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;
}
/*---------------------------------------------------------------------------------------------------------------------
---------------------------------------------------------------------------------------------------------------------*/
C_RESULT ardrone_tool_init(int argc, char **argv)
{
C_RESULT res;
//Fill structure AT codec and built the library AT commands.
ardrone_at_init( wifi_ardrone_ip, strlen( wifi_ardrone_ip) );
// Init subsystems
ardrone_timer_reset(&ardrone_tool_timer);
ardrone_tool_input_init();
ardrone_control_init();
ardrone_navdata_client_init();
// Init custom tool
res = ardrone_tool_init_custom(argc, argv);
//Opens a connection to AT port.
ardrone_at_open();
START_THREAD(navdata_update, 0);
START_THREAD(ardrone_control, 0);
ardrone_tool_configure();
// Send start up configuration
ardrone_at_set_pmode( MiscVar[0] );
ardrone_at_set_ui_misc( MiscVar[0], MiscVar[1], MiscVar[2], MiscVar[3] );
return res;
}
/* The delegate object calls this method during initialization of an ARDrone application */
C_RESULT ardrone_tool_init_custom(int argc, char **argv)
{
/* Registering for a new device of game controller */
//ardrone_tool_input_add( &gamepad );
//ardrone_tool_input_add( &ps3pad );
/* Start all threads of your application */
START_THREAD( video_stage, NULL );
START_THREAD( main_application_thread , NULL );
return C_OK;
}
C_RESULT ardrone_tool_init( const char* ardrone_ip, size_t n, AT_CODEC_FUNCTIONS_PTRS *ptrs, const char *appname, const char *usrname)
{
// Initalize mutex and condition
vp_os_mutex_init(&ardrone_tool_mutex);
ardrone_tool_in_pause = FALSE;
// Initialize ardrone_control_config structures;
ardrone_tool_reset_configuration();
// ardrone_control_config_default initialisation. Sould not be modified after that !
vp_os_memcpy ((void *)&ardrone_control_config_default, (const void *)&ardrone_control_config, sizeof (ardrone_control_config_default));
// initialization of application defined default values
vp_os_memcpy ((void *)&ardrone_application_default_config, (const void *)&ardrone_control_config, sizeof (ardrone_application_default_config));
//Fill structure AT codec and built the library AT commands.
if( ptrs != NULL )
ardrone_at_init_with_funcs( ardrone_ip, n, ptrs );
else
ardrone_at_init( ardrone_ip, n );
// Save appname/appid for reconnections
if (NULL != appname)
{
ardrone_gen_appid (appname, __SDK_VERSION__, app_id, app_name, sizeof (app_name));
}
// Save usrname/usrid for reconnections
if (NULL != usrname)
{
ardrone_gen_usrid (usrname, usr_id, usr_name, sizeof (usr_name));
}
// Create pseudorandom session id
ardrone_gen_sessionid (ses_id, ses_name, sizeof (ses_name));
// Init subsystems
ardrone_timer_reset(&ardrone_tool_timer);
ardrone_timer_update(&ardrone_tool_timer);
ardrone_tool_input_init();
ardrone_control_init();
ardrone_tool_configuration_init();
ardrone_navdata_client_init();
//Opens a connection to AT port.
