DEFINE_THREAD_ROUTINE(mobile_main, data)
{
C_RESULT res = C_FAIL;
vp_com_wifi_config_t *config = NULL;
mobile_main_param_t *param = (mobile_main_param_t *)data;
ardroneEngineCallback callback = param->callback;
vp_os_memset(drone_address, 0x0, sizeof(drone_address));
// TODO(johnb): Make this autodetect based on network interfaces
while(((config = (vp_com_wifi_config_t *)wifi_config()) != NULL) && (strcmp(config->itfName, WIFI_ITFNAME) != 0))
{
PRINT("Wait WIFI connection !\n");
vp_os_delay(250);
}
// Get drone_address
vp_os_memcpy(drone_address, config->server, strlen(config->server));
PRINT("Drone address %s\n", drone_address);
// Get iphone_mac_address
get_iphone_mac_address(config->itfName);
PRINT("Iphone MAC Address %s\n", iphone_mac_address);
res = ardrone_tool_setup_com( NULL );
if( FAILED(res) )
{
PRINT("Wifi initialization failed. It means either:\n");
PRINT("\t* you're not root (it's mandatory because you can set up wifi connection only as root)\n");
PRINT("\t* wifi device is not present (on your pc or on your card)\n");
PRINT("\t* you set the wrong name for wifi interface (for example rausb0 instead of wlan0) \n");
PRINT("\t* ap is not up (reboot card or remove wifi usb dongle)\n");
PRINT("\t* wifi device has no antenna\n");
}
else
{
START_THREAD(video_stage, NULL);
res = ardrone_tool_init(drone_address, strlen(drone_address), NULL, param->appName, param->usrName);
callback(ARDRONE_ENGINE_INIT_OK);
ardrone_tool_set_refresh_time(1000 / kAPS);
while( SUCCEED(res) && bContinue == TRUE )
{
ardrone_tool_update();
}
JOIN_THREAD(video_stage);
res = ardrone_tool_shutdown();
}
vp_os_free (data);
return (THREAD_RET)res;
}
void parrot_ardrone_notify_exit()
{
parrot_ardrone_notify_pause();
bContinue = FALSE;
ardrone_tool_shutdown();
LOGD(TAG, "AR.Drone Tool Stop [OK]");
}
DEFINE_THREAD_ROUTINE(mobile_main, data)
{
C_RESULT res = C_FAIL;
char drone_address[64];
unsigned long theAddr;
ardroneEngineCallback callback = (ardroneEngineCallback)data;
vp_os_memset(drone_address, 0x0, sizeof(drone_address));
while((theAddr = deviceIPAddress(WIFI_ITFNAME, iphone_mac_address)) == LOCALHOST)
{
PRINT("Wait WIFI connection !\n");
vp_os_delay(250);
}
struct in_addr drone_addr;
drone_addr.s_addr = htonl( ntohl((in_addr_t)theAddr) - 1 );
vp_os_memcpy(drone_address, inet_ntoa(drone_addr), strlen(inet_ntoa(drone_addr)));
PRINT("Drone address %s\n", drone_address);
PRINT("Iphone MAC Address %s\n", iphone_mac_address);
res = ardrone_tool_setup_com( NULL );
if( FAILED(res) )
{
PRINT("Wifi initialization failed. It means either:\n");
PRINT("\t* you're not root (it's mandatory because you can set up wifi connection only as root)\n");
PRINT("\t* wifi device is not present (on your pc or on your card)\n");
PRINT("\t* you set the wrong name for wifi interface (for example rausb0 instead of wlan0) \n");
PRINT("\t* ap is not up (reboot card or remove wifi usb dongle)\n");
PRINT("\t* wifi device has no antenna\n");
}
else
{
res = ardrone_tool_init(drone_address, strlen(drone_address), NULL);
callback(ARDRONE_ENGINE_INIT_OK);
if(SUCCEED(res))
{
START_THREAD(video_stage, NULL);
res = ardrone_tool_set_refresh_time(1000 / kAPS);
while( SUCCEED(res) && bContinue == TRUE )
{
res = ardrone_tool_update();
}
JOIN_THREAD(video_stage);
}
res = ardrone_tool_shutdown();
}
return (THREAD_RET)0;
}
DEFINE_THREAD_ROUTINE(mobile_main, data)
{
__android_log_print( ANDROID_LOG_INFO, "ARDrone", "Enter in mobile_main thread\n" );
C_RESULT res = C_OK;
char drone_address[24];
vp_os_memset(drone_address, 0x0, sizeof(drone_address));
sprintf(drone_address, WIFI_ARDRONE_IP);
