--- /dev/null
+/**
+ * @file mobile_main.c
+ * @author aurelien.morelle@parrot.fr
+ * @date 2006/05/01
+ */
+
+
+#include "rfcomm.h"
+#include "bnep.h"
+#include "common/mobile_config.h"
+
+#include <VP_Api/vp_api.h>
+#include <VP_Api/vp_api_error.h>
+#include <VP_Api/vp_api_thread_helper.h>
+#include <VP_Os/vp_os_print.h>
+#include <VP_Os/vp_os_types.h>
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Api/vp_api_io_com.h>
+
+#include "joystick.h"
+
+//#include <netdb.h>
+//#include <sys/socket.h>
+
+//#include <net/if.h>
+//#include <netinet/in.h>
+
+/* #include "Common.h" */
+
+
+// #include "pthread.h"
+/* #ifndef UART_LINK */
+/* #endif */
+
+
+// #include "mutex.h"
+// #include "thread.h"
+
+/* #include "commonControl.h" */
+
+/* #if defined(USE_AT_RESPONSES) && !defined(BITRATE_TEST) */
+/* #include "AT_Processing/AT_read.h" */
+/* #endif */
+
+/* #ifdef USE_IHM */
+/* #include "ihm.h" */
+/* #endif */
+
+/* #ifdef NAVDATA_CLIENT */
+/* #include "navdata_client.h" */
+/* #endif */
+
+#include "ref_send.h"
+#include "UI/ui.h"
+
+extern int connect_wifi();
+
+char shMemory[SH_MEMORY_SIZE];
+
+/************************************************************************
+ * Mutex related
+ ************************************************************************/
+
+/* extern vp_os_mutex_t PrintfLock; */
+/* vp_os_mutex_t SHMemoryLock; */
+/* extern vp_os_mutex_t SHMemoryReadLock; */
+/* extern vp_os_mutex_t SHMemoryWriteLock; */
+/* vp_os_mutex_t ResponseReceivedLock; */
+
+/* void init_all_mutex() */
+/* { */
+/* vp_os_mutex_init(&PrintfLock); */
+/* vp_os_mutex_init(&SHMemoryLock); */
+/* #ifdef BLUETOOTH_CARD */
+/* vp_os_mutex_init(&SHMemoryReadLock); */
+/* #endif */
+/* vp_os_mutex_init(&SHMemoryWriteLock); */
+/* vp_os_mutex_init(&ResponseReceivedLock); */
+
+/* vp_os_mutex_unlock(&PrintfLock); */
+/* vp_os_mutex_unlock(&SHMemoryLock); */
+/* #ifdef BLUETOOTH_CARD */
+/* vp_os_mutex_unlock(&SHMemoryReadLock); */
+/* #endif */
+/* vp_os_mutex_unlock(&SHMemoryWriteLock); */
+/* vp_os_mutex_unlock(&ResponseReceivedLock); */
+/* } */
+
+/* void delete_all_mutex() */
+/* { */
+/* vp_os_mutex_destroy(&PrintfLock); */
+/* vp_os_mutex_destroy(&SHMemoryLock); */
+/* #ifdef BLUETOOTH_CARD */
+/* vp_os_mutex_destroy(&SHMemoryReadLock); */
+/* #endif */
+/* vp_os_mutex_destroy(&SHMemoryWriteLock); */
+/* vp_os_mutex_destroy(&ResponseReceivedLock); */
+/* } */
+
+#ifdef RFCOMM_OVER_IP
+# define OPEN_AT_SOCKET(Server) open_bnep_socket(SERVERHOST, PORT_AT)
+# define READ_AT_SOCKET read_bnep_socket
+# define CLOSE_AT_SOCKET close_bnep_socket
+#else // ! RFCOMM_OVER_IP
+# define OPEN_AT_SOCKET(Server) open_rfcomm_socket(Server)
+# define READ_AT_SOCKET read_rfcomm_socket
+# define CLOSE_AT_SOCKET close_rfcomm_socket
+#endif // <- RFCOMM_OVER_IP
+
+PROTO_THREAD_ROUTINE(raw_image_sequence_capture, params);
+
+BEGIN_THREAD_TABLE
+THREAD_TABLE_ENTRY(process_events , 10)
+THREAD_TABLE_ENTRY(ref_send, 20)
+THREAD_TABLE_ENTRY(raw_image_sequence_capture, 20)