ardrone_at_open();
START_THREAD(navdata_update, 0);
START_THREAD(ardrone_control, 0);
// Send start up configuration
ardrone_at_set_pmode( MiscVar[0] );
ardrone_at_set_ui_misc( MiscVar[0], MiscVar[1], MiscVar[2], MiscVar[3] );
return C_OK;
}
int
main(int argc, char **argv)
{
START_THREAD(escaper, NO_PARAM);
START_THREAD(app, argv);
JOIN_THREAD(escaper);
JOIN_THREAD(app);
return EXIT_SUCCESS;
}
C_RESULT ardrone_tool_init_custom(int argc, char **argv)
{
/* Registering for a new device of game controller */
/* Start all threads of your application */
//control_data = (control_data_t *) malloc (sizeof(control_data_t);
vp_os_mutex_init( &control_data_lock );
START_THREAD( video_stage, NULL );
START_THREAD( ardrone_control, NULL );
START_THREAD( thread1, NULL );
return C_OK;
}
/* The delegate object calls this method during initialization of an ARDrone application */
C_RESULT ardrone_tool_init_custom()
{
/* Registering for a new device of game controller */
// ardrone_tool_input_add( &gamepad );
/* Start all threads of your application */
START_THREAD( video_stage, NULL );
init_gui(argc_cpy, argv_cpy); /* Creating the GUI */
START_THREAD(gui, NULL); /* Starting the GUI thread */
return C_OK;
}
C_RESULT ardrone_tool_init_custom(int argc, char **argv)
{
/* Registering for a new device of game controller */
/* Start all threads of your application */
//control_data = (control_data_t *) malloc (sizeof(control_data_t);
end_all_threads = 0;
global_video_feed = NULL;
START_THREAD( video_stage, NULL );
START_THREAD( ardrone_control, NULL );
START_THREAD( comm_control, NULL );
START_THREAD( control_system, NULL );
return C_OK;
}
int main(int argc, char **argv)
{
START_THREAD(app, argv);
JOIN_THREAD(app);
return EXIT_SUCCESS;
}
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
main(int argc, char **argv)
{
if(argc != 2)
{
PRINT("You must specify a filename.\n");
return EXIT_FAILURE;
}
START_THREAD(escaper, NO_PARAM);
START_THREAD(app, argv);
JOIN_THREAD(escaper);
JOIN_THREAD(app);
return EXIT_SUCCESS;
}
void ardroneEngineStart ( ardroneEngineCallback callback )
{
#ifdef DEBUG_THREAD
PRINT( "%s\n", __FUNCTION__ );
#endif
video_stage_init();
START_THREAD( mobile_main, callback);
}
void background_upload_file(LwqqClient* lc,LwqqMsgOffFile* file,LWQQ_PROGRESS file_trans_on_progress,PurpleXfer* xfer)
{
void** data = s_malloc(sizeof(void*)*4);
data[0] = lc;
data[1] = file;
data[2] = file_trans_on_progress;
data[3] = xfer;
START_THREAD(_background_upload_file,data);
}
/* The delegate object calls this method during initialization of an ARDrone application */
C_RESULT ardrone_tool_init_custom(void)
{
/* Registering for a new device of game controller */
// ardrone_tool_input_add( &gamepad );
/* Start all threads of your application */
START_THREAD( video_stage, NULL );
return C_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;
}
/* The delegate object calls this method during initialization of an ARDrone application */
C_RESULT ardrone_tool_init_custom(int argc, char **argv)
{
/* Create GUI */
init_gui(argc, argv); /* Creating the GUI */
START_THREAD(gui, NULL); /* Starting the GUI thread */
/* Registering for a new device of game controller */
ardrone_tool_input_add( &gamepad );
/* Cambia camara
