C++ (Cpp) COM_CONFIG_SOCKET_ATの例

コード例 #1

ファイル: ardrone_at_mutex.c プロジェクト: AdamCDunlap/hmc-robot-drivers

AT_CODEC_ERROR_CODE host_open( void )
{
  static bool_t init_ok = FALSE;

  if( func_ptrs.open != NULL )
    return func_ptrs.open();

  if( !init_ok )
  {
    COM_CONFIG_SOCKET_AT(&at_socket, VP_COM_CLIENT, AT_PORT, wifi_ardrone_ip);
    at_socket.protocol = VP_COM_UDP;

    if(VP_FAILED(vp_com_init(COM_AT())))
    {
      PRINT ("Failed to init AT\n");
      vp_com_shutdown( COM_AT() );
      return AT_CODEC_OPEN_ERROR;
    }

    if(VP_FAILED(vp_com_open(COM_AT(), &at_socket, &atcodec_read, &atcodec_write)))
    {
      PRINT ("Failed to open AT\n");
      return AT_CODEC_OPEN_ERROR;
    }

    // set send_buffer to a low value to limit latency
    int32_t sendbuf = AT_MUTEX_SNDBUF_SIZE;
    if ( setsockopt((int32_t)at_socket.priv, SOL_SOCKET, SO_SNDBUF, &sendbuf, sizeof(sendbuf)) )
    {
      PRINT ("Error setting SND_BUF for AT socket\n");
    }

    int opt = IPTOS_PREC_NETCONTROL;
    int res = setsockopt((int)at_socket.priv, IPPROTO_IP, IP_TOS, &opt, (socklen_t)sizeof(opt));
    if (res)
    {
        perror("AT stage - setting Live video socket IP Type Of Service : "); 
    }
    else
    {
        printf ("Set IP_TOS ok\n");
    }

    

    init_ok = TRUE;
  }

  return AT_CODEC_OPEN_OK;
}

コード例 #2

ファイル: ardrone_at_mutex.c プロジェクト: AlvarHHM/ardronelib_arm

AT_CODEC_ERROR_CODE host_open( void )
{
  static bool_t init_ok = FALSE;

  if( func_ptrs.open != NULL )
    return func_ptrs.open();

  if( !init_ok )
  {
    COM_CONFIG_SOCKET_AT(&at_socket, VP_COM_CLIENT, 0, wifi_ardrone_ip);
    at_socket.protocol = VP_COM_UDP;
    at_socket.remotePort = AT_PORT;

    if(VP_FAILED(vp_com_init(COM_AT())))
    {
      PRINT ("Failed to init AT\n");
      vp_com_shutdown( COM_AT() );
      return AT_CODEC_OPEN_ERROR;
    }

    if(VP_FAILED(vp_com_open(COM_AT(), &at_socket, &atcodec_read, &atcodec_write)))
    {
      PRINT ("Failed to open AT\n");
      return AT_CODEC_OPEN_ERROR;
    }

    // set send_buffer to a low value to limit latency
    int32_t sendbuf = AT_MUTEX_SNDBUF_SIZE;
    if ( setsockopt((int32_t)at_socket.priv, SOL_SOCKET, SO_SNDBUF, &sendbuf, sizeof(sendbuf)) )
    {
      PRINT ("Error setting SND_BUF for AT socket\n");
    }

/*
 * On android, with IP_TOS set, certain devices can't connect to AR.Drone 1
 * So we just disable this functionnality to avoid these cases.
 */
#ifdef USE_ANDROID
    if (IS_ARDRONE2)
    {
#endif
        int opt = IPTOS_PREC_NETCONTROL;
        int res = setsockopt((int)at_socket.priv, IPPROTO_IP, IP_TOS, &opt, (socklen_t)sizeof(opt));
        if (res)
        {
            perror("AT stage - setting Live video socket IP Type Of Service : "); 
        }
        else
        {
            printf ("Set IP_TOS ok\n");
        }
#ifdef USE_ANDROID
    }
#endif

    

    init_ok = TRUE;
  }

  return AT_CODEC_OPEN_OK;
}