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/* | |
Copyright (C) 2014 Parrot SA | |
Redistribution and use in source and binary forms, with or without | |
modification, are permitted provided that the following conditions | |
are met: | |
* Redistributions of source code must retain the above copyright | |
notice, this list of conditions and the following disclaimer. | |
* Redistributions in binary form must reproduce the above copyright | |
notice, this list of conditions and the following disclaimer in | |
the documentation and/or other materials provided with the | |
distribution. | |
* Neither the name of Parrot nor the names | |
of its contributors may be used to endorse or promote products | |
derived from this software without specific prior written | |
permission. | |
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | |
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | |
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | |
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | |
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | |
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | |
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | |
OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | |
AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | |
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT | |
OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF | |
SUCH DAMAGE. | |
*/ | |
/** | |
* @file BebopSample.c | |
* @brief This file contains sources about basic arsdk example sending commands to a bebop drone to pilot it, | |
* receive its battery level and display the video stream. | |
* @date 15/01/2015 | |
*/ | |
/***************************************** | |
* | |
* include file : | |
* | |
*****************************************/ | |
#include <stdlib.h> | |
#include <curses.h> | |
#include <string.h> | |
#include <unistd.h> | |
#include <signal.h> | |
#include <errno.h> | |
#include <libARSAL/ARSAL.h> | |
#include <libARController/ARController.h> | |
#include <libARDiscovery/ARDiscovery.h> | |
#include "BebopSample.h" | |
#include "ihm.h" | |
/***************************************** | |
* | |
* define : | |
* | |
*****************************************/ | |
#define TAG "BebopSample" | |
#define ERROR_STR_LENGTH 2048 | |
#define BEBOP_IP_ADDRESS "192.168.42.1" | |
#define BEBOP_DISCOVERY_PORT 44444 | |
#define DISPLAY_WITH_MPLAYER 1 | |
#define FIFO_DIR_PATTERN "/tmp/arsdk_XXXXXX" | |
#define FIFO_NAME "arsdk_fifo" | |
#define IHM | |
/***************************************** | |
* | |
* private header: | |
* | |
****************************************/ | |
/***************************************** | |
* | |
* implementation : | |
* | |
*****************************************/ | |
static char fifo_dir[] = FIFO_DIR_PATTERN; | |
static char fifo_name[128] = ""; | |
int gIHMRun = 1; | |
int gIsFirstHover = 1; | |
int gMoveByCalls = 0; | |
char gErrorStr[ERROR_STR_LENGTH]; | |
IHM_t *ihm = NULL; | |
FILE *videoOut = NULL; | |
int frameNb = 0; | |
ARSAL_Sem_t stateSem; | |
int isBebop2 = 0; | |
static void signal_handler(int signal) | |
{ | |
gIHMRun = 0; | |
} | |
int main (int argc, char *argv[]) | |
{ | |
// local declarations | |
int failed = 0; | |
ARDISCOVERY_Device_t *device = NULL; | |
ARCONTROLLER_Device_t *deviceController = NULL; | |
eARCONTROLLER_ERROR error = ARCONTROLLER_OK; | |
eARCONTROLLER_DEVICE_STATE deviceState = ARCONTROLLER_DEVICE_STATE_MAX; | |
pid_t child = 0; | |
/* Set signal handlers */ | |
struct sigaction sig_action = { | |
.sa_handler = signal_handler, | |
}; | |
int ret = sigaction(SIGINT, &sig_action, NULL); | |
if (ret < 0) | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, "ERROR", "Unable to set SIGINT handler : %d(%s)", | |
errno, strerror(errno)); | |
return 1; | |
} | |
ret = sigaction(SIGPIPE, &sig_action, NULL); | |
if (ret < 0) | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, "ERROR", "Unable to set SIGPIPE handler : %d(%s)", | |
errno, strerror(errno)); | |
return 1; | |
} | |
if (mkdtemp(fifo_dir) == NULL) | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, "ERROR", "Mkdtemp failed."); | |
return 1; | |
} | |
snprintf(fifo_name, sizeof(fifo_name), "%s/%s", fifo_dir, FIFO_NAME); | |
if(mkfifo(fifo_name, 0666) < 0) | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, "ERROR", "Mkfifo failed: %d, %s", errno, strerror(errno)); | |
return 1; | |
} | |
ARSAL_Sem_Init (&(stateSem), 0, 0); | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "Select your Bebop : Bebop (1) ; Bebop2 (2)"); | |
char answer = '1'; | |
scanf(" %c", &answer); | |
if (answer == '2') | |
{ | |
isBebop2 = 1; | |
} | |
if(isBebop2) | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "-- Bebop 2 Sample --"); | |
} | |
else | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "-- Bebop Sample --"); | |
} | |
if (!failed) | |
{ | |
if (DISPLAY_WITH_MPLAYER) | |
{ | |
// fork the process to launch mplayer | |
if ((child = fork()) == 0) | |
{ | |
