--- /dev/null
+//
+// MainViewController.m
+// ARDroneEngine
+//
+// Created by Mykonos on 17/12/09.
+// Copyright 2009 Parrot SA. All rights reserved.
+//
+#import "MainViewController.h"
+#import "OpenGLVideo.h"
+
+extern navdata_unpacked_t ctrlnavdata;
+
+@interface MainViewController ()
+ARDroneNavigationData navigationData;
+ARDroneEnemiesData humanEnemiesData;
+ARDroneDetectionCamera detectionCamera;
+ARDroneCamera droneCamera;
+
+id<NavdataProtocol>navdata_delegate;
+CGRect screenFrame;
+BOOL screenOrientationRight;
+BOOL bContinue;
+ARDroneHUDConfiguration hudconfig;
+ControlData *controlData;
+
+-(void)TimerHandler;
+-(void)update;
+@end
+
+@implementation MainViewController
+- (id) initWithFrame:(CGRect)frame withState:(BOOL)inGame withDelegate:(id<ARDroneProtocolOut>)delegate withNavdataDelegate:(id<NavdataProtocol>)_navdata_delegate withControlData:(ControlData*)_controlData withHUDConfiguration:(ARDroneHUDConfiguration*)hudconfiguration
+{
+ NSLog(@"Main View Controller Frame : %@", NSStringFromCGRect(frame));
+ if(self = [super init])
+ {
+ bContinue = TRUE;
+ screenOrientationRight = YES;
+ screenFrame = frame;
+ gameEngine = delegate;
+ navdata_delegate = _navdata_delegate;
+ controlData = _controlData;
+
+ vp_os_memset(&navigationData, 0x0, sizeof(ARDroneNavigationData));
+ vp_os_memset(&detectionCamera, 0x0, sizeof(ARDroneCamera));
+ vp_os_memset(&droneCamera, 0x0, sizeof(ARDroneCamera));
+ humanEnemiesData.count = 0;
+
+ for(int i = 0 ; i < ARDRONE_MAX_ENEMIES ; i++)
+ {
+ vp_os_memset(&humanEnemiesData.data[i], 0x0, sizeof(ARDroneEnemyData));
+ humanEnemiesData.data[i].width = 1.0;
+ humanEnemiesData.data[i].height = 1.0;
+ }
+
+ if(hudconfiguration == nil)
+ {
+ hudconfig.enableBackToMainMenu = NO;
+ hudconfig.enableSwitchScreen = YES;
+ hudconfig.enableBatteryPercentage = YES;
+ }
+ else
+ {
+ vp_os_memcpy(&hudconfig, hudconfiguration, sizeof(ARDroneHUDConfiguration));
+ }
+
+ hud = [[HUD alloc] initWithFrame:screenFrame withState:inGame withHUDConfiguration:hudconfig withControlData:controlData];
+ [self.view addSubview:hud.view];
+ hud.view.multipleTouchEnabled = YES;
+
+ menuSettings = [[SettingsMenu alloc] initWithFrame:screenFrame AndHUDConfiguration:hudconfig withDelegate:hud withControlData:controlData];
+ menuSettings.view.hidden = YES;
+ menuSettings.view.multipleTouchEnabled = YES;
+ [self.view addSubview:menuSettings.view];
+ self.view.multipleTouchEnabled = YES;
+
+ [self changeState:inGame];
+
+ [NSThread detachNewThreadSelector:@selector(TimerHandler) toTarget:self withObject:nil];
+ }
+
+ return self;
+}
+
+- (void)setWifiReachabled:(BOOL)reachabled
+{
+ controlData->wifiReachabled = reachabled;
+}
+
+-(void)setScreenOrientationRight:(BOOL)right
+{
+ screenOrientationRight = right;
+}
+
+- (void) update
+{