+END_THREAD_TABLE
+
+
+/////////////////////////////////////////////////////////////////////////////////////
+/// MAIN
+/////////////////////////////////////////////////////////////////////////////////////
+int main(int argc, char **argv)
+{
+/* void *res; */
+/* int attempt, ret; */
+ mobile_config_t cfg;
+
+/* pthread_attr_t pthread_custom_attr; */
+
+/* pthread_t process_events_thread; /\* joystick *\/ */
+/* pthread_t ref_send_thread; /\* envoie des consignes *\/ */
+
+
+
+ /* beginning of code */
+ /* ----------------- */
+ if(argc > 1)
+ {
+ fprintf(stderr, "Usage : raw_image_capture\n");
+ return EXIT_FAILURE;
+ }
+
+ /////////////////////////// ///////////////////////////
+ // STEP 1 : CONNECTION WIFI PAR CLE USB
+ /////////////////////////// ///////////////////////////
+/* attempt = 0; */
+/* while((ret = connect_wifi()) && ++attempt < 5) */
+/* { */
+/* printf("Connexion attempt(s) failed : %i\n", attempt); */
+/* } */
+/* if(ret) */
+/* { */
+/* return EXIT_FAILURE; */
+/* } */
+/* printf("connect_wifi OK!\n"); */
+
+
+
+ /////////////////////////// ///////////////////////////
+ // STEP 1 : CONFIGURATION DU PAD
+ /////////////////////////// ///////////////////////////
+/* init_all_mutex(); */
+
+ if(mobile_init_config(&cfg))
+ {
+ return EXIT_FAILURE;
+ }
+ joystick_selection(&cfg);
+
+
+ /////////////////////////// ///////////////////////////
+ // STEP 1 : THREAD DES COMMANDES AT
+ /////////////////////////// ///////////////////////////
+ if ((cfg.at_socket = OPEN_AT_SOCKET(cfg.addr)) == -1)
+ {
+ return EXIT_FAILURE;
+ }
+
+ START_THREAD(process_events, &cfg);
+ START_THREAD(ref_send, &cfg);
+ START_THREAD(raw_image_sequence_capture, &cfg);
+
+ JOIN_THREAD(process_events);
+ JOIN_THREAD(ref_send);
+ JOIN_THREAD(raw_image_sequence_capture);
+
+/* pthread_kill_other_threads_np(); */
+
+/* delete_all_mutex(); */
+ mobile_exit_config(&cfg);
+
+ return EXIT_SUCCESS;
+}
+
+
+/* void *video_decode(void *data) */
+PROTO_THREAD_ROUTINE(raw_image_sequence_capture, params)
+{
+ int size, sizeCumul;
+ uint8_t inbuf[INBUF_SIZE + FF_INPUT_BUFFER_PADDING_SIZE];
+
+ mobile_config_t *cfg = (mobile_config_t *) params;
+
+ if ((cfg->sock = open_bnep_socket(SERVERHOST, PORT)) == -1)
+ {
+ return NULL;
+ }
+
+ /* set end of buffer to 0 (this ensures that no overreading happens for damaged mpeg streams) */
+ vp_os_memset(inbuf + INBUF_SIZE, 0, FF_INPUT_BUFFER_PADDING_SIZE);
+ sizeCumul = 0;
+
+ for(;;) {
+
+ size = read(cfg->sock, inbuf, INBUF_SIZE);
+ printf(".");
+ if(size>0)
+ {
+ sizeCumul += size;
+ printf("READ SIZE = %d\t sizeCumul = %d\t image = %d\n", size, sizeCumul, sizeCumul / 25344);
+ fwrite(inbuf, sizeof(char), size, cfg->sample_file);
+ if(sizeCumul==253440)
+ {
+ break;
+ }
+ }
+
+ if (size == 0 || (size < 0 && errno == EAGAIN))
+ continue;
+ if (size < 0)
+ break;
+
+
+ }
+ fclose(cfg->sample_file);
+
+ if(do_exit(cfg))
+ {
+ close_bnep_socket(cfg->sock);
+ return (void *)-1;
+ }
+
+
+ return NULL;
+}
+
+
+
projects / mardrone / blobdiff