C++ (Cpp) ardrone_at_reset_com_watchdog示例

示例#1

文件： ardrone_tool_win32.c 项目： miguelbarros/ARDrone-Control-.NET

/*---------------------------------------------------------------------------------------------------------------------
Updates the AT command client by flushing pending commands.
---------------------------------------------------------------------------------------------------------------------*/
C_RESULT ardrone_tool_update()
{
	int delta;

	C_RESULT res = C_OK;

	// Update subsystems & custom tool
	if( need_update )
	{
	
		ardrone_timer_update(&ardrone_tool_timer);

		ardrone_tool_input_update();
		res = ardrone_tool_update_custom();

		if( send_com_watchdog == TRUE )
		{
			ardrone_at_reset_com_watchdog();
			send_com_watchdog = FALSE;
		}
		// Send all pushed messages
		ardrone_at_send();

		need_update = FALSE;
	}

	delta = ardrone_timer_delta_ms(&ardrone_tool_timer);
	if( delta >= ArdroneToolRefreshTimeInMs)
	{
		// Render frame
		res = ardrone_tool_display_custom();
		need_update = TRUE;
	}
	else
	{
		Sleep((ArdroneToolRefreshTimeInMs - delta));
	}

	return res;
}

示例#2

文件： ardrone_tool_win32.c 项目： lxy0816/Ardrone_CtrlNav

C_RESULT ardrone_tool_update()
{
    int delta;

    C_RESULT res = C_OK; //C_RESULT 是定义的宏 其对应的是int类型，C_OK也是，其对应的值是0

    if( need_update )
    {
        ardrone_timer_update(&ardrone_tool_timer);//更新时间，为什么要这么处理

        ardrone_control();
        res = ardrone_tool_update_custom();

        if( send_com_watchdog == TRUE )
        {
            ardrone_at_reset_com_watchdog();
            send_com_watchdog = FALSE;
        }//watchdog看门狗防止程序出现死循环，不受控制
        ardrone_at_send();

        need_update = FALSE;
    }

    delta = ardrone_timer_delta_ms(&ardrone_tool_timer);
    if( delta >= ArdroneToolRefreshTimeInMs)
    {
        res = ardrone_tool_display_custom();
        need_update = TRUE;
    }
    else
    {
        Sleep((ArdroneToolRefreshTimeInMs - delta));
    }

    return res;
}

示例#3

文件： ardrone_tool.c 项目： kodozani/martijn-bsc-thesis

C_RESULT ardrone_tool_update()
{
	int delta;

	C_RESULT res = C_OK;
	
	delta = ardrone_timer_delta_us(&ardrone_tool_timer);
	if( delta >= ArdroneToolRefreshTimeInUs)
	{
		// Render frame
		ardrone_timer_update(&ardrone_tool_timer);
		
		if(!ardrone_tool_in_pause)
		{
			ardrone_tool_input_update();
			res = ardrone_tool_update_custom();
		}
		
		if( send_com_watchdog == TRUE )
		{
			ardrone_at_reset_com_watchdog();
			send_com_watchdog = FALSE;
		}
		
		// Send all pushed messages
		ardrone_at_send();
		
		res = ardrone_tool_display_custom();
	}
	else
	{
		usleep(ArdroneToolRefreshTimeInUs - delta);
	}

	return res;
}

示例#4

文件： ardrone_tool_win32.c 项目： camielv/UvA-BachelorAI-Thesis

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;
}