final minor edits

- added rules to install ardrone_driver binary in the correct location specified by --install-space of catkin_make command

.gitignore

@@ -3,6 +3,10 @@
 *.lo
 *.o
 
+# Project Files
+*.sublime-workspace
+*.sublime-project
+
 # Compiled Dynamic libraries
 *.so
 
@@ -10,4 +14,18 @@
 *.lai
 *.la
 *.a
-/nbproject/private/
+/nbproject/private/
+Makefile
+/build/CMakeFiles/
+
+# Build results
+/ARDroneLib/FFMPEG/Includes
+/ARDroneLib/FFMPEG/FFMPEG
+/ARDroneLib/Soft/Build/
+/ARDroneLib/Soft/Common/generated_custom.h
+/bin
+/build/
+/msg_gen
+/srv_gen
+/src/ardrone_autonomy
+scripts/cache/DEBS_avail

ARDroneLib/FFMPEG/Makefile

@@ -1,66 +0,0 @@
-SILENT="YES"
-
-ifeq ($(SILENT), "YES")
-SILENT_MAKE=@
-REDIRECT_STDOUT=> /dev/null
-REDIRECT_STDERR=2> /dev/null
-endif
-
-RELEASE_BUILD=yes
-ifeq ($(RELEASE_BUILD),yes)
-RELEASE_OPT="release"
-else
-RELEASE_OPT="debug"
-endif
-
-FFMPEG_CONFIG=decoder
-
-
-FFMPEG_DIR_EXIST=$(shell bash -c "if [ -d ffmpeg ]; then echo \"YES\"; else echo \"NO\"; fi")
-FFMPEG_ARCHIVE=$(shell bash -c "if [ -e ffmpeg-0.8.tar.bz2 ]; then echo \"ffmpeg-0.8.tar.bz2\"; else echo \"no_ffmpeg_archive_found\"; fi")
-FFMPEG_ARCHIVE_ROOTDIR=$(shell tar tjf $(FFMPEG_ARCHIVE) $(REDIRECT_STDERR) | head -n 1)
-
-ifeq "$(MAKECMDGOALS)" ""
-MAKECMDGOALS=host
-endif
-
-all: extract build
-	$(SILENT_MAKE)echo "Build done."
-
-extract:
-ifneq "$(MAKECMDGOALS)" "clean"
-ifeq ($(FFMPEG_DIR_EXIST),YES)
-	$(SILENT_MAKE)echo "Libs already extracted"
-else
-	$(SILENT_MAKE)echo -n "Extracting libs ... "
-	$(SILENT_MAKE)tar xjf $(FFMPEG_ARCHIVE)
-ifneq ($(FFMPEG_ARCHIVE_ROOTDIR), ffmpeg/)
-	$(SILENT_MAKE)mkdir ffmpeg $(REDIRECT_STDERR)
-	$(SILENT_MAKE)mv $(FFMPEG_ARCHIVE_ROOTDIR)* ffmpeg/
-	$(SILENT_MAKE)rm -rf $(FFMPEG_ARCHIVE_ROOTDIR)
-endif
-	$(SILENT_MAKE)tar xzf parrot_ffmpeg_build_utils.tar.gz
-	$(SILENT_MAKE)echo "Done"
-endif
-endif
-
-build:
-ifneq "$(MAKECMDGOALS)" "clean"
-	$(SILENT_MAKE)echo "Building target $(MAKECMDGOALS)"
-	$(SILENT_MAKE)cd ffmpeg && ./autoConf.bash $(MAKECMDGOALS) $(RELEASE_OPT) $(FFMPEG_CONFIG) && cd - $(REDIRECT_STDOUT)
-endif
-
-clean:
-ifeq ($(FFMPEG_DIR_EXIST),YES)
-	$(SILENT_MAKE)cd ffmpeg && ./autoConf.bash clean release $(REDIRECT_STDERR) ; cd - $(REDIRECT_STDOUT)
-endif
-	$(SILENT_MAKE)rm -rf ffmpeg/
-	$(SILENT_MAKE)rm -rf Includes/
-
-ifneq "$(MAKECMDGOALS)" "clean"
-ifneq "$(MAKECMDGOALS)" "extract"
-ifneq "$(MAKECMDGOALS)" "build"
-$(MAKECMDGOALS): all
-endif
-endif
-endif

ARDroneLib/Soft/Build/Makefile

@@ -1,111 +0,0 @@
-GEN_CUSTOM_HEADER:=../Common/generated_custom.h
-
-include custom.makefile 
-include config.makefile
-
-GNUTOOLS_PATH=/usr/local/$(GNUTOOLS_VERSION)/bin
-
-define ADD_RULE_TEMPLATE
-  TO_BUILD+=build_$(1)
-endef
-
-# Add rule for each target
-$(foreach target,$(TARGETS),$(eval $(call ADD_RULE_TEMPLATE,$(target))))
-   
-.PHONY: linux_sample svn_update $(TO_BUILD) build_libs $(MAKECMDGOALS)
-
-all: $(GEN_CUSTOM_HEADER) build_libs $(TO_BUILD)
-
-$(GEN_CUSTOM_HEADER): custom.makefile
-	@echo "#ifndef _GENERATED_CUSTOM_CONFIGURATION_H_" > $@
-	@echo "#define _GENERATED_CUSTOM_CONFIGURATION_H_" >> $@
-	@echo >> $@
-	@echo "#if  defined(BR2_PACKAGE_BCM4318_AP)" >> $@
-	@echo "#  define AP" >> $@
-	@echo "#else" >> $@
-	@echo "#  define STA" >> $@
-	@echo "#endif" >> $@
-	@echo "#define CURRENT_NUM_VERSION_SOFT \"$(MAJOR_VERSION).$(MINOR_VERSION).$(MODIF_VERSION)\"" >> $@
-	@echo "#define CURRENT_BUILD_DATE \"$(shell date +%F\ %H:%M)\"" >> $@
-	@echo >> $@
-ifeq ("$(VIDEO_YUV)","yes")
-	@echo "#define USE_VIDEO_YUV" >> $@
-endif
-ifeq ("$(RECORD_VISION_DATA)","yes")
-	@echo "#define RECORD_VISION_DATA" >> $@
-endif
-	@echo >> $@
-	@echo "#define WIFI_NETWORK_NAME \"$(WIFI_NETWORK_NAME)\"" >> $@
-	@echo "#define WIFI_BROADCAST \"$(WIFI_BROADCAST)\"" >> $@
-	@echo "#define WIFI_ARDRONE_IP \"$(WIFI_ARDRONE_IP)\"" >> $@
-	@echo >> $@
-	@echo "#if defined(__linux__) || defined(USE_MINGW32)" >> $@
-	@echo "# define WIFI_MOBILE_IP \"$(WIFI_MOBILE_IP)\"" >> $@
-	@echo "# define WIRED_ITFNAME \"$(WIRED_ITFNAME)\"" >> $@
-	@echo "#endif // ! __linux__" >> $@
-	@echo >> $@
-	@echo >> $@
-	@echo "#endif // ! _GENERATED_CUSTOM_CONFIGURATION_H_" >> $@
-
-ifneq "$(MAKECMDGOALS)" ""
-  ifneq "$(MAKECMDGOALS)" "clean"
-    ifneq "$(MAKECMDGOALS)" "update"
-      $(MAKECMDGOALS):
-      @echo -e "\nCannot make what you ask me to do :-("
-    else
-      $(MAKECMDGOALS): svn_update
-    endif
-  endif
-endif
-
-$(MAKECMDGOALS): build_libs $(TO_BUILD)
-
-checkpackages:
-ifeq ($(IPHONE_MODE),yes)
-	sh $(shell pwd)/check_dependencies.sh iphone RELEASE_BUILD=$(RELEASE_BUILD) $(MAKECMDGOALS)
-else
-ifeq ($(USE_LINUX),yes)
-	sh $(shell pwd)/check_dependencies.sh static RELEASE_BUILD=$(RELEASE_BUILD) $(MAKECMDGOALS)
-else
-ifeq ($(USE_ANDROID),yes)
-    sh $(shell pwd)/check_dependencies.sh android_no_neon RELEASE_BUILD=$(RELEASE_BUILD) $(MAKECMDGOALS)
-endif
-endif
-endif
-
-define GENERIC_RULES_TEMPLATE
-build_$(1): 
-	@$(MAKE) -C $(1) $(MAKECMDGOALS)
-endef
-
-$(foreach target,$(TARGETS),$(eval $(call GENERIC_RULES_TEMPLATE,$(target))))
-
-build_libs: checkpackages
-	@$(MAKE) PC_TARGET=yes USE_ARDRONE_TOOL=yes TARGET=pc_ USE_MINGW32=no -C ../Lib/Build $(MAKECMDGOALS)
-	@$(MAKE) PC_TARGET=yes USE_ARDRONE_TOOL=no TARGET=pc_ USE_MINGW32=no -C ../Lib/Build $(MAKECMDGOALS)
-
-ifeq ("$(MINGW32_MODE)","yes")
-ifeq ($(shell which i586-mingw32msvc-gcc 2> /dev/null),)
-        $(warning You need MinGW32 to compile My Ardrone lib for Windows if you want. (under Debian: apt-get install mingw32))
-else
-#	@$(MAKE) PC_TARGET=yes TARGET=mingw32_ USE_MINGW32=yes TMP_SDK_FLAGS="USE_MINGW32=yes NO_COM=yes USE_BLUEZ=no" -C ../Lib/Build $(MAKECMDGOALS)
-#	@$(MAKE) PC_TARGET=yes TARGET=emb_mingw32_ USE_MINGW32=yes CONTROL_DLL=yes TMP_SDK_FLAGS="USE_MINGW32=yes NO_COM=yes USE_BLUEZ=no" -C ../Lib/Build $(MAKECMDGOALS)
-endif
-endif
-ifeq ($(WIIMOTE_SUPPORT),yes)
-#	@$(MAKE) PC_TARGET=yes TARGET=pc_ TMP_SDK_FLAGS="USE_BLUEZ=yes" -C ../Lib/libcwiid $(MAKECMDGOALS)
-endif
-
-define svn_update_template
-   cd ../.. ; \
-	echo "Checking out tag $(1) of $(2) ..." ; \
-	if [ $(1) != head ] ; then \
-	   svn co -r $(1) https://svn.ardrone.org/repo/ARDrone_API/$(2) ; \
-	else \
-		svn co https://svn.ardrone.org/repo/ARDrone_API/$(2) ; \
-	fi ; \
-	cd Soft/Build ; 
-endef
-	
-svn_update:
-	@-$(call svn_update_template,$(SDK_VERSION),ARDroneLib)

ARDroneLib/Soft/Build/check_dependencies.sh

@@ -1,91 +0,0 @@
-#!/bin/sh
-
-## Author : stephane.piskorski@parrot.com
-## Date   : 19th,Oct. 2010
-
-# Parameters :
-# $1 : target : can be 'iphone (cross compile static libs for iPhone)', 'static (static library for the host)', 'host (shared library for the host)'
-# $2 : RELEASE_BUILD=xxx
-# $3 : 'clean' if we want to clean, or nothing
-
-
-check()
-{
-	if [ `cat $TEMPFILE | grep $1 | wc -l` -eq 0 ] ; then 
-		echo " $1";
-	fi
-}
-
-verify()
-{
-		p="$(check $1)";
-
-		if [ "$p" != "" ]; then
-			packages="$packages $p";
-			if [ "$2" != "" ]; 
-				then messages="$messages\n $p : $2"; 
-			  else messages="$messages\n $p"; 
-			fi;
-		fi;
-}
-
-TEMPFILE=`mktemp`
-
-if [ "$ALL_TARGETS" != "" ] ; then
-	TARGET_DIR=$ALL_TARGETS
-else
-	TARGET_DIR=./targets_versions
-fi
-
-SDK_PATH=`echo $0 | sed "s:/Soft/Build/check_dependencies.sh::"`
-
-if [ "$1" != "iphone" ] ; then
-    if [ "$3" = "cleanAll" ] ; then
-	make -C $SDK_PATH/FFMPEG clean
-	exit 0
-    elif [ "$3" = "clean" ] ; then
-	# do nothing here
-	echo "" > /dev/null
-    else
-	make -C $SDK_PATH/FFMPEG $1 $2
-    fi
-fi
-
-packages="";
-messages="";
-
-if [ `which apt-get` ] ; then 
-	if [ "`apt-get -v | grep -o ubuntu`" != "" ] ; then
-
-		echo "\033[31mChecking required Ubuntu packages ...\033[0m";  
-
-			dpkg -l > $TEMPFILE;
-			
-			# To compile the AR.Drone project
-			verify "daemontools" "Mandatory to build the AR.Drone project on Ubuntu";
-		
-			# To use the Wiimote in Navigation
-			#verify "libcwiid1-dev";
-			#verify "libbluetooth-dev";
-		
-			# To compile Navigation
-			verify "libsdl1.2-dev";
-			verify "libgtk2.0-dev";
-			verify "libxml2-dev";
-			verify "libudev-dev";
-			verify "libiw-dev";
-
-			if [ "$packages" != "" ] ; then
-				echo "You should install the following packages to compile the AR.Drone SDK with Ubuntu:\n $messages \n";
-				echo "Do you want to install them now [y/n] ?";
-				read user_answer ;
-				if [ "$user_answer" = "y" ]; then
-					sudo apt-get install $packages;
-				fi
-			else
-				echo "ok.";
-			fi
-	fi
-fi
-
-

ARDroneLib/Soft/Build/config.makefile

@@ -1,184 +0,0 @@
-
-#########################################################
-# Common build definitions (CUSTOM)
-#########################################################
-
-RELEASE_BUILD        = yes
-QUIET_BUILD          = yes
-VPSDK_PARALLEL_BUILD = no
-
-#########################################################
-# System utility definitions (STATIC)
-#########################################################
-define CHECK_UNDEFINITION
-  ifdef $(1)
-    $$(warning ERROR : $(1) defined $(2))
-    ERROR=1
-  endif
-endef
-
-define EXIT_IF_ERROR
-  ifeq "$$(ERROR)" "1"
-    $$(error There has been some errors)
-  endif
-endef
-
-
-#########################################################
-# Validity control (STATIC)
-#########################################################
-
-ifdef PC_TARGET
-  $(eval $(call CHECK_UNDEFINITION,CONSOLE_TARGET,(should not be defined when PC_TARGET is defined)))
-endif
-
-$(eval $(call EXIT_IF_ERROR))
-
-
-#########################################################
-# Common definitions (STATIC)
-#########################################################
-
-ifeq "$(QUIET_BUILD)" "yes"
-  export MAKEFLAGS+=-s --no-print-directory
-endif
-
-COMMON_DIR:=../Common
-
-SDK_FLAGS:="NO_EXAMPLES=yes"
-SDK_FLAGS+="USE_SDK=yes"
-SDK_FLAGS+="QUIET_BUILD=$(QUIET_BUILD)"
-SDK_FLAGS+="RELEASE_BUILD=$(RELEASE_BUILD)"
-SDK_FLAGS+="SDK_VERSION=$(SDK_VERSION)"
-
-ifeq ($(filter NO_COM=%,$(TMP_SDK_FLAGS)),)
-  SDK_FLAGS+="NO_COM=no"
-endif
-
-#########################################################
-# PC_TARGET specific definitions (STATIC)
-#########################################################
-ifdef PC_TARGET
-  SDK_FLAGS+="NO_COM=no"
-
-  ifeq ("$(IPHONE_MODE)","yes")
-    OS_DEFINE=GNU_LINUX
-  else
-   ifeq ("$(USE_LINUX)","yes")
-    OS_DEFINE=GNU_LINUX
-   else
-     TARGET:=$(TARGET).exe
-     OS_DEFINE=WINDOW
-    endif
-  endif
-
-  GENERIC_CFLAGS+=-D_MOBILE
-
-  ifeq ($(RECORD_RAW_VIDEO),yes)
-    GENERIC_CFLAGS+=-DRECORD_RAW_VIDEO
-  endif
-
-  ifeq ($(RECORD_FFMPEG_VIDEO),yes)
-    GENERIC_CFLAGS+=-DRECORD_FFMPEG_VIDEO
-  endif
-
-  ifeq ($(RECORD_ENCODED_VIDEO),yes)
-    GENERIC_CFLAGS+=-DRECORD_ENCODED_VIDEO
-  endif
-
-  GENERIC_CFLAGS+=-D$(OS_DEFINE)
-  ifeq ("$(IPHONE_MODE)","yes")
-     ifeq ($(PLATFORM_NAME),iphoneos)
-        GENERIC_CFLAGS+=-DTARGET_OS_IPHONE
-     else
-        GENERIC_CFLAGS+=-DTARGET_IPHONE_SIMULATOR
-     endif
-  endif
-
-  ifneq ("$(USE_MINGW32)","yes")
-    GENERIC_CFLAGS+=$(shell pkg-config --cflags gtk+-2.0)
-    GENERIC_LIBS+=$(shell pkg-config --libs gtk+-2.0)
-  endif
-
-  ifeq ("$(USE_LINUX)","yes")
-     SDK_FLAGS+="USE_LINUX=yes"
-  else
-     SDK_FLAGS+="USE_LINUX=no"
-  endif
-
-  SDK_FLAGS+="USE_ELINUX=no"
-
-  ifeq ("$(IPHONE_MODE)","yes")
-	SDK_FLAGS+="USE_IPHONE=yes"
-	SDK_FLAGS+="FFMPEG_SUPPORT=no"
-	SDK_FLAGS+="ITTIAM_SUPPORT=yes"
-	SDK_FLAGS+="USE_VIDEO_TCP=yes"
-	SDK_FLAGS+="USE_VIDEO_HD=no"
-  else
-	SDK_FLAGS+="USE_IPHONE=no"
-  endif
-
-  ifeq ("$(USE_NDS)","yes")
-     SDK_FLAGS+="USE_NDS=yes"
-     SDK_FLAGS+="NDS_CPU=ARM7"
-  else
-     SDK_FLAGS+="USE_NDS=no"
-  endif
-
-  ifeq ("$(USE_ANDROID)","yes")
-     SDK_FLAGS+="USE_ANDROID=yes"
-     SDK_FLAGS+="TOOLCHAIN_VERSION=arm-linux-androideabi-4.4.3"
-     SDK_FLAGS+="NDK_PLATFORM_VERSION=android-8"
-     SDK_FLAGS+="FFMPEG_SUPPORT=yes"
-     SDK_FLAGS+="ITTIAM_SUPPORT=yes"
-     SDK_FLAGS+="USE_VIDEO_TCP=yes"
-     SDK_FLAGS+="USE_VIDEO_HD=no"
-  else
-     SDK_FLAGS+="USE_ANDROID=no"
-  endif
-
-  ifeq ("$(USE_LINUX)","yes")
-     ifeq ("$(PROJECT)","ardrone")
-        SDK_FLAGS+="FFMPEG_SUPPORT=yes"
-        SDK_FLAGS+="ITTIAM_SUPPORT=no"
-        SDK_FLAGS+="USE_VIDEO_TCP=no"
-        SDK_FLAGS+="USE_VIDEO_HD=no"
-     else
-        SDK_FLAGS+="FFMPEG_SUPPORT=yes"
-        SDK_FLAGS+="ITTIAM_SUPPORT=no"
-        SDK_FLAGS+="USE_VIDEO_TCP=yes"
-        SDK_FLAGS+="USE_VIDEO_HD=no"
-     endif
-  endif
-
-  ifeq ($(filter USE_BLUEZ=%,$(TMP_SDK_FLAGS)),)
-    SDK_FLAGS+="USE_BLUEZ=no"
-  endif
-
-  SDK_FLAGS+="USE_VLIB=yes"
-  SDK_FLAGS+="USE_BONJOUR=no"
-  SDK_FLAGS+="USE_WIFI=yes"
-
-  SDK_FLAGS+="USE_BROADCOM=no"
-  SDK_FLAGS+="USE_IWLIB=no"
-
-  SDK_FLAGS+="FF_ARCH=Intel"
-
-  SDK_FLAGS+="USE_PARROTOS_CORE=no"
-  SDK_FLAGS+="USE_PARROTOS_DRIVERS=no"
-  SDK_FLAGS+="USE_PARROTOS_DEVS=no"
-  SDK_FLAGS+="USE_PARROTOS_CODEC=no"
-
-
-  SDK_FLAGS+="USE_ARDRONELIB=yes"
-  SDK_FLAGS+="USE_ARDRONE_VISION=yes"
-  SDK_FLAGS+="USE_ARDRONE_POLARIS=no"
-  SDK_FLAGS+="USE_ARDRONE_VICON=no"
-  SDK_FLAGS+="USE_ARDRONE_TEST_BENCHS=no"
-  SDK_FLAGS+="USE_ARDRONE_CALIBRATION=no"
-
-endif
-
-export SDK_FLAGS
-export GENERIC_CFLAGS
-export VPSDK_PARALLEL_BUILD

ARDroneLib/Soft/Build/custom.makefile

@@ -1,60 +0,0 @@
-#########################################################
-# Common definitions (CUSTOM)
-#########################################################
-ifndef IPHONE_MODE
-IPHONE_MODE	     = no
-endif
-ifndef MINGW32_MODE
-MINGW32_MODE         = no
-endif
-ifndef USE_NDS
-USE_NDS              = no
-endif
-ifndef USE_ANDROID
-USE_ANDROID          = no
-endif
-ifndef USE_LINUX
-USE_LINUX            = yes
-endif
-ifndef PROJECT
-# set default to ardrone2 for video TCP com.
-PROJECT              = ardrone2
-endif
-MAJOR_VERSION        = 0
-MINOR_VERSION        = 0
-MODIF_VERSION        = 0
-
-#########################################################
-# ARDroneTool options definitions
-#########################################################
-USE_ARDRONE_TOOL=yes
-USE_CHECK_WIFI_CONFIG=no
-
-################## Wifi Options ##################
-# Name of the network you want to join or create
-WIFI_NETWORK_NAME    = "ardronenetwork"
-WIFI_BROADCAST       = "192.168.1.255"
-
-################## Video Options ##################
-# Tells if we want to record video on pc side
-RECORD_ENCODED_VIDEO     = yes
-RECORD_RAW_VIDEO         = no
-RECORD_FFMPEG_VIDEO      = no
-
-# Tells if we want to add vision data to video stream (in raw mode)
-# Vision data are saved into file only if we define RECORD_RAW_VIDEO too
-RECORD_VISION_DATA   = no
-# If the yuv mode is choosen then video is displayed & recorded in color
-# Otherwise only luminances are displayed & recorded
-VIDEO_YUV            = yes
-
-#########################################################
-# Embedded definitions (CUSTOM)
-#########################################################
-WIFI_ARDRONE_IP      = "192.168.1.1"
-
-#########################################################
-# Linux definitions (CUSTOM)
-#########################################################
-WIFI_MOBILE_IP       = "192.168.1.2"
-

ARDroneLib/Soft/Common/academy_common.h

@@ -1,49 +0,0 @@
-//
-//  academy_common.h
-//  ARDroneEngine
-//
-//  Created by Frédéric D'Haeyer on 2/28/12.
-//  Copyright (c) 2012 Parrot SA. All rights reserved.
-//
-
-#ifndef _ACADEMY_COMMON_H_
-#define _ACADEMY_COMMON_H_
-#include <VP_Os/vp_os_types.h>
-
-#define ACADEMY_USERNAME_SIZE		64
-#define ACADEMY_PASSWORD_SIZE		64
-
-typedef enum _ACADEMY_RESULT_
-{
-	ACADEMY_RESULT_NONE = 0,
-	ACADEMY_RESULT_OK,
-	ACADEMY_RESULT_FAILED,
-} ACADEMY_RESULT;
-
-typedef enum _ACADEMY_STATE_
-{
-	ACADEMY_STATE_NONE = 0,
-	ACADEMY_STATE_CONNECTION,
-	ACADEMY_STATE_PREPARE_PROCESS,
-	ACADEMY_STATE_PROCESS,
-	ACADEMY_STATE_FINISH_PROCESS,
-	ACADEMY_STATE_DISCONNECTION,
-	ACADEMY_STATE_MAX
-} ACADEMY_STATE;
-
-typedef struct _academy_state_t_
-{
-	ACADEMY_STATE 	state;
-	ACADEMY_RESULT 	result;
-} academy_state_t;
-
-typedef struct _academy_user_t_
-{
-	char username[ACADEMY_USERNAME_SIZE];
-	char password[ACADEMY_PASSWORD_SIZE];
-} academy_user_t;
-
-typedef void (*academy_callback)(academy_state_t state);
-typedef void (*academy_download_new_media)(const char *mediaPath);
-
-#endif // _ACADEMY_COMMON_H_