ZAP_VIDEO_CHANNEL channel = ZAP_CHANNEL_HORI some channel, ex: ZAP_CHANNEL_LARGE_HORI_SMALL_VERT;
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (video_channel, &channel, NULL);*/
/* Start all threads of your application */
START_THREAD( video_stage, NULL );
return C_OK;
}
void appInit(void)
{
__android_log_print( ANDROID_LOG_INFO, "ARDrone", "Enter in appInit\n" );
// video rendering
video_init();
// int status;
// get_drone_ip();
gAppAlive = 1;
START_THREAD( mobile_main, NULL);
}
/*--------------------------------------------------------------------
The delegate object calls this method during initialization of an
ARDrone application
--------------------------------------------------------------------*/
C_RESULT ardrone_tool_init_custom(int argc, char **argv)
{
/* Change the console title */
vp_os_mutex_init(&consoleMutex);
system("cls");
SetConsoleTitle(TEXT("Parrot A.R. Drone SDK Demo for Windows"));
//CreateThread(NULL,0,(LPTHREAD_START_ROUTINE)&HmiStart,NULL,0,0);
//CreateThread(NULL,0,(LPTHREAD_START_ROUTINE)&HmiStart2,NULL,0,0);
/* Registering for a new device of game controller */
ardrone_tool_input_add( &dx_keyboard );
ardrone_tool_input_add( &dx_gamepad );
/* Start all threads of your application */
START_THREAD( directx_renderer_thread , NULL);
START_THREAD( video_stage, NULL );
return C_OK;
}
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 ardroneEngineStart ( ardroneEngineCallback callback, const char *appName, const char *usrName )
{
#ifdef DEBUG_THREAD
PRINT( "%s\n", __FUNCTION__ );
#endif
video_stage_init();
mobile_main_param_t *param = vp_os_malloc (sizeof (mobile_main_param_t));
if (NULL != param)
{
param->callback = callback;
strcpy(param->appName, appName);
strcpy(param->usrName, usrName);
START_THREAD( mobile_main, param);
}
}
C_RESULT ardrone_tool_init(int argc, char **argv)
{
C_RESULT res;
ardrone_at_init( wifi_ardrone_ip, strlen( wifi_ardrone_ip) );
ardrone_timer_reset(&ardrone_tool_timer);
ardrone_control_init();
ardrone_navdata_client_init();
res = ardrone_tool_init_custom(argc, argv);
ardrone_at_open();
START_THREAD(ardrone_control, 0);
ardrone_tool_configure();
ardrone_at_set_pmode( MiscVar[0] );
ardrone_at_set_ui_misc( MiscVar[0], MiscVar[1], MiscVar[2], MiscVar[3] );
return res;
}
C_RESULT display_stage_open (display_stage_cfg_t *cfg)
{
// Check that we use RGB565
if (2 != cfg->bpp)
{
// If that's not the case, then don't display anything
cfg->paramsOK = FALSE;
}
else
{
// Else, start GTK thread and window
cfg->paramsOK = TRUE;
cfg->frameBuffer = NULL;
cfg->fbSize = 0;
START_THREAD (gtk, cfg);
}
return C_OK;
}
void parrot_ardrone_notify_start(JNIEnv* env,
jobject obj,
ardroneEngineCallback callback,
const char *appName,
const char *userName,
const char* rootdir,
const char* flightdir,
int flight_storing_size,
academy_download_new_media academy_download_callback_func,
VIDEO_RECORDING_CAPABILITY recordingCapability)
{
video_stage_init();
video_recorder_init();
mobile_main_param_t *param = vp_os_malloc(sizeof(mobile_main_param_t));
if(param==NULL){
LOGII("paramisnull");
}
if (NULL != param) {
param->obj = (*env)->NewGlobalRef(env, obj);
param->callback = callback;
vp_os_memset(¶m->app_name, 0, STRING_BUFFER_LENGTH);
vp_os_memset(¶m->user_name, 0, STRING_BUFFER_LENGTH);
vp_os_memset(¶m->root_dir, 0, STRING_BUFFER_LENGTH);