execlp("xterm", "xterm", "-e", "mplayer", "-demuxer", "h264es", fifo_name, "-benchmark", "-really-quiet", NULL); | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Missing mplayer, you will not see the video. Please install mplayer and xterm."); | |
return -1; | |
} | |
} | |
if (DISPLAY_WITH_MPLAYER) | |
{ | |
videoOut = fopen(fifo_name, "w"); | |
} | |
} | |
#ifdef IHM | |
ihm = IHM_New (&onInputEvent); | |
if (ihm != NULL) | |
{ | |
gErrorStr[0] = '\0'; | |
ARSAL_Print_SetCallback (customPrintCallback); //use a custom callback to print, for not disturb ncurses IHM | |
if(isBebop2) | |
{ | |
IHM_PrintHeader (ihm, "-- Bebop 2 Sample --"); | |
} | |
else | |
{ | |
IHM_PrintHeader (ihm, "-- Bebop Sample --"); | |
} | |
} | |
else | |
{ | |
ARSAL_PRINT (ARSAL_PRINT_ERROR, TAG, "Creation of IHM failed."); | |
failed = 1; | |
} | |
#endif | |
// create a discovery device | |
if (!failed) | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- init discovey device ... "); | |
eARDISCOVERY_ERROR errorDiscovery = ARDISCOVERY_OK; | |
device = ARDISCOVERY_Device_New (&errorDiscovery); | |
if (errorDiscovery == ARDISCOVERY_OK) | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, " - ARDISCOVERY_Device_InitWifi ..."); | |
// create a Bebop drone discovery device (ARDISCOVERY_PRODUCT_ARDRONE) | |
if(isBebop2) | |
{ | |
errorDiscovery = ARDISCOVERY_Device_InitWifi (device, ARDISCOVERY_PRODUCT_BEBOP_2, "bebop2", BEBOP_IP_ADDRESS, BEBOP_DISCOVERY_PORT); | |
} | |
else | |
{ | |
errorDiscovery = ARDISCOVERY_Device_InitWifi (device, ARDISCOVERY_PRODUCT_ARDRONE, "bebop", BEBOP_IP_ADDRESS, BEBOP_DISCOVERY_PORT); | |
} | |
if (errorDiscovery != ARDISCOVERY_OK) | |
{ | |
failed = 1; | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Discovery error :%s", ARDISCOVERY_Error_ToString(errorDiscovery)); | |
} | |
} | |
else | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Discovery error :%s", ARDISCOVERY_Error_ToString(errorDiscovery)); | |
failed = 1; | |
} | |
} | |
// create a device controller | |
if (!failed) | |
{ | |
deviceController = ARCONTROLLER_Device_New (device, &error); | |
if (error != ARCONTROLLER_OK) | |
{ | |
ARSAL_PRINT (ARSAL_PRINT_ERROR, TAG, "Creation of deviceController failed."); | |
failed = 1; | |
} | |
else | |
{ | |
IHM_setCustomData(ihm, deviceController); | |
} | |
} | |
if (!failed) | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- delete discovey device ... "); | |
ARDISCOVERY_Device_Delete (&device); | |
} | |
// add the state change callback to be informed when the device controller starts, stops... | |
if (!failed) | |
{ | |
error = ARCONTROLLER_Device_AddStateChangedCallback (deviceController, stateChanged, deviceController); | |
if (error != ARCONTROLLER_OK) | |
{ | |
ARSAL_PRINT (ARSAL_PRINT_ERROR, TAG, "add State callback failed."); | |
failed = 1; | |
} | |
} | |
// add the command received callback to be informed when a command has been received from the device | |
if (!failed) | |
{ | |
error = ARCONTROLLER_Device_AddCommandReceivedCallback (deviceController, commandReceived, deviceController); | |
if (error != ARCONTROLLER_OK) | |
{ | |
ARSAL_PRINT (ARSAL_PRINT_ERROR, TAG, "add callback failed."); | |
failed = 1; | |
} | |
} | |
// add the frame received callback to be informed when a streaming frame has been received from the device | |
if (!failed) | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- set Video callback ... "); | |
error = ARCONTROLLER_Device_SetVideoStreamCallbacks (deviceController, decoderConfigCallback, didReceiveFrameCallback, NULL , NULL); | |
if (error != ARCONTROLLER_OK) | |
{ | |
failed = 1; | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error: %s", ARCONTROLLER_Error_ToString(error)); | |
} | |
} | |
if (!failed) | |
{ | |
IHM_PrintInfo(ihm, "Connecting ..."); | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "Connecting ..."); | |
error = ARCONTROLLER_Device_Start (deviceController); | |
if (error != ARCONTROLLER_OK) | |
{ | |
failed = 1; | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error :%s", ARCONTROLLER_Error_ToString(error)); | |
} | |
} | |
if (!failed) | |
{ | |
// wait state update update | |
ARSAL_Sem_Wait (&(stateSem)); | |
deviceState = ARCONTROLLER_Device_GetState (deviceController, &error); | |
if ((error != ARCONTROLLER_OK) || (deviceState != ARCONTROLLER_DEVICE_STATE_RUNNING)) | |
{ | |
failed = 1; | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- deviceState :%d", deviceState); | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error :%s", ARCONTROLLER_Error_ToString(error)); | |
} | |
} | |
// send the command that tells to the Bebop to begin its streaming | |
if (!failed) | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- send StreamingVideoEnable ... "); | |
error = deviceController->aRDrone3->sendMediaStreamingVideoEnable (deviceController->aRDrone3, 1); | |
if (error != ARCONTROLLER_OK) | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error :%s", ARCONTROLLER_Error_ToString(error)); | |
failed = 1; | |
} | |
} | |
if (!failed) | |
{ | |
IHM_PrintInfo(ihm, "Running ... ('t' to takeoff ; Spacebar to land ; 'e' for emergency ; Arrow keys and ('r','f','d','g') to move ; 'q' to quit)"); | |
#ifdef IHM | |
while (gIHMRun) | |