ARDroneLib/Soft/Common/ardrone_api.h

@@ -1,829 +0,0 @@
-/******************************************************************************
- *                        COPYRIGHT PARROT 2010
- ******************************************************************************
- * PARROT A.R.Drone SDK
- *---------------------------------------------------------------------------*/
-/**
- * @file   ardrone_api.h
- * @brief  Data types and functions to communicate with the drone.
- *
- ******************************************************************************/
-
-#ifndef _ARDRONE_API_H_
-#define _ARDRONE_API_H_
-
-/*--- Libraries --------------------------------------------------------------*/
-
-#include <sys/time.h>
-
-#include <ardrone_common_config.h>
-#include <ATcodec/ATcodec_api.h>
-#include <VP_Os/vp_os_malloc.h>
-#include <navdata_common.h>
-#include <vision_common.h>
-#include <Maths/quaternions.h>
-
-/** @def API_WEAK
- * @brief Defines the API_WEAK attribute.
- * It is used to define a function which
- * can be redefined by the SDK user with a custom one, without generating
- * a 'multiple definition' compilation error. This is a GCC specific feature.
- **/
-#if defined(USE_LINUX) && defined(_EMBEDDED) && !defined(USE_MINGW32)
-#define API_WEAK WEAK
-#else
-#define API_WEAK
-#endif
-
-/** @def ARDRONE_CONFIGURATION_SET
- *  @brief Sets a drone configuration value.
- *  This is the main method that SDK users should use to change a setting on
- *  the drone.
- *  @def ARDRONE_CONFIGURATION_SET_FUNCTION
- *  @brief Used internally by ARDroneLib to build the name of a function
- *  changing a particular drone configuration value.
- *  @def ARDRONE_CONFIGURATION_PROTOTYPE
- *  @brief Used internally by ARDroneLib to define a function changing a
- *  particular drone configuration value.
- * **/
-//Deprecated - no ack method - #define ARDRONE_CONFIGURATION_SET(NAME, VALUE) 		     ARDRONE_CONFIGURATION_SET_FUNCTION(NAME)(VALUE)
-#define ARDRONE_CONFIGURATION_SET_FUNCTION(NAME)	ardrone_at_configuration_set_##NAME
-#define ARDRONE_CONFIGURATION_PROTOTYPE(NAME) 		C_RESULT ARDRONE_CONFIGURATION_SET_FUNCTION(NAME)(void* value, char* ses_id, char* usr_id, char* app_id)
-
-/**
- * @brief Used internally by ARDroneTool as an argument to the creation of
- * a control event, when changing a configuration value.
- * SDK users should not deal with this; see ARDRONE_CONFIGURATION_SET to change
- * a drone setting.
- */
-
-typedef C_RESULT (*ardrone_at_configuration_set)(void* value, char* ses_id, char* usr_id, char* app_id);
-
-/**
- * @brief Used internally by ARDroneTool as argument to the miscellaneous
- * settings (see AT*MISC command).
- */
-enum
-{
-  NO_CONTROL                           = 0,
-  ALTITUDE_CONTROL                     = 1,
-  ALTITUDE_VISION_CONTROL              = 2,
-  ALTITUDE_VISION_CONTROL_TAKEOFF_TRIM = 3,
-  MULTICONFIGURATION                   = 1024
-};
-
-
-/**
- * @brief Possible states of the drone 'control' thread.
-  */
-typedef enum
-{
-  NO_CONTROL_MODE = 0,          /*<! Doing nothing */
-  ARDRONE_UPDATE_CONTROL_MODE,  /*<! Not used */
-  PIC_UPDATE_CONTROL_MODE,      /*<! Not used */
-  LOGS_GET_CONTROL_MODE,        /*<! Not used */
-  CFG_GET_CONTROL_MODE,         /*<! Send active configuration file to a client through the 'control' socket UDP 5559 */
-  ACK_CONTROL_MODE,             /*<! Reset command mask in navdata */
-  CUSTOM_CFG_GET_CONTROL_MODE   /*<! Requests the list of custom configuration IDs */
-} ARDRONE_CONTROL_MODE;
-
-/**
- * @brief Drone video channels selection values.
- * A client can choose to receive video data from the horizontal camera,
- * the vertical one, or both (in a Picture-In-Picture way).
-  */
-typedef enum
-{
-  ZAP_CHANNEL_FIRST = 0,                                /*<! First element */
-  ZAP_CHANNEL_HORI = ZAP_CHANNEL_FIRST,                 /*<! Selects the horizontal camera */
-  ZAP_CHANNEL_VERT,                                     /*<! Selects the vertical camera */
-  ZAP_CHANNEL_LARGE_HORI_SMALL_VERT,                    /*<! Selects the horizontal camera with vertical camera picture inserted in the left-top corner */
-  ZAP_CHANNEL_LARGE_VERT_SMALL_HORI,                    /*<! Selects the vertical camera with horizontal camera picture inserted in the left-top corner */
-  ZAP_CHANNEL_LAST = ZAP_CHANNEL_LARGE_VERT_SMALL_HORI, /*<! Last element */
-  ZAP_CHANNEL_NEXT,                                     /*<! Selects the next available format among those above. */
-} ZAP_VIDEO_CHANNEL;
-
-/**
- * @brief Values for the detection type on drone cameras.
- */
-typedef enum
-{
-  CAD_TYPE_HORIZONTAL = 0,           /*<! Deprecated */
-  CAD_TYPE_VERTICAL,                 /*<! Deprecated */
-  CAD_TYPE_VISION,                   /*<! Detection of 2D horizontal tags on drone shells */
-  CAD_TYPE_NONE,                     /*<! Detection disabled */
-  CAD_TYPE_COCARDE,                  /*<! Detects a roundel under the drone */
-  CAD_TYPE_ORIENTED_COCARDE,         /*<! Detects an oriented roundel under the drone */
-  CAD_TYPE_STRIPE,                   /*<! Detects a uniform stripe on the ground */
-  CAD_TYPE_H_COCARDE,                /*<! Detects a roundel in front of the drone */
-  CAD_TYPE_H_ORIENTED_COCARDE,       /*<! Detects an oriented roundel in front of the drone */
-  CAD_TYPE_STRIPE_V,
-  CAD_TYPE_MULTIPLE_DETECTION_MODE,  /* The drone uses several detections at the same time */
-  CAD_TYPE_CAP,                      /*<! Detects a Cap orange and green in front of the drone */
-  CAD_TYPE_ORIENTED_COCARDE_BW,      /*<! Detects the black and white roundel */
-  CAD_TYPE_VISION_V2,                /*<! Detects 2nd version of shell/tag in front of the drone */
-  CAD_TYPE_TOWER_SIDE,               /*<! Detect a tower side with the front camera */
-  CAD_TYPE_NUM,                      /*<! Number of possible values for CAD_TYPE */
-} CAD_TYPE;
-
-/* Type of tag to detect
- * This enum deprecates 'CAD_TYPE' which did not allow to mix tag types and cameras */
-typedef enum
-{
-  TAG_TYPE_NONE             = 0,
-  TAG_TYPE_SHELL_TAG        ,
-  TAG_TYPE_ROUNDEL          ,
-  TAG_TYPE_ORIENTED_ROUNDEL ,
-  TAG_TYPE_STRIPE           ,
-  TAG_TYPE_CAP              ,
-  TAG_TYPE_SHELL_TAG_V2     ,
-  TAG_TYPE_TOWER_SIDE       ,
-  TAG_TYPE_BLACK_ROUNDEL    ,
-  TAG_TYPE_NUM
-} TAG_TYPE;
-
-#define TAG_TYPE_MASK(tagtype) (  ((tagtype)==0)? 0 : (1<<((tagtype)-1)) )
-
-typedef enum
-{
-  DETECTION_SOURCE_CAMERA_HORIZONTAL=0,   /*<! Tag was detected on the front camera picture */
-  DETECTION_SOURCE_CAMERA_VERTICAL,       /*<! Tag was detected on the vertical camera picture at full speed */
-  DETECTION_SOURCE_CAMERA_VERTICAL_HSYNC, /*<! Tag was detected on the vertical camera picture inside the horizontal pipeline */
-  DETECTION_SOURCE_CAMERA_NUM,
-} DETECTION_SOURCE_CAMERA;
-
-#define DETECTION_MAKE_TYPE(source,tag) ( ((source)<<16) | (tag) )
-#define DETECTION_EXTRACT_SOURCE(type)  ( ((type)>>16) & 0x0FF )
-#define DETECTION_EXTRACT_TAG(type)     ( (type) & 0x0FF )
-
-/**
- * @brief Video bitrate control mode.
- */
-typedef enum
-{
-  VBC_MODE_DISABLED = 0,  /*<! no video bitrate control */
-  VBC_MODE_DYNAMIC,       /*<! video bitrate control active */
-  VBC_MANUAL              /*<! video bitrate control active */
-} VIDEO_BITRATE_CONTROL_MODE;
-
-/**
- * @brief 2D-tag color values, used by the detection algorithms.
- */
-typedef enum
-{
-  ARDRONE_DETECTION_COLOR_ORANGE_GREEN = 1,    /*!< Cameras detect orange-green-orange tags */
-  ARDRONE_DETECTION_COLOR_ORANGE_YELLOW,       /*!< Cameras detect orange-yellow-orange tags*/
-  ARDRONE_DETECTION_COLOR_ORANGE_BLUE,          /*!< Cameras detect orange-blue-orange tags */
-  ARDRONE_DETECTION_COLOR_ARRACE_FINISH_LINE=0x10,
-  ARDRONE_DETECTION_COLOR_ARRACE_DONUT=0x11
-} COLORS_DETECTION_TYPE, ENEMY_COLORS_TYPE;
-
-/**
- * @brief User-control mode setting in FreeFlight.
- * @description Bit mask showing how a user of the FreeFlight app. controls their drone.
- */
-typedef enum
-{
-  // This is a bit to shift
-  // CONTROL_LEVEL_NOT_USED   = 0,
-  CONTROL_LEVEL_COMBINED_YAW  = 1,    /*!< =1 : drone tilts sideward and turns simultaneously */
-  // CONTROL_LEVEL_NOT_USED   = 2,
-  //4 used for CONTROL_LEVEL_CONTROL_MODE_BIT
-} CONTROL_LEVEL;
-
-/**
- * @enum LED_ANIMATION_IDS
- * @brief Led animation values.
- * See ardrone_at_set_led_animation function.
- */
-//
-typedef enum LED_ANIMATION_IDS_
-{
-  #define LED_ANIMATION(NAME, ... ) NAME ,
-  #include <led_animation.h>
-  #undef LED_ANIMATION
-  NUM_LED_ANIMATION
-} LED_ANIMATION_IDS;
-
-typedef enum
-{
-	USERBOX_CMD_STOP = 0,
-	USERBOX_CMD_START,
-	USERBOX_CMD_SCREENSHOT,
-	USERBOX_CMD_CANCEL,
-	USERBOX_CMD_MAX,
-} USERBOX_CMD;
-
-typedef enum 
-{
-	FLYING_STATE_LANDED = 0,
-	FLYING_STATE_FLYING,
-	FLYING_STATE_TAKING_OFF,
-	FLYING_STATE_LANDING,
-} FLYING_STATE;
-
-typedef enum ARDRONE_PROGRESSIVE_CMD_FLAG_
-{
-  ARDRONE_PROGRESSIVE_CMD_ENABLE,              // 1: use progressive commands - 0: try hovering
-  ARDRONE_PROGRESSIVE_CMD_COMBINED_YAW_ACTIVE, // 1: activate combined yaw - 0: Deactivate combined yaw
-  ARDRONE_MAGNETO_CMD_ENABLE,				   // 1: activate the magneto piloting mode - 0: desactivate the mode
-  ARDRONE_PROGRESSIVE_CMD_MAX
-} ARDRONE_PROGRESSIVE_CMD_FLAG;
-
-/**
- * @struct _euler_angles_t
- * @brief  Euler angles in float32_t format expressed in radians.
- */
-typedef struct _euler_angles_t
-{
-  float32_t theta;   /*<! Drone front-back angle (pitch) */
-  float32_t phi;     /*<! Drone left-right angle (roll) */
-  float32_t psi;     /*<! Drone orientation (yaw) */
-} euler_angles_t;
-
-/**
- * @struct _euler_angles_t
- * @brief  Euler angles in int32_t format expressed in radians.
- */
-typedef struct _iEuler_angles_t
-{
-  int32_t theta;     /*<! Drone front-back angle (pitch) */
-  int32_t phi;       /*<! Drone left-right angle (roll) */
-  int32_t psi;       /*<! Drone orientation (yaw) */
-} iEuler_angles_t;
-
-/**
- * @struct _angular_rates_t
- * @brief Angular rates in float32_t format
- */
-typedef struct _angular_rates_t
-{
-  float32_t p;       /*<! Drone front-back angular rate (pitch) */
-  float32_t q;       /*<! Drone left-right angular rate (roll) */
-  float32_t r;       /*<! Drone orientation angular rate (yaw) */
-} angular_rates_t;
-
-/**
- * \struct _velocities_t
- * \brief Velocities in float32_t format
- */
-/*
-typedef struct _velocities_t {
-  float32_t x;
-  float32_t y;
-  float32_t z;
-} velocities_t;
-*/
-
-/**
- * @struct _acq_vision_t
- * @brief Deprecated - used internally by the drone - Vision params in float32_t
- */
-#ifndef DISABLE_DEPRECATED_CODE
-  typedef struct _acq_vision_t
-  {
-    float32_t tx;
-    float32_t ty;
-    float32_t tz;
-
-    int32_t turn_angle;
-    int32_t height;
-    int32_t turn_finished;
-
-    bool_t flag_25Hz;
-  } acq_vision_t;
-#endif
-
-/**
- * @struct _polaris_data_t
- * @brief Used by Parrot only - drone externally-measured position in 3D-space
- */
-typedef struct _polaris_data_t
-{
-  float32_t x;
-  float32_t y;
-  float32_t psi;
-  bool_t    defined;
-  int32_t   time_us;
-} polaris_data_t;
-
-/**
- * @struct api_control_gains_t
- * @brief Drone control loop PID settings
-*/
-typedef struct _api_control_gains_t
-{
-  int32_t pq_kp;            /**<    Gain for proportional correction in pitch (p) and roll (q) angular rate control */
-  int32_t r_kp;             /**<    Gain for proportional correction in yaw (r) angular rate control */
-  int32_t r_ki;             /**<    Gain for integral correction in yaw (r) angular rate control */
-  int32_t ea_kp;            /**<    Gain for proportional correction in Euler angle control */
-  int32_t ea_ki;            /**<    Gain for integral correction in Euler angle control */
-  int32_t alt_kp;           /**<    Gain for proportional correction in Altitude control */
-  int32_t alt_ki;           /**<    Gain for integral correction in Altitude control */
-  int32_t vz_kp;            /**<    Gain for proportional correction in Vz control */
-  int32_t vz_ki;            /**<    Gain for integral correction in Vz control */
-  int32_t hovering_kp;      /**<    Gain for proportional correction in hovering control */
-  int32_t hovering_ki;      /**<    Gain for integral correction in hovering control */
-  int32_t hovering_b_kp;    /**<    Gain for proportional correction in hovering beacon control */
-  int32_t hovering_b_ki;    /**<    Gain for integral correction in hovering beacon control */
-  int32_t hovering_b_kp2 ;
-  int32_t hovering_b_ki2 ;
-  int32_t hovering_b_kd2 ;
-} api_control_gains_t;
-
-/**
- * @struct _api_vision_tracker_params_t
- * @brief Computer vision tracking settings
-*/
-typedef struct _api_vision_tracker_params_t
-{
-  int32_t coarse_scale;         /**<    scale of current picture with respect to original picture */
-  int32_t nb_pair;              /**<    number of searched pairs in each direction */
-  int32_t loss_per;             /**<    authorized lost pairs percentage for tracking */
-  int32_t nb_tracker_width;     /**<    number of trackers in width of current picture */
-  int32_t nb_tracker_height;    /**<    number of trackers in height of current picture */
-  int32_t scale;                /**<    distance between two pixels in a pair */
-  int32_t trans_max;            /**<    largest value of trackers translation between two adjacent pictures */
-  int32_t max_pair_dist;        /**<    largest distance of pairs research from tracker location */
-  int32_t noise;                /**<    threshold of meaningful contrast */
-} api_vision_tracker_params_t;
-
-/* Stephane
- * @enum FLYING_MODE
- * @brief Values for the CONTROL:flying_mode configuration.
- */
-typedef enum
-{
-  FLYING_MODE_FREE_FLIGHT = 0,            			/**< Normal mode, commands are enabled */
-  FLYING_MODE_HOVER_ON_TOP_OF_ROUNDEL = 1 << 0,  	/**< Commands are disabled, drones hovers on top of a roundel - roundel detection MUST be activated by the user with 'detect_type' configuration. */
-  FLYING_MODE_HOVER_ON_TOP_OF_ORIENTED_ROUNDEL = 1 << 1, /**< Commands are disabled, drones hovers on top of an oriented roundel - oriented roundel detection MUST be activated by the user with 'detect_type' configuration. */
-} FLYING_MODE;
-
-/*
- * @enum TRAVELLING_MODE
- * @brief Values for the CONTROL:travelling_mode configuration.
- */
-typedef enum
-{
-  TRAVELLING_MODE_TRANSLATION = 0,  	/**< Travelling translation mode	*/
-  TRAVELLING_MODE_CIRCULAR,				/**< Travelling circular mode 		*/
-  TRAVELLING_MODE_SWING, /**/
-  TRAVELLING_MODE_WHEEL_FRONT, /**/
-  TRAVELLING_MODE_WHEEL_SIDE, /**/
-  TRAVELLING_MODE_GUSH,  /**/
-  TRAVELLING_MODE_PLANAR_WHEEL,/**/
-  TRAVELLING_MODE_NUM,
-} TRAVELLING_MODE;
-
-/**
- * @enum WIFI_MODE
- * @brief Values for the NETWORK:wifi_mode configuration, who set the wifi mode when drone start
- */
-typedef enum
-{
-  WIFI_MODE_INFRA = 0,        /**<    Access point mode  */
-  WIFI_MODE_ADHOC,            /**<    Ad-Hoc mode        */ 
-  WIFI_MODE_MANAGED,          /**<    Managed mode       */
-  WIFI_MODE_NUM
-} WIFI_MODE;
-
-/********************************************************************
-*                        NAVDATA FUNCTIONS
-********************************************************************/
-
-/**
- * @struct _navdata_unpacked_t
- * @brief Decoded navigation data.
-*/
-typedef struct _navdata_unpacked_t
-{
-  uint32_t  nd_seq;
-  uint32_t  ardrone_state;
-  bool_t    vision_defined;
-  uint32_t  last_navdata_refresh;  /*! mask showing which block was refreshed when receiving navdata */
-
-#define NAVDATA_OPTION_DEMO(STRUCTURE,NAME,TAG)  STRUCTURE NAME ;
-#define NAVDATA_OPTION(STRUCTURE,NAME,TAG)       STRUCTURE NAME ;
-#define NAVDATA_OPTION_CKS(STRUCTURE,NAME,TAG)
-	#include <navdata_keys.h>
-
-} navdata_unpacked_t;
-
-/**
- * @def ardrone_navdata_pack
- * @brief Add an 'option' to the navdata network packet to be sent to a client.
- * Used by the drone 'navdata' thread.
-*/
-#define ardrone_navdata_pack( navdata_ptr, option ) (navdata_option_t*) navdata_pack_option( (uint8_t*) navdata_ptr, \
-                                                                                     (uint8_t*) &option,             \
-                                                                                     option.size )
-
-/**
- * @def ardrone_navdata_unpack
- * @brief Extract an'option' from the navdata network packet sent by the drone.
- * Used by the client 'navdata' thread inside ARDroneTool.
-*/
-#define ardrone_navdata_unpack( navdata_ptr, option ) (navdata_option_t*) navdata_unpack_option( (uint8_t*) navdata_ptr, \
-                                                                                         navdata_ptr->size,              \
-                                                                                         (uint8_t*) &option,             \
-                                                                                         sizeof (option) )
-
-/**
- * @brief Add an 'option' to the navdata network packet to be sent to a client.
- * Used by the drone 'navdata' thread.
- * @param navdata_ptr Pointer to the buffer containing packed navdata to be sent.
-*/
-static INLINE uint8_t* navdata_pack_option( uint8_t* navdata_ptr, uint8_t* data, uint32_t size )
-{
-  vp_os_memcpy(navdata_ptr, data, size);
-  return (navdata_ptr + size);
-}
-
-/**
- * @fn navdata_unpack_option
- * @brief Extract an 'option' from the navdata network packet sent by the drone.
- * Used by the client 'navdata' thread inside ARDroneTool.
-*/
-static INLINE uint8_t* navdata_unpack_option( uint8_t* navdata_ptr, uint32_t ptrsize, uint8_t* data, uint32_t datasize )
-{
-  uint32_t minSize = (ptrsize < datasize) ? ptrsize : datasize;
-  vp_os_memcpy(data, navdata_ptr, minSize);
-  return (navdata_ptr + ptrsize);
-}
-
-/**
- * @fn navdata_next_option
- * @brief Jumps to the next 'option' inside the packed navdata.
- * Used by the client 'navdata' thread inside ARDroneTool.
-*/
-static INLINE navdata_option_t* navdata_next_option( navdata_option_t* navdata_options_ptr )
-{
-  uint8_t* ptr;
-
-  ptr  = (uint8_t*) navdata_options_ptr;
-  ptr += navdata_options_ptr->size;
-
-  return (navdata_option_t*) ptr;
-}
-
-/**
- * @brief Creates a checksum from a packed navdata packet.
- * @param nv Data to calculate the checksum.
- * @param size Size of data calculate as follow : size-sizeof(navdata_cks_t).
- * @return Retrieves the checksum from the navdata nv.
- */
-uint32_t ardrone_navdata_compute_cks( uint8_t* nv, int32_t size ) API_WEAK;
-
-/**
- * @param navdata_unpacked  navdata_unpacked in which to store the navdata.
- * @param navdata One packet read from the port NAVDATA.
- * @param Checksum of navdata
- * @brief Disassembles a buffer of received navdata, and dispatches it inside 'navdata_unpacked' structure.
- */
-C_RESULT ardrone_navdata_unpack_all(navdata_unpacked_t* navdata_unpacked, navdata_t* navdata, uint32_t* cks) API_WEAK;
-
-/***
- * @param navdata_options_ptr
- * @param Tag ID of the bloc to search for.
- * @brief Jumps to a specified 'option' (block of navdata) inside a navdata packed buffer.
- */
-navdata_option_t* ardrone_navdata_search_option( navdata_option_t* navdata_options_ptr, navdata_tag_t tag ) API_WEAK;
-
-/********************************************************************
-*                        AT FUNCTIONS
-********************************************************************/
-
-/**
- * @brief Initializes the AT Command managing thread of ARDroneTool.
- * The AT Codec is initialized.
- */
-void ardrone_at_init( const char* ip, size_t ip_len ) API_WEAK;
-
-/**
- * @brief Initializes the AT Command managing thread of ARDroneTool, by
- * providing it with custom functions for I/O from/to the drone.
- */
-void ardrone_at_init_with_funcs ( const char* ip, size_t ip_len, AT_CODEC_FUNCTIONS_PTRS *funcs) API_WEAK;
-
-/**
- * @fn ardrone_at_open
- * @brief Opens the AT command socket.
- */
-ATCODEC_RET ardrone_at_open ( void ) API_WEAK;
-
-/**
- * @brief Makes ARDroneToll send all queued AT commands to the drone.
- * ARDroneTool locally buffers AT commands sent by the client program
- * until this function is called.
- * Usually the client program GUI calls ardrone_at_xxx commands to
- * pilot the drone; these commands are then queued by ARDroneTool.
- * The ARDroneTool main thread calls this functions periodically
- * (every 30ms for example) to actually send to queued commands to
- * the drone.
- */
-ATCODEC_RET ardrone_at_send ( void ) API_WEAK;
-
-/*
- * @brief  Sends input sequence number to avoid reception of old data
- * @param  value : sequence number
- * @deprecated
- * @return void
- * Used on prototypes.
- */
-//void ardrone_at_set_sequence( uint32_t sequence ) API_WEAK;
-
-/**
- * @brief  Set the flight status command.
- * @param  value  Bit mask containing the desired commmand.
- * The bit mask contains the bit controlling take-off/landing
- * and the bit signaling /resuming from an emergency.
- * This mask is periodically sent to the drone by ARDroneTool
- * inside an AT*REF command.
- */
-void ardrone_at_set_ui_pad_value( uint32_t value ) API_WEAK;
-
-/**
- * @brief  Used internally by Parrot - send misc. config. data.
- * @param  data used to configure control
- * @return void
- */
-void ardrone_at_set_pmode( int32_t pmode ) API_WEAK;
-
-#ifndef DISABLE_DEPRECATED_CODE
-  /**
-   * @fn     Tell to keep trim result
-   * @param  yes or no
-   * @return C_RESULT
-   */
-  void ardrone_at_keep_trim( bool_t keep ) API_WEAK;
-
-  /**
-   * @fn     Reset trim/misc0 related ack's
-   * @return void
-   */
-  void ardrone_at_trim_ack_reset( void ) API_WEAK;
-#endif
-
-/**
- * @brief  Used by Parrot - send misc. config. data for drone debugging.
- * @param  data are used to configure control (for instance)
- * @return void
- *  This should not be used by SDK users. Parameters value do not have any fixed meaning.
- */
-void ardrone_at_set_ui_misc( int32_t m1, int32_t m2, int32_t m3, int32_t m4 ) API_WEAK;
-
-/**
- * @brief  Makes the drone play a predefined movement
- * @param  type type of animation
- * @param  duration duration of the animation in seconds
- */
-void ardrone_at_set_anim( anim_mayday_t type, int32_t duration ) API_WEAK;
-
-/**
- * @brief  Instructs the drone to use its current position
- * as a reference for the horizontal plane.
- */
-void ardrone_at_set_flat_trim( void ) API_WEAK;
-
-/**
- * @brief Sets a manual trim (offset) on the drone commands
- */
-void ardrone_at_set_manual_trims( float32_t trim_pitch, float32_t trim_roll, float32_t trim_yaw ) API_WEAK;
-
-/**
- * @brief  Changes PID gains of the drone control loop
- * @param  user_ctrl_gains gains to be set
- */
-void ardrone_at_set_control_gains( api_control_gains_t* user_ctrl_gains ) API_WEAK;
-
-/**
- * @brief  Changes the tracking parameters (only in UE_IHM_PO mode)
- * @param  params : new params
- */
-void ardrone_at_set_vision_track_params( api_vision_tracker_params_t* params ) API_WEAK;
-
-/**
- * @brief  Start/stop raw capture on the drone.
- * @param  active : 1 for start capture, 0 to stop
- */
-void ardrone_at_raw_capture( uint8_t active ) API_WEAK;
-
-/**
- * @brief  Capture a frame in raw format on the drone.
- */
-void ardrone_at_raw_picture(void) API_WEAK;
-
-/**
- * @brief Changes the type of object to detect
- */
-void ardrone_at_cad( CAD_TYPE type, float32_t tag_size ) API_WEAK;
-
-/**
- * @brief Change the broadcasted video channel
- */
-void ardrone_at_zap( ZAP_VIDEO_CHANNEL channel ) API_WEAK;
-
-/**
- * @brief    Plays a led animation
- */
-void ardrone_at_set_led_animation ( LED_ANIMATION_IDS anim_id, float32_t freq, uint32_t duration_sec ) API_WEAK;
-
-/**
- * @fn     Set vision update options (only in UE_IHM_PO mode)
- * @param  user_vision_option : new option
- */
-void ardrone_at_set_vision_update_options( int32_t user_vision_option ) API_WEAK;
-
-/**
- * @brief  Used internally at Parrot - sets the drones position as seen by polaris
- * @param  x_polaris : x of ardrone position seen by polaris
- * @param  y_polaris : y of ardrone position seen by polaris
- * @param  defined : tells if polaris data are valid or not
- * @param  time_us : time in us
- */
-void ardrone_at_set_polaris_pos( float32_t x_polaris, float32_t y_polaris, float32_t psi_polaris, bool_t defined, int32_t time_us ) API_WEAK;
-
-/**
- * @brief  Used internally at Parrot - sets the drones position as seen by vicon
- * @param  time : vicon timestamp
- * @param  frame_number : vicon frame_number
- * @param  latency : vicon latency
- * @param  global_translation : vicon global translation
- * @param  global_rotation_euler : vicon global rotation (euler angles)
- */
-void ardrone_at_set_vicon_data(struct timeval time, int32_t frame_number, float32_t latency, vector31_t global_translation, vector31_t global_rotation_euler);
-
-/**
- * @brief     Send to drone a identified configuration
- * @param  param : parameter to set or update
- * @param  ses_id : session id
- * @param  usr_id : user id
- * @param  app_id : application id
- * @param  value : value to apply to the parameter
- */
-void ardrone_at_set_toy_configuration_ids(const char* param,char* ses_id, char* usr_id, char* app_id,  const char* value) API_WEAK;
-
-/**
- * @brief Asks the drone to reset the communication watchdog.
- * If no command is received by the drone
- */
-void ardrone_at_reset_com_watchdog( void ) API_WEAK;
-
-/**
- * @brief Asks the drone to purge log files
- */
-void ardrone_at_reset_logs( void ) API_WEAK;
-
-/**
- * @brief Asks the drone we receive ackknowledges
- */
-void ardrone_at_update_control_mode(ARDRONE_CONTROL_MODE control_mode) API_WEAK;
-
-/**
- * @brief Asks the drone to send control mode
- */
-void ardrone_at_configuration_get_ctrl_mode( void ) API_WEAK;
-void ardrone_at_custom_configuration_get_ctrl_mode(void) API_WEAK;
-
-/**
- * @brief Tells the drone we received the control mode
- */
-void ardrone_at_configuration_ack_ctrl_mode( void ) API_WEAK;
-
-void ardrone_at_set_autonomous_flight( int32_t isActive );
-
-typedef enum
-  {
-    ARDRONE_CALIBRATION_DEVICE_MAGNETOMETER = 0,
-    ARDRONE_CALIBRATION_DEVICE_NUMBER,
-  } ardrone_calibration_device_t;
-
-/**
- * @brief Start the calibration of the given device
- */
-void ardrone_at_set_calibration (int32_t deviceId);
-
-/**
- * @brief Sets the drone motor command directly
- * This is enables only on prototypes drones.
- */
-void ardrone_at_set_pwm( int32_t p1, int32_t p2, int32_t p3, int32_t p4 ) API_WEAK;
-
-/**
- * @fn ardrone_at_set_progress_cmd
- * @brief Sends the drone progressive commands
- * @param flag Use 1 << value of ARDRONE_PROGRESSIVE_CMD_FLAG_XXX to use a flag
- * @param phi Left/right angle between -1 to +1 - negative values bend leftward.
- * @param roll Front/back angle between -1 to +1 - negative values bend forward.
- * @param gaz Vertical speed - negative values make the drone go down.
- * @param yaw Angular speed - negative values make the drone spin left.
- * @param magneto_psi floating value between -1 to +1.
- * @param magneto_psi_accuracy floating value between -1 to +1
- * This function allows the client program to control the drone by giving it a front/back
- * and left/right bending order, a vertical speed order, and a rotation order.
- * All values are given as a percentage of the maximum bending angles (in degrees),
- * vertical speed (in millimeters per second) and angular speed (in degrees per second).
- */
-void ardrone_at_set_progress_cmd_with_magneto( int32_t flag, float32_t phi, float32_t theta, float32_t gaz, float32_t yaw,  float32_t magneto_psi, float32_t magneto_psi_accuracy );
-void ardrone_at_set_progress_cmd( int32_t flag, float32_t phi, float32_t theta, float32_t gaz, float32_t yaw);
-
-/*****************************************************************
-*                       AT CONFIG FUNCTIONS
-*****************************************************************/
-#undef ARDRONE_CONFIG_KEY_IMM
-#undef ARDRONE_CONFIG_KEY_REF
-#undef ARDRONE_CONFIG_KEY_STR
-#define ARDRONE_CONFIG_KEY_IMM(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK)
-#define ARDRONE_CONFIG_KEY_REF(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK)
-#define ARDRONE_CONFIG_KEY_STR(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK)
-#include <config_keys.h> // must be included before to have types
-
-#undef ARDRONE_CONFIG_KEY_IMM
-#undef ARDRONE_CONFIG_KEY_REF
-#undef ARDRONE_CONFIG_KEY_STR
-#define ARDRONE_CONFIG_KEY_IMM(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK) ARDRONE_CONFIGURATION_PROTOTYPE(NAME);
-#define ARDRONE_CONFIG_KEY_REF(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK)
-#define ARDRONE_CONFIG_KEY_STR(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK) ARDRONE_CONFIGURATION_PROTOTYPE(NAME);
-#include <config_keys.h> // must be included before to have types
-
-/********************************************************************
-*                        CONFIG FUNCTIONS
-********************************************************************/
-#undef ARDRONE_CONFIG_KEY_IMM
-#undef ARDRONE_CONFIG_KEY_REF
-#undef ARDRONE_CONFIG_KEY_STR
-#define ARDRONE_CONFIG_KEY_IMM(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK)
-#define ARDRONE_CONFIG_KEY_REF(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK)
-#define ARDRONE_CONFIG_KEY_STR(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK)
-#include <config_keys.h> // must be included before to have types
-
-#undef ARDRONE_CONFIG_KEY_IMM
-#undef ARDRONE_CONFIG_KEY_REF
-#undef ARDRONE_CONFIG_KEY_STR
-#define ARDRONE_CONFIG_KEY_IMM(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK) \
-  C_TYPE get_##NAME(void) API_WEAK; \
-  C_RESULT set_##NAME(C_TYPE val) API_WEAK;
-#define ARDRONE_CONFIG_KEY_REF(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK) \
-  C_TYPE_PTR get_##NAME(void) API_WEAK; \
-  C_RESULT set_##NAME(C_TYPE_PTR val) API_WEAK;
-#define ARDRONE_CONFIG_KEY_STR(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK) \
-  C_TYPE_PTR get_##NAME(void) API_WEAK; \
-  C_RESULT set_##NAME(C_TYPE_PTR val) API_WEAK;
-// Generate all accessors functions prototypes
-#include <config_keys.h>
-
-
-#undef ARDRONE_CONFIG_KEY_IMM
-#undef ARDRONE_CONFIG_KEY_REF
-#undef ARDRONE_CONFIG_KEY_STR
-#define ARDRONE_CONFIG_KEY_IMM(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK)
-#define ARDRONE_CONFIG_KEY_REF(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK)
-#define ARDRONE_CONFIG_KEY_STR(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK)
-#include <config_keys.h> // must be included before to have types
-
-#undef ARDRONE_CONFIG_KEY_IMM
-#undef ARDRONE_CONFIG_KEY_REF
-#undef ARDRONE_CONFIG_KEY_STR
-#define ARDRONE_CONFIG_KEY_IMM(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK) C_TYPE NAME;
-#define ARDRONE_CONFIG_KEY_REF(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK) C_TYPE NAME;
-#define ARDRONE_CONFIG_KEY_STR(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK) C_TYPE NAME;
-
-// Fill structure fields types
-typedef struct _ardrone_config_t
-{
-#include <config_keys.h>
-}
-_ATTRIBUTE_PACKED_ ardrone_config_t;
-
-void reset_ardrone_config(void);
-
-/********************************************************************
- *                        USER FUNCTIONS
- ********************************************************************/
-#define MULTICONFIG_ID_SIZE 9
-#define SESSION_NAME_SIZE 1024
-#define USER_NAME_SIZE 1024
-#define APPLI_NAME_SIZE 1024
-#define ROOT_NAME_SIZE 256
-#define FLIGHT_NAME_SIZE 256
-
-typedef struct _ardrone_user_t
-{
-  char ident[MULTICONFIG_ID_SIZE];
-  char description[USER_NAME_SIZE];
-} ardrone_user_t;
-
-typedef struct _ardrone_users_t
-{
-  int userCount;
-  ardrone_user_t *userList;
-} ardrone_users_t;
-
-void ardrone_refresh_user_list(void); // Ask for a userlist refresh
-void ardrone_switch_to_user(const char *new_user); // Can be used to create user
-void ardrone_switch_to_user_id(const char *new_user_id); // Must be used only with existing users
-ardrone_users_t *ardrone_get_user_list(void); // Get a list of users (MUST BE FREED BY A ardrone_free_user_list CALL)
-void ardrone_free_user_list (ardrone_users_t **users); // Free an ardrone_users_t list allocated by ardrone_get_user_list
-
-
-#endif // _ARDRONE_API_H_

