" Going back to the 33333333 session ...\n");
set_string(session_id,"33333333");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG3");
test_int(bitrate_ctrl_mode,1); /* value in default config.ini */
test_float(outdoor_euler_angle_max,F1); /* value in default config.ini */
test_int(detect_type,CAD_TYPE_COCARDE);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"33333333");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, SESSDESC3);
mypause();
title("\nGoing back to the 44444444 session ...\n");
set_string(session_id,"44444444");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG3"); set_string(ardrone_name,"TEST_CONFIG4");
test_int(bitrate_ctrl_mode,0);
test_float(outdoor_euler_angle_max,F2);
test_int(detect_type,CAD_TYPE_VISION);
test_string(application_id,"11111111");
test_string(profile_id,"22222222");
test_string(session_id,"44444444");
test_string(application_desc , APPDESC1);
test_string(profile_desc, PROFDESC2);
test_string(session_desc, SESSDESC4);
mypause();
title(" Going back to the 33333333 session ...\n");
set_string(session_id,"33333333");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_int(bitrate_ctrl_mode,1);
test_int(detect_type,CAD_TYPE_COCARDE);
test_string(ardrone_name,"TEST_CONFIG4");
test_int(bitrate_ctrl_mode,1);
test_float(outdoor_euler_angle_max,F1);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"33333333");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, SESSDESC3);
mypause();
title("\nGoing back to the default session ...\n");
set_string(session_id,"00000000");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG4"); /* common parameter whose value should never be reset */
test_int(bitrate_ctrl_mode,1);
test_float(outdoor_euler_angle_max,F1);
test_int(detect_type,CAD_TYPE_NONE);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
set_string(ardrone_name,"TEST_CONFIG2");
mypause();
/*-----------------------------------------------------------------------------------------------*/
/* Read the list of custom configurations */
title("\nReading the list of custom configuration files ...\n");
{ARDRONE_TOOL_CUSTOM_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
printf("\n\n ====================================== \n\n");
if(available_configurations[CAT_APPLI].nb_configurations!=1) { printf("Bad number of custom applis.\n"); }
if(available_configurations[CAT_USER].nb_configurations!=1) { printf("Bad number of custom applis.\n"); }
if(available_configurations[CAT_SESSION].nb_configurations!=2) { printf("Bad number of custom applis.\n"); }
if (available_configurations[CAT_APPLI].list[0].id==NULL) { printf("Unexpected custom app 0 NULL\n"); }
else if (strcmp(available_configurations[CAT_APPLI].list[0].id,"11111111")) { printf("Unexpected custom app : <%s>\n",available_configurations[CAT_APPLI].list[0].id); }
if (available_configurations[CAT_USER].list[0].id==NULL) { printf("Unexpected custom user 0 NULL\n"); }
else if (strcmp(available_configurations[CAT_USER].list[0].id,"22222222")) { printf("Unexpected custom profile : <%s>\n",available_configurations[CAT_USER].list[0].id); }
if (available_configurations[CAT_SESSION].list[0].id==NULL) { printf("Unexpected custom session 0 NULL\n"); }
else if (strcmp(available_configurations[CAT_SESSION].list[0].id,"33333333")) { printf("Unexpected custom session 0 : <%s>\n",available_configurations[CAT_SESSION].list[0].id); }
if (available_configurations[CAT_SESSION].list[1].id==NULL) { printf("Unexpected custom session 1 NULL\n"); }
else if (strcmp(available_configurations[CAT_SESSION].list[1].id,"44444444")) { printf("Unexpected custom session 1 : <%s>\n",available_configurations[CAT_SESSION].list[1].id); }
if (available_configurations[CAT_APPLI].list[0].description==NULL) { printf("Unexpected custom appli descrition 0 NULL\n"); }
else if (strcmp(available_configurations[CAT_APPLI].list[0].description,APPDESC1)) { printf("Unexpected custom app description : <%s>\n",available_configurations[CAT_APPLI].list[0].description); }
if (available_configurations[CAT_USER].list[0].description==NULL) { printf("Unexpected custom user 0 description NULL\n"); }
else if (strcmp(available_configurations[CAT_USER].list[0].description,PROFDESC2)) { printf("Unexpected custom profile description : <%s>\n",available_configurations[CAT_USER].list[0].description); }
if (available_configurations[CAT_SESSION].list[0].description==NULL) { printf("Unexpected custom session 0 description NULL\n"); }
else if (strcmp(available_configurations[CAT_SESSION].list[0].description,SESSDESC3)) { printf("Unexpected custom session 0 description : <%s>\n",available_configurations[CAT_SESSION].list[0].description); }
if (available_configurations[CAT_SESSION].list[1].description==NULL) { printf("Unexpected custom session 1 description NULL\n"); }
else if (strcmp(available_configurations[CAT_SESSION].list[1].description,SESSDESC4)) { printf("Unexpected custom session 1 description : <%s>\n",available_configurations[CAT_SESSION].list[1].description); }
printf(" Custom config list checked.\n");
mypause();
/*-----------------------------------------------------------------------------------------------*/
printf("\n\n ====================================== \n\n");
title("\nEnd of the test.\n");
}
}
C_RESULT ardrone_general_navdata_process( const navdata_unpacked_t* const pnd )
{
navdata_mode_t current_navdata_state = NAVDATA_BOOTSTRAP;
/* Makes sure the navdata stream will be resumed if the drone is disconnected and reconnected.