vp_os_memset(¶m->flight_dir, 0, STRING_BUFFER_LENGTH);
strncpy(param->app_name, appName, STRING_BUFFER_LENGTH);
strncpy(param->user_name, userName, STRING_BUFFER_LENGTH);
strncpy(param->root_dir, rootdir, STRING_BUFFER_LENGTH);
strncpy(param->flight_dir, flightdir, STRING_BUFFER_LENGTH);
param->flight_storing_size = flight_storing_size;
param->academy_download_callback_func = academy_download_callback_func;
ctrldata.recordingCapability = recordingCapability;
LOGII("startsuccess");
START_THREAD(app_main, param);
}
}
void BleMainWindow::onEncodeStart()
{
// m_imageProcessThread = new BleImageProcessThread(this);
// m_imageProcessWidget->setProcessThread(m_imageProcessThread);
// QSize si = MOption::instance()->option("res", "encoder").toSize();
// int fps = MOption::instance()->option("fps", "encoder").toInt();
// m_imageProcessThread->setResolution(si.width(), si.height());
// m_imageProcessThread->setInternal(1000 / fps);
m_encoderThread = new BleEncoderThread(this);
m_encoderThread->init();
m_audioCaptureThread = new BleAudioCapture;
int audioSampleRate = MOption::instance()->option("sample_rate", "audio").toInt();
int audioChannels = -1;
QString audioChannelsStr = MOption::instance()->option("channels", "audio").toString();
if (audioChannelsStr == "Mono") {
audioChannels = 1;
} else if (audioChannelsStr == "Stereo") {
audioChannels = 2;
}
BleAssert(audioChannels != -1);
int audioBitrate = MOption::instance()->option("bitrate", "audio").toInt() * 1000;
int devID = MOption::instance()->option("dev_id", "audio").toInt();
int ret = m_audioCaptureThread->startCapture(audioBitrate, audioSampleRate, audioChannels, devID);
if (ret != BLE_SUCESS) {
QjtMessageBox::critical(this, tr("error"), tr("start audio capture error."));
}
if (!m_sendThread) {
m_sendThread = new BleRtmpSendThread(this);
connect(m_sendThread, SIGNAL(status(int,int,int,qint64))
, this, SLOT(onStatus(int,int,int,qint64)));
START_THREAD(m_sendThread);
}
void
bdbuf_test4_1_main()
{
bdbuf_test_msg msg;
TEST_START("Test 4.1");
START_THREAD(1, bdbuf_test4_1_thread1);
START_THREAD(2, bdbuf_test4_1_thread2);
/*
* Step 1:
* Call rtems_bdbuf_read(#N) in thread #1.
* Wait for read request in disk driver.
*/
WAIT_DRV_MSG(&msg);
SEND_DRV_MSG(0, 0, RTEMS_SUCCESSFUL, 0);
/* Wait for return from rtems_bdbuf_read(#N) function. */
WAIT_THREAD_SYNC(1);
/*
* Step 2:
* Call rtems_bdbuf_read(#N) in thread #2.
*/
CONTINUE_THREAD(2);
/* Make sure that thread #2 blocks */
CHECK_THREAD_BLOCKED(2);
TEST_CHECK_RESULT("2");
/*
* Step 3:
* Call rtems_bdbuf_sync (#N) in thread #1.
*/
CONTINUE_THREAD(1);
/*
* Setp 4:
* Wait for Write request to device driver.
*/
WAIT_DRV_MSG_WR(&msg);
/* Check that both threads are blocked right now */
CHECK_THREAD_BLOCKED(1);
CHECK_THREAD_BLOCKED(2);
/* Send Write complete notification */
SEND_DRV_MSG(0, 0, RTEMS_SUCCESSFUL, 0);
/*
* Step 5:
* Check that rtems_bdbuf_sync(#N) call is unlocked.
*/
WAIT_THREAD_SYNC(1);
TEST_CHECK_RESULT("5");
/*
* Step 6:
* Check that rtems_bdbuf_read(#N) call in thread #2 is unlocked.
*/
WAIT_THREAD_SYNC(2);
/*
* Step 7:
* Release buffer in thread #2
*/
CONTINUE_THREAD(2);
/*
* Exit from thread #1.
*/
CONTINUE_THREAD(1);
TEST_END();
}
void
bdbuf_test3_3_main()
{
bdbuf_test_msg msg;
TEST_START("Test 3.3");
/*
* Create working threads.