ARDroneLib/Soft/Common/ardrone_common_config.h

@@ -1,57 +0,0 @@
-/**
- *  \file     ardrone_common_config.h
- *  \brief    Ardrone Specific data for configuration
- *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.com>
- *  \version  1.0
- */
-
-#ifndef _ARDRONE_COMMON_CONFIG_H_
-#define _ARDRONE_COMMON_CONFIG_H_
-
-#define CAMIF_NUM_BUFFERS               2
-#define COM_INPUT_LANDING_TIME          (2)         /* Time drone is waiting for input before landing */
-
-/**
- * \enum print_mask_t
- * \brief mask to choose where to syslog
-*/
-typedef enum {
-  UART_PRINT = 1,
-  WIFI_PRINT = 2,
-  FLASH_PRINT = 4
-} print_mask_t;
-
-/**
- * \enum  ADC_COMMANDS
- * \brief ADC commands.
- */
-typedef enum
-{
-  ADC_CMD_STARTACQ                = 1,  /**< command to start acquisition with ADC                            **/
-  ADC_CMD_STOPACQ                 = 2,  /**< command to stop acquisition with ADC                             **/
-  ADC_CMD_RESYNC                  = 3,  /**< command to resync acquisition with ADC                           **/
-  ADC_CMD_TEST                    = 4,  /**< command to ADC send a test frame (123456)                        **/
-  ADC_CMD_VERSION                 = 5,  /**< command to ADC send his number : version (MSB) subversion (LSB)  **/
-  ADC_CMD_SELECT_ULTRASOUND_22Hz  = 7,  /**set the ultrasound at 22,22Hz                                      **/
-  ADC_CMD_SELECT_ULTRASOUND_25Hz  = 8,  /**set the ultrasound at 25Hz                                         **/
-  ADC_CMD_SEND_CALIBRE            = 13, /**command to ADC to send the calibration                             **/
-  ADC_CMD_RECEVED_CALIBRE         = 14, /**command to ADC to receved a new calibration                        **/
-  ADC_CMD_GET_HARD_VERSION        = 15, /**get the hard version of the navboard                               **/
-  ADC_CMD_ACTIVE_SEPARATION       = 16, /**enabled the separation of sources ultrasound                       **/
-  ADC_CMD_STOP_SEPARATION         = 17, /**disables the ultrasound source separation                          **/
-  ADC_CMD_SEND_PROD            	  = 18, /**command to ADC to receved the prod data                            **/
-  ADC_CMD_RECEVED_PROD            = 19, /**command to ADC to send the prod data                               **/
-  ADC_CMD_ACTIVE_ETALONAGE        = 20, /**command to ADC to send PWM ultrasond in continue                   **/
-  ADC_CMD_ACTIVE_ULTRASON         = 21, /**command to ADC to stop send PWM ultrasond in continue              **/
-  ADC_CMD_ACTIVE_TEST_ULTRASON    = 22, /**teste de la perturbation de l'ultrason par le wifi                 **/
-  ADC_CMD_GET_CALIBRATION_PRESSION = 23, /**command to ADC to send the pressure sensor calibration             **/
-  ADC_CMD_GET_CALIBRATION_MAGNETO  = 24, /**After this command, pic sends sensitivity magnetometer**/
-  ADC_CMD_AK8975_SELF_TEST		  = 25, /**used for test magnetometer**/
-  ADC_CMD_RESET_OCSTUN			  = 26, /**set ocstun to 0**/
-  ADC_CMD_SET_OCSTUN			  = 27, /**set ocstun to RC value sent**/
-  ADC_CMD_RESYNC_START                    = 28, /**resync start**/
-  ADC_CMD_RESYNC_STOP                     = 29, /**resync stop**/
-} ADC_COMMANDS;
-
-
-#endif // _ARDRONE_COMMON_CONFIG_H_

ARDroneLib/Soft/Common/at_msgs.h

@@ -1,56 +0,0 @@
-/**
- *  \file     at_msgs.h
- *  \brief    ATCodec messages declaration
- *  \author   Aurelien Morelle <aurelien.morelle@parrot.com>
- *  \date     2007/04/03
- *  \version  1.0
- */
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_RC_REF_EXE,        "AT*REF=%d,%d\r",                                0, at_rc_ref_exe,         3 )
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_PMODE_EXE,         "AT*PMODE=%d,%d\r",                           0, at_pmode_exe,          3 )
-// old school
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_MISC_EXE,          "AT*MISC=%d,%d,%d,%d,%d\r",                      0, at_misc_exe,           3 )
-// gains
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_GAIN_EXE,          "AT*GAIN=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r", 0, at_gain_exe,     3 )
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_ANIM_EXE,          "AT*ANIM=%d,%d,%d\r",                            0, at_anim_exe,           3 )
-// vision params
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_VISP_EXE,          "AT*VISP=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r",       0, at_visp_exe,           3 )
-// vision params
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_VISO_EXE,          "AT*VISO=%d,%d\r",                               0, at_viso_exe,           3 )
-// capture params
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_RAWC_EXE,          "AT*CAP=%d,%d,%d\r",                             0, at_cap,                3 )
-// zapper
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_ZAP_EXE,           "AT*ZAP=%d,%d\r",                                0, at_zap,                3 )
-// Change camera for arwiz detection
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_CAD_EXE,           "AT*CAD=%d,%d,%d\r",                             0, at_cad,                3 )
-// flat trim
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_FTRIM_EXE,         "AT*FTRIM=%d\r",                                 0, at_flat_trim_exe,      3 )
-// manual trims
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_MTRIM_EXE,          "AT*MTRIM=%d,%d,%d,%d\r",                       0, at_manual_trims_exe,   3 )
-// send attitude
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_POLARIS_EXE,       "AT*POL=%d,%d,%d,%d,%d,%d\r",                    0, at_pol_exe,            3 )
-// sends iphone command for all axes
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_PCMD_EXE,       	  "AT*PCMD=%d,%d,%d,%d,%d,%d\r",		   	       0, at_pcmd_exe,           3 )
-// sends iphone command for all axes + device  client agnetometer
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_PCMD_MAG_EXE,      "AT*PCMD_MAG=%d,%d,%d,%d,%d,%d,%d,%d\r",		   0, at_pcmd_mag_exe,       3 )
-// sends Radiocommand values for all 4 axis.
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_CONFIG_EXE,        "AT*CONFIG=%d,\"%s\",\"%s\"\r",                  0, at_toy_configuration_exe, 3)
-// control command
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_CONFIG_IDS,        "AT*CONFIG_IDS=%d,\"%s\",\"%s\",\"%s\"\r",       0, at_toy_configuration_ids, 4)
-// control command
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_CTRL_EXE,          "AT*CTRL=%d,%d,%d\r",                            0, at_control_exe,        3)
-// led animation command
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_LED_EXE,           "AT*LED=%d,%d,%d,%d\r",                          0, at_led_animation_exe,  3)
-// reset com watchdog
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_RESET_COM_WATCHDOG,"AT*COMWDG=%d\r",                                0, at_reset_com_watchdog, 3)
-
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_PWM_EXE,           "AT*PWM=%d,%d,%d,%d,%d\r",                       0, at_pwm,                3)
-
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_AUTONOMOUS_FLIGHT_EXE, "AT*AFLIGHT=%d,%d\r",                        0, at_autonomous_flight_exe,  3 )
-// run instrument calibration
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_CALIB,             "AT*CALIB=%d,%d\r",                              0, at_calibration,        3 )
-
-// Vicon information
-ATCODEC_DEFINE_AT_CMD(AT_MSG_ATCMD_VICON_EXE, 		   "AT*VICON=%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r", 0, at_vicon_exe,  3 )

ARDroneLib/Soft/Common/at_msgs_ids.h

@@ -1,26 +0,0 @@
-/**
- *  \file     at_msgs_ids.h
- *  \brief    ids for ATCodec
- *  \author   Aurelien Morelle <aurelien.morelle@parrot.com>
- *  \version  1.0
- */
-
-#ifndef _AT_MSGS_IDS_H_
-#define _AT_MSGS_IDS_H_
-
-#include <ATcodec/ATcodec_api.h>
-
-typedef struct _AT_CODEC_MSG_IDS_
-{
-# define ATCODEC_DEFINE_AT_CMD(ID,Str,From,Cb,Prio) AT_CODEC_MSG_ID ID;
-# define ATCODEC_DEFINE_AT_RESU(ID,Str,From,Cb) AT_CODEC_MSG_ID ID;
-
-  AT_CODEC_MSG_ID AT_MSG_ATCMD_DEFAULT;
-
-# include <at_msgs.h>
-} AT_CODEC_MSG_IDS;
-
-
-extern AT_CODEC_MSG_IDS ids;
-
-#endif // _AT_MSGS_IDS_H_

ARDroneLib/Soft/Common/autoconf.h

@@ -1,51 +0,0 @@
-/*
- * Automatically generated C config: don't edit
- * Linux kernel version:
- * Thu Nov  5 18:06:01 2009
- */
-#define AUTOCONF_INCLUDED
-#define PAL_TRACE_THREAD_VAL 0
-#define PAL_ASSERT 1
-#define MODIF_VERSION_NUMBER 0
-#define PAL_BUTTON_LONG_PRESS_TIME 2000
-#define PAL_BUTTON_DRIVER 1
-#define PAL_I2C_DRIVER 1
-#define MAJOR_VERSION_NUMBER 1
-#define PAL_TRACE_SEM_VAL 0
-#define MINOR_VERSION_NUMBER 0
-#define PAL_TRACE_SYS_VAL 0
-#define PAL_SUP_NB_TIMERS 18
-#define PAL_TRACE_HWALARM_VAL 0
-#define PAL_PWM_DRIVER 1
-#define PAL_I2C_DEVICES 1
-#define EXTENDED_VERSION_INFO RC0
-#define PAL_SUP_NB_MOD 32
-#define PAL_TRACE_FLAG_VAL 0
-#define PAL_TRACE_COND_VAL 0
-#define PAL_DEBUG_LEVEL 1
-#define PAL_TRACE_GPIO_VAL 0
-#define PAL_TRACE_TIME_VAL 0
-#define PAL_TRACE_MBOX_VAL 0
-#define PAL_TRACE_UART_VAL 0
-#define PAL_GPIO_DRIVER 1
-#define PAL_P6MU_ADC_DEVICE 1
-#define PAL_P6MU_CODEC_DEVICE 1
-#define BUILD_PAL 1
-#define PAL_SUP_PRIO_P1 18
-#define PAL_SUP_PRIO_P2 20
-#define PAL_SUP_PRIO_P3 22
-#define PAL_SUP_PRIO_P4 24
-#define PAL_SUP_PRIO_P5 26
-#define PAL_UARTS_COUNT 4
-#define PAL_LINUX_NOSMP 1
-#define PAL_TRACE_ALARM_VAL 0
-#define PAL_SUP_MAX_MES 60
-#define CONFIG_PAL_USER_ASSERT 1
-#define TRUC_POURRI_YMM 1
-#define UNAME_RELEASE 2.6.28-16-generic
-#define PAL_BUTTON_MAX_HW_DRIVERS 1
-#define PAL_TRACE_MUTEX_VAL 0
-#define PAL_BUTTON_MAX_BUTTONS 32
-#define PAL_STACKSIZE 6144
-#define PAL_POSIX_MIX_PRIO 1
-#define PAL_POSIX_RT_PRIO_THRESHOLD 10

ARDroneLib/Soft/Common/config.h

@@ -1,338 +0,0 @@
-/**
-***************************************************************************
-*
-* Copyright (C) 2007 Parrot S.A.
-*
-***************************************************************************
-*/
-
-#ifndef _CONFIG_H_
-#define _CONFIG_H_
-
-#include <VP_Os/vp_os_types.h>
-#ifdef _WIN32
-	#include <win32_custom.h>
-#else
-	#include <generated_custom.h>
-	#include <autoconf.h>
-#endif
-
-#undef ARDRONE_PIC_VERSION
-
-#define USE_NAVDATA_IP
-#define USE_AT_IP
-#define USE_VIDEO_IP
-
-///////////////////////////////////////////////
-// Video configuration
-#define VIDEO_ENABLE            1
-
-///////////////////////////////////////////////
-// Vision configuration
-
-#define VISION_ENABLE           1
-// #define VISION_TEST_MODE
-#define ARDRONE_VISION_DETECT
-
-///////////////////////////////////////////////
-// Navdata configuration
-
-#define NAVDATA_ENABLE          1
-#define ND_WRITE_TO_FILE
-
-# define NAVDATA_SUBSAMPLING     13 /* 200 / 15 fps = 13.3333 */
-
-#if defined(NAVDATA_ENABLE)
-
-# define NAVDATA_VISION_DETECT_INCLUDED
-# define NAVDATA_TRIMS_INCLUDED
-# define NAVDATA_WATCHDOG
-# define NAVDATA_EULER_ANGLES_INCLUDED
-# define NAVDATA_PHYS_MEASURES_INCLUDED
-# define NAVDATA_TIME_INCLUDED
-# define NAVDATA_RAW_MEASURES_INCLUDED
-# define NAVDATA_GYROS_OFFSETS_INCLUDED
-# define NAVDATA_REFERENCES_INCLUDED
-# define NAVDATA_RC_REFERENCES_INCLUDED
-# define NAVDATA_PWM_INCLUDED
-# define NAVDATA_ALTITUDE_INCLUDED
-# define NAVDATA_VISION_INCLUDED
-# define NAVDATA_VISION_PERF_INCLUDED
-# define NAVDATA_TRACKERS_SEND
-# define NAVDATA_VIDEO_STREAM_INCLUDED
-# define NAVDATA_PRESSURES_INCLUDED
-
-#endif // ! NAVDATA_ENABLE
-
-#ifndef ARDRONE_VISION_DETECT
-# undef NAVDATA_VISION_DETECT_INCLUDED
-#endif // ! ARDRONE_VISION_DETECT
-
-///////////////////////////////////////////////
-// Wifi configuration
-
-#define USE_AUTOIP              VP_COM_AUTOIP_DISABLE /* VP_COM_AUTOIP_ENABLE */
-
-#define WIFI_NETMASK            "255.255.255.0"
-#define WIFI_GATEWAY            WIFI_ARDRONE_IP
-#define WIFI_SERVER             WIFI_ARDRONE_IP
-#define WIFI_SECURE             0
-
-#define WIFI_BASE_ADDR          0xc0a80100      			// 192.168.1.0
-#define MULTICAST_BASE_ADDR     0xe0010100      			// 224.1.1.0
-#define WIFI_BROADCAST_ADDR 	(WIFI_BASE_ADDR | 0xff)    //XXX.XXX.XXX.255
-
-// Configure infrastructure mode given wifi driver compilation
-#define WIFI_INFRASTRUCTURE     0
-
-#define WIFI_PASSKEY            "9F1C3EE11CBA230B27BF1C1B6F"
-
-#define FTP_PORT				5551
-#define AUTH_PORT				5552
-#define VIDEO_RECORDER_PORT     5553
-#define NAVDATA_PORT            5554
-#define VIDEO_PORT              5555
-#define AT_PORT                 5556
-#define RAW_CAPTURE_PORT        5557
-#define PRINTF_PORT             5558
-#define CONTROL_PORT            5559
-
-///////////////////////////////////////////////
-// Wired configuration
-
-#define WIRED_MOBILE_IP         WIFI_MOBILE_IP
-
-///////////////////////////////////////////////
-// Serial link configuration
-
-#ifdef USE_ELINUX
-
-#define SERIAL_LINK_0           "/dev/ttyPA0"
-#define SERIAL_LINK_1           "/dev/ttyPA1"
-#define SERIAL_LINK_2           "/dev/ttyPA2"
-
-#endif
-
-#ifdef USE_LINUX
-
-#ifdef USE_MINGW32
-
-#define SERIAL_LINK_0           ""
-#define SERIAL_LINK_1           ""
-#define SERIAL_LINK_2           ""
-
-#else
-
-// Only USE_LINUX is defined
-#define SERIAL_LINK_0           "/dev/ttyUSB0" /* Serial link for navdata & ATCmd */
-#define SERIAL_LINK_1           "/dev/ttyUSB1" /* Serial link for video */
-#define SERIAL_LINK_2           "/dev/ser2" /* Serial link for adc */
-
-#endif // USE_MINGW32
-
-#endif // USE_LINUX
-
-#define SL0_BAUDRATE             VP_COM_BAUDRATE_460800 /* baud rate for serial link 0 */
-#define SL1_BAUDRATE             VP_COM_BAUDRATE_460800 /* baud rate for serial link 1 */
-#define SL2_BAUDRATE             VP_COM_BAUDRATE_460800 /* baud rate for serial link 2 */
-
-///////////////////////////////////////////////
-// Defines & types used in shared data
-
-#define ARDRONE_ORIENTATION_HISTORY_SIZE  256
-
-#define TSECDEC     21 /* Defines used to format time ( seconds << 21 + useconds ) */
-#define TUSECMASK   ((1U << TSECDEC) - 1)
-#define TSECMASK    (0xffffffff & ~TUSECMASK)
-#define TIME_TO_USEC    (0xffffffff & ~TUSECMASK)
-
-#define VBAT_POWERING_OFF   9000    /* Minimum Battery Voltage [mV] to prevent damaging */
-
-/* Syslog Configuration */
-#define SYSLOG_NUM_BUFFERS        4     /* Number of actives buffers. When a buffer is full, it's dumped in file */
-#define SYSLOG_BUFFER_SIZE        2048  /* Max number of bytes in a syslog buffer */
-#define SYSLOG_BUFFER_DUMP_SIZE   128   /* Max number of bytes wrote at once during dump */
-
-
-#define DEFAULT_MISC1_VALUE 2
-#define DEFAULT_MISC2_VALUE 20
-#define DEFAULT_MISC3_VALUE 2000
-#define DEFAULT_MISC4_VALUE 3000
-
-
-typedef enum {
-  MISC_VAR1 = 0,
-  MISC_VAR2,
-  MISC_VAR3,
-  MISC_VAR4,
-  NB_MISC_VARS
-} misc_var_t;
-
-// Mayday scenarii
-typedef enum {
-	ARDRONE_ANIM_PHI_M30_DEG= 0,
-	ARDRONE_ANIM_PHI_30_DEG,
-	ARDRONE_ANIM_THETA_M30_DEG,
-	ARDRONE_ANIM_THETA_30_DEG,
-	ARDRONE_ANIM_THETA_20DEG_YAW_200DEG,
-	ARDRONE_ANIM_THETA_20DEG_YAW_M200DEG,
-	ARDRONE_ANIM_TURNAROUND,
-	ARDRONE_ANIM_TURNAROUND_GODOWN,
-	ARDRONE_ANIM_YAW_SHAKE,
-	ARDRONE_ANIM_YAW_DANCE,
-	ARDRONE_ANIM_PHI_DANCE,
-	ARDRONE_ANIM_THETA_DANCE,
-    ARDRONE_ANIM_VZ_DANCE,
-	ARDRONE_ANIM_WAVE,
-	ARDRONE_ANIM_PHI_THETA_MIXED,
-	ARDRONE_ANIM_DOUBLE_PHI_THETA_MIXED,
-	ARDRONE_ANIM_FLIP_AHEAD,
-	ARDRONE_ANIM_FLIP_BEHIND,
-	ARDRONE_ANIM_FLIP_LEFT,
-	ARDRONE_ANIM_FLIP_RIGHT,
-	ARDRONE_NB_ANIM_MAYDAY
-} anim_mayday_t;
-
-// Bitfield definition for user input
-
-typedef enum {
-  ARDRONE_UI_BIT_AG             = 0,
-  ARDRONE_UI_BIT_AB             = 1,
-  ARDRONE_UI_BIT_AD             = 2,
-  ARDRONE_UI_BIT_AH             = 3,
-  ARDRONE_UI_BIT_L1             = 4,
-  ARDRONE_UI_BIT_R1             = 5,
-  ARDRONE_UI_BIT_L2             = 6,
-  ARDRONE_UI_BIT_R2             = 7,
-  ARDRONE_UI_BIT_SELECT         = 8,
-  ARDRONE_UI_BIT_START          = 9,
-  ARDRONE_UI_BIT_TRIM_THETA     = 18,
-  ARDRONE_UI_BIT_TRIM_PHI       = 20,
-  ARDRONE_UI_BIT_TRIM_YAW       = 22,
-  ARDRONE_UI_BIT_X              = 24,
-  ARDRONE_UI_BIT_Y              = 28,
-} ardrone_ui_bitfield_t;
-
-
-/// \enum def_ardrone_state_mask_t is a bit field representing ARDrone' state
-
-
-// Define masks for ARDrone state
-// 31                                                             0
-//  x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x -> state
-//  | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
-//  | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | FLY MASK : (0) ardrone is landed, (1) ardrone is flying
-//  | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | VIDEO MASK : (0) video disable, (1) video enable
-//  | | | | | | | | | | | | | | | | | | | | | | | | | | | | | VISION MASK : (0) vision disable, (1) vision enable
-//  | | | | | | | | | | | | | | | | | | | | | | | | | | | | CONTROL ALGO : (0) euler angles control, (1) angular speed control
-//  | | | | | | | | | | | | | | | | | | | | | | | | | | | ALTITUDE CONTROL ALGO : (0) altitude control inactive (1) altitude control active
-//  | | | | | | | | | | | | | | | | | | | | | | | | | | USER feedback : Start button state
-//  | | | | | | | | | | | | | | | | | | | | | | | | | Control command ACK : (0) None, (1) one received
-//  | | | | | | | | | | | | | | | | | | | | | | | | Camera enable : (0) Camera enable, (1) camera disable
-//  | | | | | | | | | | | | | | | | | | | | | | | Travelling enable : (0) disable, (1) enable
-//  | | | | | | | | | | | | | | | | | | | | | | USB key : (0) usb key not ready, (1) usb key ready
-//  | | | | | | | | | | | | | | | | | | | | | Navdata demo : (0) All navdata, (1) only navdata demo
-//  | | | | | | | | | | | | | | | | | | | | Navdata bootstrap : (0) options sent in all or demo mode, (1) no navdata options sent
-//  | | | | | | | | | | | | | | | | | | | Motors status : (0) Ok, (1) Motors Com is down
-//  | | | | | | | | | | | | | | | | | | Communication Lost : (1) com problem, (0) Com is ok
-//  | | | | | | | | | | | | | | | | |
-//  | | | | | | | | | | | | | | | | VBat low : (1) too low, (0) Ok
-//  | | | | | | | | | | | | | | | User Emergency Landing : (1) User EL is ON, (0) User EL is OFF
-//  | | | | | | | | | | | | | | Timer elapsed : (1) elapsed, (0) not elapsed
-//  | | | | | | | | | | | | | Magnetometer calibration state : (0) Ok, no calibration needed, (1) not ok, calibration needed
-//  | | | | | | | | | | | | Angles : (0) Ok, (1) out of range
-//  | | | | | | | | | | | WIND MASK: (0) ok, (1) Too much wind
-//  | | | | | | | | | | Ultrasonic sensor : (0) Ok, (1) deaf
-//  | | | | | | | | | Cutout system detection : (0) Not detected, (1) detected
-//  | | | | | | | | PIC Version number OK : (0) a bad version number, (1) version number is OK
-//  | | | | | | | ATCodec thread ON : (0) thread OFF (1) thread ON
-//  | | | | | | Navdata thread ON : (0) thread OFF (1) thread ON
-//  | | | | | Video thread ON : (0) thread OFF (1) thread ON
-//  | | | | Acquisition thread ON : (0) thread OFF (1) thread ON
-//  | | | CTRL watchdog : (1) delay in control execution (> 5ms), (0) control is well scheduled // Check frequency of control loop
-//  | | ADC Watchdog : (1) delay in uart2 dsr (> 5ms), (0) uart2 is good // Check frequency of uart2 dsr (com with adc)
-//  | Communication Watchdog : (1) com problem, (0) Com is ok // Check if we have an active connection with a client
-//  Emergency landing : (0) no emergency, (1) emergency
-
-/*
-Note :  ARMCC stores enums as signed 32-bit integers.
-1<<31 is thus out of range, and must be defined as (-1) or its hexa representation
-reference : http://infocenter.arm.com/help/topic/com.arm.doc.dui0436a/RVCT20_Errors_and_Warnings.pdf  (page 7)
-*/
-
-typedef enum {
-  ARDRONE_FLY_MASK            = 1U << 0,  /*!< FLY MASK : (0) ardrone is landed, (1) ardrone is flying */
-  ARDRONE_VIDEO_MASK          = 1U << 1,  /*!< VIDEO MASK : (0) video disable, (1) video enable */
-  ARDRONE_VISION_MASK         = 1U << 2,  /*!< VISION MASK : (0) vision disable, (1) vision enable */
-  ARDRONE_CONTROL_MASK        = 1U << 3,  /*!< CONTROL ALGO : (0) euler angles control, (1) angular speed control */
-  ARDRONE_ALTITUDE_MASK       = 1U << 4,  /*!< ALTITUDE CONTROL ALGO : (0) altitude control inactive (1) altitude control active */
-  ARDRONE_USER_FEEDBACK_START = 1U << 5,  /*!< USER feedback : Start button state */
-  ARDRONE_COMMAND_MASK        = 1U << 6,  /*!< Control command ACK : (0) None, (1) one received */
-  ARDRONE_CAMERA_MASK         = 1U << 7,  /*!< CAMERA MASK : (0) camera not ready, (1) Camera ready */
-  ARDRONE_TRAVELLING_MASK     = 1U << 8,  /*!< Travelling mask : (0) disable, (1) enable */
-  ARDRONE_USB_MASK            = 1U << 9,  /*!< USB key : (0) usb key not ready, (1) usb key ready */
-  ARDRONE_NAVDATA_DEMO_MASK   = 1U << 10, /*!< Navdata demo : (0) All navdata, (1) only navdata demo */
-  ARDRONE_NAVDATA_BOOTSTRAP   = 1U << 11, /*!< Navdata bootstrap : (0) options sent in all or demo mode, (1) no navdata options sent */
-  ARDRONE_MOTORS_MASK  	      = 1U << 12, /*!< Motors status : (0) Ok, (1) Motors problem */
-  ARDRONE_COM_LOST_MASK       = 1U << 13, /*!< Communication Lost : (1) com problem, (0) Com is ok */
-  ARDRONE_SOFTWARE_FAULT      = 1U << 14, /*!< Software fault detected - user should land as quick as possible (1) */
-  ARDRONE_VBAT_LOW            = 1U << 15, /*!< VBat low : (1) too low, (0) Ok */
-  ARDRONE_USER_EL             = 1U << 16, /*!< User Emergency Landing : (1) User EL is ON, (0) User EL is OFF*/
-  ARDRONE_TIMER_ELAPSED       = 1U << 17, /*!< Timer elapsed : (1) elapsed, (0) not elapsed */
-  ARDRONE_MAGNETO_NEEDS_CALIB = 1U << 18, /*!< Magnetometer calibration state : (0) Ok, no calibration needed, (1) not ok, calibration needed */
-  ARDRONE_ANGLES_OUT_OF_RANGE = 1U << 19, /*!< Angles : (0) Ok, (1) out of range */
-  ARDRONE_WIND_MASK 		  = 1U << 20, /*!< WIND MASK: (0) ok, (1) Too much wind */
-  ARDRONE_ULTRASOUND_MASK     = 1U << 21, /*!< Ultrasonic sensor : (0) Ok, (1) deaf */
-  ARDRONE_CUTOUT_MASK         = 1U << 22, /*!< Cutout system detection : (0) Not detected, (1) detected */
-  ARDRONE_PIC_VERSION_MASK    = 1U << 23, /*!< PIC Version number OK : (0) a bad version number, (1) version number is OK */
-  ARDRONE_ATCODEC_THREAD_ON   = 1U << 24, /*!< ATCodec thread ON : (0) thread OFF (1) thread ON */
-  ARDRONE_NAVDATA_THREAD_ON   = 1U << 25, /*!< Navdata thread ON : (0) thread OFF (1) thread ON */
-  ARDRONE_VIDEO_THREAD_ON     = 1U << 26, /*!< Video thread ON : (0) thread OFF (1) thread ON */
-  ARDRONE_ACQ_THREAD_ON       = 1U << 27, /*!< Acquisition thread ON : (0) thread OFF (1) thread ON */
-  ARDRONE_CTRL_WATCHDOG_MASK  = 1U << 28, /*!< CTRL watchdog : (1) delay in control execution (> 5ms), (0) control is well scheduled */
-  ARDRONE_ADC_WATCHDOG_MASK   = 1U << 29, /*!< ADC Watchdog : (1) delay in uart2 dsr (> 5ms), (0) uart2 is good */
-  ARDRONE_COM_WATCHDOG_MASK   = 1U << 30, /*!< Communication Watchdog : (1) com problem, (0) Com is ok */
-  #if defined(__ARMCC_VERSION)
-  ARDRONE_EMERGENCY_MASK      = (int)0x80000000  /*!< Emergency landing : (0) no emergency, (1) emergency */
-  #else
-  ARDRONE_EMERGENCY_MASK      = 1U << 31  /*!< Emergency landing : (0) no emergency, (1) emergency */
-  #endif
-} def_ardrone_state_mask_t;
-
-static INLINE uint32_t ardrone_set_state_with_mask( uint32_t state, uint32_t mask, bool_t value )
-{
-  state &= ~mask;
-  if( value )
-    state |= mask;
-
-  return state;
-}
-
-/** Returns a bit value of state from a mask
- * This function is used to test bits from a bit field like def_ardrone_state_mask_t
- *
- * @param state a 32 bits word we want to test
- * @param mask a mask that tells the bit to test
- * @return TRUE if bit is set, FALSE otherwise
- */
-static INLINE bool_t ardrone_get_mask_from_state( uint32_t state, uint32_t mask )
-{
-  return state & mask ? TRUE : FALSE;
-}
-
-/** Convert time value from proprietary format to (unsigned int) micro-second value
- *
- * @param time value in proprietary format
- * @return time value in micro-second value (unsigned int)
- */
-static INLINE uint32_t ardrone_time_to_usec( uint32_t time )
-{
-  return ((uint32_t)(time >> TSECDEC) * 1000000 + (uint32_t)(time & TUSECMASK));
-}
-
-
-#ifdef DEBUG_MODE
-#define POSIX_DEBUG
-#endif // DEBUG_MODE
-
-#endif // _CONFIG_H_