res = ardrone_tool_setup_com( NULL );
if( FAILED(res) )
{
__android_log_print( ANDROID_LOG_INFO, "ARDrone", "Setup com failed\n" );
INFO("Wifi initialization failed. It means either:\n");
INFO("\t* you're not root (it's mandatory because you can set up wifi connection only as root)\n");
INFO("\t* wifi device is not present (on your pc or on your card)\n");
INFO("\t* you set the wrong name for wifi interface (for example rausb0 instead of wlan0) \n");
INFO("\t* ap is not up (reboot card or remove wifi usb dongle)\n");
INFO("\t* wifi device has no antenna\n");
}
else
{
START_THREAD(video_stage, NULL);
__android_log_print( ANDROID_LOG_INFO, "ARDrone", "Processing ardrone_tool_init\n" );
res = ardrone_tool_init(drone_address, strlen(drone_address), NULL);
control_ack_init();
control_ack_configure_navdata_demo( FALSE );
if(SUCCEED(res))
{
res = ardrone_tool_set_refresh_time(25);
while( SUCCEED(res) && bContinue == TRUE )
{
res = ardrone_tool_update();
}
}
JOIN_THREAD(video_stage);
res = ardrone_tool_shutdown();
}
__android_log_print( ANDROID_LOG_INFO, "ARDrone", "Exit mobile_main thread\n" );
return (THREAD_RET)0;
}
/*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;
}
BOOL _stdcall ShutdownDrone()
{
C_RESULT res = ardrone_tool_shutdown();
WSACleanup();
//start^=1;
//ardrone_tool_set_ui_pad_start(start);
//printf("Sending start %i.%s\n",start,linefiller);
// * @param enable 1,with pitch,roll and 0,without pitch,roll.
// * @param pitch Using floating value between -1 to +1.
// * @param roll Using floating value between -1 to +1.
// * @param gaz Using floating value between -1 to +1.
// * @param yaw Using floating value between -1 to +1.
//ardrone_at_set_progress_cmd((hovering)? 0:1, roll, pitch, gaz, yaw);
return VP_SUCCEEDED(res) ? 0 : -1;
}
int drone_free() {
pthread_mutex_lock(&drone_sharedDataMutex);
pthread_mutex_lock(&drone_navdataCallbackMutex);
drone_doRun = 0;
drone_navdataCallback = NULL;
pthread_mutex_unlock(&drone_navdataCallbackMutex);
pthread_mutex_unlock(&drone_sharedDataMutex);
printf("Joining main thread\n");
JOIN_THREAD(drone_main_thread);
drone_doRunArdrone = 0;
if (drone_receivedFirstNavdata) {
ardrone_tool_shutdown();
} else {
fprintf(stderr, "Warning! Did not shut down ardrone_tool because there was never a connection with the drone (freeze protection)!");
}
drone_userdata = NULL;
return 1;
}
int main(int argc, char **argv)
{
C_RESULT res;
const char* old_locale;
const char* appname = argv[0];
int argc_backup = argc;
char** argv_backup = argv;
bool_t show_usage = FAILED( ardrone_tool_check_argc_custom(argc) ) ? TRUE : FALSE;
argc--; argv++;
while( argc && *argv[0] == '-' )
{
if( !strcmp(*argv, "-?") || !strcmp(*argv, "-h") || !strcmp(*argv, "-help") || !strcmp(*argv, "--help") )
{
ardrone_tool_usage( appname );
exit( 0 );
}
else if( !ardrone_tool_parse_cmd_line_custom( *argv ) )
{
printf("Option %s not recognized\n", *argv);
show_usage = TRUE;
}
argc--; argv++;
}
if( show_usage || (argc != 0) )
{
ardrone_tool_usage( appname );
exit(-1);
}
/* After a first analysis, the arguments are restored so they can be passed to the user-defined functions */
argc=argc_backup;
argv=argv_backup;
old_locale = setlocale(LC_NUMERIC, "en_GB.UTF-8");
if( old_locale == NULL )
{
PRINT("You have to install new locales in your dev environment! (avoid the need of conv_coma_to_dot)\n");
PRINT("As root, do a \"dpkg-reconfigure locales\" and add en_GB.UTF8 to your locale settings\n");
PRINT("If you have any problem, feel free to contact Pierre Eline ([email protected])\n");
}
else
{
PRINT("Setting locale to %s\n", old_locale);
}