+ static CONFIG_STATE prev_config_state = CONFIG_STATE_IDLE;
+ static bool_t prev_navdata_connected = FALSE;
+
+ if(prev_config_state != controlData->configurationState)
+ {
+ if(controlData->configurationState == CONFIG_STATE_IDLE)
+ [menuSettings configChanged];
+ prev_config_state = controlData->configurationState;
+ }
+
+ if(prev_navdata_connected != controlData->navdata_connected)
+ {
+ [menuSettings configChanged];
+ prev_navdata_connected = controlData->navdata_connected;
+ }
+
+ if(hud.firePressed == YES)
+ {
+ [gameEngine executeCommandOut:ARDRONE_COMMAND_FIRE withParameter:nil fromSender:self.view];
+ }
+ else if(hud.mainMenuPressed == YES)
+ {
+ hud.mainMenuPressed = NO;
+ [gameEngine executeCommandOut:ARDRONE_COMMAND_PAUSE withParameter:nil fromSender:self.view];
+ }
+ else if(hud.settingsPressed == YES)
+ {
+ hud.settingsPressed = NO;
+ [menuSettings performSelectorOnMainThread:@selector(switchDisplay) withObject:nil waitUntilDone:YES];
+ }
+
+ // Set velocities
+ navigationData.linearVelocity.x = -ctrlnavdata.navdata_demo.vy;
+ navigationData.linearVelocity.y = ctrlnavdata.navdata_demo.vz;
+ navigationData.linearVelocity.z = ctrlnavdata.navdata_demo.vx;
+ navigationData.angularPosition.x = -ctrlnavdata.navdata_demo.theta / 1000;
+ navigationData.angularPosition.y = ctrlnavdata.navdata_demo.psi / 1000;
+ navigationData.angularPosition.z = ctrlnavdata.navdata_demo.phi / 1000;
+ navigationData.navVideoNumFrames = ctrlnavdata.navdata_demo.num_frames;
+ navigationData.videoNumFrames = get_video_current_numframes();
+
+ // Set flying state.
+ ARDRONE_FLYING_STATE tmp_state = ardrone_navdata_get_flying_state(ctrlnavdata);
+ if(navigationData.flyingState != tmp_state)
+ {
+ NSLog(@"Flying state switch to %d", tmp_state);
+ if(hudconfig.enableBackToMainMenu)
+ [hud showBackToMainMenu:(tmp_state == ARDRONE_FLYING_STATE_LANDED)];
+ }
+
+ navigationData.flyingState = tmp_state;
+ navigationData.emergencyState = ctrlnavdata.ardrone_state & ARDRONE_EMERGENCY_MASK;
+ navigationData.detection_type = (ARDRONE_CAMERA_DETECTION_TYPE)ctrlnavdata.navdata_demo.detection_camera_type;
+ navigationData.finishLineCount = ctrlnavdata.navdata_games.finish_line_counter;
+ navigationData.doubleTapCount = ctrlnavdata.navdata_games.double_tap_counter;
+ navigationData.isInit = (ctrlnavdata.ardrone_state & ARDRONE_NAVDATA_BOOTSTRAP) ? 0 : 1;
+
+ // Set detected ARDRONE_ENEMY_HUMAN enemies if detected.
+ humanEnemiesData.count = MIN(ctrlnavdata.navdata_vision_detect.nb_detected, ARDRONE_MAX_ENEMIES);
+
+ //printf("enemies count : %d\n", humanEnemiesData.count);
+ for(int i = 0 ; i < humanEnemiesData.count ; i++)
+ {
+ humanEnemiesData.data[i].width = 2 * ctrlnavdata.navdata_vision_detect.width[i] / 1000.0;
+ humanEnemiesData.data[i].height = 2 * ctrlnavdata.navdata_vision_detect.height[i] / 1000.0;