ARDroneLib/Soft/Common/config_keys.h

@@ -1,351 +0,0 @@
-/******************************************************************************
- *                        COPYRIGHT PARROT 2010
- ******************************************************************************
- * PARROT A.R.Drone SDK
- *---------------------------------------------------------------------------*/
-/**
- * @file   config_keys.h
- * @brief  Definition of all the configuration values for the drone.
- *
- * This file mainly consists in a list of ARDRONE_CONFIG_KEY_xxx macros
- * whose arguments describe the available configuration values.
- * By redefining those macros and including this file anywhere else in the
- * project, it is possible to build a set of C variables, functions or macros
- * based on the configuration descriptions.
- *
- ******************************************************************************/
-
-#ifndef CFG_STRINGIFY
-	#define CFG_STRINGIFY(x) #x
-#endif
-
-#ifndef CONFIG_KEYS_STRING_TYPE_DEFINED
-#define CONFIG_KEYS_STRING_TYPE_DEFINED
-  #define STRING_T_SIZE 128
-  typedef char string_t[STRING_T_SIZE];
-#endif // ! CONFIG_KEYS_STRING_TYPE_DEFINED
-#include <Maths/maths.h>
-
-#include <VLIB/video_codec.h>
-
-#ifndef CONFIG_KEYS_RW_ENUM_DEFINED
-#define CONFIG_KEYS_RW_ENUM_DEFINED
-
-/**
- * @brief Describes the behaviour of a drone configuration variable.
- */
-enum {
-  K_READ    = 1,     /*!< Value can be read by a remote client */
-  K_WRITE   = 1<<1,  /*!< Value can be written by a remote client */
-  K_NOBIND  = 1<<2,  /*!< Data are stored to the config.ini file, but not read from this file at startup.*/
-  K_SHALLOW = 1<<3,  /*!< Data will no be stored to the config.ini file, nor read from this file at startup.*/
-};
-
-
-enum {
-  CAT_COMMON = 0,
-  CAT_APPLI  ,
-  CAT_USER   ,
-  CAT_SESSION,
-  NB_CONFIG_CATEGORIES
-};
-
-/* Size of the hexadecimal ID representing a custom configuration - example : 1234abcd */
-#define CUSTOM_CONFIGURATION_ID_LENGTH 8
-
-typedef struct{
-  char id[CUSTOM_CONFIGURATION_ID_LENGTH+1];
-  char description[1024];
-} custom_configuration_t;
-
-typedef struct
-{
-  custom_configuration_t* list;
-  int nb_configurations;
-} custom_configuration_list_t;
-
-extern const char * configuration_switching_commands[NB_CONFIG_CATEGORIES+1];
-extern const char * custom_configuration_headers[NB_CONFIG_CATEGORIES+1];
-extern const char * custom_configuration_id_keys[NB_CONFIG_CATEGORIES+1];
-extern custom_configuration_list_t available_configurations[NB_CONFIG_CATEGORIES];
-
-/**
- * \brief Checks if a character is valid in a custom configuration identifier.
- * Currently it checks if the character is an hexadecimal digit.
- */
-C_RESULT configuration_check_config_id_char(const char session_id_char);
-
-/**
- * \brief Checks if a string is a valid custom configuration identifier.
- * Currently it checks if the string is made of 8 hexa. digits.
- */
-C_RESULT configuration_check_config_id(const char * session_id);
-
-#endif // ! CONFIG_KEYS_RW_ENUM_DEFINED
-
-#ifndef CONFIG_KEYS_DEFINES_DEFINED
-# define CONFIG_KEYS_DEFINES_DEFINED
-
-# ifdef INSIDE_FLIGHT
-#   define MAX_EULER_ANGLES_REF (12000.0f * MDEG_TO_RAD)     /* EA control, maximum reference [rad] */
-#   define MAX_OUTDOOR_EULER_ANGLES_REF (20000.0f * MDEG_TO_RAD)     /* EA control, maximum reference [rad] */
-# else
-#   define MAX_EULER_ANGLES_REF (12000.0f * MDEG_TO_RAD)    /* EA control, maximum reference [rad] */
-#   define MAX_OUTDOOR_EULER_ANGLES_REF (20000.0f * MDEG_TO_RAD)     /* EA control, maximum reference [rad] */
-# endif
-
-// GPS default Value
-#define GPS_INVALID_COORDINATES     500.0
-
-//Calibration renvoye par le PIC dans le cas ou il n'en a pas recut
-#define DEFAULT_PWM_REF_GYRO                500
-#define DEFAULT_GYRO_OFFSET_THR_X           4.0
-#define DEFAULT_GYRO_OFFSET_THR_Y           4.0
-#define DEFAULT_GYRO_OFFSET_THR_Z           0.5
-#define DEFAULT_OSCTUN_VALUE									0
-//#define default_accs_offset          {{{ -2048.0f, 2048.0f, 2048.0f}}}
-//#define default_accs_gain            {1.0f, 0.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, -1.0f }
-//#define default_gyros_offset         {{{ 1662.5f, 1662.5f, 1662.5f}}}
-//#define default_gyros_gains          {{{ 395.0f * MDEG_TO_RAD, -395.0f * MDEG_TO_RAD, -207.5f * MDEG_TO_RAD }}}
-//#define default_gyros110_offset      {{ 1662.5f, 1662.5f}}
-//#define default_gyros110_gains       {{ 87.5f * MDEG_TO_RAD, -87.5f * MDEG_TO_RAD }}
-//#define default_magneto_offset       {{{ 300.0f, -100.0f, 50.0f}}}
-#define default_motor_version         "0.0"
-#define NULL_MAC					  "00:00:00:00:00:00"
-#define DEFAULT_CONFIG_ID			"00000000"
-
-/* Selection of navdata blocks sent when starting the 'demo' mode */
-#define default_navdata_options ( NAVDATA_OPTION_MASK(NAVDATA_DEMO_TAG)|NAVDATA_OPTION_MASK(NAVDATA_VISION_DETECT_TAG) )
-
-#define COMPILE_TIME ( (2010-1970)*(365+(2010-1970)/4)*(24)*(3600) )
-
-extern const vector31_t default_accs_offset;
-extern const matrix33_t default_accs_gain;
-extern const vector31_t default_gyros_offset;
-extern const vector31_t default_gyros_gains;
-extern const vector21_t default_gyros110_offset;
-extern const vector21_t default_gyros110_gains;
-extern const vector31_t default_magneto_offset;
-extern const float32_t  default_magneto_radius;
-
-
-#define default_pwm_ref_gyro          DEFAULT_PWM_REF_GYRO
-#define default_gyro_offset_thr_x     DEFAULT_GYRO_OFFSET_THR_X
-#define default_gyro_offset_thr_y     DEFAULT_GYRO_OFFSET_THR_Y
-#define default_gyro_offset_thr_z     DEFAULT_GYRO_OFFSET_THR_Z
-#define default_osctun_value					DEFAULT_OSCTUN_VALUE
-
-#define default_euler_angle_ref_max    		MAX_EULER_ANGLES_REF
-#define default_outdoor_euler_angle_ref_max	MAX_OUTDOOR_EULER_ANGLES_REF
-# define default_altitude_max  			(3000)
-# define no_altitude_limit				(100000)
-# define default_altitude_min  			(50)
-# define default_control_trim_z  		(0.0f * MDEG_TO_RAD)
-# define default_control_iphone_tilt 	(20000.0f * MDEG_TO_RAD)
-# define default_control_vz_max			(700.0f)
-# define default_outdoor_control_vz_max	(1000.0f)
-# define default_control_yaw			(100000.0f * MDEG_TO_RAD)
-# define default_outdoor_control_yaw	(200000.0f * MDEG_TO_RAD)
-
-#define default_enemy_colors			(ARDRONE_DETECTION_COLOR_ORANGE_GREEN)
-#define default_groundstripe_colors     (ARDRONE_DETECTION_COLOR_ARRACE_FINISH_LINE)
-#define default_detect_type				CAD_TYPE_NONE
-
-#define DEFAULT_APPLICATION_DESC "Default application configuration"
-#define DEFAULT_PROFILE_DESC "Default profile configuration"
-#define DEFAULT_SESSION_DESC "Default session configuration"
-
-#define ARDRONE_DEFAULT_DATE				"19700101_000000"
-#define ARDRONE_EMPTY_STRING				""
-#define ARDRONE_DEFAULT_TRAVELLING_MODE		"0,10,1500,0,1000"
-
-
-#define CUSTOM_CONFIGURATION_DELETE_ALL_CMD "all"
-
-#define CONFIG_HEADER 	0x99aabbcc
-#define HCONFIG_HEADER 	0xffeeddcc
-
-#ifndef CARD_VERSION
-#define CARD_VERSION 0x0
-#endif
-
-#if CARD_VERSION == 0x0
-# define DEFAULT_VIDEO_CODEC (UVLC_CODEC)
-# define DEFAULT_FPS_CAMIF (0)
-# define DEFAULT_FPS_CODEC (0)
-#else
-# if CARD_VERSION<0x20
-#  define DEFAULT_VIDEO_CODEC (UVLC_CODEC)
-#  define DEFAULT_FPS_CAMIF (20)
-#  define DEFAULT_FPS_CODEC (20)
-# else
-#  define DEFAULT_VIDEO_CODEC (H264_360P_CODEC)
-#  define DEFAULT_FPS_CAMIF (30)
-#  define DEFAULT_FPS_CODEC (30)
-# endif
-#endif
-
-#ifndef CURRENT_NUM_VERSION_CONFIG
-#define CURRENT_NUM_VERSION_CONFIG 1
-#endif
-
-#endif // ! CONFIG_KEYS_DEFINES_DEFINED
-
-/* ---- List of configuration properties - see the Developer Guide for a comprehensive description ---- */
-
-/* Parameters attributes are : (KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK)
- * Key : category of parameter, used by the ini file parser ; corresponds to a section inside the config.ini file.
- * Name : name of the parameter as found in the AT*CONFIG command, and as expected by ARDRONE_TOOL_CONFIGURATION_ADDEVENT
-
- */
-#ifndef ARDRONE_CONFIG_KEY_IMM
-	#define ARDRONE_CONFIG_KEY_IMM(a,b,c,d,e,f,g,h)
-#endif
-#ifndef ARDRONE_CONFIG_KEY_STR
-	#define ARDRONE_CONFIG_KEY_STR(a,b,c,d,e,f,g,h)
-#endif
-#ifndef ARDRONE_CONFIG_KEY_REF
-	#define ARDRONE_CONFIG_KEY_REF(a,b,c,d,e,f,g,h)
-#endif
-
-/* If not all 10 arguments are used, defines a default macro with 8 arguments where the read/write rights (g)
- * and the category (j) are discarded
- */
-#ifndef ARDRONE_CONFIG_KEY_IMM_a10
-#define ARDRONE_CONFIG_KEY_IMM_a10(a,b,c,d,e,f,g,h,i,j) ARDRONE_CONFIG_KEY_IMM(a,b,c,d,e,f/*,g*/,h,i/*,j*/)
-#endif
-#ifndef ARDRONE_CONFIG_KEY_STR_a10
-#define ARDRONE_CONFIG_KEY_STR_a10(a,b,c,d,e,f,g,h,i,j) ARDRONE_CONFIG_KEY_STR(a,b,c,d,e,f,h,i)
-#endif
-#ifndef ARDRONE_CONFIG_KEY_REF_a10
-#define ARDRONE_CONFIG_KEY_REF_a10(a,b,c,d,e,f,g,h,i,j) ARDRONE_CONFIG_KEY_REF(a,b,c,d,e,f,h,i)
-#endif
-
-ARDRONE_CONFIG_KEY_IMM_a10("general", num_version_config, INI_INT,      int32_t,    int32_t*,     (K_READ|K_NOBIND), 0, CURRENT_NUM_VERSION_CONFIG,      default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("general", num_version_mb,     INI_INT,      int32_t,    int32_t*,     (K_READ|K_NOBIND), 0, CARD_VERSION,        			default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", num_version_soft,   INI_STRING,   string_t,   char*,    	  (K_READ|K_NOBIND), 0, CURRENT_NUM_VERSION_SOFT,        default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", drone_serial,  	  INI_STRING,   string_t,   char*, 	   	  (K_READ|K_NOBIND), 0, ARDRONE_EMPTY_STRING,            default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", soft_build_date,    INI_STRING,   string_t,   char*, (K_READ|K_NOBIND), 0, CURRENT_BUILD_DATE,              default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", motor1_soft,    	  INI_STRING,   string_t,   char*,    	   (K_READ|K_NOBIND), 0, default_motor_version,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", motor1_hard,    	  INI_STRING,   string_t,   char*,    	   (K_READ|K_NOBIND), 0, default_motor_version,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", motor1_supplier, 	  INI_STRING,   string_t,   char*,    	   (K_READ|K_NOBIND), 0, default_motor_version,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", motor2_soft,    	  INI_STRING,   string_t,   char*,         (K_READ|K_NOBIND), 0, default_motor_version,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", motor2_hard,    	  INI_STRING,   string_t,   char*,    	   (K_READ|K_NOBIND), 0, default_motor_version,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", motor2_supplier, 	  INI_STRING,   string_t,   char*,    	   (K_READ|K_NOBIND), 0, default_motor_version,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", motor3_soft,    	  INI_STRING,   string_t,   char*,    	   (K_READ|K_NOBIND), 0, default_motor_version,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", motor3_hard,         INI_STRING,   string_t,   char*,    	   (K_READ|K_NOBIND), 0, default_motor_version,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", motor3_supplier,     INI_STRING,   string_t,   char*,    	   (K_READ|K_NOBIND), 0, default_motor_version,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", motor4_soft,         INI_STRING,   string_t,   char*,         (K_READ|K_NOBIND), 0, default_motor_version,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", motor4_hard,         INI_STRING,   string_t,   char*,    	   (K_READ|K_NOBIND), 0, default_motor_version,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", motor4_supplier,     INI_STRING,   string_t,   char*,    	   (K_READ|K_NOBIND), 0, default_motor_version,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("general", ardrone_name,        INI_STRING,   string_t,   char*,        (K_READ|K_WRITE ), 0, "My ARDrone",                    default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("general", flying_time,         INI_INT,      uint32_t,   uint32_t*,    (K_READ)         , 0, 0,                               default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("general", navdata_demo,        INI_BOOLEAN,  bool_t,     bool_t*,      (K_READ|K_WRITE) , 0, FALSE,                           navdata_demo_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("general", navdata_options,     INI_INT,      int32_t,    int32_t*,     (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), default_navdata_options, navdata_options_config_callback, CAT_APPLI)
-ARDRONE_CONFIG_KEY_IMM_a10("general", com_watchdog,        INI_INT,      int32_t,    int32_t*,     (K_READ|K_WRITE) , 0, COM_INPUT_LANDING_TIME,          default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("general", video_enable,        INI_BOOLEAN,  bool_t,     bool_t*,      (K_READ|K_WRITE) , 0, TRUE,                            default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("general", vision_enable,       INI_BOOLEAN,  bool_t,     bool_t*,      (K_READ|K_WRITE) , 0, TRUE,                            default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("general", vbat_min,            INI_INT,      int32_t,    int32_t*,     (K_READ|K_NOBIND), 0, VBAT_POWERING_OFF,               default_config_callback,CAT_COMMON)
-
-ARDRONE_CONFIG_KEY_REF_a10("control", accs_offset,         INI_VECTOR,   vector31_t, vector31_t*, (K_READ|K_NOBIND), 0, default_accs_offset,              default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_REF_a10("control", accs_gains,          INI_MATRIX,   matrix33_t, matrix33_t*, (K_READ|K_NOBIND), 0, default_accs_gain,              default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_REF_a10("control", gyros_offset,        INI_VECTOR,   vector31_t, vector31_t*, (K_READ|K_NOBIND), 0, default_gyros_offset,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_REF_a10("control", gyros_gains,         INI_VECTOR,   vector31_t, vector31_t*, (K_READ|K_NOBIND), 0, default_gyros_gains,            default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_REF_a10("control", gyros110_offset,     INI_VECTOR21, vector21_t, vector21_t*, (K_READ|K_NOBIND), 0, default_gyros110_offset,        default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_REF_a10("control", gyros110_gains,      INI_VECTOR21, vector21_t, vector21_t*, (K_READ|K_NOBIND), 0, default_gyros110_gains,         default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_REF_a10("control", magneto_offset,      INI_VECTOR,   vector31_t, vector31_t*, (K_READ),          0, default_magneto_offset,         default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_REF_a10("control", magneto_radius,      INI_FLOAT,    float32_t,  float32_t*,  (K_READ),          0, default_magneto_radius,         default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("control", gyro_offset_thr_x,   INI_FLOAT,    float32_t,  float32_t*,  (K_READ|K_NOBIND), 0, default_gyro_offset_thr_x,      default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("control", gyro_offset_thr_y,   INI_FLOAT,    float32_t,  float32_t*,  (K_READ|K_NOBIND), 0, default_gyro_offset_thr_y,      default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("control", gyro_offset_thr_z,   INI_FLOAT,    float32_t,  float32_t*,  (K_READ|K_NOBIND), 0, default_gyro_offset_thr_z,      default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("control", pwm_ref_gyros,       INI_INT,      int32_t,    int32_t*,    (K_READ|K_NOBIND), 0, default_pwm_ref_gyro,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("control", osctun_value,        INI_INT,      int32_t,    int32_t*,    (K_READ|K_NOBIND), 0, default_osctun_value,           default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("control", osctun_test,	       INI_BOOLEAN,  bool_t,     bool_t*,     (K_READ|K_NOBIND) , 0, FALSE,				        	 default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("control", control_level,       INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE) , (K_READ|K_WRITE), 0,		default_config_callback,CAT_APPLI)
-ARDRONE_CONFIG_KEY_IMM_a10("control", euler_angle_max,     INI_FLOAT,    float32_t,  float32_t*,  (K_READ|K_WRITE) , (K_READ|K_WRITE), default_euler_angle_ref_max,       control_changed_config_callback,CAT_USER)
-ARDRONE_CONFIG_KEY_IMM_a10("control", altitude_max,        INI_INT,    	int32_t,    int32_t*,     (K_READ|K_WRITE) , 0, default_altitude_max,              default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("control", altitude_min,        INI_INT,    	int32_t,    int32_t*,     (K_READ|K_WRITE) , 0, default_altitude_min,              default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("control", control_iphone_tilt, INI_FLOAT,    float32_t,  float32_t*,  (K_READ|K_WRITE) , (K_READ|K_WRITE), default_control_iphone_tilt,       default_config_callback,CAT_USER)
-ARDRONE_CONFIG_KEY_IMM_a10("control", control_vz_max,      INI_FLOAT,    float32_t,  float32_t*,  (K_READ|K_WRITE) , (K_READ|K_WRITE), default_control_vz_max,        	 control_changed_config_callback,CAT_USER)
-ARDRONE_CONFIG_KEY_IMM_a10("control", control_yaw,         INI_FLOAT,    float32_t,  float32_t*,  (K_READ|K_WRITE) , (K_READ|K_WRITE), default_control_yaw,               control_changed_config_callback,CAT_USER)
-ARDRONE_CONFIG_KEY_IMM_a10("control", outdoor,	       	  INI_BOOLEAN,  bool_t,     bool_t*,      (K_READ|K_WRITE) , 0, FALSE,				        	 control_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("control", flight_without_shell,INI_BOOLEAN,  bool_t,     bool_t*,     (K_READ|K_WRITE) , 0, FALSE,				             default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("control", autonomous_flight,   INI_BOOLEAN,  bool_t,     bool_t*,     (K_READ|K_WRITE) , 0, FALSE,				             default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("control", manual_trim,		  INI_BOOLEAN,  bool_t,     bool_t*,     (K_READ|K_WRITE), (K_READ|K_WRITE), FALSE,				             default_config_callback,CAT_USER)
-
-ARDRONE_CONFIG_KEY_IMM_a10("control", indoor_euler_angle_max,     INI_FLOAT,    float32_t,  float32_t*,  (K_READ|K_WRITE), (K_READ|K_WRITE), default_euler_angle_ref_max,default_config_callback,CAT_USER)
-ARDRONE_CONFIG_KEY_IMM_a10("control", indoor_control_vz_max,      INI_FLOAT,    float32_t,  float32_t*,  (K_READ|K_WRITE), (K_READ|K_WRITE), default_control_vz_max,     default_config_callback,CAT_USER)
-ARDRONE_CONFIG_KEY_IMM_a10("control", indoor_control_yaw,         INI_FLOAT,    float32_t,  float32_t*,  (K_READ|K_WRITE), (K_READ|K_WRITE), default_control_yaw,        default_config_callback,CAT_USER)
-ARDRONE_CONFIG_KEY_IMM_a10("control", outdoor_euler_angle_max,    INI_FLOAT,    float32_t,  float32_t*,  (K_READ|K_WRITE), (K_READ|K_WRITE), default_outdoor_euler_angle_ref_max, default_config_callback,CAT_USER)
-ARDRONE_CONFIG_KEY_IMM_a10("control", outdoor_control_vz_max,     INI_FLOAT,    float32_t,  float32_t*,  (K_READ|K_WRITE), (K_READ|K_WRITE), default_outdoor_control_vz_max,      default_config_callback,CAT_USER)
-ARDRONE_CONFIG_KEY_IMM_a10("control", outdoor_control_yaw,        INI_FLOAT,    float32_t,  float32_t*,  (K_READ|K_WRITE), (K_READ|K_WRITE), default_outdoor_control_yaw,         default_config_callback,CAT_USER)
-
-ARDRONE_CONFIG_KEY_IMM_a10("control", flying_mode,         INI_INT,    int32_t,  int32_t*,   (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), (K_READ|K_WRITE), 0,    		flying_mode_config_callback,CAT_SESSION)
-ARDRONE_CONFIG_KEY_IMM_a10("control", hovering_range, INI_INT, int32_t, int32_t*,  (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), (K_READ|K_WRITE), 1000, default_config_callback, CAT_SESSION)
-ARDRONE_CONFIG_KEY_STR_a10("control", flight_anim,         INI_STRING,    string_t,  char*,  (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), 0, "0,0",         flight_animation_selection_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("control", travelling_mode,     INI_STRING,    string_t,  char*,  (K_READ|K_WRITE), (K_READ|K_WRITE), ARDRONE_DEFAULT_TRAVELLING_MODE,   travelling_mode_selection_callback,CAT_USER)
-ARDRONE_CONFIG_KEY_IMM_a10("control", travelling_enable,   INI_BOOLEAN,   bool_t,    bool_t*,      (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), 0, FALSE,           travelling_enable_callback, CAT_COMMON)
-
-ARDRONE_CONFIG_KEY_STR_a10("network", ssid_single_player,  INI_STRING,   string_t,   char*,       (K_READ|K_WRITE), 0, WIFI_NETWORK_NAME,               default_config_callback, CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("network", ssid_multi_player,   INI_STRING,   string_t,   char*,       (K_READ|K_WRITE), 0,  WIFI_NETWORK_NAME,               default_config_callback, CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("network", wifi_mode,           INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE), 0,  WIFI_MODE_INFRA,                               default_config_callback, CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("network", wifi_rate,           INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE|K_SHALLOW), 0,  0,                     wifi_rate_callback, CAT_COMMON)
-ARDRONE_CONFIG_KEY_STR_a10("network", owner_mac,           INI_STRING,   string_t,   char*,       (K_READ|K_WRITE), 0, NULL_MAC,                        owner_mac_callback,      CAT_COMMON)
-
-ARDRONE_CONFIG_KEY_IMM_a10("pic",     ultrasound_freq,     INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE), 0, ADC_CMD_SELECT_ULTRASOUND_25Hz,    ultrasound_freq_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("pic",     ultrasound_watchdog, INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE), 0, 3,                                 default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("pic",     pic_version        , INI_INT,      int32_t,    int32_t*,    (K_READ|K_NOBIND), 0, 0x00040030,              default_config_callback,CAT_COMMON)
-
-ARDRONE_CONFIG_KEY_IMM_a10("video",   camif_fps,           INI_INT,      int32_t,    int32_t*,    (K_READ|K_NOBIND), 0, DEFAULT_FPS_CAMIF,                     default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   codec_fps,           INI_INT,      int32_t,    int32_t*,    (K_READ|K_NOBIND), (K_READ|K_WRITE), DEFAULT_FPS_CODEC,                     fps_config_callback,CAT_SESSION)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   camif_buffers,       INI_INT,      int32_t,    int32_t*,    (K_READ|K_NOBIND), 0, CAMIF_NUM_BUFFERS,      default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   num_trackers,        INI_INT,      int32_t,    int32_t*,    (K_READ|K_NOBIND), 0, 12,                     default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   video_codec,         INI_INT,      int32_t,    int32_t*,    (K_READ|K_SHALLOW), (K_READ|K_WRITE), DEFAULT_VIDEO_CODEC,                codec_config_callback, CAT_SESSION)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   video_slices,        INI_INT,      int32_t,    int32_t*,    (K_READ|K_SHALLOW), (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), 0,              slices_config_callback, CAT_SESSION)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   video_live_socket,   INI_INT,      int32_t,    int32_t*,    (K_READ|K_SHALLOW), (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), 0,               video_live_socket_config_callback, CAT_SESSION)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   video_storage_space, INI_INT,      int32_t,    int32_t*,    (K_READ|K_SHALLOW), 0, 0,                              default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   bitrate,             INI_INT,      int32_t,    int32_t*,	  (K_READ|K_SHALLOW), (K_READ|K_WRITE), 1000,               bitrate_config_callback,CAT_APPLI)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   max_bitrate,         INI_INT,      int32_t,    int32_t*,    (K_READ|K_SHALLOW), (K_READ|K_WRITE), 1000,               bitrate_config_callback,CAT_SESSION)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   bitrate_ctrl_mode,   INI_INT,      int32_t,    int32_t*,    (K_READ|K_SHALLOW), (K_READ|K_WRITE), 0,               bitrate_config_callback,CAT_APPLI)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   bitrate_storage,	   INI_INT,      int32_t,    int32_t*,    (K_READ|K_SHALLOW), (K_READ|K_WRITE|K_NOBIND), 4000,             bitrate_config_callback, CAT_APPLI)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   video_channel,       INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), (K_READ|K_WRITE), 0,   video_channel_selection_callback,CAT_SESSION)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   video_on_usb,        INI_BOOLEAN,  bool_t,     bool_t*,     (K_READ|K_WRITE), (K_READ|K_WRITE), TRUE,   default_config_callback, CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("video",   video_file_index,    INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE), (K_READ|K_WRITE), 1,       default_config_callback, CAT_COMMON)
-
-ARDRONE_CONFIG_KEY_STR_a10("leds",    leds_anim,           INI_STRING,   string_t,    char*,      (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), 0, "0,0,0",           leds_animation_selection_callback,CAT_COMMON)
-
-ARDRONE_CONFIG_KEY_IMM_a10("detect",  enemy_colors, 	  INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE), 0, default_enemy_colors,      		 enemy_colors_selection_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("detect",  groundstripe_colors, INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE), (K_READ|K_WRITE), default_groundstripe_colors,   	 groundstripe_colors_selection_callback,CAT_SESSION)
-ARDRONE_CONFIG_KEY_IMM_a10("detect",  enemy_without_shell, INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE), 0, 0,      		 					 enemy_without_shell_selection_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("detect",  detect_type, 		  INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE|K_NOBIND), (K_READ|K_WRITE|K_NOBIND), default_detect_type,      detect_type_callback,CAT_SESSION)
-ARDRONE_CONFIG_KEY_IMM_a10("detect",  detections_select_h, 		  INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE|K_NOBIND), (K_READ|K_WRITE), 0,      detections_select_callback,CAT_SESSION)
-ARDRONE_CONFIG_KEY_IMM_a10("detect",  detections_select_v_hsync,  INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE|K_NOBIND), (K_READ|K_WRITE), 0,      detections_select_callback,CAT_SESSION)
-ARDRONE_CONFIG_KEY_IMM_a10("detect",  detections_select_v, 		  INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE|K_NOBIND), (K_READ|K_WRITE), 0,      detections_select_callback,CAT_SESSION)
-
-ARDRONE_CONFIG_KEY_IMM_a10("syslog",  output,              INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE), 0, (UART_PRINT|WIFI_PRINT|FLASH_PRINT), default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("syslog",  max_size,            INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE), 0, (100*1024),                          default_config_callback,CAT_COMMON)
-ARDRONE_CONFIG_KEY_IMM_a10("syslog",  nb_files,            INI_INT,      int32_t,    int32_t*,    (K_READ|K_WRITE), 0, 5,                                 default_config_callback,CAT_COMMON)
-
-ARDRONE_CONFIG_KEY_STR_a10("userbox", userbox_cmd,   	   INI_STRING,	 string_t,   char*, 	   (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), "0",  userbox_command_config_callback,CAT_SESSION)
-
-ARDRONE_CONFIG_KEY_IMM_a10("gps", 	 latitude,        	  INI_DOUBLE,   float64_t,  float64_t*,  (K_READ|K_WRITE|K_NOBIND), (K_READ|K_WRITE|K_NOBIND),	GPS_INVALID_COORDINATES, 		  	default_config_callback,CAT_SESSION)
-ARDRONE_CONFIG_KEY_IMM_a10("gps", 	 longitude,       	  INI_DOUBLE,   float64_t,  float64_t*,  (K_READ|K_WRITE|K_NOBIND), (K_READ|K_WRITE|K_NOBIND),	GPS_INVALID_COORDINATES, 			default_config_callback,CAT_SESSION)
-ARDRONE_CONFIG_KEY_IMM_a10("gps", 	 altitude,        	  INI_DOUBLE,   float64_t,  float64_t*,  (K_READ|K_WRITE|K_NOBIND), (K_READ|K_WRITE|K_NOBIND),	0.0, 			default_config_callback,CAT_SESSION)
-
-/*- Multi configuration management -*/
-ARDRONE_CONFIG_KEY_STR_a10("custom",  application_id,      INI_STRING,   string_t,    char*,    (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), (K_READ|K_WRITE), DEFAULT_CONFIG_ID,     default_config_callback,CAT_SESSION)
-ARDRONE_CONFIG_KEY_STR_a10("custom",  application_desc,    INI_STRING,   string_t,    char*,    (K_READ|K_WRITE), (K_READ|K_WRITE), DEFAULT_APPLICATION_DESC,          application_desc_callback,CAT_APPLI)
-
-ARDRONE_CONFIG_KEY_STR_a10("custom",  profile_id,          INI_STRING,   string_t,    char*,    (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), (K_READ|K_WRITE), DEFAULT_CONFIG_ID,     default_config_callback,CAT_SESSION)
-ARDRONE_CONFIG_KEY_STR_a10("custom",  profile_desc,        INI_STRING,   string_t,    char*,    (K_READ|K_WRITE),  (K_READ|K_WRITE),                                  DEFAULT_PROFILE_DESC,              profile_desc_callback,CAT_USER)
-
-ARDRONE_CONFIG_KEY_STR_a10("custom",  session_id,          INI_STRING,   string_t,    char*,    (K_READ|K_WRITE|K_NOBIND|K_SHALLOW), (K_READ|K_WRITE), DEFAULT_CONFIG_ID,     default_config_callback,CAT_SESSION)
-ARDRONE_CONFIG_KEY_STR_a10("custom",  session_desc,        INI_STRING,   string_t,    char*,    (K_READ|K_WRITE),  (K_READ|K_WRITE),                                  DEFAULT_SESSION_DESC,              session_desc_callback,CAT_SESSION)
-
-/* Prevents a further inclusion of config_keys from generating garbage code */
-#undef ARDRONE_CONFIG_KEY_IMM_a10
-#undef ARDRONE_CONFIG_KEY_REF_a10
-#undef ARDRONE_CONFIG_KEY_STR_a10
-#undef ARDRONE_CONFIG_KEY_IMM
-#undef ARDRONE_CONFIG_KEY_REF
-#undef ARDRONE_CONFIG_KEY_STR