vp_com_wifi_config_t *config = (vp_com_wifi_config_t*)wifi_config();
if(config)
{
vp_os_memset( &wifi_ardrone_ip[0], 0, sizeof(wifi_ardrone_ip) );
printf("===================+> %s\n", config->server);
strcpy( &wifi_ardrone_ip[0], config->server);
}
if( &custom_main )
{
return custom_main(argc, argv);
}
else
{
res = ardrone_tool_setup_com( NULL );
if( FAILED(res) )
{
PRINT("Wifi initialization failed. It means either:\n");
PRINT("\t* you're not root (it's mandatory because you can set up wifi connection only as root)\n");
PRINT("\t* wifi device is not present (on your pc or on your card)\n");
PRINT("\t* you set the wrong name for wifi interface (for example rausb0 instead of wlan0) \n");
PRINT("\t* ap is not up (reboot card or remove wifi usb dongle)\n");
PRINT("\t* wifi device has no antenna\n");
}
else
{
res = ardrone_tool_init(argc, argv);
while( SUCCEED(res) && ardrone_tool_exit() == FALSE )
{
res = ardrone_tool_update();
}
res = ardrone_tool_shutdown();
}
}
if( old_locale != NULL )
{
setlocale(LC_NUMERIC, old_locale);
}
return SUCCEED(res) ? 0 : -1;
}
int ardrone_tool_main(int argc, char **argv)
{
C_RESULT res;
const char* old_locale;
const char* appname = argv[0];
int argc_backup = argc;
char** argv_backup = argv;
char * drone_ip_address = NULL;
struct in_addr drone_ip_address_in;
bool_t show_usage = FAILED( ardrone_tool_check_argc_custom(argc) ) ? TRUE : FALSE;
argc--; argv++;
while( argc && *argv[0] == '-' )
{
if( !strcmp(*argv, "-ip") && ( argc > 1 ) )
{
drone_ip_address = *(argv+1);
printf("Using custom ip address %s\n",drone_ip_address);
argc--; argv++;
}
else if( !strcmp(*argv, "-?") || !strcmp(*argv, "-h") || !strcmp(*argv, "-help") || !strcmp(*argv, "--help") )
{
ardrone_tool_usage( appname );
exit( 0 );
}
else if( !ardrone_tool_parse_cmd_line_custom( *argv ) )
{
printf("Option %s not recognized\n", *argv);
show_usage = TRUE;
}
argc--; argv++;
}
if( show_usage || (argc != 0) )
{
ardrone_tool_usage( appname );
exit(-1);
}
/* After a first analysis, the arguments are restored so they can be passed to the user-defined functions */
argc=argc_backup;
argv=argv_backup;
old_locale = setlocale(LC_NUMERIC, "en_GB.UTF-8");
if( old_locale == NULL )
{
PRINT("You have to install new locales in your dev environment! (avoid the need of conv_coma_to_dot)\n");
PRINT("As root, do a \"dpkg-reconfigure locales\" and add en_GB.UTF8 to your locale settings\n");
}
else
{
PRINT("Setting locale to %s\n", old_locale);
}
vp_com_wifi_config_t *config = (vp_com_wifi_config_t*)wifi_config();
if(config)
{
vp_os_memset( &wifi_ardrone_ip[0], 0, sizeof(wifi_ardrone_ip) );
if(drone_ip_address && inet_aton(drone_ip_address,&drone_ip_address_in)!=0)
{
/* If the drone IP address was given on the command line and is valid */
printf("===================+> %s\n", drone_ip_address);
strncpy( &wifi_ardrone_ip[0], drone_ip_address, sizeof(wifi_ardrone_ip)-1);
}
else
{
printf("===================+> %s\n", config->server);
strncpy( &wifi_ardrone_ip[0], config->server, sizeof(wifi_ardrone_ip)-1);
}
}
while (-1 == getDroneVersion (root_dir, wifi_ardrone_ip, &ardroneVersion))
{
printf ("Getting AR.Drone version ...\n");
vp_os_delay (250);
}
res = ardrone_tool_setup_com( NULL );
if( FAILED(res) )
{
PRINT("Wifi initialization failed. It means either:\n");
PRINT("\t* you're not root (it's mandatory because you can set up wifi connection only as root)\n");
PRINT("\t* wifi device is not present (on your pc or on your card)\n");
PRINT("\t* you set the wrong name for wifi interface (for example rausb0 instead of wlan0) \n");
PRINT("\t* ap is not up (reboot card or remove wifi usb dongle)\n");
