--- /dev/null
+/**
+ * @file ARDrone.m
+ *
+ * Copyright 2009 Parrot SA. All rights reserved.
+ * @author D HAEYER Frederic
+ * @date 2009/10/26
+ */
+#import "MainViewController.h"
+#import "GLViewController.h"
+#import "InternalProtocols.h"
+#import "ARDrone.h"
+#import "TVOut.h"
+
+//#define DEBUG_ENNEMIES_DETECTON
+//#define DEBUG_NAVIGATION_DATA
+//#define DEBUG_DETECTION_CAMERA
+//#define DEBUG_DRONE_CAMERA
+
+extern navdata_unpacked_t ctrlnavdata;
+extern char drone_address[];
+extern ControlData ctrldata;
+static bool_t threadStarted = false;
+char root_dir[256];
+
+static void ARDroneCallback(ARDRONE_ENGINE_MESSAGE msg)
+{
+ switch(msg)
+ {
+ case ARDRONE_ENGINE_INIT_OK:
+ threadStarted = true;
+ break;
+
+ default:
+ break;
+ }
+}
+
+@interface ARDrone () <NavdataProtocol>
+ GLViewController *glviewctrl;
+ MainViewController *mainviewctrl;
+ BOOL inGameOnDemand;
+ CGRect screenFrame;
+ id <ARDroneProtocolOut> _uidelegate;
+ ARDroneHUDConfiguration *hudconfig;
+
+- (void) parrotNavdata:(navdata_unpacked_t*)data;
+- (void) checkThreadStatus;
+@end
+
+/**
+ * Define a few methods to make it possible for the game engine to control the Parrot drone
+ */
+@implementation ARDrone
+@synthesize running;
+@synthesize view;
+
+/**
+ * Initialize the Parrot library.<br/>
+ * Note: the library will clean-up everything it allocates by itself, when being destroyed (i.e. when its retain count reaches 0).
+ *
+ * @param frame Frame of parent view, used to create the library view (which shall cover the whole screen).
+ * @param inGame Initial state of the game at startup.
+ * @param uidelegate Pointer to the object that implements the Parrot protocol ("ARDroneProtocol"), which will be called whenever the library needs the game engine to change its state.
+ * @return Pointer to the newly initialized Parrot library instance.
+ */
+- (id) initWithFrame:(CGRect)frame withState:(BOOL)inGame withDelegate:(id <ARDroneProtocolOut>)uidelegate withHUDConfiguration:(ARDroneHUDConfiguration*)hudconfiguration
+{
+ if((self = [super init]) != nil)
+ {
+ NSLog(@"Frame ARDrone Engine : %f, %f", frame.size.width, frame.size.height);
+
+#ifdef ENABLE_AUTO_TVOUT
+ [[[TVOut alloc] init] setupScreenMirroringWithFramesPerSecond:10];
+#endif
+
+ running = NO;
+ inGameOnDemand = inGame;
+ threadStarted = false;
+ _uidelegate = uidelegate;
+
+ // Update user path
+ [[NSFileManager defaultManager]changeCurrentDirectoryPath:[[NSBundle mainBundle]resourcePath]];
+ NSArray *paths = NSSearchPathForDirectoriesInDomains(NSDocumentDirectory, NSUserDomainMask, YES); //creates paths so that you can pull the app's path from it
+ strcpy(root_dir, [[paths objectAtIndex:0] cStringUsingEncoding:NSUTF8StringEncoding]);
+
+ // Create View Controller
+ glviewctrl = [[GLViewController alloc] initWithFrame:frame withDelegate:self];
+
+ // Create main view controller
+ initControlData();
+ mainviewctrl = [[MainViewController alloc] initWithFrame:frame withState:inGame withDelegate:uidelegate withNavdataDelegate:self withControlData:&ctrldata withHUDConfiguration:hudconfiguration];
+ view = mainviewctrl.view;
+
+ NSString *bundleName = [[[NSBundle mainBundle] infoDictionary] objectForKey:@"CFBundleIdentifier"];
+ NSString *username = [NSString stringWithFormat:@".%@:%@", [[UIDevice currentDevice] model], [[UIDevice currentDevice] uniqueIdentifier]];
+ ardroneEngineStart(ARDroneCallback, [bundleName cStringUsingEncoding:NSUTF8StringEncoding], [username cStringUsingEncoding:NSUTF8StringEncoding]);
+ [self checkThreadStatus];
+ }
+
+ return( self );
+}
+
+- (void) checkThreadStatus
+{
+ NSLog(@"%s", __FUNCTION__);
+
+ [mainviewctrl setWifiReachabled:threadStarted];
+
+ if(threadStarted)
+ {
+ running = YES;
+ [_uidelegate executeCommandOut:ARDRONE_COMMAND_RUN withParameter:(void*)drone_address fromSender:self];
+ [self changeState:inGameOnDemand];
+ }
+ else
+ {
+ [NSTimer scheduledTimerWithTimeInterval:1.0 target:self selector:@selector(checkThreadStatus) userInfo:nil repeats:NO];
+ }
+}
+
+/*
+ * Render a frame. Basically, the Parrot Library renders:<ul>
+ * <li> A full screen textured quad in the background (= the video sent by the drone);</li>
+ * <li> A set of elements in the foreground (=HUD).</li>
+ * </ul>
+ */
+- (void) render
+{
+ // Make sure the library is "running"
+ [glviewctrl drawView];
+}
+
+- (void) dealloc
+{
+ [self changeState:NO];
+
+ [mainviewctrl release];
+ [glviewctrl release];
+
+ [super dealloc];
+}
+
+/**
+ * Set what shall be the orientation of the screen when rendering a frame.
+ *
+ * @param right Orientation of the screen: FALSE for "landscape left", TRUE for "landscape right".
