--- /dev/null
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#ifndef AT_MESSAGES_HEADER
+# define AT_MESSAGES_HEADER <ATcodec/ATcodec_Messages_ex.h>
+#endif // > AT_MESSAGES_HEADER
+
+
+#include <ATcodec/ATcodec_api.h>
+#include <VP_Os/vp_os_types.h>
+#include <VP_Com/vp_com.h>
+#include <VP_Api/vp_api_error.h>
+#include <VP_Os/vp_os_signal.h>
+#include <VP_Os/vp_os_delay.h>
+#include <VP_Os/vp_os_thread.h>
+#include <VP_Os/vp_os_print.h>
+#include <VP_Os/vp_os_malloc.h>
+#include <Examples/common/common.h>
+#include <VP_Stages/vp_stages_io_com.h>
+
+
+#ifndef AT_MESSAGES_HEADER
+#error You need to define AT_MESSAGES_HEADER
+#endif
+
+
+typedef struct _AT_CODEC_MSG_IDS_
+{
+# define ATCODEC_DEFINE_AT_CMD(ID,Str,From,Cb,Prio) AT_CODEC_MSG_ID ID;
+# define ATCODEC_DEFINE_AT_RESU(ID,Str,From,Cb) AT_CODEC_MSG_ID ID;
+# include AT_MESSAGES_HEADER
+}
+AT_CODEC_MSG_IDS;
+
+
+static AT_CODEC_MSG_IDS ids;
+
+
+static vp_stages_output_com_config_t occ;
+
+static Write atcodec_write;
+static Read atcodec_read;
+
+static vp_com_t com;
+
+#ifdef NO_COM
+ static vp_com_serial_config_t config;
+#else // ! NO_COM
+#ifdef USE_WIFI
+ vp_com_wifi_connection_t connection;
+ vp_com_wifi_config_t config;
+#endif // ! USE_WIFI
+#endif // > NO_COM
+
+
+
+AT_CODEC_ERROR_CODE at_pm_qw(ATcodec_Memory_t *mem, ATcodec_Memory_t *output, int *id)
+{
+ static int foo = 0;
+ int motor = ATcodec_Memory_Raw_Get_Int(mem);
+
+ PRINT("Motor selected : %d\n", motor);
+
+ if(foo)
+ *id = ids.AT_MSG_ATRESU_OK;
+ else
+ *id = ids.AT_MSG_ATRESU_ERROR;
+
+ foo = 1-foo;
+
+ return AT_CODEC_GENERAL_OK;
+}
+
+AT_CODEC_ERROR_CODE at_pm_exe(ATcodec_Memory_t *mem, ATcodec_Memory_t *output, int *id)
+{
+ static int foo = 1;
+ int speed = ATcodec_Memory_Raw_Get_Int(mem);
+ int timestamp = ATcodec_Memory_Raw_Get_Int(mem);
+ PRINT("Motor command : speed=%d , timestamp=%d\n", speed, timestamp);
+
+ if(foo)
+ *id = ids.AT_MSG_ATRESU_OK;
+ else
+ *id = ids.AT_MSG_ATRESU_ERROR;
+
+ foo = 1-foo;
+
+ return AT_CODEC_GENERAL_OK;
+}
+
+AT_CODEC_ERROR_CODE at_cgmi(ATcodec_Memory_t *mem, ATcodec_Memory_t *output, int *id)
+{
+ PRINT("CGMI command\n");
+
+ ATcodec_Memory_Put_String(output, "By Aurelien Morelle");
+
+ *id = ids.AT_MSG_ATRESU_CGMI;
+
+ return AT_CODEC_GENERAL_OK;
+}
+
+
+AT_CODEC_ERROR_CODE AT_CODEC_init(void)
+{
+ vp_os_memset(&com, 0, sizeof(vp_com_t));
+
+ occ.com = &com;
+
+# undef ATCODEC_DEFINE_AT_CMD
+# define ATCODEC_DEFINE_AT_CMD(ID,Str,From,Cb,Prio) \
+ if((ids.ID = ATcodec_Add_Hashed_Message(Str,From,Cb,Prio)) == -1) \
+ { \
+ PRINT("Error Add_Hashed \"%s\" library\n", Str); \
+ return AT_CODEC_INIT_ERROR; \
+ }
+
+# undef ATCODEC_DEFINE_AT_RESU
+# define ATCODEC_DEFINE_AT_RESU(ID,Str,From,Cb) \
+ if((ids.ID = ATcodec_Add_Defined_Message(Str)) == -1) \
+ { \
+ PRINT("Error Add_Defined \"%s\" library\n", Str); \
+ return AT_CODEC_INIT_ERROR; \
+ }
+
+# include AT_MESSAGES_HEADER
+
+ //ATcodec_Print_Tree();
+
+#ifdef NO_COM
+#ifdef __linux__
+ strcpy(config.itfName, "/dev/ttyS0");
+#else
+ strcpy(config.itfName, "/dev/ser1");
+#endif
+ config.initial_baudrate = VP_COM_BAUDRATE_115200;
+ config.baudrate = VP_COM_BAUDRATE_115200;