* Allows changing the drone battery during debugging sessions. */
if( ardrone_get_mask_from_state(pnd->ardrone_state, ARDRONE_NAVDATA_BOOTSTRAP) )
{
current_navdata_state = NAVDATA_BOOTSTRAP;
}
else
{
current_navdata_state = (ardrone_get_mask_from_state(pnd->ardrone_state, ARDRONE_NAVDATA_DEMO_MASK)) ? NAVDATA_DEMO : NAVDATA_FULL ;
}
if (current_navdata_state == NAVDATA_BOOTSTRAP && configState == MULTICONFIG_IDLE && navdataState == NAVDATA_REQUEST_IDLE)
{
navdataState = NAVDATA_REQUEST_NEEDED;
}
/* Multiconfig settings */
int configIndex, userNeedInit, appNeedInit;
userNeedInit = 0; appNeedInit = 0;
switch (configState)
{
case MULTICONFIG_GOT_DRONE_VERSION:
PRINTDBG ("Checking drone version ...\n");
// Check if drone version is >= 1.6
if (versionSupportsMulticonfiguration (ardrone_control_config.num_version_soft))
{
PRINTDBG ("Drone supports multiconfig\n");
configState = MULTICONFIG_IN_PROGRESS_LIST;
ARDRONE_TOOL_CUSTOM_CONFIGURATION_GET (configurationCallback);
droneSupportsMulticonfig = 1;
}
else
{
PRINTDBG ("Drone does not support multiconfig\n");
// Drone does not support multiconfig ... don't call init functions because we don't want to mess up things in default config
configState = MULTICONFIG_REQUEST_NAVDATA;
}
break;
case MULTICONFIG_GOT_IDS_LIST:
// At this point, we're sure that the AR.Drone supports multiconfiguration, so we'll wheck if our ids exists, and send them.
PRINTDBG ("Got AR.Drone ID list. Switch->%d,%d,%d. ND->%d\n", sesSwitch, usrSwitch, appSwitch, navdataNeeded);
if (1 == sesSwitch)
{
switchToSession(); // Go to session ...