+ humanEnemiesData.data[i].position.x = (2 * ctrlnavdata.navdata_vision_detect.xc[i] / 1000.0) - 1.0;
+ humanEnemiesData.data[i].position.y = -(2 * ctrlnavdata.navdata_vision_detect.yc[i] / 1000.0) + 1.0;
+ humanEnemiesData.data[i].position.z = ctrlnavdata.navdata_vision_detect.dist[i];
+ humanEnemiesData.data[i].orientation_angle = ctrlnavdata.navdata_vision_detect.orientation_angle[i];
+ }
+
+ // Set Detection Camera
+ vp_os_memcpy(detectionCamera.rotation, &ctrlnavdata.navdata_demo.detection_camera_rot, sizeof(float) * 9);
+ vp_os_memcpy(detectionCamera.translation, &ctrlnavdata.navdata_demo.detection_camera_trans, sizeof(float) * 3);
+ detectionCamera.tag_index = ctrlnavdata.navdata_demo.detection_tag_index;
+
+ // Set Drone Camera rotation
+ vp_os_memcpy(droneCamera.rotation, &ctrlnavdata.navdata_demo.drone_camera_rot, sizeof(float) * 9);
+
+ // Set Drone Camera translation
+ // Get enemies data
+ if ([gameEngine respondsToSelector:@selector(AIEnemiesData:)])
+ {
+ ARDroneEnemiesData AIEnemiesData;
+ vp_os_memset(&AIEnemiesData, 0x0, sizeof(ARDroneEnemiesData));
+ [gameEngine AIEnemiesData:&AIEnemiesData];
+ }
+
+ vp_os_memcpy(&droneCamera.translation[0], &ctrlnavdata.navdata_demo.drone_camera_trans, sizeof(float) * 3);
+
+ // Set battery level in hud view
+ [hud setBattery:(int)ctrlnavdata.navdata_demo.vbat_flying_percentage];
+
+ // Set all texts in Hud view
+ if((strlen(controlData->error_msg) != 0) && (controlData->framecounter >= (kFPS / 2.0)))
+ [hud setMessageBox:[[NSBundle mainBundle] localizedStringForKey :[NSString stringWithCString:controlData->error_msg encoding:NSUTF8StringEncoding] value:@"" table:@"languages"]];
+ else
+ [hud setMessageBox:@""];
+
+ [hud performSelectorOnMainThread:@selector(setTakeOff:) withObject:[NSString stringWithFormat:@"%s", controlData->takeoff_msg] waitUntilDone:YES];
+ [hud performSelectorOnMainThread:@selector(setEmergency:) withObject:[NSString stringWithFormat:@"%s", controlData->emergency_msg] waitUntilDone:YES];
+}
+
+- (void) TimerHandler {
+ NSAutoreleasePool *pool = [[NSAutoreleasePool alloc] init]; // Top-level pool
+
+ ardrone_timer_t timer;
+ int refreshTimeInUs = 1000000 / kFPS;
+
+ ardrone_timer_reset(&timer);
+ ardrone_timer_update(&timer);
+
+ while(bContinue)
+ {
+ int delta = ardrone_timer_delta_us(&timer);
+ if( delta >= refreshTimeInUs)
+ {
+ // Render frame
+ ardrone_timer_update(&timer);
+
+ if(self.view.hidden == NO)
+ {
+ [navdata_delegate parrotNavdata:&ctrlnavdata];
+ [self performSelectorOnMainThread:@selector(update) withObject:nil waitUntilDone:YES];
+ checkErrors();
+ }
+
+ controlData->framecounter = (controlData->framecounter + 1) % kFPS;
+ }
+ else
+ {
+ //printf("Time waited : %d us\n", refreshTimeInUs - delta);
+ usleep(refreshTimeInUs - delta);
+ }
+ }
+
+ [pool release]; // Release the objects in the pool.