+ config.sync = 0; //1;
+
+ com.type = VP_COM_SERIAL;
+
+ occ.socket.type = VP_COM_SERVER;
+ occ.config = (vp_com_config_t *)&config;
+ occ.buffer_size = 16;
+#else // ! NO_COM
+#ifdef USE_WIFI
+ vp_os_memset(&connection,0,sizeof(vp_com_connection_t));
+ strcpy(connection.networkName,"linksys");
+
+ strcpy(config.itfName, "wl0");
+ strcpy(config.localHost, "192.168.1.23");
+ strcpy(config.netmask, "255.255.255.0");
+ strcpy(config.broadcast, "192.168.1.255");
+ strcpy(config.gateway, "192.168.1.1");
+ strcpy(config.server, "192.168.1.1");
+ strcpy(config.passkey, "9F1C3EE11CBA230B27BF1C1B6F");
+ config.infrastructure = 1;
+ config.secure = 1;
+
+ com.type = VP_COM_WIFI;
+
+ occ.config = (vp_com_config_t*)&config;
+ occ.connection = (vp_com_connection_t*)&connection;
+ occ.socket.type = VP_COM_SERVER;
+ occ.socket.protocol = VP_COM_TCP;
+ occ.socket.port = 5555;
+ occ.buffer_size = 128;
+#endif // ! USE_WIFI
+#endif // > NO_COM
+
+
+ if(FAILED(vp_com_init(occ.com)))
+ {
+ PRINT("VP_Com : Failed to init\n");
+ vp_com_shutdown(occ.com);
+ return AT_CODEC_OPEN_ERROR;
+ }
+
+ if(FAILED(vp_com_local_config(occ.com, occ.config)))
+ {
+ PRINT("VP_Com : Failed to configure\n");
+ vp_com_shutdown(occ.com);
+ return AT_CODEC_OPEN_ERROR;
+ }
+
+ PRINT("com_init OK\n");
+
+ return AT_CODEC_INIT_OK;
+}
+
+AT_CODEC_ERROR_CODE AT_CODEC_shutdown(void)
+{
+ ATcodec_Shutdown_Library();
+
+ return AT_CODEC_SHUTDOWN_OK;
+}
+
+AT_CODEC_ERROR_CODE AT_CODEC_open(void)
+{
+ PRINT("ATcodec_open\n");
+
+ if(FAILED(vp_com_open(occ.com, &occ.socket, &atcodec_read,&atcodec_write)))
+ return AT_CODEC_OPEN_ERROR;
+
+ if(FAILED(vp_com_wait_connections(occ.com, &occ.socket, &occ.socket_client, 1)))
+ return AT_CODEC_OPEN_ERROR;
+
+ PRINT("Connection RFCOMM incoming\n");
+
+ return AT_CODEC_OPEN_OK;
+}
+
+AT_CODEC_ERROR_CODE AT_CODEC_close(void)
+{
+ PRINT("ATcodec_close\n");
+
+ vp_com_close(occ.com, &occ.socket);
+ vp_com_close(occ.com, &occ.socket_client);
+
+ PRINT("socket closed\n");
+
+ return AT_CODEC_CLOSE_OK;
+}
+
+AT_CODEC_ERROR_CODE AT_CODEC_write(int8_t *buffer, int32_t *len)
+{
+/* int i; */
+
+ if(FAILED(atcodec_write(&occ.socket_client, buffer, len)))
+ return AT_CODEC_WRITE_ERROR;
+
+/* if(*len) */
+/* { */
+/* PRINT("ATcodec_write < "); */
+/* for(i = 0 ; i < *len ; i++) */
+/* { */
+/* if(buffer[i] == '\r') */
+/* PRINT("_CR_"); */
+/* else if(buffer[i] == '\n') */
+/* PRINT("_LF_"); */
+/* else */
+/* PRINT("%c", buffer[i]); */
+/* } */
+/* PRINT(" > (%d)\n", *len); */
+/* } */
+
+ return AT_CODEC_WRITE_OK;
+}
+
+AT_CODEC_ERROR_CODE AT_CODEC_read(int8_t *buffer, int32_t *len)
+{
+/* int i; */
+
+ if(FAILED(atcodec_read(&occ.socket_client, buffer, len)))
+ return AT_CODEC_READ_ERROR;
+
+ if(*len)
+ {
+ buffer[*len] = '\0';
+/* PRINT("ATcodec_read < "); */
+/* for(i = 0 ; i < *len ; i++) */
+/* { */
+/* if(buffer[i] == '\r') */
+/* PRINT("_CR_"); */
+/* else if(buffer[i] == '\n') */
+/* PRINT("_LF_"); */
+/* else if(buffer[i] == '\0') */
+/* PRINT("_\\0_"); */
+/* else */
+/* PRINT("%c", buffer[i]); */
+/* } */
+/* PRINT(" > (%d)\n", *len); */
+ }
+
+ return AT_CODEC_READ_OK;
+}
projects / mardrone / blobdiff