{ | |
usleep(50); | |
} | |
#else | |
int i = 20; | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- sleep 20 ... "); | |
while (gIHMRun && i--) | |
sleep(1); | |
#endif | |
} | |
#ifdef IHM | |
IHM_Delete (&ihm); | |
#endif | |
// we are here because of a disconnection or user has quit IHM, so safely delete everything | |
if (deviceController != NULL) | |
{ | |
deviceState = ARCONTROLLER_Device_GetState (deviceController, &error); | |
if ((error == ARCONTROLLER_OK) && (deviceState != ARCONTROLLER_DEVICE_STATE_STOPPED)) | |
{ | |
IHM_PrintInfo(ihm, "Disconnecting ..."); | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "Disconnecting ..."); | |
error = ARCONTROLLER_Device_Stop (deviceController); | |
if (error == ARCONTROLLER_OK) | |
{ | |
// wait state update update | |
ARSAL_Sem_Wait (&(stateSem)); | |
} | |
} | |
IHM_PrintInfo(ihm, ""); | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "ARCONTROLLER_Device_Delete ..."); | |
ARCONTROLLER_Device_Delete (&deviceController); | |
if (DISPLAY_WITH_MPLAYER) | |
{ | |
fflush (videoOut); | |
fclose (videoOut); | |
if (child > 0) | |
{ | |
kill(child, SIGKILL); | |
} | |
} | |
} | |
ARSAL_Sem_Destroy (&(stateSem)); | |
unlink(fifo_name); | |
rmdir(fifo_dir); | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "-- END --"); | |
return EXIT_SUCCESS; | |
} | |
/***************************************** | |
* | |
* private implementation: | |
* | |
****************************************/ | |
// called when the state of the device controller has changed | |
void stateChanged (eARCONTROLLER_DEVICE_STATE newState, eARCONTROLLER_ERROR error, void *customData) | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, " - stateChanged newState: %d .....", newState); | |
switch (newState) | |
{ | |
case ARCONTROLLER_DEVICE_STATE_STOPPED: | |
ARSAL_Sem_Post (&(stateSem)); | |
//stop | |
gIHMRun = 0; | |
break; | |
case ARCONTROLLER_DEVICE_STATE_RUNNING: | |
ARSAL_Sem_Post (&(stateSem)); | |
break; | |
default: | |
break; | |
} | |
} | |
static void cmdBatteryStateChangedRcv(ARCONTROLLER_Device_t *deviceController, ARCONTROLLER_DICTIONARY_ELEMENT_t *elementDictionary) | |
{ | |
ARCONTROLLER_DICTIONARY_ARG_t *arg = NULL; | |
ARCONTROLLER_DICTIONARY_ELEMENT_t *singleElement = NULL; | |
if (elementDictionary == NULL) { | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "elements is NULL"); | |
return; | |
} | |
// get the command received in the device controller | |
HASH_FIND_STR (elementDictionary, ARCONTROLLER_DICTIONARY_SINGLE_KEY, singleElement); | |
if (singleElement == NULL) { | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "singleElement is NULL"); | |
return; | |
} | |
// get the value | |
HASH_FIND_STR (singleElement->arguments, ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_BATTERYSTATECHANGED_PERCENT, arg); | |
if (arg == NULL) { | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "arg is NULL"); | |
return; | |
} | |
// update UI | |
batteryStateChanged(arg->value.U8); | |
} | |
static void cmdSensorStateListChangedRcv(ARCONTROLLER_Device_t *deviceController, ARCONTROLLER_DICTIONARY_ELEMENT_t *elementDictionary) | |
{ | |
ARCONTROLLER_DICTIONARY_ARG_t *arg = NULL; | |
ARCONTROLLER_DICTIONARY_ELEMENT_t *dictElement = NULL; | |
ARCONTROLLER_DICTIONARY_ELEMENT_t *dictTmp = NULL; | |
eARCOMMANDS_COMMON_COMMONSTATE_SENSORSSTATESLISTCHANGED_SENSORNAME sensorName = ARCOMMANDS_COMMON_COMMONSTATE_SENSORSSTATESLISTCHANGED_SENSORNAME_MAX; | |
int sensorState = 0; | |
if (elementDictionary == NULL) { | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "elements is NULL"); | |
return; | |
} | |
// get the command received in the device controller | |
HASH_ITER(hh, elementDictionary, dictElement, dictTmp) { | |
// get the Name | |
HASH_FIND_STR (dictElement->arguments, ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_SENSORSSTATESLISTCHANGED_SENSORNAME, arg); | |
if (arg != NULL) { | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "arg sensorName is NULL"); | |
continue; | |
} | |
sensorName = arg->value.I32; | |
// get the state | |
HASH_FIND_STR (dictElement->arguments, ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_SENSORSSTATESLISTCHANGED_SENSORSTATE, arg); | |
if (arg == NULL) { | |
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "arg sensorState is NULL"); | |
continue; | |
} | |
sensorState = arg->value.U8; | |
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "sensorName %d ; sensorState: %d", sensorName, sensorState); | |
} | |
} | |
static void cmdFlyingStateChangedRcv(ARCONTROLLER_Device_t *deviceController, | |
ARCONTROLLER_DICTIONARY_ELEMENT_t *elementDictionary) { | |
ARCONTROLLER_DICTIONARY_ARG_t *arg = NULL; | |
ARCONTROLLER_DICTIONARY_ELEMENT_t *element = NULL; | |
HASH_FIND_STR (elementDictionary, ARCONTROLLER_DICTIONARY_SINGLE_KEY, element); | |
if (element != NULL) | |
{ | |
HASH_FIND_STR (element->arguments, ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE, arg); | |
if (arg != NULL) | |
{ | |
eARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE state = arg->value.I32; | |
if (state == ARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE_HOVERING && gIsFirstHover) { | |