ARDroneLib/Soft/Common/control_states.h

@@ -1,222 +0,0 @@
-/**
- *  \file     control_states.h
- *  \brief    Control states declaration for control loop & ihm display
- *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.com>
- *  \version  1.0
- */
-
-#ifndef _CONTROL_STATES_H_
-#define _CONTROL_STATES_H_
-
-#ifdef CTRL_STATES_STRING
-typedef char ctrl_string_t[32];
-#endif
-
-// Macros to customize preprocessing
-// If this CTRL_STATES_STRING is not defined, this file declare several enumeration
-// If user defines CTRL_STATES_STRING, this file will define several array of strings.
-// Each string being equivalent to an enumeration entry
-
-#ifdef CTRL_STATES_STRING
-#define CVAR(a) #a  /* Using # causes the first argument after the # to be returned as a string in quotes */
-#define CVARZ(a) #a
-#else
-#define CVARZ(a) a = 0
-#define CVAR(a) a
-#endif
-
-/**
- * \enum  CONTROL_STATE
- * \brief control loop thread states.
- * \brief this defines major states
-*/
-#ifndef DO_NOT_INCLUDE_MAJOR_CTRL_STATES
-#ifdef CTRL_STATES_STRING
-static ctrl_string_t ctrl_states[] = {
-#else
-typedef enum {
-#endif
-  CVARZ( CTRL_DEFAULT ),
-  CVAR( CTRL_INIT ),
-  CVAR( CTRL_LANDED ),
-  CVAR( CTRL_FLYING ),
-  CVAR( CTRL_HOVERING ),
-  CVAR( CTRL_TEST ),
-  CVAR( CTRL_TRANS_TAKEOFF ),
-  CVAR( CTRL_TRANS_GOTOFIX ),
-  CVAR( CTRL_TRANS_LANDING ),
-  CVAR( CTRL_TRANS_LOOPING ),
-  //CVAR( CTRL_TRANS_NO_VISION ),
-#ifndef CTRL_STATES_STRING
-  CTRL_NUM_STATES
-} CTRL_STATES;
-#else
-};
-#endif
-#endif
-
-/**
- * \enum  FLYING_STATES
- * \brief flying states.
- * \brief this is one of the minor state
-*/
-#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
-#ifdef CTRL_STATES_STRING
-static ctrl_string_t flying_states[] = {
-#else
-typedef enum {
-#endif
-  CVARZ( FLYING_OK ),
-  CVAR( FLYING_LOST_ALT ),
-  CVAR( FLYING_LOST_ALT_GO_DOWN ),
-  CVAR( FLYING_ALT_OUT_ZONE ),
-  CVAR( FLYING_COMBINED_YAW ), 
-  CVAR( FLYING_BRAKE ),
-  CVAR( FLYING_NO_VISION )
-  #ifndef CTRL_STATES_STRING
-} FLYING_STATES;
-#else
-};
-#endif
-#endif
-
-/**
- * \enum  HOVERING_STATES
- * \brief flying states.
- * \brief this is one of the minor state
-*/
-#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
-#ifdef CTRL_STATES_STRING
-static ctrl_string_t hovering_states[] = {
-#else
-typedef enum {
-#endif
-  CVARZ( HOVERING_OK ),
-  CVAR( HOVERING_YAW ),
-  CVAR( HOVERING_YAW_LOST_ALT),
-  CVAR( HOVERING_YAW_LOST_ALT_GO_DOWN),
-  CVAR( HOVERING_ALT_OUT_ZONE),
-  CVAR( HOVERING_YAW_ALT_OUT_ZONE),
-  CVAR( HOVERING_LOST_ALT ),
-  CVAR( HOVERING_LOST_ALT_GO_DOWN ),
-  CVAR( HOVERING_LOST_COM ),
-  CVAR( LOST_COM_LOST_ALT ),
-  CVAR( LOST_COM_LOST_ALT_TOO_LONG ),
-  CVAR( LOST_COM_ALT_OK ),
-  CVAR( HOVERING_MAGNETO_CALIB ),
-  CVAR( HOVERING_DEMO )
-#ifndef CTRL_STATES_STRING
-} HOVERING_STATES;
-#else
-};
-#endif
-#endif
-
-/**
- * \enum  TAKEOFF_TRANS_STATES
- * \brief take off states.
- * \brief this is one of the minor state
-*/
-#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
-#ifdef CTRL_STATES_STRING
-static ctrl_string_t takeoff_trans_states[] = {
-#else
-typedef enum {
-#endif
-  CVARZ( TAKEOFF_GROUND ),
-  CVAR( TAKEOFF_AUTO ),
-  #ifndef CTRL_STATES_STRING
-} TAKEOFF_TRANS_STATES;
-#else
-};
-#endif
-#endif
-
-/**
- * \enum  GOTOFIX_TRANS_STATES
- * \brief gotofix substates.
- * \brief this is one of the minor state
-*/
-#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
-#ifdef CTRL_STATES_STRING
-static ctrl_string_t gotofix_trans_states[] = {
-#else
-typedef enum {
-#endif
-  CVARZ( GOTOFIX_OK ),
-  CVAR( GOTOFIX_LOST_ALT ),
-  CVAR( GOTOFIX_YAW ),
-  #ifndef CTRL_STATES_STRING
-} GOTOFIX_TRANS_STATES;
-#else
-};
-#endif
-#endif
-
-/**
- * \enum  LANDING_TRANS_STATES
- * \brief landing states.
- * \brief this is one of the minor state
-*/
-#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
-#ifdef CTRL_STATES_STRING
-static ctrl_string_t landing_trans_states[] = {
-#else
-typedef enum {
-#endif
-  CVARZ( LANDING_CLOSED_LOOP ),
-  CVAR( LANDING_OPEN_LOOP ),
-  CVAR( LANDING_OPEN_LOOP_FAST )
-#ifndef CTRL_STATES_STRING
-} LANDING_TRANS_STATES;
-#else
-};
-#endif
-#endif
-
-/**
- * \enum  TAKEOFF_TRANS_STATES
- * \brief take off states.
- * \brief this is one of the minor state
-*/
-#ifndef DO_NOT_INCLUDE_MINOR_CTRL_STATES
-#ifdef CTRL_STATES_STRING
-static ctrl_string_t looping_trans_states[] = {
-#else
-typedef enum {
-#endif
-	CVARZ( LOOPING_IMPULSION),
-	CVAR( LOOPING_OPEN_LOOP_CTRL ),
-	CVAR( LOOPING_PLANIF_CTRL )
-  #ifndef CTRL_STATES_STRING
-} LOOPING_TRANS_STATES;
-#else
-};
-#endif
-#endif
-
-
-
-
-#ifdef CTRL_STATES_STRING
-#ifndef DO_NOT_INCLUDE_CTRL_STATES_LINK
-/**
- * control link tates
- * \brief This array is used to link minor states & major state's strings
-*/
-static ctrl_string_t* control_states_link[] = {
-  NULL,
-  NULL,
-  NULL,
-  flying_states,
-  hovering_states,
-  NULL,
-  takeoff_trans_states,
-  gotofix_trans_states,
-  landing_trans_states,
-  looping_trans_states
-};
-#endif
-#endif
-
-#endif // _CONTROL_STATES_H_

ARDroneLib/Soft/Common/led_animation.h

@@ -1,47 +0,0 @@
-/******************************************************************************
- *                        COPYRIGHT PARROT 2010
- ******************************************************************************
- *       PARROT                MODULES
- *---------------------------------------------------------------------------*/
-/**
- * @file   leds_animation.h
- * @date   25th February 2010
- * @brief  Data types and functions to communicate with the drone.
- * @author Pierre Eline
- *
- ******************************************************************************/
-
-// LED_ANIMATION(#name, {#nb_cycle,#nb_state,{{#led_pattern1,#delay1},{#led_pattern2,#delay2},{...,...}}})
-// #name = name, example : BLINK
-// #nb_cycle = number of times the animation is played (0 means infinite), example : 3
-// #nb_state = number of led patterns in the animation, example : 2
-// #led_pattern = led bitfield (G1 | R1 | G2 | R2 | G3 | R3 | G4 | R4), example : 0xAA all green led turned on
-// #delay = delay in ms for the associated led pattern, example : 500
-
-LED_ANIMATION(BLINK_GREEN_RED,               { 0,2, { {0x55,500},{0xAA,500} } } )
-LED_ANIMATION(BLINK_GREEN,                   { 0,2, { {0x00,500},{0xAA,500} } } )
-LED_ANIMATION(BLINK_RED,                     { 0,2, { {0x55,500},{0x00,500} } } )
-LED_ANIMATION(BLINK_ORANGE,                  { 0,2, { {0xFF,500},{0x00,500} } } )
-LED_ANIMATION(SNAKE_GREEN_RED,               { 0,8, { {0x90,200},{0x48,200},{0x24,200},{0x12,200},{0x9,200},{0x84,200},{0x42,200},{0x21,200}}})
-LED_ANIMATION(FIRE,                          { 0,2, { {0x35,50},{0xC5,50} } } )
-LED_ANIMATION(STANDARD,                      { 1,1, { {0xA5,100} } } )
-LED_ANIMATION(RED,                           { 1,1, { {0x55,100} } } )
-LED_ANIMATION(GREEN,                         { 1,1, { {0xAA,100} } } )
-LED_ANIMATION(RED_SNAKE,                     { 0,4, { {0x40,500},{0x10,500},{0x04,500},{0x01,500}}})
-LED_ANIMATION(BLANK,                         { 1,1, { {0x00,100} } } )
-LED_ANIMATION(RIGHT_MISSILE,                 { 1,5, { {0x00,500},{0x04,300},{0x1C,100},{0x30,300},{0x00,500}}})
-LED_ANIMATION(LEFT_MISSILE,                  { 1,5, { {0x00,500},{0x01,300},{0x43,100},{0xC0,300},{0x00,500}}})
-LED_ANIMATION(DOUBLE_MISSILE,                { 1,5, { {0x00,500},{0x05,300},{0x5F,100},{0xF0,300},{0x00,500}}})
-LED_ANIMATION(FRONT_LEFT_GREEN_OTHERS_RED,   { 1,1, { {0x95,100} } } )
-LED_ANIMATION(FRONT_RIGHT_GREEN_OTHERS_RED,  { 1,1, { {0x65,100} } } )
-LED_ANIMATION(REAR_RIGHT_GREEN_OTHERS_RED,   { 1,1, { {0x59,100} } } )
-LED_ANIMATION(REAR_LEFT_GREEN_OTHERS_RED,    { 1,1, { {0x56,100} } } )
-LED_ANIMATION(LEFT_GREEN_RIGHT_RED,          { 1,1, { {0x96,100} } } )
-LED_ANIMATION(LEFT_RED_RIGHT_GREEN,          { 1,1, { {0x69,100} } } )
-LED_ANIMATION(BLINK_STANDARD,                { 0,2, { {0x00,500},{0xA5,500} } } )
-
-
-
-
-
-