}
if (1 == appSwitch)
{
if (0 != strcmp(ardrone_control_config_default.application_id, app_id)) // Check for application only if we're not asking for the default one
{
appNeedInit = 1;
for (configIndex = 0; configIndex < available_configurations[CAT_APPLI].nb_configurations; configIndex++) // Check all existing app_ids
{
PRINTDBG ("Checking application %s (desc : %s)\n", available_configurations[CAT_APPLI].list[configIndex].id,
available_configurations[CAT_APPLI].list[configIndex].description);
if (0 == strcmp(available_configurations[CAT_APPLI].list[configIndex].id, app_id))
{
PRINTDBG ("Found our application ... should not init\n");
appNeedInit = 0;
break;
}
}
switchToApplication();
}
else
{
PRINTDBG ("We're requesting default application (%s), do nothing.\n", app_id);
}
}
if (1 == usrSwitch)
{
if (0 != strcmp(ardrone_control_config_default.profile_id, usr_id)) // Check for user only if we're not asking for the default one
{
userNeedInit = 1;
for (configIndex = 0; configIndex < available_configurations[CAT_USER].nb_configurations; configIndex++) // Check all existing user_ids
{
PRINTDBG ("Checking user %s (desc : %s)\n", available_configurations[CAT_USER].list[configIndex].id,
available_configurations[CAT_USER].list[configIndex].description);
if (0 == strcmp(available_configurations[CAT_USER].list[configIndex].id, usr_id))
{
PRINTDBG ("Found our user ... should not init\n");
userNeedInit = 0;
break;
}
}
switchToUser();
}
else
{
PRINTDBG ("We're requesting default user (%s), do nothing.\n", usr_id);
}
}
if (1 == appNeedInit)
{
// Send application defined default values
ardrone_tool_send_application_default();
PRINTDBG ("Creating app. profile on AR.Drone\n");
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (application_desc, app_name, NULL);
}
if (1 == userNeedInit)
{
// Send user defined default values
ardrone_tool_send_user_default();
PRINTDBG ("Creating usr. profile on AR.Drone\n");
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (profile_desc, usr_name, NULL);
}
if (1 == sesSwitch)
{
if (0 != strcmp(ardrone_control_config_default.session_id, ses_id)) // Send session info only if session is not the default one
{
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (session_desc, ses_name, NULL);
// Send session specific default values
ardrone_tool_send_session_default();
}
else
{
PRINTDBG ("We're requesting default session (%s), do nothing.\n", ses_id);
}
}
configState = MULTICONFIG_IN_PROGRESS_IDS;
ARDRONE_TOOL_CONFIGURATION_GET (configurationCallback);
case MULTICONFIG_GOT_CURRENT_IDS:
if (0 != strcmp(ardrone_control_config.session_id, ses_id) ||
0 != strcmp(ardrone_control_config.profile_id, usr_id) ||
0 != strcmp(ardrone_control_config.application_id, app_id))
{
configState = MULTICONFIG_GOT_DRONE_VERSION; // We failed at setting up the application ids ... restart (but assume that drone supports multiconfig as we already checked)
}
else if (1 == navdataNeeded)
{
configState = MULTICONFIG_REQUEST_NAVDATA;
}
else
{
configState = MULTICONFIG_IDLE;
}
break;
case MULTICONFIG_NEEDED:
PRINTDBG ("Need to check multiconfig ... request config file\n");
// Get config file for reset
configState = MULTICONFIG_IN_PROGRESS_VERSION;
ARDRONE_TOOL_CONFIGURATION_GET (configurationCallback);
break;
case MULTICONFIG_REQUEST_NAVDATA:
PRINTDBG ("Send application navdata demo/options\n");
// Send application navdata demo/options to start navdatas from AR.Drone
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (navdata_demo, &ardrone_application_default_config.navdata_demo, NULL);
if (TRUE == ardrone_application_default_config.navdata_demo)
{ // Send navdata options only for navdata demo mode
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (navdata_options, &ardrone_application_default_config.navdata_options, NULL);
}
configState = MULTICONFIG_IDLE;
break;
case MULTICONFIG_IDLE:
case MULTICONFIG_IN_PROGRESS_LIST:
case MULTICONFIG_IN_PROGRESS_VERSION:
case MULTICONFIG_IN_PROGRESS_IDS:
default:
break;
}
/* Navdata request settings */
switch (navdataState)
{
case NAVDATA_REQUEST_NEEDED:
PRINTDBG ("Resetting navdatas to %s\n", (0 == ardrone_application_default_config.navdata_demo) ? "full" : "demo");
navdataState = NAVDATA_REQUEST_IN_PROGRESS;
switchToSession(); // Resend session id when reconnecting.
ARDRONE_TOOL_CONFIGURATION_ADDEVENT(navdata_demo, &ardrone_application_default_config.navdata_demo, NULL);
if (TRUE == ardrone_application_default_config.navdata_demo)
{ // Send navdata options only for navdata demo mode
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (navdata_options, &ardrone_application_default_config.navdata_options, navdataCallback);
}
break;
case NAVDATA_REQUEST_IN_PROGRESS:
case NAVDATA_REQUEST_IDLE:
default:
break;
}
return C_OK;
}
static void get_custom_configurations_callback(GtkWidget *widget, gpointer data)
{
printf("%s %s %i\n",__FILE__,__FUNCTION__,__LINE__);
ARDRONE_TOOL_CUSTOM_CONFIGURATION_GET(custom_configurations_received_callback);
printf("%s %s %i\n",__FILE__,__FUNCTION__,__LINE__);
}