gIsFirstHover = 0; | |
sendMoveBy(deviceController); | |
} else if (state == ARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE_LANDED) { | |
gIsFirstHover = 1; | |
gMoveByCalls = 0; | |
} | |
} | |
} | |
} | |
static void cmdMoveByEndedRcv(ARCONTROLLER_Device_t *deviceController, | |
ARCONTROLLER_DICTIONARY_ELEMENT_t *elementDictionary) { | |
ARCONTROLLER_DICTIONARY_ARG_t *arg = NULL; | |
ARCONTROLLER_DICTIONARY_ELEMENT_t *element = NULL; | |
HASH_FIND_STR (elementDictionary, ARCONTROLLER_DICTIONARY_SINGLE_KEY, element); | |
if (element != NULL) | |
{ | |
HASH_FIND_STR (element->arguments, ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGEVENT_MOVEBYEND_ERROR, arg); | |
if (arg != NULL) | |
{ | |
eARCOMMANDS_ARDRONE3_PILOTINGEVENT_MOVEBYEND_ERROR error = arg->value.I32; | |
if (error == ARCOMMANDS_ARDRONE3_PILOTINGEVENT_MOVEBYEND_ERROR_OK) { | |
sendMoveBy(deviceController); | |
} | |
} | |
} | |
} | |
// called when a command has been received from the drone | |
void commandReceived (eARCONTROLLER_DICTIONARY_KEY commandKey, ARCONTROLLER_DICTIONARY_ELEMENT_t *elementDictionary, void *customData) | |
{ | |
ARCONTROLLER_Device_t *deviceController = customData; | |
if (deviceController == NULL) | |
return; | |
// if the command received is a battery state changed | |
switch(commandKey) { | |
case ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_BATTERYSTATECHANGED: | |
cmdBatteryStateChangedRcv(deviceController, elementDictionary); | |
break; | |
case ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_SENSORSSTATESLISTCHANGED: | |
cmdSensorStateListChangedRcv(deviceController, elementDictionary); | |
break; | |
case ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED: | |
cmdFlyingStateChangedRcv(deviceController, elementDictionary); | |
break; | |
case ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGEVENT_MOVEBYEND: | |
cmdMoveByEndedRcv(deviceController, elementDictionary); | |
break; | |
default: | |
break; | |
} | |
} | |
void sendMoveBy(ARCONTROLLER_Device_t *deviceController) { | |
switch (gMoveByCalls) { | |
case 0: | |
deviceController->aRDrone3->sendPilotingMoveBy(deviceController->aRDrone3, 1, 0, 0, 0); | |
break; | |
case 1: | |
deviceController->aRDrone3->sendPilotingMoveBy(deviceController->aRDrone3, 0, 1, 0, 0); | |
break; | |
case 2: | |
deviceController->aRDrone3->sendPilotingMoveBy(deviceController->aRDrone3, 0, 0, 1, 0); | |
break; | |
default: | |
break; | |
} | |
gMoveByCalls++; | |
} | |
void batteryStateChanged (uint8_t percent) | |
{ | |
// callback of changing of battery level | |
if (ihm != NULL) | |
{ | |
IHM_PrintBattery (ihm, percent); | |
} | |
} | |
eARCONTROLLER_ERROR decoderConfigCallback (ARCONTROLLER_Stream_Codec_t codec, void *customData) | |
{ | |
if (videoOut != NULL) | |
{ | |
if (codec.type == ARCONTROLLER_STREAM_CODEC_TYPE_H264) | |
{ | |
if (DISPLAY_WITH_MPLAYER) | |
{ | |
fwrite(codec.parameters.h264parameters.spsBuffer, codec.parameters.h264parameters.spsSize, 1, videoOut); | |
fwrite(codec.parameters.h264parameters.ppsBuffer, codec.parameters.h264parameters.ppsSize, 1, videoOut); | |
fflush (videoOut); | |
} | |
} | |
} | |
else | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_WARNING, TAG, "videoOut is NULL."); | |
} | |
return ARCONTROLLER_OK; | |
} | |
eARCONTROLLER_ERROR didReceiveFrameCallback (ARCONTROLLER_Frame_t *frame, void *customData) | |
{ | |
if (videoOut != NULL) | |
{ | |
if (frame != NULL) | |
{ | |
if (DISPLAY_WITH_MPLAYER) | |
{ | |
fwrite(frame->data, frame->used, 1, videoOut); | |
fflush (videoOut); | |
} | |
} | |
else | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_WARNING, TAG, "frame is NULL."); | |
} | |
} | |
else | |
{ | |
ARSAL_PRINT(ARSAL_PRINT_WARNING, TAG, "videoOut is NULL."); | |
} | |
return ARCONTROLLER_OK; | |
} | |
// IHM callbacks: | |
void onInputEvent (eIHM_INPUT_EVENT event, void *customData) | |
{ | |
// Manage IHM input events | |
ARCONTROLLER_Device_t *deviceController = (ARCONTROLLER_Device_t *)customData; | |
eARCONTROLLER_ERROR error = ARCONTROLLER_OK; | |
switch (event) | |
{ | |
case IHM_INPUT_EVENT_EXIT: | |
IHM_PrintInfo(ihm, "IHM_INPUT_EVENT_EXIT ..."); | |
gIHMRun = 0; | |
break; | |
case IHM_INPUT_EVENT_EMERGENCY: | |
if(deviceController != NULL) | |
{ | |
// send a Emergency command to the drone | |
error = deviceController->aRDrone3->sendPilotingEmergency(deviceController->aRDrone3); | |
} | |
break; | |
case IHM_INPUT_EVENT_LAND: | |
if(deviceController != NULL) | |
{ | |
// send a takeoff command to the drone | |
error = deviceController->aRDrone3->sendPilotingLanding(deviceController->aRDrone3); | |
} | |
break; | |
case IHM_INPUT_EVENT_TAKEOFF: | |
if(deviceController != NULL) | |
{ | |
// send a landing command to the drone | |
error = deviceController->aRDrone3->sendPilotingTakeOff(deviceController->aRDrone3); | |
} | |
break; | |
case IHM_INPUT_EVENT_UP: | |
if(deviceController != NULL) | |
{ | |
// set the flag and speed value of the piloting command | |
error = deviceController->aRDrone3->setPilotingPCMDGaz(deviceController->aRDrone3, 50); | |
} | |
