int ARSTREAM_Reader_TestBenchMain (int argc, char *argv[])
{
int retVal = 0;
appName = argv[0];
if (argc > 3)
{
ARSTREAM_ReaderTb_printUsage ();
return 1;
}
char *ip = __IP;
char *outPath = NULL;
if (argc >= 2)
{
ip = argv[1];
}
if (argc >= 3)
{
outPath = argv[2];
}
ARSAL_PRINT (ARSAL_PRINT_WARNING, __TAG__, "IP = %s", ip);
int nbInBuff = 1;
ARNETWORK_IOBufferParam_t inParams;
ARSTREAM_Reader_InitStreamAckBuffer (&inParams, ACK_BUFFER_ID);
int nbOutBuff = 1;
ARNETWORK_IOBufferParam_t outParams;
ARSTREAM_Reader_InitStreamDataBuffer (&outParams, DATA_BUFFER_ID, ARSTREAM_TB_FRAG_SIZE, ARSTREAM_TB_MAX_NB_FRAG);
eARNETWORK_ERROR error;
eARNETWORKAL_ERROR specificError = ARNETWORKAL_OK;
ARNETWORKAL_Manager_t *osspecificManagerPtr = ARNETWORKAL_Manager_New(&specificError);
if(specificError == ARNETWORKAL_OK)
{
specificError = ARNETWORKAL_Manager_InitWifiNetwork(osspecificManagerPtr, ip, SENDING_PORT, READING_PORT, 1000);
}
else
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, __TAG__, "Error during ARNETWORKAL_Manager_New call : %s", ARNETWORKAL_Error_ToString(specificError));
}
if(specificError == ARNETWORKAL_OK)
{
g_Manager = ARNETWORK_Manager_New(osspecificManagerPtr, nbInBuff, &inParams, nbOutBuff, &outParams, READER_PING_DELAY, NULL, NULL, &error);
}
else
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, __TAG__, "Error during ARNETWORKAL_Manager_InitWifiNetwork call : %s", ARNETWORKAL_Error_ToString(specificError));
error = ARNETWORK_ERROR;
}
if ((g_Manager == NULL) ||
(error != ARNETWORK_OK))
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, __TAG__, "Error during ARNETWORK_Manager_New call : %s", ARNETWORK_Error_ToString(error));
return 1;
}
pthread_t netsend, netread;
pthread_create (&netsend, NULL, ARNETWORK_Manager_SendingThreadRun, g_Manager);
pthread_create (&netread, NULL, ARNETWORK_Manager_ReceivingThreadRun, g_Manager);
retVal = ARSTREAM_ReaderTb_StartStreamTest (g_Manager, outPath);
ARNETWORK_Manager_Stop (g_Manager);
pthread_join (netread, NULL);
pthread_join (netsend, NULL);
ARNETWORK_Manager_Delete (&g_Manager);
ARNETWORKAL_Manager_CloseWifiNetwork(osspecificManagerPtr);
ARNETWORKAL_Manager_Delete(&osspecificManagerPtr);
return retVal;
}
ARCONTROLLER_Network_t *ARCONTROLLER_Network_New (ARDISCOVERY_Device_t *discoveryDevice, ARCONTROLLER_Network_DisconnectionCallback_t disconnectionCallback, ARDISCOVERY_Device_ConnectionJsonCallback_t sendJsonCallback, ARDISCOVERY_Device_ConnectionJsonCallback_t receiveJsonCallback, void *customData, eARCONTROLLER_ERROR *error)
{
// -- Create a new Network Controller --
//local declarations
eARCONTROLLER_ERROR localError = ARCONTROLLER_OK;
ARCONTROLLER_Network_t *networkController = NULL;
eARDISCOVERY_ERROR dicoveryError = ARDISCOVERY_OK;
// Check parameters
if (discoveryDevice == NULL)
{
localError = ARCONTROLLER_ERROR_BAD_PARAMETER;
}
// No Else: the checking parameters sets localError to ARNETWORK_ERROR_BAD_PARAMETER and stop the processing
if (localError == ARCONTROLLER_OK)
{
// Create the Network Controller
networkController = malloc (sizeof (ARCONTROLLER_Network_t));
if (networkController != NULL)
{
// Initialize to default values
networkController->discoveryDevice = NULL;
networkController->networkALManager = NULL;
networkController->networkManager = NULL;
networkController->rxThread = NULL;
networkController->txThread = NULL;
networkController->readerThreads = NULL;
networkController->readerThreadsData = NULL;
networkController->state = ARCONTROLLER_NETWORK_STATE_RUNNING;
//video part
networkController->hasVideo = 0;
networkController->videoController = NULL;
//Connection callback
networkController->sendJsonCallback = sendJsonCallback;