*/
SET_THREAD_PRIORITY(2, LOW);
SET_THREAD_PRIORITY(3, HIGH);
START_THREAD(1, bdbuf_test3_3_thread1);
START_THREAD(2, bdbuf_test3_3_thread2);
START_THREAD(3, bdbuf_test3_3_thread3);
/*
* Start thread #1: it will read buffer #N1.
* Driver is asked to read this buffer.
*/
WAIT_DRV_MSG(&msg);
SEND_DRV_MSG(0, 0, RTEMS_SUCCESSFUL, 0);
WAIT_THREAD_SYNC(1);
/*
* Block thread #2 and thread #3 on get buffers #N2 and #N3
* correspondingly (bdbuf librbary has no buffers available).
*/
CONTINUE_THREAD(2);
CONTINUE_THREAD(3);
/* Make sure threads managed to block on the buffers get. */
CHECK_THREAD_BLOCKED(2);
CHECK_THREAD_BLOCKED(3);
/*
* Step 4:
* Thread #1 release buffer.
*/
CONTINUE_THREAD(1);
/* Wait for read request in the driver (for thread #2) */
WAIT_DRV_MSG(&msg);
SEND_DRV_MSG(0, 0, RTEMS_SUCCESSFUL, 0);
/* Check that there is no read request for another block */
CHECK_NO_DRV_MSG();
/*
* Check that thread #2 unblocked after this.
*/
WAIT_THREAD_SYNC(2);
TEST_CHECK_RESULT("5");
/* Thread #3 is still in blocked state */
CHECK_THREAD_BLOCKED(3);
/* Release buffer in thread #2 */
CONTINUE_THREAD(2);
/* Wait for read request in the driver (for thread #3) */
WAIT_DRV_MSG(&msg);
SEND_DRV_MSG(0, 0, RTEMS_SUCCESSFUL, 0);
/* Wait for thread #3 to be unblocked */
WAIT_THREAD_SYNC(3);
/* Release buffer in thread #3 */
CONTINUE_THREAD(3);
CHECK_NO_DRV_MSG();
TEST_END();
}
void
bdbuf_test3_1_main()
{
bdbuf_test_msg msg;
TEST_START("Test 3.1");
START_THREAD(1, bdbuf_test3_1_thread1);
START_THREAD(2, bdbuf_test3_1_thread2);
/*
* Step 1-3:
* Wait for sync from thread #1.
* Thread #1 switch a buffer for #N into ACCESS_MODIFIED state.
*/
WAIT_THREAD_SYNC(1);
TEST_CHECK_RESULT("3");
/*
* Step 4:
* Thread #2 calls get() function and blocks
* (there no buffers available in bdbuf library).
*/
CONTINUE_THREAD(2);
/* Make sure thread #2 managed to block on the buffer. */
CHECK_THREAD_BLOCKED(2);
/*
* Step 6:
* Thread #1 release buffer.
*/
CONTINUE_THREAD(1);
/*
* Buffer released in thread #1 was in MODIFIED state, so
* there will be a request for disk write
*/
WAIT_DRV_MSG_WR(&msg);
SEND_DRV_MSG(0, 0, RTEMS_SUCCESSFUL, 0);
/*
* Check that thread #2 unblocked after this.
*/
WAIT_THREAD_SYNC(2);
TEST_CHECK_RESULT("5");
/*
* Release buffer in thread #2
*/
CONTINUE_THREAD(2);
/*
* Buffer released in thread #2 switched to MODIFIED state, so
* there will be a request for disk write
*/
WAIT_DRV_MSG_WR(&msg);
SEND_DRV_MSG(0, 0, RTEMS_SUCCESSFUL, 0);
TEST_END();
}
C_RESULT ardrone_tool_init_custom(void)
{
/**
* Set application default configuration
*
* In this example, we use the AR.FreeFlight configuration :
* - Demo navdata rate (15Hz)
* - Useful additionnal navdata packets enabled (detection, games, video record, wifi quality estimation ...)