break; | |
case IHM_INPUT_EVENT_DOWN: | |
if(deviceController != NULL) | |
{ | |
error = deviceController->aRDrone3->setPilotingPCMDGaz(deviceController->aRDrone3, -50); | |
} | |
break; | |
case IHM_INPUT_EVENT_RIGHT: | |
if(deviceController != NULL) | |
{ | |
error = deviceController->aRDrone3->setPilotingPCMDYaw(deviceController->aRDrone3, 50); | |
} | |
break; | |
case IHM_INPUT_EVENT_LEFT: | |
if(deviceController != NULL) | |
{ | |
error = deviceController->aRDrone3->setPilotingPCMDYaw(deviceController->aRDrone3, -50); | |
} | |
break; | |
case IHM_INPUT_EVENT_FORWARD: | |
if(deviceController != NULL) | |
{ | |
error = deviceController->aRDrone3->setPilotingPCMDPitch(deviceController->aRDrone3, 50); | |
error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1); | |
} | |
break; | |
case IHM_INPUT_EVENT_BACK: | |
if(deviceController != NULL) | |
{ | |
error = deviceController->aRDrone3->setPilotingPCMDPitch(deviceController->aRDrone3, -50); | |
error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1); | |
} | |
break; | |
case IHM_INPUT_EVENT_ROLL_LEFT: | |
if(deviceController != NULL) | |
{ | |
error = deviceController->aRDrone3->setPilotingPCMDRoll(deviceController->aRDrone3, -50); | |
error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1); | |
} | |
break; | |
case IHM_INPUT_EVENT_ROLL_RIGHT: | |
if(deviceController != NULL) | |
{ | |
error = deviceController->aRDrone3->setPilotingPCMDRoll(deviceController->aRDrone3, 50); | |
error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1); | |
} | |
break; | |
case IHM_INPUT_EVENT_NONE: | |
if(deviceController != NULL) | |
{ | |
error = deviceController->aRDrone3->setPilotingPCMD(deviceController->aRDrone3, 0, 0, 0, 0, 0, 0); | |
} | |
break; | |
default: | |
break; | |
} | |
// This should be improved, here it just displays that one error occured | |
if (error != ARCONTROLLER_OK) | |
{ | |
IHM_PrintInfo(ihm, "Error sending an event"); | |
} | |
} | |
int customPrintCallback (eARSAL_PRINT_LEVEL level, const char *tag, const char *format, va_list va) | |
{ | |
// Custom callback used when ncurses is runing for not disturb the IHM | |
if ((level == ARSAL_PRINT_ERROR) && (strcmp(TAG, tag) == 0)) | |
{ | |
// Save the last Error | |
vsnprintf(gErrorStr, (ERROR_STR_LENGTH - 1), format, va); | |
gErrorStr[ERROR_STR_LENGTH - 1] = '\0'; | |
} | |
return 1; | |
} |
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/* | |
Copyright (C) 2014 Parrot SA | |
Redistribution and use in source and binary forms, with or without | |
modification, are permitted provided that the following conditions | |
are met: | |
* Redistributions of source code must retain the above copyright | |
notice, this list of conditions and the following disclaimer. | |
* Redistributions in binary form must reproduce the above copyright | |
notice, this list of conditions and the following disclaimer in | |
the documentation and/or other materials provided with the | |
distribution. | |
* Neither the name of Parrot nor the names | |
of its contributors may be used to endorse or promote products | |
derived from this software without specific prior written | |
permission. | |
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | |
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | |
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | |
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | |
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | |
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | |
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | |
OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | |
AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | |
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT | |
OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF | |
SUCH DAMAGE. | |
*/ | |
#ifndef _BEBOP_SAMPLE_H_ | |
#define _BEBOP_SAMPLE_H_ | |
#include <ihm.h> | |
// called when the state of the device controller has changed | |
void stateChanged (eARCONTROLLER_DEVICE_STATE newState, eARCONTROLLER_ERROR error, void *customData); | |
// called when a command has been received from the drone | |
void commandReceived (eARCONTROLLER_DICTIONARY_KEY commandKey, ARCONTROLLER_DICTIONARY_ELEMENT_t *elementDictionary, void *customData); | |
// IHM updates from commands | |
void batteryStateChanged (uint8_t percent); | |
void sendMoveBy(ARCONTROLLER_Device_t *deviceController); | |
// called when a streaming frame has been received | |
eARCONTROLLER_ERROR didReceiveFrameCallback (ARCONTROLLER_Frame_t *frame, void *customData); | |
eARCONTROLLER_ERROR decoderConfigCallback (ARCONTROLLER_Stream_Codec_t codec, void *customData); | |
/* IHM callbacks: */ | |
void onInputEvent (eIHM_INPUT_EVENT event, void *customData); | |
int customPrintCallback (eARSAL_PRINT_LEVEL level, const char *tag, const char *format, va_list va); | |
#endif /* BEBOP_SAMPLE_H */ |
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diff --git a/Unix/BebopSample/BebopSample.c b/Unix/BebopSample/BebopSample.c | |
index 979c18a..2e50b4d 100755 | |
--- a/Unix/BebopSample/BebopSample.c | |
+++ b/Unix/BebopSample/BebopSample.c | |