ARDroneLib/Soft/Common/navdata_common.h

@@ -1,762 +0,0 @@
-/**
- *  \file     navdata_common.h
- *  \brief    Common navdata configuration
- *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.com>
- */
-
-#ifndef _NAVDATA_COMMON_H_
-#define _NAVDATA_COMMON_H_
-
-/*------------------------------------------ NAVDATA STRUCTURES DECLARATIONS ---------------------------------------------------------------*/
-
-#include <config.h>
-#include <vision_common.h>
-
-#include <VP_Os/vp_os_types.h>
-#include <Maths/maths.h>
-#include <Maths/matrices.h>
-
-#if defined(_MSC_VER)
-	#define _ATTRIBUTE_PACKED_
-	/* Asks Visual C++ to pack structures from now on*/
-	#pragma pack(1)
-#else
-	#define _ATTRIBUTE_PACKED_  __attribute__ ((packed))
-#endif
-
-// Define constants for gyrometers handling
-typedef enum {
-  GYRO_X    = 0,
-  GYRO_Y    = 1,
-  GYRO_Z    = 2,
-  NB_GYROS  = 3
-} def_gyro_t;
-
-
-// Define constants for accelerometers handling
-typedef enum {
-  ACC_X   = 0,
-  ACC_Y   = 1,
-  ACC_Z   = 2,
-  NB_ACCS = 3
-} def_acc_t;
-
-/**
- * \struct _velocities_t
- * \brief Velocities in float32_t format
- */
-typedef struct _velocities_t {
-  float32_t x;
-  float32_t y;
-  float32_t z;
-} velocities_t;
-
-// Default control loops gains TODO Put these values in flash memory
-// To avoid divisions in embedded software, gains are defined as ratios where
-//  - the numerator is an integer
-//  - the denominator is an integer
-
-/**
- *  \var     CTRL_DEFAULT_NUM_PQ_KP
- *  \brief   Numerator of default proportionnal gain for pitch (p) and roll (q) angular rate control loops
- */
-/**
- *  \var     CTRL_DEFAULT_NUM_EA_KP
- *  \brief   Numerator of default proportionnal gain for Euler Angle control loops
- */
-/**
- *  \var     CTRL_DEFAULT_NUM_EA_KI
- *  \brief   Numerator of default integral gain for Euler Angle control loops
- */
-
-#define CTRL_DEFAULT_NUM_PQ_KP_NO_SHELL /*30000  26000 */ 40000
-#define CTRL_DEFAULT_NUM_EA_KP_NO_SHELL /*7000  9000  7000 */ 8000
-#define CTRL_DEFAULT_NUM_EA_KI_NO_SHELL /*4000  7000 6000 */ 7000
-
-#define CTRL_DEFAULT_NUM_PQ_KP_SHELL /*30000 23000*/ 40000
-#define CTRL_DEFAULT_NUM_EA_KP_SHELL /*9000 10000*/  9000
-#define CTRL_DEFAULT_NUM_EA_KI_SHELL /*5000 9000*/   8000
-
-/**
- *  \var     CTRL_DEFAULT_NUM_H_R
- *  \brief   Numerator of default proportionnal gain for yaw (r) angular rate control loop
- */
-#define CTRL_DEFAULT_NUM_R_KP 200000
-
-/**
- *  \var     CTRL_DEFAULT_NUM_R_KI
- *  \brief   Numerator of default integral gain for yaw control loops
- */
-#define CTRL_DEFAULT_NUM_R_KI 3000
-
-/**
- *  \var     CTRL_DEFAULT_DEN_W
- *  \brief   Denominator of default proportionnal gain of pitch (p) roll (q) and yaw (r) angular rate control loops
- */
-#define CTRL_DEFAULT_DEN_W 1024.0 //2^10
-
-/**
- *  \var     CTRL_DEFAULT_DEN_EA
- *  \brief   Denominator of default gains for Euler Angle control loops
- */
-#define CTRL_DEFAULT_DEN_EA 1024.0 //2^10
-
-/**
- *  \var     CTRL_DEFAULT_NUM_ALT_KP
- *  \brief   Numerator of default proportionnal gain for Altitude control loop
- */
-#ifdef ALT_CONTROL
-#define CTRL_DEFAULT_NUM_ALT_KP 210
-#else
-#define CTRL_DEFAULT_NUM_ALT_KP 3000
-#endif
-/**
- *  \var     CTRL_DEFAULT_NUM_ALT_KI
- *  \brief   Numerator of default integral gain for Altitude control loop
- */
-#ifdef ALT_CONTROL
-	#define CTRL_DEFAULT_NUM_ALT_KI 100
-#else
-	#define CTRL_DEFAULT_NUM_ALT_KI 400
-#endif
-/**
- *  \var     CTRL_DEFAULT_NUM_ALT_KD
- *  \brief   Numerator of default derivative gain for Altitude control loop
- */
-
-#ifdef ALT_CONTROL
-	#define CTRL_DEFAULT_NUM_VZ_KP 100
-#else
-#define CTRL_DEFAULT_NUM_VZ_KP 200
-#endif
-/**
- *  \var     CTRL_DEFAULT_NUM_ALT_TD
- *  \brief   Numerator of default derivative time constant gain for Altitude control loop
- */
-#define CTRL_DEFAULT_NUM_VZ_KI 100
-
-/**
- *  \var     CTRL_DEFAULT_DEN_ALT
- *  \brief   Denominator of default gains for Altitude control loop
- */
-#define CTRL_DEFAULT_DEN_ALT 1024.0
-
-/**
- *  \var     CTRL_DEFAULT_NUM_HOVER_KP
- *  \brief   Numerator of default proportionnal gain for hovering control loop
- */
-#define CTRL_DEFAULT_NUM_HOVER_KP_SHELL /*5000* 8000*/ 8000
-#define CTRL_DEFAULT_NUM_HOVER_KP_NO_SHELL /*6000 12000 5000*/ 7000
-
-/**
- *  \var     CTRL_DEFAULT_NUM_HOVER_KP
- *  \brief   Numerator of default proportionnal gain for hovering beacon control loop
- */
-#define CTRL_DEFAULT_NUM_HOVER_B_KP_SHELL 1200
-#define CTRL_DEFAULT_NUM_HOVER_B_KP_NO_SHELL 1200
-
-/**
- *  \var     CTRL_DEFAULT_NUM_HOVER_KI
- *  \brief   Numerator of default integral gain for hovering control loop
- */
-#define CTRL_DEFAULT_NUM_HOVER_KI_SHELL /*3000 10000*/ 8000
-#define CTRL_DEFAULT_NUM_HOVER_KI_NO_SHELL /*3000 8000 5000*/ 6000
-
-/**
- *  \var     CTRL_DEFAULT_NUM_HOVER_KI
- *  \brief   Numerator of default integral gain for hovering beacon control loop
- */
-#define CTRL_DEFAULT_NUM_HOVER_B_KI_SHELL 500
-#define CTRL_DEFAULT_NUM_HOVER_B_KI_NO_SHELL 500
-
-/*
- *  \var     CTRL_DEFAULT_DEN_HOVER
- *  \brief   Numerator of default proportionnal gain for hovering control loop
- */
-#define CTRL_DEFAULT_DEN_HOVER 32768.0 //2^15
-
-#define CTRL_DEFAULT_NUM_HOVER_B_KP2_NO_SHELL  22937
-#define CTRL_DEFAULT_NUM_HOVER_B_KI2_NO_SHELL  8192
-#define CTRL_DEFAULT_NUM_HOVER_B_KD2_NO_SHELL  8000
-
-#define CTRL_DEFAULT_NUM_HOVER_B_KP2_SHELL  22937
-#define CTRL_DEFAULT_NUM_HOVER_B_KI2_SHELL  8192
-#define CTRL_DEFAULT_NUM_HOVER_B_KD2_SHELL  8000
-/* Timeout for mayday maneuvers*/
-static const int32_t MAYDAY_TIMEOUT[ARDRONE_NB_ANIM_MAYDAY] = {
-    1000,  // ARDRONE_ANIM_PHI_M30_DEG
-    1000,  // ARDRONE_ANIM_PHI_30_DEG
-    1000,  // ARDRONE_ANIM_THETA_M30_DEG
-    1000,  // ARDRONE_ANIM_THETA_30_DEG
-    1000,  // ARDRONE_ANIM_THETA_20DEG_YAW_200DEG
-    1000,  // ARDRONE_ANIM_THETA_20DEG_YAW_M200DEG
-    5000,  // ARDRONE_ANIM_TURNAROUND
-    5000,  // ARDRONE_ANIM_TURNAROUND_GODOWN
-    2000,  // ARDRONE_ANIM_YAW_SHAKE
-    5000,  // ARDRONE_ANIM_YAW_DANCE
-    5000,  // ARDRONE_ANIM_PHI_DANCE
-    5000,  // ARDRONE_ANIM_THETA_DANCE
-    5000,  // ARDRONE_ANIM_VZ_DANCE
-    5000,  // ARDRONE_ANIM_WAVE
-    5000,  // ARDRONE_ANIM_PHI_THETA_MIXED
-    5000,  // ARDRONE_ANIM_DOUBLE_PHI_THETA_MIXED
-    15,  // ARDRONE_ANIM_FLIP_AHEAD
-    15,  // ARDRONE_ANIM_FLIP_BEHIND
-    15,  // ARDRONE_ANIM_FLIP_LEFT
-    15,  // ARDRONE_ANIM_FLIP_RIGHT
-};
-
-#define NAVDATA_SEQUENCE_DEFAULT  1
-
-#define NAVDATA_HEADER  0x55667788
-
-#define NAVDATA_MAX_SIZE 2048
-#define NAVDATA_MAX_CUSTOM_TIME_SAVE 20
-
-/* !!! Warning !!! - changing the value below would break compatibility with older applications
- * DO NOT CHANGE THIS  */
-#define NB_NAVDATA_DETECTION_RESULTS 4
-
-
-/**
- * @brief Tags identifying navdata blocks in a Navdata UDP packet
- * This tag is stored in the first two bytes of any navdata block (aka 'option').
- */
-
-#define NAVDATA_OPTION_DEMO(STRUCTURE,NAME,TAG)  TAG = 0,
-#define NAVDATA_OPTION(STRUCTURE,NAME,TAG)       TAG ,
-#define NAVDATA_OPTION_CKS(STRUCTURE,NAME,TAG)   NAVDATA_NUM_TAGS, TAG = 0xFFFF
-
-typedef enum _navdata_tag_t {
-	#include <navdata_keys.h>
-} navdata_tag_t;
-
-#define NAVDATA_OPTION_MASK(option) ( 1 << (option) )
-#define NAVDATA_OPTION_FULL_MASK    ((1<<NAVDATA_NUM_TAGS)-1)
-
-
-typedef struct _navdata_option_t {
-  uint16_t  tag;
-  uint16_t  size;
-#if defined _MSC_VER || defined (__ARMCC_VERSION)
-  /* Do not use flexible arrays (C99 feature) with these compilers */
-  uint8_t   data[1];
-#else
-  uint8_t   data[];
-#endif
-} navdata_option_t;
-
-
-/**
- * @brief Navdata structure sent over the network.
- */
-typedef struct _navdata_t {
-  uint32_t    header;			/*!< Always set to NAVDATA_HEADER */
-  uint32_t    ardrone_state;    /*!< Bit mask built from def_ardrone_state_mask_t */
-  uint32_t    sequence;         /*!< Sequence number, incremented for each sent packet */
-  bool_t      vision_defined;
-
-  navdata_option_t  options[1];
-}_ATTRIBUTE_PACKED_ navdata_t;
-
-
-/**
- * All navdata options can be extended (new values AT THE END) except navdata_demo whose size must be constant across versions
- * New navdata options may be added, but must not be sent in navdata_demo mode unless requested by navdata_options.
- */
-
-/*----------------------------------------------------------------------------*/
-/**
- * @brief Minimal navigation data for all flights.
- */
-typedef struct _navdata_demo_t {
-  uint16_t    tag;					  /*!< Navdata block ('option') identifier */
-  uint16_t    size;					  /*!< set this to the size of this structure */
-
-  uint32_t    ctrl_state;             /*!< Flying state (landed, flying, hovering, etc.) defined in CTRL_STATES enum. */
-  uint32_t    vbat_flying_percentage; /*!< battery voltage filtered (mV) */
-
-  float32_t   theta;                  /*!< UAV's pitch in milli-degrees */
-  float32_t   phi;                    /*!< UAV's roll  in milli-degrees */
-  float32_t   psi;                    /*!< UAV's yaw   in milli-degrees */
-
-  int32_t     altitude;               /*!< UAV's altitude in centimeters */
-
-  float32_t   vx;                     /*!< UAV's estimated linear velocity */
-  float32_t   vy;                     /*!< UAV's estimated linear velocity */
-  float32_t   vz;                     /*!< UAV's estimated linear velocity */
-
-  uint32_t    num_frames;			  /*!< streamed frame index */ // Not used -> To integrate in video stage.
-
-  // Camera parameters compute by detection
-  matrix33_t  detection_camera_rot;   /*!<  Deprecated ! Don't use ! */
-  vector31_t  detection_camera_trans; /*!<  Deprecated ! Don't use ! */
-  uint32_t	  detection_tag_index;    /*!<  Deprecated ! Don't use ! */
-
-  uint32_t	  detection_camera_type;  /*!<  Type of tag searched in detection */
-
-  // Camera parameters compute by drone
-  matrix33_t  drone_camera_rot;		  /*!<  Deprecated ! Don't use ! */
-  vector31_t  drone_camera_trans;	  /*!<  Deprecated ! Don't use ! */
-}_ATTRIBUTE_PACKED_ navdata_demo_t;
-
-
-
-/*----------------------------------------------------------------------------*/
-/**
- * @brief Last navdata option that *must* be included at the end of all navdata packets
- * + 6 bytes
- */
-typedef struct _navdata_cks_t {
-  uint16_t  tag;
-  uint16_t  size;
-
-  // Checksum for all navdatas (including options)
-  uint32_t  cks;
-}_ATTRIBUTE_PACKED_ navdata_cks_t;
-
-
-/*----------------------------------------------------------------------------*/
-/**
- * @brief Timestamp
- * + 6 bytes
- */
-typedef struct _navdata_time_t {
-  uint16_t  tag;
-  uint16_t  size;
-
-  uint32_t  time;  /*!< 32 bit value where the 11 most significant bits represents the seconds, and the 21 least significant bits are the microseconds. */
-}_ATTRIBUTE_PACKED_ navdata_time_t;
-
-
-
-/*----------------------------------------------------------------------------*/
-/**
- * @brief Raw sensors measurements
- */
-typedef struct _navdata_raw_measures_t {
-  uint16_t  tag;
-  uint16_t  size;
-
-  // +12 bytes
-  uint16_t  raw_accs[NB_ACCS];    // filtered accelerometers
-  int16_t   raw_gyros[NB_GYROS];  // filtered gyrometers
-  int16_t   raw_gyros_110[2];     // gyrometers  x/y 110 deg/s
-  uint32_t  vbat_raw;             // battery voltage raw (mV)
-  uint16_t  us_debut_echo;
-  uint16_t  us_fin_echo;
-  uint16_t  us_association_echo;
-  uint16_t  us_distance_echo;
-  uint16_t  us_courbe_temps;
-  uint16_t  us_courbe_valeur;
-  uint16_t  us_courbe_ref;
-  uint16_t  flag_echo_ini;
-  // TODO:   uint16_t  frame_number; // from ARDrone_Magneto
-  uint16_t  nb_echo;
-  uint32_t  sum_echo;
-  int32_t   alt_temp_raw;
-
-  int16_t   gradient;
-}_ATTRIBUTE_PACKED_ navdata_raw_measures_t;
-
-// split next struc into magneto_navdata_t and pressure_navdata_t
-typedef struct _navdata_pressure_raw_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  int32_t   up;
-  int16_t   ut;
-  int32_t   Temperature_meas;
-  int32_t   Pression_meas;
-}_ATTRIBUTE_PACKED_ navdata_pressure_raw_t;
-
-typedef struct _navdata_magneto_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  int16_t   	mx;
-  int16_t   	my;
-  int16_t   	mz;
-  vector31_t 	magneto_raw;       // magneto in the body frame, in mG
-  vector31_t 	magneto_rectified;
-  vector31_t 	magneto_offset;
-  float32_t 	heading_unwrapped;
-  float32_t 	heading_gyro_unwrapped;
-  float32_t 	heading_fusion_unwrapped;
-  char 			magneto_calibration_ok;
-  uint32_t      magneto_state;
-  float32_t 	magneto_radius;
-  float32_t     error_mean;
-  float32_t     error_var;
-
-}_ATTRIBUTE_PACKED_ navdata_magneto_t;
-
-typedef struct _navdata_wind_speed_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  float32_t wind_speed;
-  float32_t wind_angle;
-  float32_t wind_compensation_theta;
-  float32_t wind_compensation_phi;
-  float32_t state_x1;
-  float32_t state_x2;
-  float32_t state_x3;
-  float32_t state_x4;
-  float32_t state_x5;
-  float32_t state_x6;
-  float32_t magneto_debug1;
-  float32_t magneto_debug2;
-  float32_t magneto_debug3;
-}_ATTRIBUTE_PACKED_ navdata_wind_speed_t;
-
-typedef struct _navdata_kalman_pressure_t{
-  uint16_t   tag;
-  uint16_t   size;
-
-  float32_t offset_pressure;
-  float32_t est_z;
-  float32_t est_zdot;
-  float32_t est_bias_PWM;
-  float32_t est_biais_pression;
-  float32_t offset_US;
-  float32_t prediction_US;
-  float32_t cov_alt;
-  float32_t cov_PWM;
-  float32_t cov_vitesse;
-  bool_t    bool_effet_sol;
-  float32_t somme_inno;
-  bool_t    flag_rejet_US;
-  float32_t u_multisinus;
-  float32_t gaz_altitude;
-  bool_t    Flag_multisinus;
-  bool_t    Flag_multisinus_debut;
-}_ATTRIBUTE_PACKED_ navdata_kalman_pressure_t;
-
-// TODO: depreciated struct ? remove it ?
-typedef struct navdata_zimmu_3000_t {
-uint16_t   tag;
-uint16_t   size;
-
-	int32_t vzimmuLSB;
-	float32_t vzfind;
-
-}_ATTRIBUTE_PACKED_ navdata_zimmu_3000_t;
-
-typedef struct _navdata_phys_measures_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  float32_t   accs_temp;
-  uint16_t    gyro_temp;
-  float32_t   phys_accs[NB_ACCS];
-  float32_t   phys_gyros[NB_GYROS];
-  uint32_t    alim3V3;              // 3.3volt alim [LSB]
-  uint32_t    vrefEpson;            // ref volt Epson gyro [LSB]
-  uint32_t    vrefIDG;              // ref volt IDG gyro [LSB]
-}_ATTRIBUTE_PACKED_ navdata_phys_measures_t;
-
-
-typedef struct _navdata_gyros_offsets_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  float32_t offset_g[NB_GYROS];
-}_ATTRIBUTE_PACKED_ navdata_gyros_offsets_t;
-
-
-typedef struct _navdata_euler_angles_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  float32_t   theta_a;
-  float32_t   phi_a;
-}_ATTRIBUTE_PACKED_ navdata_euler_angles_t;
-
-
-typedef struct _navdata_references_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  int32_t   ref_theta;
-  int32_t   ref_phi;
-  int32_t   ref_theta_I;
-  int32_t   ref_phi_I;
-  int32_t   ref_pitch;
-  int32_t   ref_roll;
-  int32_t   ref_yaw;
-  int32_t   ref_psi;
-
-  float32_t vx_ref;
-	float32_t vy_ref;
-	float32_t theta_mod;
-	float32_t phi_mod;
-
-	float32_t k_v_x;
-	float32_t k_v_y;
-	uint32_t  k_mode;
-
-	float32_t ui_time;
-	float32_t ui_theta;
-	float32_t ui_phi;
-	float32_t ui_psi;
-	float32_t ui_psi_accuracy;
-	int32_t ui_seq;
-
-}_ATTRIBUTE_PACKED_ navdata_references_t;
-
-
-typedef struct _navdata_trims_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  float32_t angular_rates_trim_r;
-  float32_t euler_angles_trim_theta;
-  float32_t euler_angles_trim_phi;
-}_ATTRIBUTE_PACKED_ navdata_trims_t;
-
-typedef struct _navdata_rc_references_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  int32_t    rc_ref_pitch;
-  int32_t    rc_ref_roll;
-  int32_t    rc_ref_yaw;
-  int32_t    rc_ref_gaz;
-  int32_t    rc_ref_ag;
-}_ATTRIBUTE_PACKED_ navdata_rc_references_t;
-
-
-typedef struct _navdata_pwm_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  uint8_t     motor1;
-  uint8_t     motor2;
-  uint8_t     motor3;
-  uint8_t     motor4;
-  uint8_t	  sat_motor1;
-  uint8_t	  sat_motor2;
-  uint8_t	  sat_motor3;
-  uint8_t	  sat_motor4;
-  float32_t   gaz_feed_forward;
-  float32_t   gaz_altitude;
-  float32_t   altitude_integral;
-  float32_t   vz_ref;
-  int32_t     u_pitch;
-  int32_t     u_roll;
-  int32_t     u_yaw;
-  float32_t   yaw_u_I;
-  int32_t     u_pitch_planif;
-  int32_t     u_roll_planif;
-  int32_t     u_yaw_planif;
-  float32_t   u_gaz_planif;
-  uint16_t    current_motor1;
-  uint16_t    current_motor2;
-  uint16_t    current_motor3;
-  uint16_t    current_motor4;
-	//WARNING: new navdata (FC 26/07/2011)
-	float32_t 	altitude_prop;
-	float32_t 	altitude_der;
-}_ATTRIBUTE_PACKED_ navdata_pwm_t;
-
-
-typedef struct _navdata_altitude_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  int32_t   altitude_vision;
-  float32_t altitude_vz;
-  int32_t   altitude_ref;
-  int32_t   altitude_raw;
-
-	float32_t		obs_accZ;
-	float32_t 	obs_alt;
-	vector31_t 	obs_x;
-	uint32_t 		obs_state;
-	vector21_t	est_vb;
-	uint32_t 		est_state ;
-
-}_ATTRIBUTE_PACKED_ navdata_altitude_t;
-
-
-typedef struct _navdata_vision_raw_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  float32_t vision_tx_raw;
-  float32_t vision_ty_raw;
-  float32_t vision_tz_raw;
-}_ATTRIBUTE_PACKED_ navdata_vision_raw_t;
-
-
-typedef struct _navdata_vision_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  uint32_t   vision_state;
-  int32_t    vision_misc;
-  float32_t  vision_phi_trim;
-  float32_t  vision_phi_ref_prop;
-  float32_t  vision_theta_trim;
-  float32_t  vision_theta_ref_prop;
-
-  int32_t    new_raw_picture;
-  float32_t  theta_capture;
-  float32_t  phi_capture;
-  float32_t  psi_capture;
-  int32_t    altitude_capture;
-  uint32_t   time_capture;     // time in TSECDEC format (see config.h)
-  velocities_t body_v;
-
-  float32_t  delta_phi;
-  float32_t  delta_theta;
-  float32_t  delta_psi;
-
-	uint32_t  gold_defined;
-	uint32_t  gold_reset;
-	float32_t gold_x;
-	float32_t gold_y;
-}_ATTRIBUTE_PACKED_ navdata_vision_t;
-
-
-typedef struct _navdata_vision_perf_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  // +44 bytes
-  float32_t  time_szo;
-  float32_t  time_corners;
-  float32_t  time_compute;
-  float32_t  time_tracking;
-  float32_t  time_trans;
-  float32_t  time_update;
-	float32_t  time_custom[NAVDATA_MAX_CUSTOM_TIME_SAVE];
-}_ATTRIBUTE_PACKED_ navdata_vision_perf_t;
-
-
-typedef struct _navdata_trackers_send_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  int32_t locked[DEFAULT_NB_TRACKERS_WIDTH * DEFAULT_NB_TRACKERS_HEIGHT];
-  screen_point_t point[DEFAULT_NB_TRACKERS_WIDTH * DEFAULT_NB_TRACKERS_HEIGHT];
-}_ATTRIBUTE_PACKED_ navdata_trackers_send_t;
-
-
-typedef struct _navdata_vision_detect_t {
-	/* !! Change the function 'navdata_server_reset_vision_detect()' if this structure is modified !! */
-  uint16_t   tag;
-  uint16_t   size;
-
-  uint32_t   nb_detected;
-  uint32_t   type[NB_NAVDATA_DETECTION_RESULTS];
-  uint32_t   xc[NB_NAVDATA_DETECTION_RESULTS];
-  uint32_t   yc[NB_NAVDATA_DETECTION_RESULTS];
-  uint32_t   width[NB_NAVDATA_DETECTION_RESULTS];
-  uint32_t   height[NB_NAVDATA_DETECTION_RESULTS];
-  uint32_t   dist[NB_NAVDATA_DETECTION_RESULTS];
-  float32_t  orientation_angle[NB_NAVDATA_DETECTION_RESULTS];
-  matrix33_t rotation[NB_NAVDATA_DETECTION_RESULTS];
-  vector31_t translation[NB_NAVDATA_DETECTION_RESULTS];
-  uint32_t   camera_source[NB_NAVDATA_DETECTION_RESULTS];
-}_ATTRIBUTE_PACKED_ navdata_vision_detect_t;
-
-typedef struct _navdata_vision_of_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  float32_t   of_dx[5];
-  float32_t   of_dy[5];
-}_ATTRIBUTE_PACKED_ navdata_vision_of_t;
-
-
-typedef struct _navdata_watchdog_t {
-  uint16_t   tag;
-  uint16_t   size;
-
-  // +4 bytes
-  int32_t    watchdog;
-}_ATTRIBUTE_PACKED_ navdata_watchdog_t;
-
-typedef struct _navdata_adc_data_frame_t {
-  uint16_t  tag;
-  uint16_t  size;
-
-  uint32_t  version;
-  uint8_t   data_frame[32];
-}_ATTRIBUTE_PACKED_ navdata_adc_data_frame_t;
-
-typedef struct _navdata_video_stream_t {
-  uint16_t  tag;
-  uint16_t  size;
-
-  uint8_t 	quant;			// quantizer reference used to encode frame [1:31]
-  uint32_t	frame_size;		// frame size (bytes)
-  uint32_t	frame_number;	// frame index
-  uint32_t	atcmd_ref_seq;  // atmcd ref sequence number
-  uint32_t	atcmd_mean_ref_gap;	// mean time between two consecutive atcmd_ref (ms)
-  float32_t atcmd_var_ref_gap;
-  uint32_t	atcmd_ref_quality; // estimator of atcmd link quality
-
-  // drone2
-  uint32_t  out_bitrate;     // measured out throughput from the video tcp socket
-  uint32_t  desired_bitrate; // last frame size generated by the video encoder
-
-  // misc temporary data
-  int32_t  data1;
-  int32_t  data2;
-  int32_t  data3;
-  int32_t  data4;
-  int32_t  data5;
-
-  // queue usage
-  uint32_t tcp_queue_level;
-  uint32_t fifo_queue_level;
-
-}_ATTRIBUTE_PACKED_ navdata_video_stream_t;
-
-typedef enum
-{
-	NAVDATA_HDVIDEO_STORAGE_FIFO_IS_FULL = (1<<0),
-	NAVDATA_HDVIDEO_USBKEY_IS_PRESENT   = (1<<8),
-	NAVDATA_HDVIDEO_USBKEY_IS_RECORDING = (1<<9),
-	NAVDATA_HDVIDEO_USBKEY_IS_FULL      = (1<<10)
-}_navdata_hdvideo_states_t;
-
-
-typedef struct _navdata_hdvideo_stream_t {
-  uint16_t  tag;
-  uint16_t  size;
-
-  uint32_t hdvideo_state;
-  uint32_t storage_fifo_nb_packets;
-  uint32_t storage_fifo_size;
-  uint32_t usbkey_size;         /*! USB key in kbytes - 0 if no key present */
-  uint32_t usbkey_freespace;    /*! USB key free space in kbytes - 0 if no key present */
-  uint32_t frame_number;        /*! 'frame_number' PaVE field of the frame starting to be encoded for the HD stream */
-  uint32_t usbkey_remaining_time; /*! time in seconds */
-
-}_ATTRIBUTE_PACKED_ navdata_hdvideo_stream_t;
-
-
-typedef struct _navdata_games_t {
-  uint16_t  tag;
-  uint16_t  size;
-  uint32_t  double_tap_counter;
-  uint32_t  finish_line_counter;
-}_ATTRIBUTE_PACKED_ navdata_games_t;
-
-typedef struct _navdata_wifi_t {
-  uint16_t  tag;
-  uint16_t  size;
-  uint32_t link_quality;
-}_ATTRIBUTE_PACKED_  navdata_wifi_t;
-
-#if defined(_MSC_VER)
-	/* Go back to default packing policy */
-	#pragma pack()
-#endif
-
-#endif // _NAVDATA_COMMON_H_
-

ARDroneLib/Soft/Common/navdata_keys.h

@@ -1,49 +0,0 @@
-#ifndef NAVDATA_OPTION_DEMO
-	#define NAVDATA_OPTION_DEMO(x,y,z)
-#endif
-#ifndef NAVDATA_OPTION
-	#define NAVDATA_OPTION(x,y,z)
-#endif
-#ifndef NAVDATA_OPTION_CKS
-	#define NAVDATA_OPTION_CKS(x,y,z)
-#endif
-
-
-NAVDATA_OPTION_DEMO ( navdata_demo_t , navdata_demo , NAVDATA_DEMO_TAG)
-
-NAVDATA_OPTION( navdata_time_t,           navdata_time            , NAVDATA_TIME_TAG             )
-NAVDATA_OPTION( navdata_raw_measures_t,   navdata_raw_measures    , NAVDATA_RAW_MEASURES_TAG     )
-NAVDATA_OPTION( navdata_phys_measures_t,  navdata_phys_measures   , NAVDATA_PHYS_MEASURES_TAG    )
-NAVDATA_OPTION( navdata_gyros_offsets_t,  navdata_gyros_offsets   , NAVDATA_GYROS_OFFSETS_TAG    )
-NAVDATA_OPTION( navdata_euler_angles_t,   navdata_euler_angles    , NAVDATA_EULER_ANGLES_TAG     )
-NAVDATA_OPTION( navdata_references_t,     navdata_references      , NAVDATA_REFERENCES_TAG       )
-NAVDATA_OPTION( navdata_trims_t,          navdata_trims           , NAVDATA_TRIMS_TAG            )
-NAVDATA_OPTION( navdata_rc_references_t,  navdata_rc_references   , NAVDATA_RC_REFERENCES_TAG    )
-NAVDATA_OPTION( navdata_pwm_t,            navdata_pwm             , NAVDATA_PWM_TAG              )
-NAVDATA_OPTION( navdata_altitude_t,       navdata_altitude        , NAVDATA_ALTITUDE_TAG         )
-NAVDATA_OPTION( navdata_vision_raw_t,     navdata_vision_raw      , NAVDATA_VISION_RAW_TAG       )
-NAVDATA_OPTION( navdata_vision_of_t,      navdata_vision_of       , NAVDATA_VISION_OF_TAG        )
-NAVDATA_OPTION( navdata_vision_t,         navdata_vision          , NAVDATA_VISION_TAG           )
-NAVDATA_OPTION( navdata_vision_perf_t ,   navdata_vision_perf     , NAVDATA_VISION_PERF_TAG      )
-NAVDATA_OPTION( navdata_trackers_send_t,  navdata_trackers_send   , NAVDATA_TRACKERS_SEND_TAG    )
-NAVDATA_OPTION( navdata_vision_detect_t,  navdata_vision_detect   , NAVDATA_VISION_DETECT_TAG    )
-NAVDATA_OPTION( navdata_watchdog_t  ,     navdata_watchdog        , NAVDATA_WATCHDOG_TAG         )
-NAVDATA_OPTION( navdata_adc_data_frame_t, navdata_adc_data_frame  , NAVDATA_ADC_DATA_FRAME_TAG   )
-NAVDATA_OPTION( navdata_video_stream_t,   navdata_video_stream    , NAVDATA_VIDEO_STREAM_TAG     )
-NAVDATA_OPTION( navdata_games_t,          navdata_games           , NAVDATA_GAMES_TAG            )
-NAVDATA_OPTION( navdata_pressure_raw_t,   navdata_pressure_raw    , NAVDATA_PRESSURE_RAW_TAG		 )
-NAVDATA_OPTION( navdata_magneto_t,       	navdata_magneto					, NAVDATA_MAGNETO_TAG					 )
-NAVDATA_OPTION( navdata_wind_speed_t,     navdata_wind_speed      , NAVDATA_WIND_TAG						 )
-NAVDATA_OPTION( navdata_kalman_pressure_t,navdata_kalman_pressure	, NAVDATA_KALMAN_PRESSURE_TAG	 )
-NAVDATA_OPTION( navdata_hdvideo_stream_t ,navdata_hdvideo_stream  , NAVDATA_HDVIDEO_STREAM_TAG	 )
-NAVDATA_OPTION( navdata_wifi_t           ,navdata_wifi            , NAVDATA_WIFI_TAG             )
-
-
-// TODO: maybe navdata_zimmu_3000 coult be integrated into an existing navdata like navdata_adc_data_frame_t or ...
-NAVDATA_OPTION( navdata_zimmu_3000_t,     navdata_zimmu_3000      , NAVDATA_ZIMMU_3000_TAG       )
-
-NAVDATA_OPTION_CKS( navdata_cks_t,        navdata_cks             , NAVDATA_CKS_TAG    )
-
-#undef NAVDATA_OPTION_DEMO
-#undef NAVDATA_OPTION
-#undef NAVDATA_OPTION_CKS

ARDroneLib/Soft/Common/video_encapsulation.h

@@ -1,85 +0,0 @@
-#ifndef _PARROT_VIDEO_ENCAPSULATION_H_
-#define _PARROT_VIDEO_ENCAPSULATION_H_
-
-#include <VP_Os/vp_os_types.h>
-
-typedef enum { 
-	CODEC_UNKNNOWN=0,
-	CODEC_VLIB,
-	CODEC_P264,
-	CODEC_MPEG4_VISUAL,
-	CODEC_MPEG4_AVC
-}parrot_video_encapsulation_codecs_t;
-
-
-typedef enum {
-	FRAME_TYPE_UNKNNOWN=0,
-	FRAME_TYPE_IDR_FRAME, /* headers followed by I-frame */
-	FRAME_TYPE_I_FRAME,
-	FRAME_TYPE_P_FRAME,
-	FRAME_TYPE_HEADERS
-}parrot_video_encapsulation_frametypes_t;
-
-typedef enum {
-  PAVE_CTRL_FRAME_DATA           =0,            /* The PaVE is followed by video data */
-  PAVE_CTRL_FRAME_ADVERTISEMENT  =(1<<0),     /* The PaVE is not followed by any data. Used to announce a frame which will be sent on the other socket later. */
-  PAVE_CTRL_LAST_FRAME_IN_STREAM =(1<<1),    /* Announces the position of the last frame in the current stream */
-}parrot_video_encapsulation_control_t;
-
-/* Please keep this structure size a multiple of 8 or 16 */
-/*
- * Please keep 16-bit words aligned on 16-bit boundaries
- * and keep 32-bit words aligned on 32-bit boundaries
- */
- 
-/*
-
-*/
-
-#define PAVE_CURRENT_VERSION (2)
-
-typedef struct {
-  /*00*/ uint8_t  signature[4];
-  /*04*/ uint8_t  version;
-  /*05*/ uint8_t  video_codec;
-  /*06*/ uint16_t header_size;
-  /*08*/ uint32_t payload_size;             /* Amount of data following this PaVE */
-  /*12*/ uint16_t encoded_stream_width;     /* ex: 640 */
-  /*14*/ uint16_t encoded_stream_height;    /* ex: 368 */
-  /*16*/ uint16_t display_width;            /* ex: 640 */
-  /*18*/ uint16_t display_height;           /* ex: 360 */
-  /*20*/ uint32_t frame_number;             /* frame position inside the current stream */
-  /*24*/ uint32_t timestamp;                /* in milliseconds */
-  /*28*/ uint8_t  total_chuncks;            /* number of UDP packets containing the current decodable payload */
-  /*29*/ uint8_t  chunck_index ;            /* position of the packet - first chunk is #0 */
-  /*30*/ uint8_t  frame_type;               /* I-frame, P-frame */
-  /*31*/ uint8_t  control;                  /* Special commands like end-of-stream or advertised frames */
-  /*32*/ uint32_t stream_byte_position_lw;  /* Byte position of the current payload in the encoded stream  - lower 32-bit word */
-  /*36*/ uint32_t stream_byte_position_uw;  /* Byte position of the current payload in the encoded stream  - upper 32-bit word */
-  /*40*/ uint16_t stream_id;                /* This ID indentifies packets that should be recorded together */
-  /*42*/ uint8_t  total_slices;             /* number of slices composing the current frame */
-  /*43*/ uint8_t  slice_index ;             /* position of the current slice in the frame */
-  /*44*/ uint8_t  header1_size;             /* H.264 only : size of SPS inside payload - no SPS present if value is zero */
-  /*45*/ uint8_t  header2_size;             /* H.264 only : size of PPS inside payload - no PPS present if value is zero */
-  /*46*/ uint8_t  reserved2[2];             /* Padding to align on 48 bytes */
-  /*48*/ uint32_t advertised_size;          /* Size of frames announced as advertised frames */
-  /*52*/ uint8_t  reserved3[12];            /* Padding to align on 64 bytes */
-} __attribute__ ((packed)) parrot_video_encapsulation_t;
-
-/* PaVE signature represented as a 32-bit integer in little and big endian */
-#define PAVE_INT32LE_SIGNATURE (0x45566150)
-#define PAVE_INT32BE_SIGNATURE (0x50615645)
-
-#define PAVE_CHECK(x) ( (*((uint32_t*)(x)))==PAVE_INT32LE_SIGNATURE )
-
-typedef enum
-{
-	PAVE_STREAM_ID_SUFFIX_MP4_360p = 0,
-	PAVE_STREAM_ID_SUFFIX_H264_360p = 1,
-	PAVE_STREAM_ID_SUFFIX_H264_720p = 2
-}parrot_video_encapsulation_stream_id_suffixes_t;
-
-C_RESULT init_parrot_video_encapsulation_header(parrot_video_encapsulation_t * header);
-int pave_is_same_frame(parrot_video_encapsulation_t * header1 , parrot_video_encapsulation_t * header2 );
-void dumpPave (parrot_video_encapsulation_t *PaVE);
-#endif

ARDroneLib/Soft/Common/vision_common.h

@@ -1,42 +0,0 @@
-#ifndef _VISION_COMMON_H_
-#define _VISION_COMMON_H_
-
-// NUMBER OF TRACKERS FOR EACH TRACKING
-#define NB_CORNER_TRACKERS_WIDTH    5      /* number of trackers in width of current picture */
-#define NB_CORNER_TRACKERS_HEIGHT   4      /* number of trackers in height of current picture */
-
-#define DEFAULT_NB_TRACKERS_WIDTH    (NB_CORNER_TRACKERS_WIDTH+1)// + NB_BLOCK_TRACKERS_WIDTH)
-#define DEFAULT_NB_TRACKERS_HEIGHT   (NB_CORNER_TRACKERS_HEIGHT+1)// + NB_BLOCK_TRACKERS_HEIGHT)
-
-#define YBUF_OFFSET                 0
-
-// use by ihm/ihm_vision.c
-#define DEFAULT_CS                  1
-#define DEFAULT_NB_PAIRS            1
-#define DEFAULT_LOSS_PER            1
-#define DEFAULT_SCALE               1
-#define DEFAULT_TRANSLATION_MAX     1
-#define DEFAULT_MAX_PAIR_DIST       1
-#define DEFAULT_NOISE               1
-
-typedef enum _CAMIF_CAMERA_ENUM_
-{
-  CAMIF_CAMERA_LB=0,
-
-  CAMIF_CAMERA_CRESYN,
-  CAMIF_CAMERA_VS6524,
-  CAMIF_CAMERA_OV7710,
-  CAMIF_CAMERA_OV7720,
-  CAMIF_CAMERA_OVTRULY,
-  CAMIF_CAMERA_OVTRULY_UPSIDE_DOWN_ONE_BLOCKLINE_LESS,
-  CAMIF_CAMERA_FILE,
-  CAMIF_CAMERA_OV7670,
-  CAMIF_CAMERA_OV9740,
-  CAMIF_CAMERA_SOC1040,
-
-  CAMIF_CAMERA_UB
-}
-CAMIF_CAMERA;
-
-#endif //_VISION_COMMON_H
-