* - Adaptive video enabled (bitrate_ctrl_mode) -> video bitrate will change according to the available bandwidth
*/
ardrone_application_default_config.navdata_demo = TRUE;
//use this -> NAVDATA_OPTION_FULL_MASK
//or coment the line below if detection doesn't work
ardrone_application_default_config.navdata_options = NAVDATA_OPTION_FULL_MASK;//(NAVDATA_OPTION_MASK(NAVDATA_DEMO_TAG) | NAVDATA_OPTION_MASK(NAVDATA_VISION_DETECT_TAG) | NAVDATA_OPTION_MASK(NAVDATA_GAMES_TAG) | NAVDATA_OPTION_MASK(NAVDATA_MAGNETO_TAG) | NAVDATA_OPTION_MASK(NAVDATA_HDVIDEO_STREAM_TAG) | NAVDATA_OPTION_MASK(NAVDATA_WIFI_TAG));
if (IS_ARDRONE2){
ardrone_application_default_config.video_codec = drone2Codec;
} else {
ardrone_application_default_config.video_codec = drone1Codec;
}
ardrone_application_default_config.video_channel = videoChannel;
ardrone_application_default_config.bitrate_ctrl_mode = 1;
/**
* Define the number of video stages we'll add before/after decoding
*/
#define EXAMPLE_PRE_STAGES 1
#define EXAMPLE_POST_STAGES 1
/**
* Allocate useful structures :
* - index counter
* - thread param structure and its substructures
*/
uint8_t stages_index = 0;
specific_parameters_t *params = (specific_parameters_t *)vp_os_calloc (1, sizeof (specific_parameters_t));
specific_stages_t *example_pre_stages = (specific_stages_t *)vp_os_calloc (1, sizeof (specific_stages_t));
specific_stages_t *example_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));
/**
* Fill the vp_api_pictures used for video decodig
* --> out_picture->format is mandatory for AR.Drone 1 and 2. Other lines are only necessary for AR.Drone 1 video decoding
*/
in_picture->width = 640; // Drone 1 only : Must be greater than the drone 1 picture size (320)
in_picture->height = 360; // Drone 1 only : Must be greater that the drone 1 picture size (240)
out_picture->framerate = 20; // Drone 1 only, must be equal to drone target FPS
out_picture->format = PIX_FMT_RGB24; // MANDATORY ! Only RGB24, RGB565 are supported
out_picture->width = in_picture->width;
out_picture->height = in_picture->height;
// Alloc Y, CB, CR bufs according to target format
uint32_t bpp = 0;
switch (out_picture->format)
{
case PIX_FMT_RGB24:
// One buffer, three bytes per pixel
bpp = 3;
out_picture->y_buf = vp_os_malloc ( out_picture->width * out_picture->height * bpp );
out_picture->cr_buf = NULL;
out_picture->cb_buf = NULL;
out_picture->y_line_size = out_picture->width * bpp;
out_picture->cb_line_size = 0;
out_picture->cr_line_size = 0;
break;
case PIX_FMT_RGB565:
// One buffer, two bytes per pixel
bpp = 2;
out_picture->y_buf = vp_os_malloc ( out_picture->width * out_picture->height * bpp );
out_picture->cr_buf = NULL;
out_picture->cb_buf = NULL;
out_picture->y_line_size = out_picture->width * bpp;
out_picture->cb_line_size = 0;
out_picture->cr_line_size = 0;
break;
default:
fprintf (stderr, "Wrong video format, must be either PIX_FMT_RGB565 or PIX_FMT_RGB24\n");
exit (-1);
break;
}
/**
* Allocate the stage lists
*
* - "pre" stages are called before video decoding is done
* -> A pre stage get the encoded video frame (including PaVE header for AR.Drone 2 frames) as input
* -> A pre stage MUST NOT modify these data, and MUST pass it to the next stage
* - Typical "pre" stage : Encoded video recording for AR.Drone 1 (recording for AR.Drone 2 is handled differently)
*
* - "post" stages are called after video decoding
* -> The first post stage will get the decoded video frame as its input
* --> Video frame format depend on out_picture->format value (RGB24 / RGB565)
* -> A post stage CAN modify the data, as ardrone_tool won't process it afterwards
