static void set_arg(PyObject * pValue, int pos)
{
if (!pValue)
{
fun_error("Cannot convert argument", "");
}
PyTuple_SetItem(pArgs, pos, pValue);
}
int
main (int argc, char **argv)
{
/* initialize gthread */
g_thread_init (NULL);
/* set the locale */
setlocale (LC_ALL, "");
bindtextdomain (GETTEXT_PACKAGE, LOCALEDIR);
bind_textdomain_codeset (GETTEXT_PACKAGE, "UTF-8");
textdomain (GETTEXT_PACKAGE);
/* initialize gtk library */
gtk_init (&argc, &argv);
/* initialize dbus and exit if init fails */
if (fun_dbus_init() == FALSE)
{
fun_error (_("Error"), _("Failed to initialize dbus subsystem"));
return -1;
}
/* initialize fun configuration */
fun_config_init ();
/* initialize fun user interface */
if (!fun_glade_init())
{
fun_error (_("Error"), _("Failed to initialize interface"));
return -1;
}
fun_news_backend_init ();
fun_ui_init ();
/* run the gtk+ main loop */
gdk_threads_enter ();
gtk_main ();
gdk_threads_leave ();
fun_ui_cleanup ();
return 0;
}
void agent_act(unsigned char * img_bytes, int img_width, int img_height, bool_t img_is_belly, int pass_button,
navdata_unpacked_t * navdata, commands_t * commands)
{
int k = 0;
PyObject *pImageBytes = PyByteArray_FromStringAndSize((const char *)img_bytes, img_width*img_height*3);
set_arg(pImageBytes, k++);
set_int_arg(img_width, k++);
set_int_arg(img_height, k++);
set_int_arg(img_is_belly?1:0, k++);
set_int_arg(pass_button, k++);
navdata_demo_t demo = navdata->navdata_demo;
set_int_arg(demo.ctrl_state, k++);
set_int_arg(demo.vbat_flying_percentage, k++);
set_float_arg(demo.theta, k++);
set_float_arg(demo.phi, k++);
set_float_arg(demo.psi, k++);
set_int_arg(navdata->navdata_altitude.altitude_raw, k++);
navdata_vision_raw_t vision_raw = navdata->navdata_vision_raw;
set_float_arg(vision_raw.vision_tx_raw, k++);
set_float_arg(vision_raw.vision_ty_raw, k++);
PyObject * pResult = PyObject_CallObject(pFunc, pArgs);
if (!pResult)
{
fun_error("Call failed\n", "");
}
k = 0;
commands->zap = get_int_result(pResult, k++);
commands->phi = get_float_result(pResult, k++);
commands->theta = get_float_result(pResult, k++);
commands->gaz = get_float_result(pResult, k++);
commands->yaw = get_float_result(pResult, k++);
}
// 处理新链接
void TcpListener::accept()
{
m_accept.async_accept(m_socket, [&, this](const boost::system::error_code& er){
if (er)
{
fun_error(er.message());
}
if (!m_accept.is_open())
{
return;
}
if (!er)
{
event_new_session(m_socket);
}
accept();
});
}