+ */
+- (void)setScreenOrientationRight:(BOOL)right
+{
+ NSLog(@"Screen orientation right : %d", right);
+ if(mainviewctrl != nil)
+ [mainviewctrl setScreenOrientationRight:right];
+
+ if(glviewctrl != nil)
+ [glviewctrl setScreenOrientationRight:right];
+}
+
+- (void)parrotNavdata:(navdata_unpacked_t*)data
+{
+ ardrone_navdata_get_data(data);
+}
+
+/**
+ * Get the latest drone's navigation data.
+ *
+ * @param data Pointer to a navigation data structure.
+ */
+- (void)navigationData:(ARDroneNavigationData*)data
+{
+ if(view != nil)
+ {
+ vp_os_memcpy(data, [mainviewctrl navigationData], sizeof(ARDroneNavigationData));
+#ifdef DEBUG_NAVIGATION_DATA
+ static int numsamples = 0;
+ if(numsamples++ > 64)
+ {
+ NSLog(@"x : %f, y : %f, z : %f, flying state : %d, navdata video num frame : %d, video num frames : %d", data->angularPosition.x, data->angularPosition.y, data->angularPosition.z, data->flyingState, data->navVideoNumFrames, data->videoNumFrames);
+ numsamples = 0;
+ }
+#endif
+ }
+}
+
+/**
+ * Get the latest detection camera structure (rotation and translation).
+ *
+ * @param data Pointer to a detection camera structure.
+ */
+- (void)detectionCamera:(ARDroneDetectionCamera*)camera
+{
+ if(view != nil)
+ {
+ vp_os_memcpy(camera, [mainviewctrl detectionCamera], sizeof(ARDroneDetectionCamera));
+#ifdef DEBUG_DETECTION_CAMERA
+ static int numsamples = 0;
+ if(numsamples++ > 64)
+ {
+ NSLog(@"Detection Camera Rotation : %f %f %f %f %f %f %f %f %f",
+ camera->rotation[0][0], camera->rotation[0][1], camera->rotation[0][2],
+ camera->rotation[1][0], camera->rotation[1][1], camera->rotation[1][2],
+ camera->rotation[2][0], camera->rotation[2][1], camera->rotation[2][2]);
+ NSLog(@"Detection Camera Translation : %f %f %f", camera->translation[0], camera->translation[1], camera->translation[2]);
+ NSLog(@"Detection Camera Tag Index : %d", camera->tag_index);
+
+ numsamples = 0;
+ }
+#endif
+ }
+}
+
+/**
+ * Get the latest drone camera structure (rotation and translation).
+ *
+ * @param data Pointer to a drone camera structure.
+ */
+- (void)droneCamera:(ARDroneCamera*)camera
+{
+ if(view != nil)
+ {
+ vp_os_memcpy(camera, [mainviewctrl droneCamera], sizeof(ARDroneCamera));
+#ifdef DEBUG_DRONE_CAMERA
+ static int numsamples = 0;
+ if(numsamples++ > 64)
+ {
+ NSLog(@"Drone Camera Rotation : %f %f %f %f %f %f %f %f %f",
+ camera->rotation[0][0], camera->rotation[0][1], camera->rotation[0][2],
+ camera->rotation[1][0], camera->rotation[1][1], camera->rotation[1][2],
+ camera->rotation[2][0], camera->rotation[2][1], camera->rotation[2][2]);
+ NSLog(@"Drone Camera Translation : %f %f %f", camera->translation[0], camera->translation[1], camera->translation[2]);
+ numsamples = 0;
+ }
+#endif
+ }
+}
+
+/**
+ * Exchange enemies data.<br/>
+ * Note: basically, data should be provided by the Parrot library when in multiplayer mode (enemy type = "HUMAN"), and by the game controller when in single player mode (enemy type = "AI").
+ *
+ * @param data Pointer to an enemies data structure.
+ */
+- (void)humanEnemiesData:(ARDroneEnemiesData*)data
+{
+ if(view != nil)
+ {
+ vp_os_memcpy(data, [mainviewctrl humanEnemiesData], sizeof(ARDroneEnemiesData));
+#ifdef DEBUG_ENNEMIES_DETECTON
+ static int old_value = 0;
+ if(old_value != data->count)
+ NSLog(@"enemies detected : %d", data->count);
+ old_value = data->count;
+#endif
+ }
+}
+
+- (void)changeState:(BOOL)inGame
+{
+ // Check whether there is a change of state
+ if(threadStarted)
+ {
+ // Change the state of the library
+ if(inGame)
+ ardroneEngineResume();
+ else
+ ardroneEnginePause();
+
+ running = inGame;
+ }
+ else
+ {
+ inGameOnDemand = inGame;
+ }
+
+ // Change state of view
+ [mainviewctrl changeState:inGame];
+
+}
+
+- (void)executeCommandIn:(ARDRONE_COMMAND_IN_WITH_PARAM)commandIn fromSender:(id)sender refreshSettings:(BOOL)refresh
+{
+ [mainviewctrl executeCommandIn:commandIn fromSender:sender refreshSettings:refresh];
+}
+
+- (void)executeCommandIn:(ARDRONE_COMMAND_IN)commandId withParameter:(void*)parameter fromSender:(id)sender
+{
+ [mainviewctrl executeCommandIn:commandId withParameter:parameter fromSender:sender];
+}
+
+- (void)setDefaultConfigurationForKey:(ARDRONE_CONFIG_KEYS)key withValue:(void *)value
+{
+ [mainviewctrl setDefaultConfigurationForKey:key withValue:value];
+}
+
+- (BOOL)checkState
+{
+ return running;
+}
+
+@end
projects / mardrone / blobdiff