+}
+
+- (ARDroneNavigationData*)navigationData
+{
+ return &navigationData;
+}
+
+- (ARDroneDetectionCamera*)detectionCamera
+{
+ return &detectionCamera;
+}
+
+- (ARDroneCamera*)droneCamera
+{
+ return &droneCamera;
+}
+
+- (ARDroneEnemiesData*)humanEnemiesData
+{
+ return &humanEnemiesData;
+}
+
+- (void)changeState:(BOOL)inGame
+{
+ self.view.hidden = !inGame;
+ [hud changeState:inGame];
+
+ if (inGame)
+ configuration_get();
+}
+
+- (void)executeCommandIn:(ARDRONE_COMMAND_IN_WITH_PARAM)commandIn fromSender:(id)sender refreshSettings:(BOOL)refresh
+{
+ int32_t i_value;
+ switch (commandIn.command) {
+
+ case ARDRONE_COMMAND_ISCLIENT:
+ i_value = ((int)commandIn.parameter == 0) ? ADC_CMD_SELECT_ULTRASOUND_25Hz : ADC_CMD_SELECT_ULTRASOUND_22Hz;
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(ultrasound_freq, &i_value, commandIn.callback);
+ break;
+
+ case ARDRONE_COMMAND_DRONE_ANIM:
+ {
+ ARDRONE_ANIMATION_PARAM *param = (ARDRONE_ANIMATION_PARAM*)commandIn.parameter;
+ char str_param[SMALL_STRING_SIZE];
+ sprintf(str_param, "%d,%d", param->drone_anim, ((param->timeout == 0) ? MAYDAY_TIMEOUT[param->drone_anim] : param->timeout));
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(flight_anim, str_param, commandIn.callback);
+ }
+ break;
+
+ case ARDRONE_COMMAND_DRONE_LED_ANIM:
+ {
+ char param[SMALL_STRING_SIZE];
+ float_or_int_t freq;
+ freq.f = ((ARDRONE_LED_ANIMATION_PARAM*)commandIn.parameter)->frequency;
+ sprintf(param, "%d,%d,%d", ((ARDRONE_LED_ANIMATION_PARAM*)commandIn.parameter)->led_anim, freq.i, ((ARDRONE_LED_ANIMATION_PARAM*)commandIn.parameter)->duration);
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(leds_anim, param, commandIn.callback);
+ }
+ break;
+
+ case ARDRONE_COMMAND_ENABLE_COMBINED_YAW:
+ {
+ bool_t enable = (bool_t)commandIn.parameter;
+ i_value = enable ? (ardrone_control_config.control_level | (1 << CONTROL_LEVEL_COMBINED_YAW)) : (ardrone_control_config.control_level & ~(1 << CONTROL_LEVEL_COMBINED_YAW));
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(control_level, &i_value, commandIn.callback);
+ [hud combinedYawValueChanged:enable];
+ }
+ break;
+
+ case ARDRONE_COMMAND_SET_CONFIG:
+ {
+ ARDRONE_CONFIG_PARAM *param = (ARDRONE_CONFIG_PARAM *)commandIn.parameter;
+ switch (param->config_key)
+ {
+#undef COMMAND_IN_CONFIG_KEY
+#undef COMMAND_IN_CONFIG_KEY_STRING
+#define COMMAND_IN_CONFIG_KEY(CASE, KEY, TYPE) \
+case CASE: \
+ ardrone_control_config.KEY = *(TYPE *)(param->pvalue); \
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT (KEY, &ardrone_control_config.KEY, commandIn.callback); \
+ break;
+#define COMMAND_IN_CONFIG_KEY_STRING(CASE, KEY) \
+case CASE: \
+ strcpy (ardrone_control_config.KEY, (char *)(param->pvalue)); \
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT (KEY, ardrone_control_config.KEY, commandIn.callback); \
+ break;
+#include "ARDroneGeneratedCommandIn.h"
+#undef COMMAND_IN_CONFIG_KEY
+#undef COMMAND_IN_CONFIG_KEY_STRING
+
+ default:
+ NSLog(@"The ARDRONE_CONFIG_KEY %d is not implemented !", param->config_key);
+ break;
+ }
+ }
+ break;
+
+ default:
+ NSLog(@"The ARDRONE_COMMAND_IN %d is not implemented !", commandIn.command);
+ break;
+ }
+
+ if (refresh)
+ {
+ [menuSettings performSelectorOnMainThread:@selector(configChanged) withObject:nil waitUntilDone:YES];
+ }
+}
+
+- (void)executeCommandIn:(ARDRONE_COMMAND_IN)commandId withParameter:(void*)parameter fromSender:(id)sender
+{
+ int32_t i_value;
+ switch (commandId) {
+ case ARDRONE_COMMAND_ISCLIENT:
+ {
+ i_value = ((int)parameter == 0) ? ADC_CMD_SELECT_ULTRASOUND_25Hz : ADC_CMD_SELECT_ULTRASOUND_22Hz;
