ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / Examples / Win32 / sdk_demo / Sources / custom_code.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/Examples/Win32/sdk_demo/Sources/custom_code.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/Examples/Win32/sdk_demo/Sources/custom_code.c
new file mode 100644 (file)
index 0000000..d567678
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/Examples/Win32/sdk_demo/Sources/custom_code.c
@@ -0,0 +1,154 @@
+/********************************************************************
+ *                    COPYRIGHT PARROT 2010
+ ********************************************************************
+ *       PARROT - A.R.Drone SDK Windows Client Example
+ *-----------------------------------------------------------------*/
+/**
+ * @file custom_code.c 
+ * @brief User added code
+ *
+ * @author sylvain.gaeremynck@parrot.com
+ * @date 2009/07/01
+ *
+ * @author Stephane Piskorski <stephane.piskorski.ext@parrot.fr>
+ * @date   Sept, 8. 2010
+ *
+ *******************************************************************/
+
+
+
+#include <custom_code.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>
+       #include <UI/directx_rendering.h>
+
+//Global variables
+       int32_t exit_ihm_program = 1;
+       vp_os_mutex_t consoleMutex;
+
+
+/* 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)
+{
+       /* Change the console title */
+               vp_os_mutex_init(&consoleMutex);
+               system("cls");
+               SetConsoleTitle(TEXT("Parrot A.R. Drone SDK Demo for Windows"));
+               //CreateThread(NULL,0,(LPTHREAD_START_ROUTINE)&HmiStart,NULL,0,0);
+               //CreateThread(NULL,0,(LPTHREAD_START_ROUTINE)&HmiStart2,NULL,0,0);
+
+
+       /* Registering for a new device of game controller */
+               ardrone_tool_input_add( &dx_keyboard );
+               ardrone_tool_input_add( &dx_gamepad );
+       
+       /* Start all threads of your application */
+               START_THREAD( directx_renderer_thread , NULL);
+               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( &dx_gamepad );
+  ardrone_tool_input_remove( &dx_keyboard );
+
+  /* Mutex needs to be destroyed but may still be used by navdata thread */
+  /* todo : synchronize threads shutdown */
+  //vp_os_mutex_destroy(&consoleMutex);
+
+  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;
+}
+
+int custom_main(int argc,char**argv) { return 0;};
+
+
+/* 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 )
+  THREAD_TABLE_ENTRY( directx_renderer_thread, 20 )
+END_THREAD_TABLE
+
+
+
+/* Function to change the cursor place in the console window */
+
+       HANDLE hStdout =  NULL;  /* Handle to the output console */\r
+       CONSOLE_SCREEN_BUFFER_INFO csbiInfo;                            /* Information about the output console */
+
+
+
+void ARWin32Demo_SetConsoleCursor(int x,int y)
+{
+       if (hStdout==NULL) hStdout=GetStdHandle(STD_OUTPUT_HANDLE);
+
+       if (hStdout != INVALID_HANDLE_VALUE){\r
+                       GetConsoleScreenBufferInfo(hStdout, &csbiInfo);\r
+                       csbiInfo.dwCursorPosition.X=x;\r
+                       csbiInfo.dwCursorPosition.Y=y;\r
+                       SetConsoleCursorPosition(hStdout,csbiInfo.dwCursorPosition);\r
+       }\r
+}\r
+\r
+void ARWin32Demo_AcquireConsole(int x,int y)\r
+{\r
+       vp_os_mutex_lock(&consoleMutex);\r
+}\r
+void ARWin32Demo_ReleaseConsole(int x,int y)\r
+{\r
+       vp_os_mutex_unlock(&consoleMutex);\r
+}
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