PRINT("\t* wifi device has no antenna\n");
}
else
{
// Save appname/appid for reconnections
char *appname = NULL;
int lastSlashPos;
/* Cut the invoking name to the last / or \ character on the command line
* This avoids using differents app_id for applications called from different directories
* e.g. if argv[0] is "Build/Release/ardrone_navigation", appname will point to "ardrone_navigation" only
*/
for (lastSlashPos = strlen (argv[0])-1; lastSlashPos > 0 && argv[0][lastSlashPos] != '/' && argv[0][lastSlashPos] != '\\'; lastSlashPos--);
appname = &argv[0][lastSlashPos+1];
ardrone_gen_appid (appname, __SDK_VERSION__, app_id, app_name, sizeof (app_name));
res = ardrone_tool_init(wifi_ardrone_ip, strlen(wifi_ardrone_ip), NULL, appname, NULL, NULL, NULL, MAX_FLIGHT_STORING_SIZE, NULL);
while( SUCCEED(res) && ardrone_tool_exit() == FALSE )
{
res = ardrone_tool_update();
}
res = ardrone_tool_shutdown();
}
if( old_locale != NULL )
{
setlocale(LC_NUMERIC, old_locale);
}
return SUCCEED(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 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(app_main, data)
{
C_RESULT res = C_FAIL;
vp_com_wifi_config_t* config = NULL;
JNIEnv* env = NULL;
if (g_vm) {
(*g_vm)->AttachCurrentThread (g_vm, (JNIEnv **) &env, NULL);
}
bContinue = TRUE;
mobile_main_param_t *param = data;
video_recorder_thread_param_t video_recorder_param;
video_recorder_param.priority = VIDEO_RECORDER_THREAD_PRIORITY;
video_recorder_param.finish_callback = param->academy_download_callback_func;
vp_os_memset(&ardrone_info, 0x0, sizeof(ardrone_info_t));
while ((config = (vp_com_wifi_config_t *)wifi_config()) != NULL && strlen(config->itfName) == 0)
{
//Waiting for wifi initialization
vp_os_delay(250);
if (ardrone_tool_exit() == TRUE) {
if (param != NULL && param->callback != NULL) {
param->callback(env, param->obj, ARDRONE_MESSAGE_DISCONNECTED);
}
return 0;
}
}
vp_os_memcpy(&ardrone_info.drone_address[0], config->server, strlen(config->server));
while (-1 == getDroneVersion (param->root_dir, &ardrone_info.drone_address[0], &ardroneVersion))
{
LOGD (TAG, "Getting AR.Drone version");
vp_os_delay (250);
}
sprintf(&ardrone_info.drone_version[0], "%u.%u.%u", ardroneVersion.majorVersion, ardroneVersion.minorVersion, ardroneVersion.revision);
LOGD (TAG, "ARDrone Version : %s\n", &ardrone_info.drone_version[0]);
LOGI(TAG, "Drone Family: %d", ARDRONE_VERSION());
res = ardrone_tool_setup_com( NULL );
if( FAILED(res) )
{
LOGII("Setup com failed");
LOGW(TAG, "Wifi initialization failed. It means either:");
LOGW(TAG, "\t* you're not root (it's mandatory because you can set up wifi connection only as root)\n");
LOGW(TAG, "\t* wifi device is not present (on your pc or on your card)\n");
LOGW(TAG, "\t* you set the wrong name for wifi interface (for example rausb0 instead of wlan0) \n");
LOGW(TAG, "\t* ap is not up (reboot card or remove wifi usb dongle)\n");
LOGW(TAG, "\t* wifi device has no antenna\n");
if (param != NULL && param->callback != NULL) {
param->callback(env, param->obj, ARDRONE_MESSAGE_ERR_NO_WIFI);
}
}
else
{
LOGII("ardrone_tool_setup_com [OK]");
#define NB_IPHONE_PRE_STAGES 0
#define NB_IPHONE_POST_STAGES 2
//Alloc structs
specific_parameters_t * params = (specific_parameters_t *)vp_os_calloc(1, sizeof(specific_parameters_t));
specific_stages_t * iphone_pre_stages = (specific_stages_t*)vp_os_calloc(1, sizeof(specific_stages_t));
specific_stages_t * iphone_post_stages = (specific_stages_t*)vp_os_calloc(1, sizeof(specific_stages_t));
vp_api_picture_t * in_picture = (vp_api_picture_t*) vp_os_calloc(1, sizeof(vp_api_picture_t));