* -> All following post stages will use the output of the previous stage as their inputs
* - Typical "post" stage : Display the decoded frame
*/
example_pre_stages->stages_list = (vp_api_io_stage_t *)vp_os_calloc (EXAMPLE_PRE_STAGES, sizeof (vp_api_io_stage_t));
example_post_stages->stages_list = (vp_api_io_stage_t *)vp_os_calloc (EXAMPLE_POST_STAGES, sizeof (vp_api_io_stage_t));
/**
* Fill the PRE stage list
* - name and type are debug infos only
* - cfg is the pointer passed as "cfg" in all the stages calls
* - funcs is the pointer to the stage functions
*/
stages_index = 0;
vp_os_memset (&precfg, 0, sizeof (pre_stage_cfg_t));
strncpy (precfg.outputName, encodedFileName, 255);
example_pre_stages->stages_list[stages_index].name = "Encoded Dumper"; // Debug info
example_pre_stages->stages_list[stages_index].type = VP_API_FILTER_DECODER; // Debug info
example_pre_stages->stages_list[stages_index].cfg = &precfg;
example_pre_stages->stages_list[stages_index++].funcs = pre_stage_funcs;
example_pre_stages->length = stages_index;
/**
* Fill the POST stage list
* - name and type are debug infos only
* - cfg is the pointer passed as "cfg" in all the stages calls
* - funcs is the pointer to the stage functions
*/
stages_index = 0;
vp_os_memset (&dispCfg, 0, sizeof (display_stage_cfg_t));
dispCfg.bpp = bpp;
dispCfg.decoder_info = in_picture;
example_post_stages->stages_list[stages_index].name = "Decoded display"; // Debug info
example_post_stages->stages_list[stages_index].type = VP_API_OUTPUT_SDL; // Debug info
example_post_stages->stages_list[stages_index].cfg = &dispCfg;
example_post_stages->stages_list[stages_index++].funcs = display_stage_funcs;
example_post_stages->length = stages_index;
/**
* Fill thread params for the ardrone_tool video thread
* - in_pic / out_pic are reference to our in_picture / out_picture
* - pre/post stages lists are references to our stages lists
* - needSetPriority and priority are used to control the video thread priority
* -> if needSetPriority is set to 1, the thread will try to set its priority to "priority"
* -> if needSetPriority is set to 0, the thread will keep its default priority (best on PC)
*/
params->in_pic = in_picture;
params->out_pic = out_picture;
params->pre_processing_stages_list = example_pre_stages;
params->post_processing_stages_list = example_post_stages;
params->needSetPriority = 0;
params->priority = 0;
//set the tag detection
ENEMY_COLORS_TYPE enemyColors = ARDRONE_DETECTION_COLOR_ORANGE_BLUE;
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (enemy_colors, &enemyColors, NULL);
CAD_TYPE detectType = CAD_TYPE_MULTIPLE_DETECTION_MODE;
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (detect_type, &detectType, NULL);
uint32_t detectH = TAG_TYPE_MASK (TAG_TYPE_SHELL_TAG_V2);
ARDRONE_TOOL_CONFIGURATION_ADDEVENT (detections_select_h, &detectH, NULL);
/**
* Start the video thread (and the video recorder thread for AR.Drone 2)
*/
START_THREAD(video_stage, params);
START_THREAD (video_recorder, NULL);
video_stage_init();
if (2 <= ARDRONE_VERSION ())
{
START_THREAD (video_recorder, NULL);
video_recorder_init ();
}
video_stage_resume_thread();
//King of the Hill threads
START_THREAD(wiimote_logic, NULL);
START_THREAD(drone_logic, NULL);
START_THREAD(score_logic, NULL);
return C_OK;
}
void
bdbuf_test1_2_main()
{
bdbuf_test_msg msg;
TEST_START("Test 1.2");
START_THREAD(1, bdbuf_test1_2_thread1);
START_THREAD(2, bdbuf_test1_2_thread2);
/*
* Step 1:
* Thread #1 calls rtems_bdbuf_read() and we block
* this thread on data transfer operation.
