C_RESULT ardrone_tool_update_custom (void)
{
static int a=0;
printf("%d\n",a);
if ( ++a < 200 ) {
ardrone_tool_set_ui_pad_start(1);
} else {
ardrone_tool_input_start_reset();
}
return C_OK;
}
void initControlData(void)
{
ctrldata.framecounter = 0;
ctrldata.needAnimation = FALSE;
vp_os_memset(ctrldata.needAnimationParam, 0, sizeof(ctrldata.needAnimationParam));
ctrldata.needVideoSwitch = -1;
ctrldata.needLedAnimation = FALSE;
vp_os_memset(ctrldata.needLedAnimationParam, 0, sizeof(ctrldata.needLedAnimationParam));
resetControlData();
ardrone_tool_input_start_reset();
navdata_write_to_file(FALSE);
ctrldata.navdata_connected = FALSE;
}
C_RESULT ardrone_academy_navdata_process( const navdata_unpacked_t* const pnd )
{
static bool_t prevCameraIsReady = FALSE;
static bool_t prevDroneUsbRecording = FALSE;
if (C_OK == TRYLOCK_ND_MUTEX ())
{
input_state_t* input_state = ardrone_tool_input_get_state();
bool_t recordIsReady = ! ardrone_academy_navdata_get_record_ready();
bool_t recordIsInProgress = ardrone_academy_navdata_get_record_state();
// Save ARDrone State
navdata_state.lastState = pnd->ardrone_state;
// Save remaining USB time
navdata_state.usbFreeTime = pnd->navdata_hdvideo_stream.usbkey_remaining_time;
bool_t currentDroneUsbRecording = (NAVDATA_HDVIDEO_USBKEY_IS_RECORDING == (NAVDATA_HDVIDEO_USBKEY_IS_RECORDING & pnd->navdata_hdvideo_stream.hdvideo_state));
// Check for record stop from drone
if (navdata_state.usbRecordInProgress)
{
if (TRUE == prevDroneUsbRecording &&
FALSE == currentDroneUsbRecording)
{
navdata_state.droneStoppedUsbRecording = TRUE;
navdata_state.record_state = RECORD_STATE_NEEDED;
}
}
prevDroneUsbRecording = currentDroneUsbRecording;
ardrone_academy_check_take_off_timeout ();
// Take off and Emergency management
if(navdata_state.takeoff_state == TAKEOFF_STATE_NEEDED)
{
if(pnd->ardrone_state & ARDRONE_EMERGENCY_MASK)
{
navdata_state.needSetEmergency = TRUE;
}
else
{
if(recordIsInProgress)
{
if(!(pnd->ardrone_state & ARDRONE_USER_FEEDBACK_START))
ardrone_tool_set_ui_pad_start(1);
else
ardrone_tool_set_ui_pad_start(0);
navdata_state.takeoff_state = TAKEOFF_STATE_IDLE;
}
else
{
navdata_state.takeoff_state = TAKEOFF_STATE_WAIT_USERBOX;
ardrone_academy_navdata_userbox_switch();
}
}
}
if(navdata_state.needSetEmergency)
{
ardrone_tool_set_ui_pad_select(1);
navdata_state.needSetEmergency = FALSE;
}
if(pnd->ardrone_state & ARDRONE_EMERGENCY_MASK)
{
if(!navdata_state.wasEmergency && (input_state->user_input & (1 << ARDRONE_UI_BIT_SELECT)))
{
ardrone_tool_set_ui_pad_select(0);
}
navdata_state.isEmergency = TRUE;
navdata_state.isTakeOff = FALSE;
if(!navdata_state.internalRecordInProgress && !navdata_state.usbRecordInProgress && (navdata_state.userbox_state == USERBOX_STATE_STARTED))
{
PRINT("Emergency !! Stopping userbox...\n");
ardrone_academy_navdata_userbox_switch();
}
ardrone_tool_input_start_reset();
}
else // Not emergency landing
{
if(navdata_state.wasEmergency && (input_state->user_input & (1 << ARDRONE_UI_BIT_SELECT)))
{
ardrone_tool_set_ui_pad_select(0);
}
if(!(pnd->ardrone_state & ARDRONE_TIMER_ELAPSED))
navdata_state.isEmergency = FALSE;
if(input_state->user_input & (1 << ARDRONE_UI_BIT_START))
{
navdata_state.isTakeOff = (pnd->ardrone_state & ARDRONE_USER_FEEDBACK_START) ? TRUE : FALSE;
}
else
{
navdata_state.isTakeOff = FALSE;
}
}
navdata_state.wasEmergency = (pnd->ardrone_state & ARDRONE_EMERGENCY_MASK) ? TRUE : FALSE;
// Video record management
bool_t usbRecordEnable = FALSE;
if(navdata_state.record_state == RECORD_STATE_NEEDED &&
TAKEOFF_STATE_IDLE == navdata_state.takeoff_state)
{
bool_t continueRecord = TRUE;
bool_t nextInternalRecordState = FALSE;
if (IS_LEAST_ARDRONE2)
{
