int sendLanding(BD_MANAGER_t *deviceManager)
{
int sentStatus = 1;
u_int8_t cmdBuffer[128];
int32_t cmdSize = 0;
eARCOMMANDS_GENERATOR_ERROR cmdError;
eARNETWORK_ERROR netError = ARNETWORK_ERROR;
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- Send landing");
// Send landing command
cmdError = ARCOMMANDS_Generator_GenerateARDrone3PilotingLanding(cmdBuffer, sizeof(cmdBuffer), &cmdSize);
if (cmdError == ARCOMMANDS_GENERATOR_OK)
{
printf("send Landing\n");
netError = ARNETWORK_Manager_SendData(deviceManager->netManager, BD_NET_CD_ACK_ID, cmdBuffer, cmdSize, NULL, &(arnetworkCmdCallback), 1);
printf("Landing sent\n");
}
if ((cmdError != ARCOMMANDS_GENERATOR_OK) || (netError != ARNETWORK_OK))
{
printf("Landing error\n");
ARSAL_PRINT(ARSAL_PRINT_WARNING, TAG, "Failed to send landing command. cmdError:%d netError:%s", cmdError, ARNETWORK_Error_ToString(netError));
sentStatus = 0;
}
return sentStatus;
}
void* ARSTREAM_Reader_RunAckThread (void *ARSTREAM_Reader_t_Param)
{
ARSTREAM_NetworkHeaders_AckPacket_t sendPacket = {0};
ARSTREAM_Reader_t *reader = (ARSTREAM_Reader_t *)ARSTREAM_Reader_t_Param;
memset(&sendPacket, 0, sizeof(sendPacket));
ARSAL_PRINT (ARSAL_PRINT_DEBUG, ARSTREAM_READER_TAG, "Ack sender thread running");
reader->ackThreadStarted = 1;
while (reader->threadsShouldStop == 0)
{
int isPeriodicAck = 0;
ARSAL_Mutex_Lock (&(reader->ackSendMutex));
if (reader->maxAckInterval <= 0)
{
ARSAL_Cond_Wait (&(reader->ackSendCond), &(reader->ackSendMutex));
}
else
{
int retval = ARSAL_Cond_Timedwait (&(reader->ackSendCond), &(reader->ackSendMutex), reader->maxAckInterval);
if (retval == -1 && errno == ETIMEDOUT)
{
isPeriodicAck = 1;
}
}
ARSAL_Mutex_Unlock (&(reader->ackSendMutex));
/* Only send an ACK if the maxAckInterval value allows it. */
if ((reader->maxAckInterval > 0) ||
((reader->maxAckInterval == 0) && (isPeriodicAck == 0)))
{
ARSAL_Mutex_Lock (&(reader->ackPacketMutex));
sendPacket.frameNumber = htods (reader->ackPacket.frameNumber);
sendPacket.highPacketsAck = htodll (reader->ackPacket.highPacketsAck);
sendPacket.lowPacketsAck = htodll (reader->ackPacket.lowPacketsAck);
ARSAL_Mutex_Unlock (&(reader->ackPacketMutex));
ARNETWORK_Manager_SendData (reader->manager, reader->ackBufferID, (uint8_t *)&sendPacket, sizeof (sendPacket), NULL, ARSTREAM_Reader_NetworkCallback, 1);
}
}
ARSAL_PRINT (ARSAL_PRINT_DEBUG, ARSTREAM_READER_TAG, "Ack sender thread ended");
reader->ackThreadStarted = 0;
return (void *)0;
}
eARCONTROLLER_ERROR ARCONTROLLER_Network_SendData (ARCONTROLLER_Network_t *networkController, void *data, int dataSize, eARCONTROLLER_NETWORK_SENDING_DATA_TYPE dataType, eARNETWORK_MANAGER_CALLBACK_RETURN timeoutPolicy, eARNETWORK_ERROR *netError)
{
// -- Send data through the Network --
eARCONTROLLER_ERROR error = ARCONTROLLER_OK;
eARNETWORK_ERROR localNetError = ARNETWORK_OK;
ARCONTROLLER_NETWORK_SendingConfiguration_t *sendingConfig = NULL;
int bufferID = -1;
// Check parameters
if ((networkController == NULL) ||
(data == NULL) || (dataSize <= 0) ||
(dataType == ARCONTROLLER_NETWORK_SENDING_DATA_TYPE_MAX))
{
error = ARCONTROLLER_ERROR_BAD_PARAMETER;
}
// No Else: the checking parameters sets error to ARNETWORK_ERROR_BAD_PARAMETER and stop the processing
if (error == ARCONTROLLER_OK)
{
sendingConfig = malloc(sizeof(ARCONTROLLER_NETWORK_SendingConfiguration_t));
if (sendingConfig != NULL)
{
sendingConfig->timeoutPolicy = timeoutPolicy;
sendingConfig->customData = NULL;
}
else
{
error = ARCONTROLLER_ERROR_ALLOC;
}
}
if (error == ARCONTROLLER_OK)
{
// find bufferID to send
switch (dataType)
{
case ARCONTROLLER_NETWORK_SENDING_DATA_TYPE_NOT_ACK:
bufferID = networkController->networkConfig.controllerToDeviceNotAckId;
break;
case ARCONTROLLER_NETWORK_SENDING_DATA_TYPE_ACK:
bufferID = networkController->networkConfig.controllerToDeviceAckId;
break;
case ARCONTROLLER_NETWORK_SENDING_DATA_TYPE_HIGH_PRIORITY:
bufferID = networkController->networkConfig.controllerToDeviceHightPriority;
break;
case ARCONTROLLER_NETWORK_SENDING_DATA_TYPE_STREAM:
bufferID = networkController->networkConfig.controllerToDeviceARStreamAck;
break;
default:
ARSAL_PRINT (ARSAL_PRINT_ERROR, ARCONTROLLER_NETWORK_TAG, "DataType : %d not known", dataType);
error = ARCONTROLLER_ERROR;
break;
}
}
if (error == ARCONTROLLER_OK)
{
localNetError = ARNETWORK_Manager_SendData(networkController->networkManager, bufferID, data, dataSize, sendingConfig, &(ARCONTROLLER_Network_SendingCallback), 1);
if (localNetError != ARNETWORK_OK)
{
error = ARCONTROLLER_ERROR_NOT_SENT;
}
}
// Return netError
if(netError != NULL)
{
*netError = localNetError;
}
if (error != ARCONTROLLER_OK)
free(sendingConfig);
return error;
}
