ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / Examples / Linux / sdk_demo / Sources / ardrone_testing_tool.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/Examples/Linux/sdk_demo/Sources/ardrone_testing_tool.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/Examples/Linux/sdk_demo/Sources/ardrone_testing_tool.c
new file mode 100644 (file)
index 0000000..850ded3
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/Examples/Linux/sdk_demo/Sources/ardrone_testing_tool.c
@@ -0,0 +1,75 @@
+/**
+ * @file main.c
+ * @author sylvain.gaeremynck@parrot.com
+ * @date 2009/07/01
+ */
+#include <ardrone_testing_tool.h>
+
+//ARDroneLib
+#include <ardrone_tool/ardrone_time.h>
+#include <ardrone_tool/Navdata/ardrone_navdata_client.h>
+#include <ardrone_tool/Control/ardrone_control.h>
+#include <ardrone_tool/UI/ardrone_input.h>
+
+//Common
+#include <config.h>
+#include <ardrone_api.h>
+
+//VP_SDK
+#include <ATcodec/ATcodec_api.h>
+#include <VP_Os/vp_os_print.h>
+#include <VP_Api/vp_api_thread_helper.h>
+#include <VP_Os/vp_os_signal.h>
+
+//Local project
+#include <UI/gamepad.h>
+#include <Video/video_stage.h>
+
+static int32_t exit_ihm_program = 1;
+
+/* Implementing Custom methods for the main function of an ARDrone application */
+
+/* The delegate object calls this method during initialization of an ARDrone application */
+C_RESULT ardrone_tool_init_custom(int argc, char **argv)
+{
+  /* Registering for a new device of game controller */
+  ardrone_tool_input_add( &gamepad );
+
+  /* Start all threads of your application */
+  START_THREAD( video_stage, NULL );
+  
+  return C_OK;
+}
+
+/* The delegate object calls this method when the event loop exit */
+C_RESULT ardrone_tool_shutdown_custom()
+{
+  /* Relinquish all threads of your application */
+  JOIN_THREAD( video_stage );
+
+  /* Unregistering for the current device */
+  ardrone_tool_input_remove( &gamepad );
+
+  return C_OK;
+}
+
+/* The event loop calls this method for the exit condition */
+bool_t ardrone_tool_exit()
+{
+  return exit_ihm_program == 0;
+}
+
+C_RESULT signal_exit()
+{
+  exit_ihm_program = 0;
+
+  return C_OK;
+}
+
+/* Implementing thread table in which you add routines of your application and those provided by the SDK */
+BEGIN_THREAD_TABLE
+  THREAD_TABLE_ENTRY( ardrone_control, 20 )
+  THREAD_TABLE_ENTRY( navdata_update, 20 )
+  THREAD_TABLE_ENTRY( video_stage, 20 )
+END_THREAD_TABLE
+