vp_api_picture_t * out_picture = (vp_api_picture_t*) vp_os_calloc(1, sizeof(vp_api_picture_t));
in_picture->width = STREAM_WIDTH;
in_picture->height = STREAM_HEIGHT;
out_picture->framerate = 20;
out_picture->format = PIX_FMT_RGB565;
out_picture->width = STREAM_WIDTH;
out_picture->height = STREAM_HEIGHT;
out_picture->y_buf = vp_os_malloc( STREAM_WIDTH * STREAM_HEIGHT * 2 );
out_picture->cr_buf = NULL;
out_picture->cb_buf = NULL;
out_picture->y_line_size = STREAM_WIDTH * 2;
out_picture->cb_line_size = 0;
out_picture->cr_line_size = 0;
//Define the list of stages size
iphone_pre_stages->length = NB_IPHONE_PRE_STAGES;
iphone_post_stages->length = NB_IPHONE_POST_STAGES;
//Alloc the lists
iphone_pre_stages->stages_list = NULL;
iphone_post_stages->stages_list = (vp_api_io_stage_t*)vp_os_calloc(iphone_post_stages->length,sizeof(vp_api_io_stage_t));
//Fill the POST-stages------------------------------------------------------
int postStageNumber = 0;
vp_os_memset (&vlat, 0x0, sizeof (vlat));
vlat.state = 0;
vlat.last_decoded_frame_info= (void *)&vec;
iphone_post_stages->stages_list[postStageNumber].type = VP_API_FILTER_DECODER;
iphone_post_stages->stages_list[postStageNumber].cfg = (void *)&vlat;
iphone_post_stages->stages_list[postStageNumber++].funcs = vp_stages_latency_estimation_funcs;
vp_os_memset (&ovsc, 0x0, sizeof (ovsc));
ovsc.video_decoder = &vec;
iphone_post_stages->stages_list[postStageNumber].type = VP_API_OUTPUT_LCD;
iphone_post_stages->stages_list[postStageNumber].cfg = (void *)&ovsc;
iphone_post_stages->stages_list[postStageNumber++].funcs = opengl_video_stage_funcs;
params->in_pic = in_picture;
params->out_pic = out_picture;
params->pre_processing_stages_list = iphone_pre_stages;
params->post_processing_stages_list = iphone_post_stages;
#if USE_THREAD_PRIORITIES
params->needSetPriority = 1;
params->priority = VIDEO_THREAD_PRIORITY;
#else
params->needSetPriority = 0;
params->priority = 0;
#endif
START_THREAD(video_stage, params);
if (IS_LEAST_ARDRONE2)
{
START_THREAD (video_recorder, (void *)&video_recorder_param);
LOGD(TAG, "Video recorder thread start [OK]");
}
res = ardrone_tool_init(&ardrone_info.drone_address[0], strlen(&ardrone_info.drone_address[0]), NULL, param->app_name, param->user_name, param->root_dir, param->flight_dir, param->flight_storing_size, param->academy_download_callback_func);
if(SUCCEED(res))
{
ardrone_tool_input_add(&virtual_gamepad);
if (param != NULL && param->callback != NULL) {
param->callback(env, param->obj, ARDRONE_MESSAGE_CONNECTED_OK);
}
} else {
if (param != NULL && param->callback != NULL) {
param->callback(env, param->obj, ARDRONE_MESSAGE_UNKNOWN_ERR);
}
bContinue = FALSE;
}
res = ardrone_tool_set_refresh_time(1000 / kAPS);
#if USE_THREAD_PRIORITIES
CHANGE_THREAD_PRIO (app_main, AT_THREAD_PRIORITY);
CHANGE_THREAD_PRIO (navdata_update, NAVDATA_THREAD_PRIORITY);
CHANGE_THREAD_PRIO (ardrone_control, NAVDATA_THREAD_PRIORITY);
#endif
while( SUCCEED(res) && bContinue == TRUE )
{
ardrone_tool_update();
}
JOIN_THREAD(video_stage);
if (IS_LEAST_ARDRONE2)
{
JOIN_THREAD (video_recorder);
}
/* Unregistering for the current device */
ardrone_tool_input_remove( &virtual_gamepad );
res = ardrone_tool_shutdown();
LOGD(TAG, "AR.Drone tool shutdown [OK]");
if (param != NULL && param->callback != NULL) {
param->callback(env, param->obj, ARDRONE_MESSAGE_DISCONNECTED);
}
}
vp_os_free (data);
data = NULL;
(*env)->DeleteGlobalRef(env, param->obj);
if (g_vm) {
(*g_vm)->DetachCurrentThread (g_vm);
}
LOGI(TAG, "app_main thread has been stopped.");
return (THREAD_RET) res;
}