*/
WAIT_DRV_MSG(&msg);
/*
* Step 2:
* Thread #2 calls rtems_bdbuf_read() for the same
* block number, as the result it shall block waiting
* on buffer state change.
*/
CONTINUE_THREAD(2);
/* Make sure thread #2 managed to block on the buffer. */
CHECK_THREAD_BLOCKED(2);
/*
* Step 3:
* Unblock thread #1 by reporting data transfer result.
*/
SEND_DRV_MSG(0, 0, RTEMS_IO_ERROR, EFAULT);
/*
* Wait for sync from thread #1.
*/
WAIT_THREAD_SYNC(1);
CONTINUE_THREAD(1);
TEST_CHECK_RESULT("3");
/*
* Step 4:
* For thread #2 bdbuf shall try to re-read data.
* As the result we will get read call to device driver.
*/
WAIT_DRV_MSG(&msg);
/* Check that thread #2 is still blocked */
CHECK_THREAD_BLOCKED(2);
/*
* Step 5:
* Report an error again from the driver.
*/
SEND_DRV_MSG(0, 0, RTEMS_IO_ERROR, EFAULT);
/*
* Wait for sync from thread #2.
*/
WAIT_THREAD_SYNC(2);
CONTINUE_THREAD(2);
TEST_CHECK_RESULT("5");
TEST_END();
}
void
bdbuf_test3_2_main()
{
bdbuf_test_msg msg;
TEST_START("Test 3.2");
/*
* Create working threads.
*/
SET_THREAD_PRIORITY(2, LOW);
SET_THREAD_PRIORITY(3, HIGH);
START_THREAD(1, bdbuf_test3_2_thread1);
START_THREAD(2, bdbuf_test3_2_thread2);
START_THREAD(3, bdbuf_test3_2_thread3);
/*
* Start thread #1: it will read buffer #N1.
* Driver is asked to read this buffer.
*/
WAIT_DRV_MSG(&msg);
SEND_DRV_MSG(0, 0, RTEMS_SUCCESSFUL, 0);
WAIT_THREAD_SYNC(1);
/*
* Block thread #2 and thread #3 on get buffers #N1 and #N2
* correspondingly.
*/
CONTINUE_THREAD(2);
CONTINUE_THREAD(3);
/* Make sure threads managed to block on the buffers get. */
CHECK_THREAD_BLOCKED(2);
CHECK_THREAD_BLOCKED(3);
/*
* Step 4:
* Thread #1 release buffer.
*/
CONTINUE_THREAD(1);
/*
* Check that thread #2 unblocked after this.
*/
WAIT_THREAD_SYNC(2);
TEST_CHECK_RESULT("5");
CHECK_THREAD_BLOCKED(3);
/* Release buffer in thread #2 */
CONTINUE_THREAD(2);
/* wait for driver message to flush it onto a disk */
WAIT_DRV_MSG_WR(&msg);
SEND_DRV_MSG(0, 0, RTEMS_SUCCESSFUL, 0);
/* Wait for thread #3 to be unblocked */
WAIT_THREAD_SYNC(3);
/* Release buffer in thread #3 */
CONTINUE_THREAD(3);
/* wait for driver message to flush it onto a disk */
WAIT_DRV_MSG_WR(&msg);
SEND_DRV_MSG(0, 0, RTEMS_SUCCESSFUL, 0);
TEST_END();
}