git.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/elinux/atcodec_client.c

   1
   2 #include <stdio.h>
   3 #include <stdlib.h>
   4
   5 #include <ATcodec/ATcodec_api.h>
   6 #include <VP_Stages/vp_stages_io_com.h>
   7
   8 #define AT_MESSAGES_HEADER "ATcodec/ATcodec_Messages_ex.h"
   9
  10 #include "ATcodec/ATcodec_api.h"
  11 #include "VP_Os/vp_os_types.h"
  12 #include "VP_Os/vp_os_thread.h"
  13 #include "VP_Os/vp_os_delay.h"
  14 #include "VP_Os/vp_os_print.h"
  15 #include <Examples/common/atcodec_client.h>
  16
  17 #ifndef AT_MESSAGES_HEADER
  18 #error You need to define AT_MESSAGES_HEADER
  19 #endif
  20
  21 extern AT_CODEC_MSG_IDS ids;
  22
  23 #define INTRA_CMD_DELAY 10
  24
  25 THREAD_RET
  26 thread_send_commands (THREAD_PARAMS data)
  27 {
  28   while(1)
  29     {
  30       ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_CGMI);
  31       vp_os_delay(INTRA_CMD_DELAY);
  32       ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_CGMI);
  33       vp_os_delay(INTRA_CMD_DELAY);
  34       //vp_os_thread_yield();
  35
  36       ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_QW,1);
  37       vp_os_delay(INTRA_CMD_DELAY);
  38       ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_QW,1);
  39       vp_os_delay(INTRA_CMD_DELAY);
  40       //vp_os_thread_yield();
  41
  42       ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_EXE,1,50);
  43       vp_os_delay(INTRA_CMD_DELAY);
  44       ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_EXE,1,50);
  45       vp_os_delay(INTRA_CMD_DELAY);
  46       //vp_os_thread_yield();
  47     }
  48 }
  49
  50 int main(int argc, char **argv)
  51 {
  52   THREAD_HANDLE atcodec_test_handle;
  53   THREAD_HANDLE atcodec_test_handle2;
  54   THREAD_HANDLE cmds_handle;
  55
  56   AT_CODEC_FUNCTIONS_PTRS ptrs =
  57     {
  58       .init     = AT_CODEC_Client_init,
  59       .shutdown = AT_CODEC_Client_shutdown,
  60       .open     = AT_CODEC_Client_open,
  61       .close    = AT_CODEC_Client_close,
  62       .read     = AT_CODEC_Client_read,
  63       .write    = AT_CODEC_Client_write,
  64     };
  65
  66   ATcodec_Init_Library(&ptrs);
  67
  68   vp_os_thread_create(thread_ATcodec_Commands_Client, 0, &atcodec_test_handle);
  69   vp_os_thread_create(thread_send_commands, 0, &cmds_handle);
  70   vp_os_thread_create(thread_ATcodec_Commands_Server, 0, &atcodec_test_handle2);
  71
  72   vp_os_thread_join(cmds_handle);
  73   vp_os_thread_join(atcodec_test_handle2);
  74   vp_os_thread_join(atcodec_test_handle);
  75
  76   return EXIT_SUCCESS;
  77 }
  78