@@ -1,33 +1,33 @@ | |
/* | |
- Copyright (C) 2014 Parrot SA | |
- | |
- Redistribution and use in source and binary forms, with or without | |
- modification, are permitted provided that the following conditions | |
- are met: | |
- * Redistributions of source code must retain the above copyright | |
- notice, this list of conditions and the following disclaimer. | |
- * Redistributions in binary form must reproduce the above copyright | |
- notice, this list of conditions and the following disclaimer in | |
- the documentation and/or other materials provided with the | |
- distribution. | |
- * Neither the name of Parrot nor the names | |
- of its contributors may be used to endorse or promote products | |
- derived from this software without specific prior written | |
- permission. | |
- | |
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | |
- "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | |
- LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | |
- FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | |
- COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | |
- INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | |
- BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | |
- OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | |
- AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | |
- OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT | |
- OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF | |
- SUCH DAMAGE. | |
-*/ | |
+ Copyright (C) 2014 Parrot SA | |
+ | |
+ Redistribution and use in source and binary forms, with or without | |
+ modification, are permitted provided that the following conditions | |
+ are met: | |
+ * Redistributions of source code must retain the above copyright | |
+ notice, this list of conditions and the following disclaimer. | |
+ * Redistributions in binary form must reproduce the above copyright | |
+ notice, this list of conditions and the following disclaimer in | |
+ the documentation and/or other materials provided with the | |
+ distribution. | |
+ * Neither the name of Parrot nor the names | |
+ of its contributors may be used to endorse or promote products | |
+ derived from this software without specific prior written | |
+ permission. | |
+ | |
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | |
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | |
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | |
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | |
+ COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | |
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | |
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | |
+ OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | |
+ AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | |
+ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT | |
+ OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF | |
+ SUCH DAMAGE. | |
+ */ | |
/** | |
* @file BebopSample.c | |
* @brief This file contains sources about basic arsdk example sending commands to a bebop drone to pilot it, | |
@@ -72,7 +72,7 @@ | |
#define FIFO_DIR_PATTERN "/tmp/arsdk_XXXXXX" | |
#define FIFO_NAME "arsdk_fifo" | |
-#define IHM | |
+//#define IHM | |
/***************************************** | |
* | |
* private header: | |
@@ -90,6 +90,8 @@ static char fifo_dir[] = FIFO_DIR_PATTERN; | |
static char fifo_name[128] = ""; | |
int gIHMRun = 1; | |
+int gIsFirstHover = 1; | |
+int gMoveByCalls = 0; | |
char gErrorStr[ERROR_STR_LENGTH]; | |
IHM_t *ihm = NULL; | |
@@ -422,19 +424,19 @@ void stateChanged (eARCONTROLLER_DEVICE_STATE newState, eARCONTROLLER_ERROR erro | |
switch (newState) | |
{ | |
- case ARCONTROLLER_DEVICE_STATE_STOPPED: | |
- ARSAL_Sem_Post (&(stateSem)); | |
- //stop | |
- gIHMRun = 0; | |
+ case ARCONTROLLER_DEVICE_STATE_STOPPED: | |
+ ARSAL_Sem_Post (&(stateSem)); | |
+ //stop | |
+ gIHMRun = 0; | |
- break; | |
+ break; | |
- case ARCONTROLLER_DEVICE_STATE_RUNNING: | |
- ARSAL_Sem_Post (&(stateSem)); | |
- break; | |
+ case ARCONTROLLER_DEVICE_STATE_RUNNING: | |
+ ARSAL_Sem_Post (&(stateSem)); | |
+ break; | |
- default: | |
- break; | |
+ default: | |
+ break; | |
} | |
} | |
@@ -505,6 +507,46 @@ static void cmdSensorStateListChangedRcv(ARCONTROLLER_Device_t *deviceController | |
} | |
} | |
+static void cmdFlyingStateChangedRcv(ARCONTROLLER_Device_t *deviceController, | |
+ ARCONTROLLER_DICTIONARY_ELEMENT_t *elementDictionary) { | |
+ ARCONTROLLER_DICTIONARY_ARG_t *arg = NULL; | |
+ ARCONTROLLER_DICTIONARY_ELEMENT_t *element = NULL; | |
+ HASH_FIND_STR (elementDictionary, ARCONTROLLER_DICTIONARY_SINGLE_KEY, element); | |
+ if (element != NULL) | |
+ { | |
+ HASH_FIND_STR (element->arguments, ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE, arg); | |
+ if (arg != NULL) | |
+ { | |
+ eARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE state = arg->value.I32; | |
+ if (state == ARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE_HOVERING && gIsFirstHover) { | |
+ gIsFirstHover = 0; | |
+ sendMoveBy(deviceController); | |
+ } else if (state == ARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE_LANDED) { | |
