ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VP_SDK / Examples / linux / atcodec_client.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/atcodec_client.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/atcodec_client.c
new file mode 100644 (file)
index 0000000..d7b8e2a
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/atcodec_client.c
@@ -0,0 +1,78 @@
+
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <ATcodec/ATcodec_api.h>
+#include <VP_Stages/vp_stages_io_com.h>
+
+#define AT_MESSAGES_HEADER "ATcodec/ATcodec_Messages_ex.h"
+
+#include "ATcodec/ATcodec_api.h"
+#include "VP_Os/vp_os_types.h"
+#include "VP_Os/vp_os_thread.h"
+#include "VP_Os/vp_os_delay.h"
+#include "VP_Os/vp_os_print.h"
+#include <Examples/common/atcodec_client.h>
+
+#ifndef AT_MESSAGES_HEADER
+#error You need to define AT_MESSAGES_HEADER
+#endif
+
+extern AT_CODEC_MSG_IDS ids;
+
+#define INTRA_CMD_DELAY 10
+
+THREAD_RET
+thread_send_commands (THREAD_PARAMS data)
+{
+  while(1)
+    {
+      ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_CGMI);
+      vp_os_delay(INTRA_CMD_DELAY);
+      ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_CGMI);
+      vp_os_delay(INTRA_CMD_DELAY);
+      //vp_os_thread_yield();
+
+      ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_QW,1);
+      vp_os_delay(INTRA_CMD_DELAY);
+      ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_QW,1);
+      vp_os_delay(INTRA_CMD_DELAY);
+      //vp_os_thread_yield();
+
+      ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_EXE,1,50);
+      vp_os_delay(INTRA_CMD_DELAY);
+      ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_EXE,1,50);
+      vp_os_delay(INTRA_CMD_DELAY);
+      //vp_os_thread_yield();
+    }
+}
+
+int main(int argc, char **argv)
+{
+  THREAD_HANDLE atcodec_test_handle;
+  THREAD_HANDLE atcodec_test_handle2;
+  THREAD_HANDLE cmds_handle;
+
+  AT_CODEC_FUNCTIONS_PTRS ptrs =
+    {
+      .init     = AT_CODEC_Client_init,
+      .shutdown = AT_CODEC_Client_shutdown,
+      .open     = AT_CODEC_Client_open,
+      .close    = AT_CODEC_Client_close,
+      .read     = AT_CODEC_Client_read,
+      .write    = AT_CODEC_Client_write,
+    };
+
+  ATcodec_Init_Library(&ptrs);
+
+  vp_os_thread_create(thread_ATcodec_Commands_Client, 0, &atcodec_test_handle);
+  vp_os_thread_create(thread_send_commands, 0, &cmds_handle);
+  vp_os_thread_create(thread_ATcodec_Commands_Server, 0, &atcodec_test_handle2);
+
+  vp_os_thread_join(cmds_handle);
+  vp_os_thread_join(atcodec_test_handle2);
+  vp_os_thread_join(atcodec_test_handle);
+
+  return EXIT_SUCCESS;
+}
+