ARDroneLib/Soft/Lib/Build/Makefile

@@ -1,182 +0,0 @@
-NO_COLOR=\033[0m
-OK_COLOR=\033[32;01m
-
-ifdef ARDRONE_CUSTOM_CONFIG 
-  ifdef ARDRONE_BUILD_CONFIG
-    include $(ARDRONE_CUSTOM_CONFIG)
-    include $(ARDRONE_BUILD_CONFIG)
-  else
-    include ../../Build/custom.makefile
-    include ../../Build/config.makefile
-  endif
-else
-  include ../../Build/custom.makefile
-  include ../../Build/config.makefile
-endif
-
-LIB_ID=ardrone
-ifeq ($(USE_ARDRONE_TOOL),no)
-LIB_ID:=$(LIB_ID)_notool
-endif
-GENERIC_TARGET_LIBRARY:=lib$(TARGET)$(LIB_ID).a
-
-GENERIC_CFLAGS+=-DAT_MESSAGES_HEADER="\"$(COMMON_DIR)/at_msgs.h\""
-GENERIC_CFLAGS+=-DUSE_NEW_ATCODEC
-
-ifeq ("$(USE_CHECK_WIFI_CONFIG)","yes")
-   GENERIC_CFLAGS+=-DCHECK_WIFI_CONFIG
-endif
-
-SDK_FLAGS+="USE_APP=no"
-SDK_FLAGS+="USE_LIB=yes"
-SDK_FLAGS+="LIB_ID=ardrone_lib"
-
-MATHS_DIR=Maths
-CONTROL_DIR=Control
-ARDRONE_TOOL_DIR=ardrone_tool
-UTILS_DIR=utils
-INIPARSER_DIR=iniparser3.0b/src
-LIBCALIBRATION_DIR=libCalibration
-
-GENERIC_LIBRARY_SOURCE_FILES+=                          \
-  $(INIPARSER_DIR)/iniparser.c                          \
-  $(INIPARSER_DIR)/dictionary.c                         \
-  $(MATHS_DIR)/filter.c                                 \
-  $(MATHS_DIR)/maths.c                                  \
-  $(MATHS_DIR)/matrices.c                               \
-  $(MATHS_DIR)/matrix3d.c                               \
-  $(MATHS_DIR)/quaternions.c                            \
-  $(MATHS_DIR)/time.c                                   \
-  $(MATHS_DIR)/vision_math.c                            \
-  $(ARDRONE_TOOL_DIR)/Navdata/navdata.c                 \
-  $(ARDRONE_TOOL_DIR)/config_keys.c                     \
-  $(ARDRONE_TOOL_DIR)/ardrone_version.c                 \
-  $(UTILS_DIR)/ardrone_time.c 							\
-  $(UTILS_DIR)/ardrone_date.c 							\
-  $(UTILS_DIR)/ardrone_crc_32.c                         \
-  $(UTILS_DIR)/ardrone_gen_ids.c                        \
-  $(UTILS_DIR)/ardrone_ftp.c							\
-  $(ARDRONE_TOOL_DIR)/Video/video_encapsulation.c 
-
-# The following files are needed to record video on the drone's flash memory
-GENERIC_LIBRARY_SOURCE_FILES+=                          \
-  $(UTILS_DIR)/ardrone_video_atoms.c                    \
-  $(UTILS_DIR)/ardrone_video_encapsuler.c               \
-  $(ARDRONE_TOOL_DIR)/Video/video_stage_encoded_recorder.c
-
-ifneq ($(ELINUX_TARGET),yes)
-#Controller only files
-GENERIC_LIBRARY_SOURCE_FILES+= \
-  $(ARDRONE_TOOL_DIR)/Video/video_stage_tcp.c           \
-  $(ARDRONE_TOOL_DIR)/Video/video_stage_merge_slices.c  \
-  $(ARDRONE_TOOL_DIR)/Video/video_stage_latency_estimation.c \
-  $(UTILS_DIR)/ardrone_ftp.c     \
-  $(ARDRONE_TOOL_DIR)/Video/video_stage_ffmpeg_recorder.c  \
-  $(ARDRONE_TOOL_DIR)/Video/video_stage_ffmpeg_decoder.c   \
-  $(ARDRONE_TOOL_DIR)/Video/video_stage_ittiam_decoder.c   \
-  $(ARDRONE_TOOL_DIR)/Video/video_stage_decoder.c          \
-  $(ARDRONE_TOOL_DIR)/Video/video_recorder_pipeline.c      \
-  $(ARDRONE_TOOL_DIR)/Video/video_stage.c
-endif
-
-ifneq ($(CONTROL_DLL),yes)
-  ifeq ($(USE_ARDRONE_TOOL),yes)
-    ifeq ($(PC_USE_POLARIS),yes)
-      GENERIC_CFLAGS+=-DPC_USE_POLARIS
-    endif
-
-    GENERIC_LIBRARY_SOURCE_FILES+=                      \
-      $(ARDRONE_TOOL_DIR)/AT/ardrone_at_mutex.c			       
-
-    GENERIC_LIBRARY_SOURCE_FILES+=                              	\
-	  $(ARDRONE_TOOL_DIR)/Academy/academy.c							\
-	  $(ARDRONE_TOOL_DIR)/Academy/academy_download.c				\
-	  $(ARDRONE_TOOL_DIR)/Academy/academy_upload.c					\
-	  $(ARDRONE_TOOL_DIR)/Academy/academy_stage_recorder.c			\
-      $(ARDRONE_TOOL_DIR)/Control/ardrone_control_configuration.c  	\
-      $(ARDRONE_TOOL_DIR)/Control/ardrone_control_ack.c         	\
-      $(ARDRONE_TOOL_DIR)/Navdata/ardrone_navdata_file.c        	\
-      $(ARDRONE_TOOL_DIR)/Navdata/ardrone_general_navdata.c    	    \
-	  $(ARDRONE_TOOL_DIR)/Navdata/ardrone_academy_navdata.c			\
-      $(ARDRONE_TOOL_DIR)/UI/ardrone_input.c                       	\
-      $(ARDRONE_TOOL_DIR)/ardrone_api.c                            	\
-      $(ARDRONE_TOOL_DIR)/ardrone_tool_configuration.c             	\
-      $(ARDRONE_TOOL_DIR)/ardrone_tool.c                           	\
-      $(ARDRONE_TOOL_DIR)/Com/config_wifi.c
-
-     ifneq ($(USE_MINGW32),yes)
-       GENERIC_LIBRARY_SOURCE_FILES+=                             \
-         $(ARDRONE_TOOL_DIR)/Video/video_com_stage.c              \
-         $(ARDRONE_TOOL_DIR)/Video/video_navdata_handler.c        \
-         $(ARDRONE_TOOL_DIR)/Control/ardrone_control.c            \
-         $(ARDRONE_TOOL_DIR)/Control/ardrone_navdata_control.c    \
-         $(ARDRONE_TOOL_DIR)/Navdata/ardrone_navdata_client.c
-
-
-       ifeq ($(USE_IPHONE),no)
-         GENERIC_LIBRARY_SOURCE_FILES+=				  \
-           $(ARDRONE_TOOL_DIR)/Com/config_serial.c
-       endif
-
-       ifeq ($(USE_ARDRONE_VICON),yes)
-         GENERIC_CFLAGS+=-DUSE_ARDRONE_VICON
-       endif
-     endif # USE_MINGW32
-  endif # USE_ARDRONE_TOOL
-
-  ifneq ($(USE_MINGW32),yes)
-    GENERIC_LIBRARY_SOURCE_FILES+= \
-      $(ARDRONE_TOOL_DIR)/Video/video_stage_recorder.c
-  endif
-
-  ifeq ($(USE_ELINUX),yes)
-    HARDWARE_ARDRONE:=$(SRC_PATH)/Soft/Toy/Sources/$(CARD_HARDWARE_DIR)
-    ifeq ($(USE_MINGW32),yes)
-      HARDWARE_ARDRONE_CALIBRATION:=c:/$(CARD_HARDWARE_DIR)
-    else
-      HARDWARE_ARDRONE_CALIBRATION:=$(HARDWARE_ARDRONE)
-    endif
-
-    GENERIC_CFLAGS+=-DHARDWARE_ARDRONE=\"$(HARDWARE_ARDRONE)\" \
-      -DHARDWARE_ARDRONE_CALIBRATION=\"$(HARDWARE_ARDRONE_CALIBRATION)\"
-  endif # USE_ELINUX
-
-endif # neq CONTROL_DLL
-
-BASE_RELATIVE_PATH_FROM_SDK=../../
-
-GENERIC_INCLUDES+=                               \
-  -I$(BASE_RELATIVE_PATH_FROM_SDK)/Soft/Common   \
-  -I$(BASE_RELATIVE_PATH_FROM_SDK)               \
-  -I$(BASE_RELATIVE_PATH_FROM_SDK)/Soft/Lib
-
-export GENERIC_INCLUDES
-export GENERIC_LIBRARY_SOURCE_DIR=$(BASE_RELATIVE_PATH_FROM_SDK)/Soft/Lib
-export GENERIC_BINARIES_SOURCE_DIR=$(BASE_RELATIVE_PATH_FROM_SDK)/Soft/Lib
-
-export GENERIC_CFLAGS
-export GENERIC_LIBS
-export GENERIC_LIBRARY_SOURCE_FILES
-export GENERIC_TARGET_LIBRARY
-
-export GENERIC_BINARIES_COMMON_SOURCE_FILES=
-export GENERIC_BINARIES_SOURCE_ENTRYPOINTS=
-
-all $(MAKECMDGOALS):
-	@if [ '$(MAKECMDGOALS)' != 'clean' ]; then echo "$(OK_COLOR)Building ARDroneTool/Lib$(NO_COLOR)"; fi
-	@$(MAKE) -C ../../../VP_SDK/Build $(TMP_SDK_FLAGS) $(SDK_FLAGS) $(MAKECMDGOALS)
-	
-makefileverbose:
-	@echo "Dump compilation flags:"
-	@echo "GENERIC_CFLAGS : $(GENERIC_CFLAGS)"
-	@echo "GENERIC_LIBS : $(GENERIC_LIBS)"
-	@echo "GENERIC_LIB_PATHS : $(GENERIC_LIB_PATHS)"
-	@echo "GENERIC_INCLUDES : $(GENERIC_INCLUDES)"
-	@echo "GENERIC_BINARIES_SOURCE_DIR : $(GENERIC_BINARIES_SOURCE_DIR)"
-	@echo "GENERIC_BINARIES_COMMON_SOURCE_FILES : $(GENERIC_BINARIES_COMMON_SOURCE_FILES)"
-	@echo "GENERIC_TARGET_BINARIES_PREFIX : $(GENERIC_TARGET_BINARIES_PREFIX)"
-	@echo "GENERIC_TARGET_BINARIES_DIR : $(GENERIC_TARGET_BINARIES_DIR)"
-	@echo "GENERIC_BINARIES_SOURCE_ENTRYPOINTS : $(GENERIC_BINARIES_SOURCE_ENTRYPOINTS)"
-	@echo "TMP_SDK_FLAGS: $(TMP_SDK_FLAGS)"
-	@echo "SDK_FLAGS: $(SDK_FLAGS)"
-	@echo "Make cmd goals: $(MAKECMDGOALS)"

ARDroneLib/Soft/Lib/Maths/filter.c

@@ -1,252 +0,0 @@
-/**
- *  \file     filter.c
- *  \brief    1st and 2nd order filter implementation
- *  \author   Jean Baptiste Lanfrey <jean-baptiste.lanfrey@parrot.com>
- *  \version  1.0
- */
-
-#define _XOPEN_SOURCE 600
-#include <Maths/maths.h>
-#include <Maths/filter.h>
-#include <math.h>
-
-void filter_init(uint32_t n, float32_t *old_input, float32_t initial_input, float32_t *old_output, float32_t initial_output)
-{
-  uint32_t ii;
-
-  for (ii=0; ii<n ; ii++)
-    old_input[ii]  = initial_input;
-
-  for (ii=0; ii<n; ii++)
-    old_output[ii] = initial_output;
-}
-
-float filter(uint32_t n, const float32_t *b, const float32_t *a, float32_t input, float32_t *old_input, float32_t *old_output)
-{
-  uint32_t ii;
-  float32_t inno, past, output;
-
-  // innovation computation
-  inno = b[0] * input;
-  for (ii=1; ii<n+1; ii++)
-    inno += b[ii] * old_input[ii-1];
-
-  // past computation
-  past = 0.0;
-  for (ii=1; ii<n+1; ii++)
-    past -= a[ii] * old_output[ii-1];
-
-  // output = (inno + past) / a[0];
-	// We assume a[0] is always equal to 1
-  output = (inno + past);
-
-  // inputs and outputs shift
-  for (ii=n-1; ii>0; ii--)
-    old_input[ii] = old_input[ii-1];
-
-  old_input[0] = input;
-
-  for (ii=n-1; ii>0; ii--)
-    old_output[ii] = old_output[ii-1];
-
-  old_output[0] = output;
-
-  return output;
-}
-
-
-// Filtre du type Kd.p / (1+Td.p)
-float32_t deriv(deriv_param_t *param, float32_t input)
-{
-  static float32_t exp_1 = 0.3678794411714423412f; // expf(-1.0f);
-
-  float32_t exp;
-  float32_t td;
-  float32_t out;
-
-  if( f_is_zero( param->td ) )
-  {
-    // prevent from dividing by 0.
-    td  = param->te;
-    exp = exp_1;
-  }
-  else
-  {
-    td  = param->td;
-    // exp = expf(-param->te/td);
-    exp = exp_taylor(-param->te/td);
-  }
-
-  param->internal_state = exp * param->internal_state + td * (1 - exp) * param->old_input;
-
-  out = ( param->kd / td ) * ( input - param->internal_state / td );
-
-  param->old_input = input;
-
-  return out;
-}
-
-void delay_init(uint32_t m, float32_t *old_input, float32_t initial_input)
-{
-  uint32_t ii;
-
-  for (ii=0; ii<m ; ii++)
-    old_input[ii] = initial_input;
-}
-
-float32_t delay(uint32_t m, float32_t input, float32_t *old_input)
-{
-  uint32_t ii;
-  float32_t output;
-
-  output = old_input[m-1];
-
-  // inputs and shift
-  for (ii=m-1; ii>0; ii--)
-    old_input[ii] = old_input[ii-1];
-
-  old_input[0] = input;
-
-  return output;
-}
-
-float32_t rate_limiter(float32_t input, float32_t old_output, float32_t rate_max)
-{
-  float32_t output;
-  float_or_int_t FOI_rate,FOI_rate_max;
-
-  FOI_rate.f = input - old_output;
-  FOI_rate_max.f = rate_max;
-
-  if( f_abs( FOI_rate ) > FOI_rate_max.f )
-    output = old_output + f_set_clamp( FOI_rate, FOI_rate_max );
-  else
-    output = input;
-
-  return output;
-}
-
-int32_t digitalsmooth(int32_t rawIn, int32_t *sensSmoothArray)
-{
-  int32_t j, k, temp, top, bottom;
-  long total;
-  static int32_t i;
-
-  static int32_t sorted[filterSamples];
-  bool_t done;
-
-  i = (i + 1) % filterSamples;
-  sensSmoothArray[i] = rawIn;
-
-
-  for (j=0; j<filterSamples; j++)
-  {
-    sorted[j] = sensSmoothArray[j];
-  }
-
-  done = 0;
-  while(done != 1)
-  {
-    done = 1;
-    for (j = 0; j < (filterSamples - 1); j++)
-      {
-      if (sorted[j] > sorted[j + 1])
-        {
-        temp = sorted[j + 1];
-        sorted [j+1] =  sorted[j] ;
-        sorted [j] = temp;
-        done = 0;
-        }
-      }
-  }
-
-  bottom = max(((filterSamples * 15)  / 100), 1);
-  top = min((((filterSamples * 85) / 100) + 1  ), (filterSamples - 1));
-  k = 0;
-  total = 0;
-  for ( j = bottom; j< top; j++){
-    total += sorted[j];
-    k++;
-  }
-
-  return total / k;
-}
-
-
-//unwrapToPi
-// takes pointer to the value of wrapped angle, pointer to the value of unwrapped angle, and the variation to add to both angles
-void unwrapToPi(float32_t* former_wrapped_angle, float32_t* former_unwrapped_angle, float32_t variation)
-{
-    if(fabsf(variation)<PI)
-    {
-        *former_unwrapped_angle += variation;
-    }
-
-    else
-    {
-        if(variation>=0)
-        {
-            *former_unwrapped_angle += variation - 2.0*PI;
-        }
-        else
-        {
-            *former_unwrapped_angle += variation + 2.0*PI;
-        }
-    }
-
-    wrapToPi(former_unwrapped_angle, former_wrapped_angle);
-}
-
-void wrapToPi(float32_t* input, float32_t* output)
-{
-	*output = fmodf(*input + PI, 2*PI) - PI;
-    if((-PI)>(*input))
-    {
-        *output += 2*PI;
-    }
-}
-
-
-void filter64_init(uint32_t n, float64_t *old_input, float64_t initial_input, float64_t *old_output, float64_t initial_output)
-{
-  uint32_t ii;
-
-  for (ii=0; ii<n ; ii++)
-    old_input[ii]  = initial_input;
-
-  for (ii=0; ii<n; ii++)
-    old_output[ii] = initial_output;
-}
-
-float64_t filter64(uint32_t n, const float64_t *b, const float64_t *a, float64_t input, float64_t *old_input, float64_t *old_output)
-{
-  uint32_t ii;
-  float64_t inno, past, output;
-
-  // innovation computation
-  inno = b[0] * input;
-  for (ii=1; ii<n+1; ii++)
-    inno += b[ii] * old_input[ii-1];
-
-  // past computation
-  past = 0.0;
-  for (ii=1; ii<n+1; ii++)
-    past -= a[ii] * old_output[ii-1];
-
-  // output = (inno + past) / a[0];
-	// We assume a[0] is always equal to 1
-  output = (inno + past);
-
-  // inputs and outputs shift
-  for (ii=n-1; ii>0; ii--)
-    old_input[ii] = old_input[ii-1];
-
-  old_input[0] = input;
-
-  for (ii=n-1; ii>0; ii--)
-    old_output[ii] = old_output[ii-1];
-
-  old_output[0] = output;
-
-  return output;
-}

ARDroneLib/Soft/Lib/Maths/filter.h

@@ -1,211 +0,0 @@
-/**
- *  \file     filter.h
- *  \brief    1st and 2nd order filter implementation
- *  \author   Jean Baptiste Lanfrey <jean-baptiste.lanfrey@parrot.com>
- *  \version  1.0
- */
-
-#ifndef _FILTER_H_
-#define _FILTER_H_
-
-#include <VP_Os/vp_os_types.h>
-
-
-#define NB_FIRST_ORDER 	              1
-#define NB_SECOND_ORDER               2
-#define NB_THIRD_ORDER 	              3
-#define NB_FOURTH_ORDER               4
-#define NB_SIXTH_ORDER                6
-#define NB_SEVENTH_ORDER              7
-#define DEFAULT_DELAY_STEP_TIME_DELAY TWENTY_STEP_TIME_DELAY
-#define FORTY_STEP_TIME_DELAY         40
-#define THIRTY_TWO_STEP_TIME_DELAY    32
-#define TWENTY_STEP_TIME_DELAY        20
-#define filterSamples                 511
-
-///////////////////////////////////////////////
-// STRUCTURES
-
-
-/**
- * \struct _first_order_filter_
- * \brief  First order filter states using Matlab notation.
- */
-typedef struct {
-  float32_t old_outputs[NB_FIRST_ORDER];  //< filter output history
-  float32_t old_inputs [NB_FIRST_ORDER];  //< filter input history
-} first_order_filter_t;
-
-
-/**
- * \struct _second_order_filter_
- * \brief  Second order filter states using Matlab notation.
- */
-typedef struct {
-  float32_t old_outputs[NB_SECOND_ORDER]; //< filter output history
-  float32_t old_inputs [NB_SECOND_ORDER]; //< filter input history
-} second_order_filter_t;
-
-
-/**
- * \struct _second_order_filter_64
- * \brief  Second order filter states using Matlab notation.
- */
-typedef struct {
-  float64_t old_outputs[NB_SECOND_ORDER]; //< filter output history
-  float64_t old_inputs [NB_SECOND_ORDER]; //< filter input history
-} second_order_filter_64_t;
-
-
-/**
- * \struct _third_order_filter_
- * \brief  Third order filter states using Matlab notation.
- */
-typedef struct {
-  float32_t old_outputs[NB_THIRD_ORDER];  //< filter output history
-  float32_t old_inputs [NB_THIRD_ORDER];  //< filter input history
-} third_order_filter_t;
-
-
-/**
- * \struct _fourth_order_filter_
- * \brief  Fourth order filter states using Matlab notation.
- */
-typedef struct {
-  float32_t old_outputs[NB_FOURTH_ORDER]; //< filter output history
-  float32_t old_inputs [NB_FOURTH_ORDER]; //< filter input history
-} fourth_order_filter_t;
-
-typedef struct {
-  float32_t old_outputs[NB_SIXTH_ORDER];  //< filter output history
-  float32_t old_inputs [NB_SIXTH_ORDER];  //< filter input history
-} sixth_order_filter_t;
-
-typedef struct {
-  float32_t old_outputs[NB_SEVENTH_ORDER];  //< filter output history
-  float32_t old_inputs [NB_SEVENTH_ORDER];  //< filter input history
-} seventh_order_filter_t;
-
-
-typedef struct _deriv_param_t {
-  float32_t kd;
-  float32_t td;
-  float32_t te;
-
-  float32_t internal_state;
-  float32_t old_input;
-} deriv_param_t;
-
-/**
- * \struct _delay_
- * \brief  m sampling step time delay.
- */
-typedef struct {
-  float32_t old_inputs[FORTY_STEP_TIME_DELAY];  //< input history
-} delay_t;
-
-///////////////////////////////////////////////
-// FUNCTIONS
-
-
-/**
- * \fn      Digital filter initialization.
- * \brief   This function is used to initialize previous values in digital filter.
- * \param   Filter order.
- * \param   address of previous inputs list.
- * \param   initial input value.
- * \param   address of previous outputs list.
- * \param   initial output value.
- * \return  void.
- *
- * \section History
- *
- * \par date: 2007-06-25  author: <florian.pantaleao.ext\@parrot.com> <jean-baptiste.lanfrey\@parrot.com>
- *  - first version
- */
-void filter_init(uint32_t n, float32_t *old_input, float32_t initial_input, float32_t *old_output, float32_t initial_output);
-
-
-
-/**
- * \fn      Filter a value.
- * \brief   This function uses the same notation as Matlab except that array indices start at 0
- * \brief   a(1)*y(n) = b(1)*x(n) + b(2)*x(n-1) + ... + b(nb+1)*x(n-nb) - a(2)*y(n-1) - ... - a(na+1)*y(n-na)
- * \brief   This function automatically shifts old inputs and outputs.
- * \param   Filter order
- * \param   address of B coefficients list.
- * \param   address of A coefficients list.
- * \param   input value.
- * \param   address of previous inputs list.
- * \param   address of previous outputs list.
- * \return  filtered value.
- *
- * \section History
- *
- * \par date: 2007-06-25  author: <florian.pantaleao.ext\@parrot.com> <jean-baptiste.lanfrey\@parrot.com>
- *  - first version
- */
-float32_t filter(uint32_t n, const float32_t *b, const float32_t *a, float32_t input, float32_t *old_input, float32_t *old_output);
-
-/**
- * \fn      Derivative filter
- * \brief   Y/U = kd;p/(1+Td.p)
- * \param   Kd, Td, Te, previous values (state and input)
- * \return  filtered value.
- *
- * \section History
- *
- * \par date: 2007-10-15  author: <jean-baptiste.lanfrey\@parrot.com>
- *  - first version
- */
-float32_t deriv(deriv_param_t *param, float32_t input);
-
-/**
- * \fn      Digital delay initialization
- * \brief   This function is used to initialize previous inputs of the digital delay.
- * \param   m number of sampling step time delay.
- * \return  void.
- *
- * \section History
- *
- * \par date: 2008-5-13  author: <yannick.foloppe.ext\@parrot.com>
- *  - first version
- */
-void delay_init(uint32_t m, float32_t *old_input, float32_t initial_input);
-
-/**
- * \fn      Delay a value
- * \brief   y(k)=u(k-m).
- * \param   m number of sampling step time delay, previous values (state and input).
- * \return  delayed input.
- *
- * \section History
- *
- * \par date: 2008-5-13  author: <yannick.foloppe.ext\@parrot.com>
- *  - first version
- */
-float delay(uint32_t m, float32_t input, float32_t *old_input);
-
-// rate limiter
-// rate_max is the highest rate allowed in one sample time
-// warning : rate_max must be positive
-/**
- * \fn      rate limiter
- * \brief  limit the rate of an input.
- * \param   rate_max is the highest rate allowed in one sample time. Warning : rate_max must be positive
- * \return  rate limiter output.
- *
- * \section History
- *
- * \par date: 2008-7-24 author: <yannick.foloppe.ext\@parrot.com>
- *  - first version
- */
-float32_t rate_limiter(float32_t input, float32_t old_output, float32_t rate_max);
-int32_t digitalsmooth(int32_t rawIn, int32_t *sensSmoothArray);
-void unwrapToPi(float32_t* former_wrapped_angle, float32_t* former_unwrapped_angle, float32_t variation);
-void wrapToPi(float32_t* input, float32_t* output);
-
-void filter64_init(uint32_t n, float64_t *old_input, float64_t initial_input, float64_t *old_output, float64_t initial_output);
-float64_t filter64(uint32_t n, const float64_t *b, const float64_t *a, float64_t input, float64_t *old_input, float64_t *old_output);
-
-#endif // FILTER

ARDroneLib/Soft/Lib/Maths/maths.c

@@ -1,166 +0,0 @@
-/**
- *  \file     maths.c
- *  \brief    Maths library used by ARDrone
- *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.com>
- *  \author   Jean-Baptiste Lanfrey <jean-baptiste.lanfrey@parrot.com>
- *  \version  1.0
- */
-#include <Maths/maths.h>
-
-float32_t f_epsilon = FLT_EPSILON;
-
-bool_t f_is_zero( float32_t f )
-{
-  bool_t ret;
-  float32_t af;
-
-  ret = FALSE;
-
-  af = (float32_t)fabsf( f );
-
-  if( af < f_epsilon )
-    ret = TRUE;
-
-  return ret;
-}
-
-float32_t f_zero( float32_t f )
-{
-  if( f_is_zero(f) )
-    return 0.0f;
-
-  return f;
-}
-
-float32_t asin_taylor( float32_t x )
-{
-  // float32_t xsquare = x*x;
-  // thrid order
-  return (float32_t)(x*(1.0f+x*x*0.16666667f));
-  // fifth order
-  // return (x*(1.0+xsquare*(1.0/6.0 + 3.0*xsquare/40.0);
-}
-
-float32_t atan2_taylor( float32_t num, float32_t den )
-{
-  float32_t res;
-
-  if ( f_is_zero(den) ) {
-    // pi/2
-    res = 1.5707963268f;
-  }
-  else {
-    float32_t x = num/den;
-    // float32_t xsquare = x*x;
-    // thrid order
-    res = (float32_t)x*(1.0f-x*x*.33333333f);
-    // fifth order
-    // res = x*(1.0-xsquare*(1.0/3.0 + xsquare/5.0));
-  }
-  return (res);
-}
-
-// Polar saturation
-void f_polar_sat( float32_t max, float32_t* phi, float32_t* theta)
-{
-  float32_t alpha;
-  float32_t c_alpha, s_alpha;
-  float32_t phi_in;
-  float32_t theta_in;
-
-  phi_in = *phi;
-  theta_in = *theta;
-
-  // angle beta du plan du drone avec l'horizontal vaut beta = acosf(cosf(theta_in)*cosf(phi_in))
-  // on peut approximer par beta^2 = theta_in^2 + phi_in^2
-  if ( theta_in*theta_in + phi_in*phi_in > max*max ) {
-    alpha = (float32_t)atan2f(theta_in, phi_in);
-    sincosf( alpha, &s_alpha, &c_alpha);
-    *phi = max * c_alpha;
-    *theta = max * s_alpha;
-  }
-}
-
-float32_t exp_taylor( float32_t x )
-{
-  return (float32_t)(1.0f+x+x*x*0.5f);
-}
-
-float32_t secant_taylor( float32_t x ) // secant(x) = 1 / cos(x)
-{
-  return (float32_t)(1.0f+x*x*0.5f);
-}
-
-float32_t cos_taylor( float32_t x )
-{
-  return (float32_t)(1.0f-x*x*0.5f);
-}
-
-float32_t sin_taylor( float32_t x )
-{
-  return (float32_t)(x*(1.0f-x*x*.16666667f));
-}
-
-float32_t pow_taylor( float32_t x , float32_t y )
-{
-	//x^y pour x> et y entier
-	float32_t coeff_3=(y*(y-1)*(y-2))/6;
-	float32_t coeff_2=(y*(y-1))/2;
-	float32_t coeff_1=y;
-//	float32_t puissance;
-
-	//if y positif{
-	  return (float32_t)(coeff_3*(x-1)*(x-1)*(x-1)+coeff_2*(x-1)*(x-1)+(coeff_1*(x-1))+1);
-	//else
-	  //puissance=(coeff_3*(x-1)*(x-1)*(x-1)+coeff_2*(x-1)*(x-1)+(coeff_1*(x-1))+1);
-	  //return (float32_t) 1/puissance;
-	  //}
-}
-float32_t time_navdata_in_ms(uint32_t current_time, int32_t dec)
-{
-  //convert time given by get_current_time() in millisecond
-
-  uint32_t time_sec, time_micro_sec;
-  float32_t time_milli_sec;
-
-  time_sec = current_time >> dec;
-
-  time_micro_sec = current_time - (time_sec << dec);
-
-  time_milli_sec = (float32_t)(1000.0*time_sec + time_micro_sec/1000.0);
-
-  return(time_milli_sec);
-}
-
-#ifndef __ARDRONE_BIT_COUNTING_FUNCTIONS__
-#define __ARDRONE_BIT_COUNTING_FUNCTIONS__
-static uint32_t MASK_01010101 =  (((unsigned int)(-1))/3); // 01010101010101010101010101010101
-static uint32_t MASK_00110011 =  (((unsigned int)(-1))/5); // 00110011001100110011001100110011
-static uint32_t MASK_00001111 = (((unsigned int)(-1))/17); // 00001111000011110000111100001111
-
-static inline int bitcountNifty_8(unsigned int n, uint32_t MASK_01010101, uint32_t MASK_00110011, uint32_t MASK_00001111)
-{
-  n = (n & MASK_01010101) + ((n >> 1) & MASK_01010101) ;
-  n = (n & MASK_00110011) + ((n >> 2) & MASK_00110011) ;
-  n = (n & MASK_00001111) + ((n >> 4) & MASK_00001111) ;
-  return n;
-}
-
-static inline int bitcountNifty(unsigned int n, uint32_t MASK_01010101, uint32_t MASK_00110011, uint32_t MASK_00001111)
-{
-  n = (n & MASK_01010101) + ((n >> 1) & MASK_01010101) ;
-  n = (n & MASK_00110011) + ((n >> 2) & MASK_00110011) ;
-  n = (n & MASK_00001111) + ((n >> 4) & MASK_00001111) ;
-  return n % 255 ;
-}
-
-uint32_t nb_bits_differents(uint32_t p, uint32_t q)
-{
-  return bitcountNifty(p^q, MASK_01010101, MASK_00110011, MASK_00001111);
-}
-
-uint32_t nb_bits_differents_8(uint32_t p, uint32_t q)
-{
-  return bitcountNifty_8(p^q, MASK_01010101, MASK_00110011, MASK_00001111);
-}
-#endif