static codec_type_t oldCodec;
codec_type_t cancelCodec;
if (recordIsReady && ! navdata_state.usbRecordInProgress && !navdata_state.internalRecordInProgress) // We want to enable recording
{
if ((ARDRONE_USB_MASK == (pnd->ardrone_state & ARDRONE_USB_MASK)) &&
(0 < pnd->navdata_hdvideo_stream.usbkey_remaining_time) &&
(TRUE == ardrone_control_config.video_on_usb))
{
usbRecordEnable = TRUE;
}
// Set the "non-record codec" to the codec defined as the application default
oldCodec = ardrone_application_default_config.video_codec;
cancelCodec = oldCodec;
ardrone_control_config.video_codec = (TRUE == usbRecordEnable) ? usbRecordCodec : deviceWifiRecordCodec;
PRINT ("Set codec %d -> %d\n", oldCodec, ardrone_control_config.video_codec);
nextInternalRecordState = TRUE;
}
else // We want to disable recording
{
cancelCodec = ardrone_control_config.video_codec;
ardrone_control_config.video_codec = oldCodec;
PRINT ("Reset codec %d -> %d\n", cancelCodec, oldCodec);
}
bool_t addEventSucceeded = ARDRONE_TOOL_CONFIGURATION_ADDEVENT (video_codec, &ardrone_control_config.video_codec, NULL);
if (FALSE == addEventSucceeded)
{
PRINT ("Unable to send codec switch ... retry later\n");
ardrone_control_config.video_codec = cancelCodec;
continueRecord = FALSE;
}
}
else if (IS_ARDRONE1)
{
nextInternalRecordState = !recordIsInProgress;
}
if (TRUE == continueRecord)
{
navdata_state.internalRecordInProgress = nextInternalRecordState;
switch (navdata_state.userbox_state)
{
case USERBOX_STATE_STOPPED:
navdata_state.record_state = RECORD_STATE_WAIT_USERBOX;
navdata_state.usbRecordInProgress = usbRecordEnable;
ardrone_academy_navdata_userbox_switch();
break;
case USERBOX_STATE_STARTED:
if(navdata_state.isTakeOff)
{
if(! recordIsReady)
{
PRINT("Userbox is started and record is started => Stop record\n");
ardrone_academy_navdata_recorder_enable(FALSE, navdata_state.userbox_time);
navdata_state.usbRecordInProgress = FALSE;
}
else
{
PRINT("Userbox is started and record is stopped => Start record\n");
if (FALSE == usbRecordEnable)
{
// Only activate the local recorder if we don't record on USB
ardrone_academy_navdata_recorder_enable(TRUE, navdata_state.userbox_time);
navdata_state.usbRecordInProgress = FALSE;
}
else
{
navdata_state.usbRecordInProgress = TRUE;
}
}
navdata_state.record_state = RECORD_STATE_IDLE;
}
else
{
navdata_state.record_state = RECORD_STATE_WAIT_USERBOX;
ardrone_academy_navdata_userbox_switch();
}
break;
case USERBOX_STATE_STARTING:
navdata_state.usbRecordInProgress = usbRecordEnable;
navdata_state.record_state = RECORD_STATE_WAIT_USERBOX;
break;
case USERBOX_STATE_STOPPING:
navdata_state.usbRecordInProgress = usbRecordEnable;
// Should never be here
PRINT ("Don't know what to do for USERBOX_STATE_STOPPING\n");
VP_OS_ASSERT (0 == 1); // Debug handler
break;
}
}
}
// Screenshot management
prevCameraIsReady = navdata_state.cameraIsReady;
navdata_state.cameraIsReady = (pnd->ardrone_state & ARDRONE_CAMERA_MASK) ? TRUE : FALSE;
if (TRUE == navdata_state.cameraIsReady && FALSE == prevCameraIsReady)
{
academy_download_resume ();
}
if((navdata_state.screenshot_state == SCREENSHOT_STATE_NEEDED) && navdata_state.cameraIsReady)
{
static char param[ARDRONE_DATE_MAXSIZE + 64];
static char date[ARDRONE_DATE_MAXSIZE];
time_t t = time(NULL);
ardrone_time2date(t, ARDRONE_FILE_DATE_FORMAT, date);
navdata_state.screenshot_state = SCREENSHOT_STATE_INPROGRESS;
sprintf(param, "%d,%d,%d,%s", USERBOX_CMD_SCREENSHOT, 0, 0, date);
ARDRONE_TOOL_CONFIGURATION_ADDEVENT(userbox_cmd, param, ardrone_academy_navdata_screenshot_cb);
}
// USB management
navdata_state.usbIsReady = (pnd->ardrone_state & ARDRONE_USB_MASK) ? TRUE : FALSE;
UNLOCK_ND_MUTEX ();
}
return C_OK;
}
