git.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_bluetoothClientTCP_raw_sdl.c

   1 #include <stdlib.h>
   2 #include <ctype.h>
   3
   4 #include <VP_Api/vp_api.h>
   5 #include <VP_Api/vp_api_thread_helper.h>
   6 #include <VP_Api/vp_api_error.h>
   7 #include <VP_Stages/vp_stages_configs.h>
   8 #include <VP_Stages/vp_stages_io_console.h>
   9 #include <VP_Stages/vp_stages_o_sdl.h>
  10 #include <VP_Stages/vp_stages_io_com.h>
  11 #include <VP_Stages/vp_stages_io_file.h>
  12 #include <VP_Os/vp_os_print.h>
  13 #include <VP_Os/vp_os_malloc.h>
  14
  15
  16 #define NB_STAGES 2
  17
  18
  19 static PIPELINE_HANDLE pipeline_handle;
  20
  21
  22 PROTO_THREAD_ROUTINE(escaper,nomParams);
  23 PROTO_THREAD_ROUTINE(app,nomParams);
  24
  25
  26 BEGIN_THREAD_TABLE
  27   THREAD_TABLE_ENTRY(escaper,20)
  28   THREAD_TABLE_ENTRY(app,20)
  29 END_THREAD_TABLE
  30
  31
  32 int
  33 main(int argc, char **argv)
  34 {
  35   START_THREAD(escaper, NO_PARAM);
  36   START_THREAD(app, argv);
  37
  38   JOIN_THREAD(escaper);
  39   JOIN_THREAD(app);
  40
  41   return EXIT_SUCCESS;
  42 }
  43
  44
  45 PROTO_THREAD_ROUTINE(app,argv)
  46 {
  47   vp_api_io_pipeline_t    pipeline;
  48   vp_api_io_data_t        out;
  49   vp_api_io_stage_t       stages[NB_STAGES];
  50
  51   vp_stages_input_com_config_t      icc;
  52   vp_stages_output_sdl_config_t     osc;
  53
  54   vp_com_t                        com;
  55   vp_com_bluetooth_connection_t   connection;
  56   vp_com_bluetooth_config_t       config;
  57
  58   vp_os_memset( &icc,         0, sizeof(vp_stages_input_com_config_t) );
  59   vp_os_memset( &connection,  0, sizeof(vp_com_bluetooth_connection_t) );
  60   vp_com_str_to_address("00:01:48:03:70:54",&connection.address);
  61   vp_stages_fill_default_config(BLUETOOTH_COM_CONFIG, &config, sizeof(config));
  62   vp_os_memset(&com, 0, sizeof(vp_com_t));
  63   vp_stages_fill_default_config(SDL_DECODING_QCIF_CONFIG, &osc, sizeof(osc));
  64
  65   com.type                          = VP_COM_BLUETOOTH;
  66   icc.com                           = &com;
  67   icc.config                        = (vp_com_config_t*)&config;
  68   icc.connection                    = (vp_com_connection_t*)&connection;
  69   icc.socket.type                   = VP_COM_CLIENT;
  70   icc.socket.protocol               = VP_COM_TCP;
  71   icc.socket.port                   = 5555;
  72   icc.buffer_size                   = 6400;
  73
  74   strcpy(icc.socket.serverHost,"192.168.2.23");
  75
  76   stages[0].type = VP_API_INPUT_SOCKET;
  77   stages[0].cfg = (void *)&icc;
  78   stages[0].funcs = vp_stages_input_com_funcs;
  79
  80   stages[1].type = VP_API_OUTPUT_SDL;
  81   stages[1].cfg = (void *)&osc;
  82   stages[1].funcs = vp_stages_output_sdl_funcs;
  83
  84   pipeline.nb_stages = NB_STAGES;
  85   pipeline.stages = &stages[0];
  86
  87   vp_api_open(&pipeline, &pipeline_handle);
  88   out.status = VP_API_STATUS_PROCESSING;
  89   while(SUCCEED(vp_api_run(&pipeline, &out)) && (out.status == VP_API_STATUS_PROCESSING || out.status == VP_API_STATUS_STILL_RUNNING));
  90   vp_api_close(&pipeline, &pipeline_handle);
  91
  92   return EXIT_SUCCESS;
  93 }