vcs.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ControlEngine/iPhone/Classes/mobile_main.c

   1 /*
   2  *  mobile_main.c
   3  *  Test
   4  *
   5  *  Created by Karl Leplat on 19/02/10.
   6  *  Copyright 2010 Parrot SA. All rights reserved.
   7  *
   8  */
   9 #include "mobile_main.h"
  10 #include "wifi.h"
  11
  12 #define MAXADDRS        16
  13 //#define DEBUG_THREAD  1
  14
  15 static bool_t bContinue = TRUE;
  16 char drone_address[MAXADDRS];
  17
  18 DEFINE_THREAD_ROUTINE(mobile_main, data)
  19 {
  20         C_RESULT res = C_FAIL;
  21         vp_com_wifi_config_t *config = NULL;
  22
  23         mobile_main_param_t *param = (mobile_main_param_t *)data;
  24
  25         ardroneEngineCallback callback = param->callback;
  26         vp_os_memset(drone_address, 0x0, sizeof(drone_address));
  27
  28         while(((config = (vp_com_wifi_config_t *)wifi_config()) != NULL) && (strcmp(config->itfName, WIFI_ITFNAME) != 0))
  29         {
  30                 PRINT("Wait WIFI connection !\n");
  31                 vp_os_delay(250);
  32         }
  33
  34         // Get drone_address
  35         vp_os_memcpy(drone_address, config->server, strlen(config->server));
  36         PRINT("Drone address %s\n", drone_address);
  37
  38         // Get iphone_mac_address
  39         get_iphone_mac_address(config->itfName);
  40         PRINT("Iphone MAC Address %s\n", iphone_mac_address);
  41
  42         res = ardrone_tool_setup_com( NULL );
  43
  44         if( FAILED(res) )
  45         {
  46                 PRINT("Wifi initialization failed. It means either:\n");
  47                 PRINT("\t* you're not root (it's mandatory because you can set up wifi connection only as root)\n");
  48                 PRINT("\t* wifi device is not present (on your pc or on your card)\n");
  49                 PRINT("\t* you set the wrong name for wifi interface (for example rausb0 instead of wlan0) \n");
  50                 PRINT("\t* ap is not up (reboot card or remove wifi usb dongle)\n");
  51                 PRINT("\t* wifi device has no antenna\n");
  52         }
  53         else
  54         {
  55                 START_THREAD(video_stage, NULL);
  56
  57                 res = ardrone_tool_init(drone_address, strlen(drone_address), NULL, param->appName, param->usrName);
  58
  59                 callback(ARDRONE_ENGINE_INIT_OK);
  60
  61                 ardrone_tool_set_refresh_time(1000 / kAPS);
  62
  63                 while( SUCCEED(res) && bContinue == TRUE )
  64                 {
  65                         ardrone_tool_update();
  66                 }
  67
  68                 JOIN_THREAD(video_stage);
  69
  70                 res = ardrone_tool_shutdown();
  71         }
  72
  73         vp_os_free (data);
  74
  75         return (THREAD_RET)res;
  76 }
  77
  78 void ardroneEnginePause( void )
  79 {
  80 #ifdef DEBUG_THREAD
  81         PRINT( "%s\n", __FUNCTION__ );
  82 #endif
  83         video_stage_suspend_thread();
  84         ardrone_tool_pause();
  85 }
  86
  87 void ardroneEngineResume( void )
  88 {
  89 #ifdef DEBUG_THREAD
  90         PRINT( "%s\n", __FUNCTION__ );
  91 #endif
  92         video_stage_resume_thread();
  93         ardrone_tool_resume();
  94 }
  95
  96 void ardroneEngineStart ( ardroneEngineCallback callback, const char *appName, const char *usrName )
  97 {
  98 #ifdef DEBUG_THREAD
  99         PRINT( "%s\n", __FUNCTION__ );
 100 #endif
 101         video_stage_init();
 102         mobile_main_param_t *param = vp_os_malloc (sizeof (mobile_main_param_t));
 103         if (NULL != param)
 104         {
 105                 param->callback = callback;
 106                 strcpy(param->appName, appName);
 107                 strcpy(param->usrName, usrName);
 108                 START_THREAD( mobile_main, param);
 109         }
 110 }
 111
 112 void ardroneEngineStop (void)
 113 {
 114         PRINT( "%s\n", __FUNCTION__ );
 115         ardroneEnginePause();
 116         bContinue = FALSE;
 117 }
 118
 119 C_RESULT custom_update_user_input(input_state_t* input_state, uint32_t user_input)
 120 {
 121 #ifdef DEBUG_THREAD
 122         printf("%s\n", __FUNCTION__);
 123 #endif
 124         return C_OK;
 125
 126 }
 127
 128 C_RESULT custom_reset_user_input(input_state_t* input_state, uint32_t user_input)
 129 {
 130 #ifdef DEBUG_THREAD
 131         printf("%s\n", __FUNCTION__);
 132 #endif
 133         return C_OK;
 134 }
 135
 136 C_RESULT ardrone_tool_display_custom()
 137 {
 138 #ifdef DEBUG_THREAD
 139         printf("%s\n", __FUNCTION__);
 140 #endif
 141         return C_OK;
 142 }
 143 BEGIN_THREAD_TABLE
 144 THREAD_TABLE_ENTRY(mobile_main, 20)
 145 THREAD_TABLE_ENTRY(ardrone_control, 20)
 146 THREAD_TABLE_ENTRY(navdata_update, 20)
 147 THREAD_TABLE_ENTRY(video_stage, 20)
 148 END_THREAD_TABLE