int video_display_init()
{
com_in = jakopter_com_add_channel(CHANNEL_DISPLAY, DISPLAY_COM_IN_SIZE);
if(com_in == NULL) {
fprintf(stderr, "Display : couldn't create com channel.\n");
return -1;
}
return 0;
}
int visp_init()
{
com_in = jakopter_com_add_channel(CHANNEL_DISPLAY, VISP_COM_IN_SIZE);
if (com_in == NULL) {
fprintf(stderr, "[~][Display] Couldn't create com channel in.\n");
return -1;
}
com_out = jakopter_com_add_channel(CHANNEL_CALLBACK, VISP_COM_OUT_SIZE);
if (com_out == NULL) {
fprintf(stderr, "[~][Display] Couldn't create com channel out.\n");
return -1;
}
jakopter_com_write_float(com_out, 0, 0.0);
jakopter_com_write_float(com_out, 4, 0.0);
jakopter_com_write_float(com_out, 8, 0.0);
prev_update = 0;
return 0;
}
int video_display_init()
{
com_in = jakopter_com_add_channel(CHANNEL_DISPLAY, DISPLAY_COM_IN_SIZE);
if (com_in == NULL) {
fprintf(stderr, "[~][Display] Couldn't create com channel.\n");
return -1;
}
com_out = jakopter_com_add_channel(CHANNEL_CALLBACK, DISPLAY_COM_OUT_SIZE);
if (com_out == NULL) {
fprintf(stderr, "[~][Display] Couldn't create com channel out.\n");
return -1;
}
jakopter_com_write_float(com_out, 0, 0.0);
jakopter_com_write_int(com_in, 28, -1);
jakopter_com_write_int(com_in, 32, -1);
jakopter_com_write_int(com_in, 36, -1);
jakopter_com_write_int(com_in, 40, -1);
prev_update = 0;
return 0;
}
/**
* \brief Start navdata thread
* \return 0 if success, -1 if error
*/
int navdata_connect()
{
if (!stopped_navdata)
return -1;
addr_drone_navdata.sin_family = AF_INET;
addr_drone_navdata.sin_addr.s_addr = inet_addr(WIFI_ARDRONE_IP);
addr_drone_navdata.sin_port = htons(PORT_NAVDATA);
addr_client_navdata.sin_family = AF_INET;
addr_client_navdata.sin_addr.s_addr = htonl(INADDR_ANY);
addr_client_navdata.sin_port = htons(PORT_NAVDATA);
sock_navdata = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
if (sock_navdata < 0) {
fprintf(stderr, "[~][navdata] Can't establish socket \n");
return -1;
}
if (bind(sock_navdata, (struct sockaddr*)&addr_client_navdata, sizeof(addr_client_navdata)) < 0) {
fprintf(stderr, "[~][navdata] Can't bind socket to port %d\n", PORT_NAVDATA);
return -1;
}
nav_channel = jakopter_com_add_channel(CHANNEL_NAVDATA, sizeof(data));
if (navdata_init() < 0) {
perror("[~][navdata] Init sequence failed");
return -1;
}
pthread_mutex_lock(&mutex_stopped);
stopped_navdata = false;
pthread_mutex_unlock(&mutex_stopped);
if(pthread_create(&navdata_thread, NULL, navdata_routine, NULL) < 0) {
perror("[~][navdata] Can't create thread");
return -1;
}
return 0;
}