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; }
int drone_init(void* userdata) { drone_userdata = userdata; C_RESULT res; drone_doRunArdrone = 1; res = ardrone_tool_setup_com(NULL); if (SUCCEED(res)) { char ipAddress[256] = "192.168.1.1"; ardrone_tool_init(ipAddress, strlen(ipAddress), NULL); drone_doRun = 1; drone_targetEmergency = 1; drone_navdataCallback = NULL; drone_videoCallback = NULL; drone_atCommands = 0; START_THREAD(drone_main_thread, NULL); START_THREAD(drone_video_stage_thread, NULL); return 1; } else { drone_doRunArdrone = 0; } return 0; }
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; }
extern "C" int custom_main(int argc, char** argv) { int res = ardrone_tool_setup_com( NULL ); if( FAILED(res) ) { printf("Wifi initialization failed. It means either:\n"); printf("\t* you're not root (it's mandatory because you can set up wifi connection only as root)\n"); printf("\t* wifi device is not present (on your pc or on your card)\n"); printf("\t* you set the wrong name for wifi interface (for example rausb0 instead of wlan0) \n"); printf("\t* ap is not up (reboot card or remove wifi usb dongle)\n"); printf("\t* wifi device has no antenna\n"); } else { ardrone_tool_init(argc, argv); ros::init(argc, argv, "ardrone_driver"); ARDroneDriver().run(); } return 0; }
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; }
int _stdcall InitDrone() // TODO : Should SSID be passed in here? { C_RESULT res; // functions return value const char* appname = "droneapp"; 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 -3; } /* 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 res = test_drone_connection(); if( res !=0 ) { // Failed; WSACleanup(); return -1; } res = ardrone_tool_setup_com(NULL); // Can pass in the SSID here if(FAILED(res)) { // Wifi init has failed return -2; } /* Initialises ARDroneTool */ res = ardrone_tool_init(0, NULL); if(FAILED(res)) { return -4; } // Success return 0; //----------------------------------- //while (VP_SUCCEEDED(res) && ardrone_tool_exit() == FALSE) // res = ardrone_tool_update(); //res = ardrone_tool_shutdown(); //WSACleanup(); /* Bye bye */ 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; }