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(ultrasound_freq, &i_value, NULL);
+ }
+ break;
+
+ case ARDRONE_COMMAND_DRONE_ANIM:
+ {
+ ARDRONE_ANIMATION_PARAM *param = (ARDRONE_ANIMATION_PARAM*)parameter;
+ char str_param[SMALL_STRING_SIZE];
+ sprintf(str_param, "%d,%d", param->drone_anim, ((param->timeout == 0) ? MAYDAY_TIMEOUT[param->drone_anim] : param->timeout));
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(flight_anim, str_param, NULL);
+ }
+ break;
+
+ case ARDRONE_COMMAND_VIDEO_CHANNEL:
+ i_value = (int32_t)parameter;
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(video_channel, &i_value, NULL);
+ break;
+
+ case ARDRONE_COMMAND_SET_FLY_MODE:
+ i_value = (int32_t)parameter;
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(flying_mode, &i_value, NULL);
+ break;
+
+ case ARDRONE_COMMAND_CAMERA_DETECTION:
+ i_value = (int32_t)parameter;
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(detect_type, &i_value, NULL);
+ break;
+
+ case ARDRONE_COMMAND_ENEMY_SET_PARAM:
+ i_value = ((ARDRONE_ENEMY_PARAM*)parameter)->color;
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(enemy_colors, &i_value, NULL);
+ i_value = ((ARDRONE_ENEMY_PARAM*)parameter)->outdoor_shell;
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(enemy_without_shell, &i_value, NULL);
+ break;
+
+ case ARDRONE_COMMAND_DRONE_LED_ANIM:
+ {
+ char param[SMALL_STRING_SIZE];
+ float_or_int_t freq;
+ freq.f = ((ARDRONE_LED_ANIMATION_PARAM*)parameter)->frequency;
+ sprintf(param, "%d,%d,%d", ((ARDRONE_LED_ANIMATION_PARAM*)parameter)->led_anim, freq.i, ((ARDRONE_LED_ANIMATION_PARAM*)parameter)->duration);
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(leds_anim, param, NULL);
+ }
+ break;
+
+ case ARDRONE_COMMAND_ENABLE_COMBINED_YAW:
+ {
+ bool_t enable = (bool_t)parameter;
+ i_value = enable ? (ardrone_control_config.control_level | (1 << CONTROL_LEVEL_COMBINED_YAW)) : (ardrone_control_config.control_level & ~(1 << CONTROL_LEVEL_COMBINED_YAW));
+ ARDRONE_TOOL_CONFIGURATION_ADDEVENT(control_level, &i_value, NULL);
+ [hud combinedYawValueChanged:enable];
+ }
+ break;
+
+ default:
+ NSLog(@"The ARDRONE_COMMAND_IN %d is not implemented !");
+ break;
+ }
+}
+
+- (void)setDefaultConfigurationForKey:(ARDRONE_CONFIG_KEYS)key withValue:(void *)value
+{
+ switch (key)
+ {
+#undef COMMAND_IN_CONFIG_KEY
+#undef COMMAND_IN_CONFIG_KEY_STRING
+#define COMMAND_IN_CONFIG_KEY(CASE, KEY, TYPE) \
+ case CASE: \
+ ardrone_application_default_config.KEY = *(TYPE *)(value); \
+ break;
+#define COMMAND_IN_CONFIG_KEY_STRING(CASE, KEY) \
+ case CASE: \
+ strcpy (ardrone_application_default_config.KEY, (char *)(value)); \
+ break;
+#include "ARDroneGeneratedCommandIn.h"
+#undef COMMAND_IN_CONFIG_KEY
+#undef COMMAND_IN_CONFIG_KEY_STRING
+ default:
+ NSLog(@"The ARDRONE_CONFIG_KEY %d is not implemented !", key);
+ break;
+ }
+}
+
+- (BOOL) shouldAutorotateToInterfaceOrientation:(UIInterfaceOrientation)toInterfaceOrientation
+{
+ return (toInterfaceOrientation == UIInterfaceOrientationLandscapeRight || toInterfaceOrientation == UIInterfaceOrientationLandscapeLeft);
+}
+
+- (void)didReceiveMemoryWarning
+{
+ // Releases the view if it doesn't have a superview.
+ [super didReceiveMemoryWarning];
+
+ // Release any cached data, images, etc that aren't in use.
+}
+
+- (void)viewDidUnload {
+ // Release any retained subviews of the main view.
+ // e.g. self.myOutlet = nil;
+}
+
+
+- (void)dealloc {
+ [self changeState:NO];
+ bContinue = TRUE;
+
+ [hud release];
+ [menuSettings release];
+
+ [super dealloc];
+}
+
+@end
projects / mardrone / blobdiff