networkController->receiveJsonCallback = receiveJsonCallback;
networkController->disconnectionCallback = disconnectionCallback;
networkController->callbacksCustomData = customData;
// init networkConfiguration
networkController->networkConfig.controllerToDeviceNotAckId = -1;
networkController->networkConfig.controllerToDeviceAckId = -1;
networkController->networkConfig.controllerToDeviceHightPriority = -1;
networkController->networkConfig.controllerToDeviceARStreamAck = -1;
networkController->networkConfig.deviceToControllerNotAckId = -1;
networkController->networkConfig.deviceToControllerAckId = -1;
//networkController->networkConfig.deviceToControllerHightPriority = -1;
networkController->networkConfig.deviceToControllerARStreamData = -1;
networkController->networkConfig.numberOfControllerToDeviceParam = 0;
networkController->networkConfig.controllerToDeviceParams = NULL;
networkController->networkConfig.numberOfDeviceToControllerParam = 0;
networkController->networkConfig.deviceToControllerParams = NULL;
networkController->networkConfig.pingDelayMs =-1;
networkController->networkConfig.numberOfDeviceToControllerCommandsBufferIds = 0;
networkController->networkConfig.deviceToControllerCommandsBufferIds = NULL;
/* Create the mutex/condition */
if ( (localError == ARCONTROLLER_OK) &&
(ARSAL_Mutex_Init (&(networkController->mutex)) != 0))
{
localError = ARCONTROLLER_ERROR_INIT_MUTEX;
}
}
else
{
localError = ARCONTROLLER_ERROR_ALLOC;
}
}
if (localError == ARCONTROLLER_OK)
{
// Copy the device
eARDISCOVERY_ERROR dicoveryError = ARDISCOVERY_OK;
networkController->discoveryDevice = ARDISCOVERY_Device_NewByCopy (discoveryDevice, &dicoveryError);
if (dicoveryError != ARDISCOVERY_OK)
{
localError = ARCONTROLLER_ERROR_INIT_DEVICE_COPY;
}
}
// Check if it is a wifi device
if ((localError == ARCONTROLLER_OK) &&
(ARDISCOVERY_getProductService (networkController->discoveryDevice->productID) == ARDISCOVERY_PRODUCT_NSNETSERVICE))
{
// Add callbacks for the connection json part
dicoveryError = ARDISCOVERY_Device_WifiAddConnectionCallbacks (networkController->discoveryDevice, ARCONTROLLER_Network_OnSendJson, ARCONTROLLER_Network_OnReceiveJson, networkController);
if (dicoveryError != ARDISCOVERY_OK)
{
localError = ARCONTROLLER_ERROR_INIT_DEVICE_JSON_CALLBACK;
}
}
if (localError == ARCONTROLLER_OK)
{
// Initialize the network Configuration
eARDISCOVERY_ERROR dicoveryError = ARDISCOVERY_OK;
dicoveryError = ARDISCOVERY_Device_InitNetworkConfiguration (networkController->discoveryDevice, &(networkController->networkConfig));
if (dicoveryError != ARDISCOVERY_OK)
{
localError = ARCONTROLLER_ERROR_INIT_NETWORK_CONFIG;
}
}
if (localError == ARCONTROLLER_OK)
{
// Check if the device has video
if (networkController->networkConfig.deviceToControllerARStreamData != -1)
{
networkController->hasVideo = 1;
networkController->videoController = ARCONTROLLER_Stream_New (&(networkController->networkConfig), networkController->discoveryDevice, &localError);
}
//NO else ; device has not video
}
// No else: skipped by an error
if (localError == ARCONTROLLER_OK)
{
// Create the NetworkAL
eARDISCOVERY_ERROR dicoveryError = ARDISCOVERY_OK;
eARNETWORKAL_ERROR netALError = ARNETWORKAL_OK;
networkController->networkALManager = ARDISCOVERY_Device_NewARNetworkAL (networkController->discoveryDevice, &dicoveryError, &netALError);
if (dicoveryError != ARDISCOVERY_OK)
{
if (netALError != ARNETWORKAL_OK)
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, ARCONTROLLER_NETWORK_TAG, "error: %s", ARNETWORKAL_Error_ToString (netALError));
}
localError = ARCONTROLLER_ERROR_INIT_ARNETWORKAL_MANAGER;
}
}
if (localError == ARCONTROLLER_OK)
{
// Create the ARNetworkManager.