+ gIsFirstHover = 1; | |
+ gMoveByCalls = 0; | |
+ } | |
+ } | |
+ } | |
+} | |
+ | |
+static void cmdMoveByEndedRcv(ARCONTROLLER_Device_t *deviceController, | |
+ ARCONTROLLER_DICTIONARY_ELEMENT_t *elementDictionary) { | |
+ ARCONTROLLER_DICTIONARY_ARG_t *arg = NULL; | |
+ ARCONTROLLER_DICTIONARY_ELEMENT_t *element = NULL; | |
+ HASH_FIND_STR (elementDictionary, ARCONTROLLER_DICTIONARY_SINGLE_KEY, element); | |
+ if (element != NULL) | |
+ { | |
+ HASH_FIND_STR (element->arguments, ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGEVENT_MOVEBYEND_ERROR, arg); | |
+ if (arg != NULL) | |
+ { | |
+ eARCOMMANDS_ARDRONE3_PILOTINGEVENT_MOVEBYEND_ERROR error = arg->value.I32; | |
+ if (error == ARCOMMANDS_ARDRONE3_PILOTINGEVENT_MOVEBYEND_ERROR_OK) { | |
+ sendMoveBy(deviceController); | |
+ } | |
+ } | |
+ } | |
+} | |
+ | |
// called when a command has been received from the drone | |
void commandReceived (eARCONTROLLER_DICTIONARY_KEY commandKey, ARCONTROLLER_DICTIONARY_ELEMENT_t *elementDictionary, void *customData) | |
{ | |
@@ -515,17 +557,40 @@ void commandReceived (eARCONTROLLER_DICTIONARY_KEY commandKey, ARCONTROLLER_DICT | |
// if the command received is a battery state changed | |
switch(commandKey) { | |
- case ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_BATTERYSTATECHANGED: | |
- cmdBatteryStateChangedRcv(deviceController, elementDictionary); | |
- break; | |
- case ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_SENSORSSTATESLISTCHANGED: | |
- cmdSensorStateListChangedRcv(deviceController, elementDictionary); | |
- break; | |
- default: | |
- break; | |
+ case ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_BATTERYSTATECHANGED: | |
+ cmdBatteryStateChangedRcv(deviceController, elementDictionary); | |
+ break; | |
+ case ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_SENSORSSTATESLISTCHANGED: | |
+ cmdSensorStateListChangedRcv(deviceController, elementDictionary); | |
+ break; | |
+ case ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED: | |
+ cmdFlyingStateChangedRcv(deviceController, elementDictionary); | |
+ break; | |
+ case ARCONTROLLER_DICTIONARY_KEY_ARDRONE3_PILOTINGEVENT_MOVEBYEND: | |
+ cmdMoveByEndedRcv(deviceController, elementDictionary); | |
+ break; | |
+ default: | |
+ break; | |
} | |
} | |
+void sendMoveBy(ARCONTROLLER_Device_t *deviceController) { | |
+ switch (gMoveByCalls) { | |
+ case 0: | |
+ deviceController->aRDrone3->sendPilotingMoveBy(deviceController->aRDrone3, 1, 0, 0, 0); | |
+ break; | |
+ case 1: | |
+ deviceController->aRDrone3->sendPilotingMoveBy(deviceController->aRDrone3, 0, 1, 0, 0); | |
+ break; | |
+ case 2: | |
+ deviceController->aRDrone3->sendPilotingMoveBy(deviceController->aRDrone3, 0, 0, 1, 0); | |
+ break; | |
+ default: | |
+ break; | |
+ } | |
+ gMoveByCalls++; | |
+} | |
+ | |
void batteryStateChanged (uint8_t percent) | |
{ | |
// callback of changing of battery level | |
@@ -598,94 +663,94 @@ void onInputEvent (eIHM_INPUT_EVENT event, void *customData) | |
switch (event) | |
{ | |
- case IHM_INPUT_EVENT_EXIT: | |
- IHM_PrintInfo(ihm, "IHM_INPUT_EVENT_EXIT ..."); | |
- gIHMRun = 0; | |
- break; | |
- case IHM_INPUT_EVENT_EMERGENCY: | |
- if(deviceController != NULL) | |
- { | |
- // send a Emergency command to the drone | |
- error = deviceController->aRDrone3->sendPilotingEmergency(deviceController->aRDrone3); | |
- } | |
- break; | |
- case IHM_INPUT_EVENT_LAND: | |
- if(deviceController != NULL) | |
- { | |
- // send a takeoff command to the drone | |
- error = deviceController->aRDrone3->sendPilotingLanding(deviceController->aRDrone3); | |
- } | |
- break; | |
- case IHM_INPUT_EVENT_TAKEOFF: | |
- if(deviceController != NULL) | |
- { | |
- // send a landing command to the drone | |
- error = deviceController->aRDrone3->sendPilotingTakeOff(deviceController->aRDrone3); | |
- } | |
- break; | |
- case IHM_INPUT_EVENT_UP: | |
- if(deviceController != NULL) | |
- { | |
- // set the flag and speed value of the piloting command | |
- error = deviceController->aRDrone3->setPilotingPCMDGaz(deviceController->aRDrone3, 50); | |
- } | |
- break; | |
- case IHM_INPUT_EVENT_DOWN: | |
- if(deviceController != NULL) | |
- { | |
- error = deviceController->aRDrone3->setPilotingPCMDGaz(deviceController->aRDrone3, -50); | |
- } | |
- break; | |
- case IHM_INPUT_EVENT_RIGHT: | |
- if(deviceController != NULL) | |
- { | |
- error = deviceController->aRDrone3->setPilotingPCMDYaw(deviceController->aRDrone3, 50); | |
- } | |
- break; | |
- case IHM_INPUT_EVENT_LEFT: | |
- if(deviceController != NULL) | |
- { | |
- error = deviceController->aRDrone3->setPilotingPCMDYaw(deviceController->aRDrone3, -50); | |
- } | |
- break; | |
- case IHM_INPUT_EVENT_FORWARD: | |
- if(deviceController != NULL) | |
- { | |
- error = deviceController->aRDrone3->setPilotingPCMDPitch(deviceController->aRDrone3, 50); | |
- error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1); | |
- } | |
- break; | |
- case IHM_INPUT_EVENT_BACK: | |
- if(deviceController != NULL) | |
- { | |
- error = deviceController->aRDrone3->setPilotingPCMDPitch(deviceController->aRDrone3, -50); | |
