int main(){
srand(time(NULL));
data_item_header ignition_angle = {"Ignition angle", Real32_Type, Degrees};
data_item_header engine_torque = {"Engine torque", Real32_Type, Newton_Metres};
data_item_header engine_speed = {"Engine speed", UInt32_Type, Revolutions_Per_Second};
int ignition_angle_port = -1;
int engine_torque_port = -1;
int engine_speed_port = -1;
unsigned int ignition_angle_port_size = sizeof(data_item_header)+4;
unsigned int engine_torque_port_size = sizeof(data_item_header)+4;
unsigned int engine_speed_port_size = sizeof(data_item_header)+4;
ignition_angle_data = setup_port(port_ignition_angle_btdc, &ignition_angle_port, ignition_angle_port_size);
engine_torque_data = setup_port(port_engine_torque, &engine_torque_port, engine_torque_port_size);
engine_speed_data = setup_port(port_engine_speed, &engine_speed_port, engine_speed_port_size);
initialize_simulation();
sleep(5);
memcpy(ignition_angle_data, &ignition_angle, sizeof(data_item_header) );
memcpy(engine_torque_data, &engine_torque, sizeof(data_item_header) );
memcpy(engine_speed_data, &engine_speed, sizeof(data_item_header) );
int i = 0;
for(; i < 1000000000; i++){
update_rpm();
update_ignition_angle();
update_torque();
}
sleep(5);
close_port(port_ignition_angle_btdc, ignition_angle_data, ignition_angle_port_size);
close_port(port_engine_torque, engine_torque_data, engine_torque_port_size);
close_port(port_engine_speed, engine_speed_data, engine_speed_port_size);
}
int main()
{
#ifdef FULL_SIMU
initialize_simulation();
trajectory();
finish_simulation();
#else
signal(SIGINT, Emergency_exit);
pthread_t th_navdata;
pthread_t th_watchdog;
// pthread_t th_simu;
initialize_connection_with_drone();
pthread_create(&th_navdata, NULL, navdata_thread, NULL);
pthread_mutex_lock(&mutex_navdata_cond);
pthread_cond_wait(&navdata_initialised, &mutex_navdata_cond);
pthread_mutex_unlock(&mutex_navdata_cond);
pthread_create(&th_watchdog, NULL, watchdog_thread, NULL);
// pthread_create(&th_simu, NULL,simu_thread, NULL);
printf("It's on\n");
sleep(2);
take_off();
printf("First Altitude : %d\n", (int) get_altitude());
sleep(2);
calibrate_magnetometer();
//sleep(7);
// Indefinitely print magneto
/*while (1) {
print_navdata_magneto();
usleep(500000);
}*/
/*************************
* Normal behaviour *
*************************/
trajectory();
/*************************
* Tests *
*************************/
/*sleep(2) ;
printf("orientation\n") ;
printf("first heading : %f\n", get_heading()) ;
//forward(10, 2.0);
//forward_mag(100, 150, get_heading());
//sleep(2) ;
*/
//orientate_mag(100, get_heading() + 10.0);
//sleep(2) ;
land();
close_commands_socket();
#endif
return 0;
}