eARNETWORK_ERROR netError = ARNETWORK_OK;
networkController->networkManager = ARNETWORK_Manager_New (networkController->networkALManager, networkController->networkConfig.numberOfControllerToDeviceParam, networkController->networkConfig.controllerToDeviceParams, networkController->networkConfig.numberOfDeviceToControllerParam, networkController->networkConfig.deviceToControllerParams, networkController->networkConfig.pingDelayMs, ARCONTROLLER_Network_OnDisconnectNetwork, networkController, &netError);
if (netError != ARNETWORK_OK)
{
localError = ARCONTROLLER_ERROR_INIT_ARNETWORK_MANAGER;
}
}
if (localError == ARCONTROLLER_OK)
{
// Create the Network receiver and transmitter Threads
localError = ARCONTROLLER_Network_CreateNetworkThreads (networkController);
}
if (localError == ARCONTROLLER_OK)
{
// Create the reader Threads
localError = ARCONTROLLER_Network_CreateReaderThreads (networkController);
}
// delete the Network Controller if an error occurred
if (localError != ARCONTROLLER_OK)
{
ARSAL_PRINT (ARSAL_PRINT_ERROR, ARCONTROLLER_NETWORK_TAG, "error: %s", ARCONTROLLER_Error_ToString (localError));
ARCONTROLLER_Network_Delete (&networkController);
}
// No else: skipped by an error
// Return the error
if (error != NULL)
{
*error = localError;
}
// No else: error is not returned
return networkController;
}
/**
* Fonction qui permet de se connecter au drone Bebop
* @params *deviceManager Instance de la structure de données de BD_MANAGER_t. Cette structure est définie dans
* test_connexion_1.h
*/
int startNetwork (BD_MANAGER_t *deviceManager){
/* Initialisation des variables d'erreur */
int failed = 0;
eARNETWORKAL_ERROR netAlError = ARNETWORKAL_OK;
eARNETWORK_ERROR netError = ARNETWORK_OK;
int pingDelay = 0;
/* Test du print ARSAL_PRINT_INFO
* Imprime les info du drone (nom fichier, heure, fonction, Message écrit par l'utilisateur)
* sur la console
*/
printf("\n");
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- Start ARNetwork");
/* Crée un nouveau manager NETWORKAL
* @param: erreur de type eARNETWORKAL_ERROR
*/
deviceManager->alManager = ARNETWORKAL_Manager_New(&netAlError);
printf("Failed: %i\n",failed);
/* Initialise le wifi*/
netAlError = ARNETWORKAL_Manager_InitWifiNetwork(deviceManager->alManager, BD_IP_ADDRESS, BD_C2D_PORT, BD_D2C_PORT, 1);
if (netAlError != ARNETWORKAL_OK)
{
printf("ARNETWORKAL_Manager_InitWifiNetwork fail !! \n");
failed = 1;
}
else
printf("ARNETWORKAL_Manager_InitWifiNetwork success !!\n");
/* Créer un manager de network avec (Manager de NetworkAL, nombre de buffer d'entrée, vecteur paramètre d'entrée, * nombre de buufer de sortie, vecteur paramètre de sortie,Delay entre 2 ping, fonction de déconnexion, paramètre * de connexion, erreur)
*/
if(!failed){
deviceManager->netManager = ARNETWORK_Manager_New(deviceManager->alManager, numC2dParams, c2dParams, numD2cParams, d2cParams, pingDelay, onDisconnectNetwork, deviceManager, &netError);
if (netError != ARNETWORK_OK)
{
failed = 1;
}
}
if(failed)
printf("Manager erreur!!\n");
else
printf("Manager créer !! \n");
/* Création des threads pour la réception et la transmission
*
*/
if (!failed)
{
// Create and start Tx and Rx threads.
printf("Tx thread !! \n");
if (ARSAL_Thread_Create(&(deviceManager->rxThread), ARNETWORK_Manager_ReceivingThreadRun, deviceManager->netManager) != 0)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Creation of Rx thread failed.");
failed = 1;
}
printf("Rx thread!! \n");
if (ARSAL_Thread_Create(&(deviceManager->txThread), ARNETWORK_Manager_SendingThreadRun, deviceManager->netManager) != 0)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Creation of Tx thread failed.");
failed = 1;
}
}
return failed;
}