- error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1); | |
- } | |
- break; | |
- case IHM_INPUT_EVENT_ROLL_LEFT: | |
- if(deviceController != NULL) | |
- { | |
- error = deviceController->aRDrone3->setPilotingPCMDRoll(deviceController->aRDrone3, -50); | |
- error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1); | |
- } | |
- break; | |
- case IHM_INPUT_EVENT_ROLL_RIGHT: | |
- if(deviceController != NULL) | |
- { | |
- error = deviceController->aRDrone3->setPilotingPCMDRoll(deviceController->aRDrone3, 50); | |
- error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1); | |
- } | |
- break; | |
- case IHM_INPUT_EVENT_NONE: | |
- if(deviceController != NULL) | |
- { | |
- error = deviceController->aRDrone3->setPilotingPCMD(deviceController->aRDrone3, 0, 0, 0, 0, 0, 0); | |
- } | |
- break; | |
- default: | |
- break; | |
+ case IHM_INPUT_EVENT_EXIT: | |
+ IHM_PrintInfo(ihm, "IHM_INPUT_EVENT_EXIT ..."); | |
+ gIHMRun = 0; | |
+ break; | |
+ case IHM_INPUT_EVENT_EMERGENCY: | |
+ if(deviceController != NULL) | |
+ { | |
+ // send a Emergency command to the drone | |
+ error = deviceController->aRDrone3->sendPilotingEmergency(deviceController->aRDrone3); | |
+ } | |
+ break; | |
+ case IHM_INPUT_EVENT_LAND: | |
+ if(deviceController != NULL) | |
+ { | |
+ // send a takeoff command to the drone | |
+ error = deviceController->aRDrone3->sendPilotingLanding(deviceController->aRDrone3); | |
+ } | |
+ break; | |
+ case IHM_INPUT_EVENT_TAKEOFF: | |
+ if(deviceController != NULL) | |
+ { | |
+ // send a landing command to the drone | |
+ error = deviceController->aRDrone3->sendPilotingTakeOff(deviceController->aRDrone3); | |
+ } | |
+ break; | |
+ case IHM_INPUT_EVENT_UP: | |
+ if(deviceController != NULL) | |
+ { | |
+ // set the flag and speed value of the piloting command | |
+ error = deviceController->aRDrone3->setPilotingPCMDGaz(deviceController->aRDrone3, 50); | |
+ } | |
+ break; | |
+ case IHM_INPUT_EVENT_DOWN: | |
+ if(deviceController != NULL) | |
+ { | |
+ error = deviceController->aRDrone3->setPilotingPCMDGaz(deviceController->aRDrone3, -50); | |
+ } | |
+ break; | |
+ case IHM_INPUT_EVENT_RIGHT: | |
+ if(deviceController != NULL) | |
+ { | |
+ error = deviceController->aRDrone3->setPilotingPCMDYaw(deviceController->aRDrone3, 50); | |
+ } | |
+ break; | |
+ case IHM_INPUT_EVENT_LEFT: | |
+ if(deviceController != NULL) | |
+ { | |
+ error = deviceController->aRDrone3->setPilotingPCMDYaw(deviceController->aRDrone3, -50); | |
+ } | |
+ break; | |
+ case IHM_INPUT_EVENT_FORWARD: | |
+ if(deviceController != NULL) | |
+ { | |
+ error = deviceController->aRDrone3->setPilotingPCMDPitch(deviceController->aRDrone3, 50); | |
+ error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1); | |
+ } | |
+ break; | |
+ case IHM_INPUT_EVENT_BACK: | |
+ if(deviceController != NULL) | |
+ { | |
+ error = deviceController->aRDrone3->setPilotingPCMDPitch(deviceController->aRDrone3, -50); | |
+ error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1); | |
+ } | |
+ break; | |
+ case IHM_INPUT_EVENT_ROLL_LEFT: | |
+ if(deviceController != NULL) | |
+ { | |
+ error = deviceController->aRDrone3->setPilotingPCMDRoll(deviceController->aRDrone3, -50); | |
+ error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1); | |
+ } | |
+ break; | |
+ case IHM_INPUT_EVENT_ROLL_RIGHT: | |
+ if(deviceController != NULL) | |
+ { | |
+ error = deviceController->aRDrone3->setPilotingPCMDRoll(deviceController->aRDrone3, 50); | |
+ error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1); | |
+ } | |
+ break; | |
+ case IHM_INPUT_EVENT_NONE: | |
+ if(deviceController != NULL) | |
+ { | |
+ error = deviceController->aRDrone3->setPilotingPCMD(deviceController->aRDrone3, 0, 0, 0, 0, 0, 0); | |
+ } | |
+ break; | |
+ default: | |
+ break; | |
} | |
- | |
+ | |
// This should be improved, here it just displays that one error occured | |
if (error != ARCONTROLLER_OK) | |
{ | |
@@ -696,13 +761,13 @@ void onInputEvent (eIHM_INPUT_EVENT event, void *customData) | |
int customPrintCallback (eARSAL_PRINT_LEVEL level, const char *tag, const char *format, va_list va) | |
{ | |
// Custom callback used when ncurses is runing for not disturb the IHM | |
- | |
+ | |
if ((level == ARSAL_PRINT_ERROR) && (strcmp(TAG, tag) == 0)) | |
{ | |
// Save the last Error | |
vsnprintf(gErrorStr, (ERROR_STR_LENGTH - 1), format, va); | |
gErrorStr[ERROR_STR_LENGTH - 1] = '\0'; | |
} | |
- | |
+ | |
return 1; | |
} | |
diff --git a/Unix/BebopSample/BebopSample.h b/Unix/BebopSample/BebopSample.h | |
index f5e5e5b..bf57d1b 100755 | |
--- a/Unix/BebopSample/BebopSample.h | |
+++ b/Unix/BebopSample/BebopSample.h | |
@@ -43,6 +43,8 @@ void commandReceived (eARCONTROLLER_DICTIONARY_KEY commandKey, ARCONTROLLER_DICT | |
// IHM updates from commands | |
void batteryStateChanged (uint8_t percent); | |
+void sendMoveBy(ARCONTROLLER_Device_t *deviceController); | |
+ | |
// called when a streaming frame has been received | |
eARCONTROLLER_ERROR didReceiveFrameCallback (ARCONTROLLER_Frame_t *frame, void *customData); | |
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