ARDroneLib/Soft/Lib/Maths/maths.h

@@ -1,121 +0,0 @@
-/**
- *  \file     maths.h
- *  \brief    Maths library used by ARDrone
- *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.com>
- *  \version  1.0
- */
-
-#ifndef _MATHS_H_
-#define _MATHS_H_
-
-#include <VP_Os/vp_os_types.h>
-
-#ifndef __USE_GNU
-#define __USE_GNU
-#endif // __USE_GNU
-
-#include <math.h>
-#include <float.h>
-
-///////////////////////////////////////////////
-// DEFINES
-
-#define RAD_TO_MDEG (57295.779513f)
-#define RAD_TO_DEG  (57.295779513f)
-#define MDEG_TO_RAD (1.745329252e-05f)
-#define DEG_TO_RAD  (1.745329252e-02f)
-#define PI          (3.1415927f)
-#define GRAVITY     (9.81f)
-
-#ifndef min
-#define min(a, b) (a) < (b) ? (a) : (b)
-#endif
-
-#ifndef max
-#define max(a, b) (a) < (b) ? (b) : (a)
-#endif
-
-typedef struct _screen_point_t {
-  int32_t x;
-  int32_t y;
-} screen_point_t;
-
-typedef union _float_or_int_t {
-  float32_t f;
-  int32_t   i;
-} float_or_int_t;
-
-extern float32_t f_epsilon;
-
-bool_t f_is_zero( float32_t f );
-float32_t f_zero( float32_t f );
-
-static inline float32_t f_round(float32_t f, int32_t nb_decimal)
-{
-	float32_t puissance = (float32_t) (10 ^ nb_decimal);
-	return ((int)(f * puissance) / puissance);
-}
-
-// Returns f's absolute value
-static inline float32_t f_abs( float_or_int_t fi )
-{
-  fi.i &= 0x7FFFFFFF;
-
-  return fi.f;
-}
-
-// Inverse f's sign
-static inline void f_inv_sign( float_or_int_t* fi )
-{
-  fi->i ^= 0x80000000;
-}
-
-// Polar saturation
-void f_polar_sat( float32_t max, float32_t* phi, float32_t* theta);
-
-// Returns clamp value with value's sign
-static inline float32_t f_set_clamp( float_or_int_t value, float_or_int_t clamp_value )
-{
-  clamp_value.i |= value.i & 0x80000000;
-
-  return clamp_value.f;
-}
-
-float32_t asin_taylor( float32_t x );
-float32_t atan2_taylor( float32_t num, float32_t den );
-float32_t exp_taylor( float32_t x );
-float32_t secant_taylor( float32_t x );
-float32_t cos_taylor( float32_t x );
-float32_t sin_taylor( float32_t x );
-float32_t pow_taylor( float32_t x , float32_t y );
-float32_t time_navdata_in_ms( uint32_t current_time, int32_t dec );
-
-static inline uint32_t iabs(int32_t v) { return ( v < 0 ) ? -v : v; }
-
-#if defined( USE_MINGW32 )
-static inline void sincosf(float32_t a, float32_t* out_s, float32_t* out_c)
-{
-  __asm(
-    "flds %2\n"
-    "fsincos\n"
-    "fstps %1\n"
-    "fstps %0"
-    :"=m"(*out_s), "=m"(*out_c)
-    :"m"(a)
-  );
-}
-#elif defined( _MSC_VER ) || defined( TARGET_OS_IPHONE) || defined(TARGET_IPHONE_SIMULATOR)
-static inline void sincosf(float32_t a, float32_t* out_s, float32_t* out_c)
-{
-	*out_s = sinf(a);
-	*out_c = cosf(a);
-}
-#endif // _MSC_VER || USE_MINGW32
-
-// 8 bits version
-uint32_t nb_bits_differents_8(uint32_t p, uint32_t q);
-
-uint32_t nb_bits_differents(uint32_t p, uint32_t q);
-
-
-#endif // _MATHS_H_

ARDroneLib/Soft/Lib/Maths/matrices.h

@@ -1,383 +0,0 @@
-/**
- *  \file     matrices.h
- *  \brief    Matrices library used by ARDrone
- *  \author   Jean-Baptiste Lanfrey <jean-baptiste.lanfrey@parrot.com>
- *  \version  1.0
- */
-
-#ifndef _MATRICES_H_
-#define _MATRICES_H_
-
-#include <VP_Os/vp_os_types.h>
-
-typedef struct _matrix33_t
-{
-  float32_t m11;
-  float32_t m12;
-  float32_t m13;
-  float32_t m21;
-  float32_t m22;
-  float32_t m23;
-  float32_t m31;
-  float32_t m32;
-  float32_t m33;
-} matrix33_t;
-
-typedef struct _vector31_t {
-  union {
-    float32_t v[3];
-    struct
-    {
-      float32_t x;
-      float32_t y;
-      float32_t z;
-    };
-  };
-} vector31_t;
-
-typedef union _vector21_t {
-  float32_t v[2];
-  struct
-  {
-    float32_t x;
-    float32_t y;
-  };
-} vector21_t;
-
-extern const matrix33_t matrix_id3;
-extern const matrix33_t matrix_null3;
-extern const vector31_t vector31_zero;
-extern const vector31_t vector31_z;
-
-// TODO Documentation
-
-// Multiplies two matrices m1 & m2. Stores result in out.
-void mul_mat( matrix33_t* out, matrix33_t *m1, matrix33_t *m2 );
-
-
-void add_mat( matrix33_t* out, matrix33_t *m1, matrix33_t *m );
-
-
-void mulvec_mat( vector31_t* out, matrix33_t *m1, vector31_t *v1 );
-
-
-void transpose_mat( matrix33_t *out, matrix33_t *m1 );
-
-
-void mulconst_mat( matrix33_t *out, matrix33_t *m1, float32_t k );
-
-
-void det_mat3(float32_t *out, matrix33_t *m1);
-
-
-void comatrice33(matrix33_t *out, matrix33_t *m1);
-
-
-void inv_mat33(matrix33_t *out, matrix33_t* m1);
-
-
-void cross_vec( vector31_t* out, vector31_t *v1, vector31_t *v2 );
-
-
-void dot_vec( float32_t* out, const vector31_t *v1, const vector31_t *v2 );
-
-
-void add_vec( vector31_t* out, vector31_t *v1, vector31_t *v2 );
-
-
-void mulconst_vec( vector31_t *out, vector31_t *V1, float32_t k );
-
-
-void skew_anti_symetric_vec( matrix33_t *out, vector31_t *v );
-
-
-void vex( vector31_t *out, matrix33_t *m );
-
-
-float32_t norm_vec( vector31_t *v );
-
-
-bool_t normalize_vec( vector31_t* v );
-
-
-void display_matrix33(matrix33_t *m1);
-void display_vector31(vector31_t *v1);
-
-
-// 4x4 matrix
-
-typedef struct _matrix44_t
-{
-  float32_t m11;
-  float32_t m12;
-  float32_t m13;
-  float32_t m14;
-  float32_t m21;
-  float32_t m22;
-  float32_t m23;
-  float32_t m24;
-  float32_t m31;
-  float32_t m32;
-  float32_t m33;
-  float32_t m34;
-  float32_t m41;
-  float32_t m42;
-  float32_t m43;
-  float32_t m44;
-} matrix44_t;
-
-typedef struct _vector41_t {
-  union {
-    float32_t v[4];
-    struct
-    {
-      float32_t x1;
-      float32_t x2;
-      float32_t x3;
-      float32_t x4;
-    };
-  };
-} vector41_t;
-
-extern const matrix44_t matrix_id4;
-extern const matrix44_t matrix_null4;
-extern const vector41_t vector41_zero;
-
-void mul_mat44( matrix44_t* out, matrix44_t *m1, matrix44_t *m2 );
-void add_mat44( matrix44_t* out, matrix44_t *m1, matrix44_t *m2 );
-void mulvec_mat4( vector41_t* out, matrix44_t *m1, vector41_t *v1 );
-void transpose_mat44( matrix44_t *out, matrix44_t *m1 );
-void mulconst_mat44( matrix44_t *out, matrix44_t *m1, float32_t k );
-void add_vec41( vector41_t* out, vector41_t *v1, vector41_t *v2 );
-void mulconst_vec41( vector41_t *out, vector41_t *v1, float32_t k );
-void comatrice44(matrix44_t *out, matrix44_t *m1);
-void det_mat4(float32_t *out, matrix44_t *m1);
-void inv_mat44(matrix44_t *out, matrix44_t* m1);
-void display_matrix44(matrix44_t *m1);
-void display_vector41(vector41_t *v1);
-
-
-
-// 6x6 matrices
-
-typedef struct _matrix66_t
-{
-  float32_t m11;
-  float32_t m12;
-  float32_t m13;
-  float32_t m14;
-  float32_t m15;
-  float32_t m16;
-  float32_t m21;
-  float32_t m22;
-  float32_t m23;
-  float32_t m24;
-  float32_t m25;
-  float32_t m26;
-  float32_t m31;
-  float32_t m32;
-  float32_t m33;
-  float32_t m34;
-  float32_t m35;
-  float32_t m36;
-  float32_t m41;
-  float32_t m42;
-  float32_t m43;
-  float32_t m44;
-  float32_t m45;
-  float32_t m46;
-  float32_t m51;
-  float32_t m52;
-  float32_t m53;
-  float32_t m54;
-  float32_t m55;
-  float32_t m56;
-  float32_t m61;
-  float32_t m62;
-  float32_t m63;
-  float32_t m64;
-  float32_t m65;
-  float32_t m66;
-} matrix66_t;
-
-typedef struct _vector61_t {
-  union {
-    float32_t v[6];
-    struct
-    {
-      float32_t x1;
-      float32_t x2;
-      float32_t x3;
-      float32_t x4;
-      float32_t x5;
-      float32_t x6;
-    };
-  };
-} vector61_t;
-
-extern const matrix66_t matrix_id6;
-extern const matrix66_t matrix_null6;
-extern const vector61_t vector61_zero;
-
-void mul_mat66( matrix66_t* out, matrix66_t *m1, matrix66_t *m2 );
-void add_mat66( matrix66_t* out, matrix66_t *m1, matrix66_t *m2 );
-void mulvec_mat6( vector61_t* out, matrix66_t *m1, vector61_t *v1 );
-void transpose_mat66( matrix66_t *out, matrix66_t *m1 );
-void mulconst_mat66( matrix66_t *out, matrix66_t *m1, float32_t k );
-void add_vec61( vector61_t* out, vector61_t *v1, vector61_t *v2 );
-void mulconst_vec61( vector61_t *out, vector61_t *v1, float32_t k );
-
-// 2x2 matrices
-
-typedef struct _matrix22_t
-{
-  float32_t m11;
-  float32_t m12;
-  float32_t m21;
-  float32_t m22;
-
-} matrix22_t;
-
-
-extern const matrix22_t matrix_id2;
-extern const matrix22_t matrix_null2;
-extern const vector21_t vector21_zero;
-
-void mul_mat22( matrix22_t* out, matrix22_t *m1, matrix22_t *m2 );
-void add_mat22( matrix22_t* out, matrix22_t *m1, matrix22_t *m2 );
-void mulvec_mat2( vector21_t* out, matrix22_t *m1, vector21_t *v1 );
-void transpose_mat22( matrix22_t *out, matrix22_t *m1 );
-void mulconst_mat22( matrix22_t *out, matrix22_t *m1, float32_t k );
-void add_vec21( vector21_t* out, vector21_t *v1, vector21_t *v2 );
-void mulconst_vec21( vector21_t *out, vector21_t *v1, float32_t k );
-void det_mat2(float32_t *out, matrix22_t *m1);
-void comatrice22(matrix22_t *out, matrix22_t *m1);
-void inv_mat22(matrix22_t *out, matrix22_t* m1);
-
-
-// NON-square matrices and operations between diferrent-sized matrices
-
-
-typedef struct _matrix26_t
-{
-  float32_t m11;
-  float32_t m12;
-  float32_t m13;
-  float32_t m14;
-  float32_t m15;
-  float32_t m16;
-  float32_t m21;
-  float32_t m22;
-  float32_t m23;
-  float32_t m24;
-  float32_t m25;
-  float32_t m26;
-} matrix26_t;
-
-typedef struct _matrix62_t
-{
-  float32_t m11;
-  float32_t m12;
-  float32_t m21;
-  float32_t m22;
-  float32_t m31;
-  float32_t m32;
-  float32_t m41;
-  float32_t m42;
-  float32_t m51;
-  float32_t m52;
-  float32_t m61;
-  float32_t m62;
-} matrix62_t;
-
-typedef struct _matrix46_t
-{
-  float32_t m11;
-  float32_t m12;
-  float32_t m13;
-  float32_t m14;
-  float32_t m15;
-  float32_t m16;
-
-  float32_t m21;
-  float32_t m22;
-  float32_t m23;
-  float32_t m24;
-  float32_t m25;
-  float32_t m26;
-
-  float32_t m31;
-  float32_t m32;
-  float32_t m33;
-  float32_t m34;
-  float32_t m35;
-  float32_t m36;
-
-  float32_t m41;
-  float32_t m42;
-  float32_t m43;
-  float32_t m44;
-  float32_t m45;
-  float32_t m46;
-
-} matrix46_t;
-
-typedef struct _matrix64_t
-{
-  float32_t m11;
-  float32_t m12;
-  float32_t m13;
-  float32_t m14;
-
-  float32_t m21;
-  float32_t m22;
-  float32_t m23;
-  float32_t m24;
-
-  float32_t m31;
-  float32_t m32;
-  float32_t m33;
-  float32_t m34;
-
-  float32_t m41;
-  float32_t m42;
-  float32_t m43;
-  float32_t m44;
-
-  float32_t m51;
-  float32_t m52;
-  float32_t m53;
-  float32_t m54;
-
-  float32_t m61;
-  float32_t m62;
-  float32_t m63;
-  float32_t m64;
-
-} matrix64_t;
-
-extern const matrix46_t matrix_null46;
-extern const matrix26_t matrix_null26;
-
-void mulmat26vec61( vector21_t* out, matrix26_t *m1, vector61_t *v1 );
-void mulmat46vec61( vector41_t* out, matrix46_t *m1, vector61_t *v1 );
-void mulmat46mat66( matrix46_t* out, matrix46_t *m1, matrix66_t *m2 );
-void mulmat66mat64( matrix64_t* out, matrix66_t *m1, matrix64_t *m2 );
-void mulmat46mat64( matrix44_t* out, matrix46_t *m1, matrix64_t *m2 );
-void mulmat64mat44( matrix64_t* out, matrix64_t *m1, matrix44_t *m2 );
-void mulmat62mat22( matrix62_t* out, matrix62_t *m1, matrix22_t *m2 );
-void mulmat26mat66( matrix26_t* out, matrix26_t *m1, matrix66_t *m2 );
-void mulmat66mat62( matrix62_t* out, matrix66_t *m1, matrix62_t *m2 );
-void mulmat26mat62( matrix22_t* out, matrix26_t *m1, matrix62_t *m2 );
-void mulmat64vec41( vector61_t* out, matrix64_t *m1, vector41_t *v1 );
-void mulmat62vec21( vector61_t* out, matrix62_t *m1, vector21_t *v1 );
-void mulmat64mat46( matrix66_t* out, matrix64_t *m1, matrix46_t *m2 );
-void mulmat62mat26( matrix66_t* out, matrix62_t *m1, matrix26_t *m2 );
-
-void transpose_mat26( matrix62_t *out, matrix26_t *m1 );
-void transpose_mat62( matrix26_t *out, matrix62_t *m1 );
-void transpose_mat46( matrix64_t *out, matrix46_t *m1 );
-void transpose_mat64( matrix46_t *out, matrix64_t *m1 );
-
-
-#endif // _MATRICES_H_

ARDroneLib/Soft/Lib/Maths/matrix3d.c

@@ -1,313 +0,0 @@
-/**
- *  \brief    Matrix 3d implementation
- *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.fr>
- *  \version  1.0
- *  \date     04/06/2007
- *  \warning  Subject to completion
- */
-
-#include <Maths/matrix3d.h>
-#include <Maths/matrices.h>
-
-#include <VP_Os/vp_os_malloc.h>
-
-#include <math.h>
-
-matrix3d_t matrix3d_id = {
-  1.0f, 0.0f, 0.0f, 0.0f,
-  0.0f, 1.0f, 0.0f, 1.0f,
-  0.0f, 0.0f, 1.0f, 0.0f,
-  0.0f, 0.0f, 0.0f, 1.0f
-};
-
-static void vector_X( vector31_t* v )
-{
-  v->x = 1.0f;
-  v->y = 0.0f;
-  v->z = 0.0f;
-}
-
-static void vector_Y( vector31_t* v )
-{
-  v->x = 0.0f;
-  v->y = 1.0f;
-  v->z = 0.0f;
-}
-
-#if 0 // it is not used ... fix warning
-static void vector_Z( vector31_t* v )
-{
-  v->x = 0.0f;
-  v->y = 0.0f;
-  v->z = 1.0f;
-}
-#endif
-
-void matrix3d_zero(matrix3d_t* m)
-{
-  m->m00 = m->m01 = m->m02 = m->m03 = 0.0f;
-  m->m10 = m->m11 = m->m12 = m->m13 = 0.0f;
-  m->m20 = m->m21 = m->m22 = m->m23 = 0.0f;
-  m->m30 = m->m31 = m->m32 = m->m33 = 0.0f;
-}
-
-void matrix3d_identity(matrix3d_t* m)
-{
-  m->m00 = m->m11 = m->m22 = m->m33 = 1.0f;
-
-  m->m01 = m->m02 = m->m03 = 0.0f;
-  m->m10 = m->m12 = m->m13 = 0.0f;
-  m->m20 = m->m21 = m->m23 = 0.0f;
-  m->m30 = m->m31 = m->m32 = 0.0f;
-}
-
-C_RESULT matrix3d_euler(matrix3d_t* m, float32_t phi, float32_t theta, float32_t psi)
-{
-  float32_t c_phi, s_phi, c_theta, s_theta, c_psi, s_psi;
-
-  c_phi   = cosf( phi );
-  s_phi   = sinf( phi );
-  c_theta = cosf( theta );
-  s_theta = sinf( theta );
-  c_psi   = cosf( psi );
-  s_psi   = sinf( psi );
-
-  matrix3d_identity(m);
-
-  m->m00 = c_theta * c_psi;
-  m->m01 = c_theta * s_psi;
-  m->m02 = -s_theta;
-
-  m->m10 = s_phi * s_theta * c_psi - c_phi * s_psi;
-  m->m11 = s_phi * s_theta * s_psi + c_phi * c_psi;
-  m->m12 = s_phi * c_theta;
-
-  m->m20 = c_phi * s_theta * c_psi + s_phi * s_psi;
-  m->m21 = c_phi * s_theta * s_psi - s_phi * c_psi;
-  m->m22 = c_phi * c_theta;
-
-  return C_OK;
-}
-
-C_RESULT matrix3d_vector(matrix3d_t* m, vector31_t* pos, vector31_t* dir, vector31_t* right, vector31_t* up)
-{
-  normalize_vec( dir );
-  vector_Y( up );
-
-  cross_vec( right, dir, up );
-  if( normalize_vec( right ) )
-  {
-    cross_vec( up, right, dir );
-  }
-  else
-  {
-    vector_X( right );
-
-    cross_vec( up, right, dir );
-    cross_vec( right, dir, up );
-    normalize_vec( right );
-  }
-
-  normalize_vec( up );
-
-  return matrix3d_orientation( m, pos, dir, right, up );
-}
-
-C_RESULT matrix3d_orientation(matrix3d_t* m, const vector31_t* pos, const vector31_t* dir,
-                                             const vector31_t* right, const vector31_t* up)
-{
-  float32_t d0, d1, d2;
-
-  m->m00 =  right->x;
-  m->m01 =  up->x;
-  m->m02 = -dir->x;
-
-  m->m10 =  right->y;
-  m->m11 =  up->y;
-  m->m12 = -dir->y;
-
-  m->m20 =  right->z;
-  m->m21 =  up->z;
-  m->m22 = -dir->z;
-
-  dot_vec( &d0, right, pos );
-  dot_vec( &d1, up,    pos );
-  dot_vec( &d2, dir,   pos );
-
-  m->m30 = -d0;
-  m->m31 = -d1;
-  m->m32 = -d2;
-
-  m->m03 =  0.0f;
-  m->m13 =  0.0f;
-  m->m23 =  0.0f;
-  m->m33 =  1.0f;
-
-  return C_OK;
-}
-
-#define MATRIX_EXCHANGE( out, in ) temp = out; out = in; in = out
-
-C_RESULT matrix3d_transpose(matrix3d_t* out, matrix3d_t* in)
-{
-  if( out != in )
-  {
-    out->m00 = in->m00;
-    out->m10 = in->m01;
-    out->m20 = in->m02;
-    out->m30 = in->m03;
-
-    out->m01 = in->m10;
-    out->m11 = in->m11;
-    out->m21 = in->m12;
-    out->m31 = in->m13;
-
-    out->m02 = in->m20;
-    out->m12 = in->m21;
-    out->m22 = in->m22;
-    out->m32 = in->m23;
-
-    out->m03 = in->m30;
-    out->m13 = in->m31;
-    out->m23 = in->m32;
-    out->m33 = in->m33;
-  }
-  else
-  {
-    float32_t temp;
-
-    MATRIX_EXCHANGE( out->m01, out->m10 );
-    MATRIX_EXCHANGE( out->m02, out->m20 );
-    MATRIX_EXCHANGE( out->m03, out->m30 );
-    MATRIX_EXCHANGE( out->m12, out->m21 );
-    MATRIX_EXCHANGE( out->m13, out->m31 );
-    MATRIX_EXCHANGE( out->m23, out->m32 );
-  }
-
-  return C_OK;
-}
-
-C_RESULT matrix3d_add(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2)
-{
-  out->m00 = m1->m00 + m2->m00;
-  out->m01 = m1->m01 + m2->m01;
-  out->m02 = m1->m02 + m2->m02;
-  out->m03 = m1->m03 + m2->m03;
-
-  out->m10 = m1->m10 + m2->m10;
-  out->m11 = m1->m11 + m2->m11;
-  out->m12 = m1->m12 + m2->m12;
-  out->m13 = m1->m13 + m2->m13;
-
-  out->m20 = m1->m20 + m2->m20;
-  out->m21 = m1->m21 + m2->m21;
-  out->m22 = m1->m22 + m2->m22;
-  out->m23 = m1->m23 + m2->m23;
-
-  out->m30 = m1->m30 + m2->m30;
-  out->m31 = m1->m31 + m2->m31;
-  out->m32 = m1->m32 + m2->m32;
-  out->m33 = m1->m33 + m2->m33;
-
-  return C_OK;
-}
-
-C_RESULT matrix3d_sub(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2)
-{
-  out->m00 = m1->m00 - m2->m00;
-  out->m01 = m1->m01 - m2->m01;
-  out->m02 = m1->m02 - m2->m02;
-  out->m03 = m1->m03 - m2->m03;
-
-  out->m10 = m1->m10 - m2->m10;
-  out->m11 = m1->m11 - m2->m11;
-  out->m12 = m1->m12 - m2->m12;
-  out->m13 = m1->m13 - m2->m13;
-
-  out->m20 = m1->m20 - m2->m20;
-  out->m21 = m1->m21 - m2->m21;
-  out->m22 = m1->m22 - m2->m22;
-  out->m23 = m1->m23 - m2->m23;
-
-  out->m30 = m1->m30 - m2->m30;
-  out->m31 = m1->m31 - m2->m31;
-  out->m32 = m1->m32 - m2->m32;
-  out->m33 = m1->m33 - m2->m33;
-
-  return C_OK;
-}
-
-#define MATRIX_MUL_PART(a,b)          \
-  t1 = ( M1[a*4 + 0] * M2[b + 0 ] );  \
-  t2 = ( M1[a*4 + 1] * M2[b + 4 ] );  \
-  t3 = ( M1[a*4 + 2] * M2[b + 8 ] );  \
-  t4 = ( M1[a*4 + 3] * M2[b + 12] );  \
-  MOUT[a*4 + b] = ( t1 + t2 + t3 + t4 );
-
-C_RESULT matrix3d_mul(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2)
-{
-  float32_t t1, t2, t3, t4;
-
-  float32_t* MOUT = (float32_t*) out;
-  float32_t* M1  = (float32_t*) m1;
-  float32_t* M2  = (float32_t*) m2;
-
-  MATRIX_MUL_PART( 0, 0 ); MATRIX_MUL_PART( 0, 1 ); MATRIX_MUL_PART( 0, 2 ); MATRIX_MUL_PART( 0, 3 );
-  MATRIX_MUL_PART( 1, 0 ); MATRIX_MUL_PART( 1, 1 ); MATRIX_MUL_PART( 1, 2 ); MATRIX_MUL_PART( 1, 3 );
-  MATRIX_MUL_PART( 2, 0 ); MATRIX_MUL_PART( 2, 1 ); MATRIX_MUL_PART( 2, 2 ); MATRIX_MUL_PART( 2, 3 );
-  MATRIX_MUL_PART( 3, 0 ); MATRIX_MUL_PART( 3, 1 ); MATRIX_MUL_PART( 3, 2 ); MATRIX_MUL_PART( 3, 3 );
-
-  return C_OK;
-}
-
-C_RESULT matrix3d_translate(matrix3d_t* m, vector31_t* tr)
-{
-  m->m30 =  tr->x;
-  m->m31 =  tr->y;
-  m->m32 =  tr->z;
-  m->m33 =  1.0f;
-
-  return C_OK;
-}
-
-C_RESULT matrix3d_add_translate(matrix3d_t* m, vector31_t* tr)
-{
-  m->m30 +=  tr->x;
-  m->m31 +=  tr->y;
-  m->m32 +=  tr->z;
-  m->m33 =  1.0f;
-
-  return C_OK;
-}
-
-C_RESULT matrix3d_rotate_euler(matrix3d_t* m, float32_t phi, float32_t theta, float32_t psi)
-{
-  matrix3d_t mat_rot;
-  matrix3d_t mat_res;
-
-  matrix3d_euler(&mat_rot, phi, theta, psi);
-  matrix3d_mul(&mat_res, &mat_rot, m);
-
-  vp_os_memcpy( (void *)m, (void *)&mat_res, sizeof(matrix3d_t) );
-
-  return C_OK;
-}
-
-C_RESULT matrix3d_rotate_axis(matrix3d_t* m, vector31_t* axis, float32_t value)
-{
-  return C_OK;
-}
-
-C_RESULT matrix3d_transform(matrix3d_t* m1, struct _vector31_t* v1)
-{
-  float32_t x = (m1->m00) * (v1->x) + (m1->m01) * (v1->y) + (m1->m02) * (v1->z) + m1->m30;
-  float32_t y = (m1->m10) * (v1->x) + (m1->m11) * (v1->y) + (m1->m12) * (v1->z) + m1->m31;
-  float32_t z = (m1->m20) * (v1->x) + (m1->m21) * (v1->y) + (m1->m22) * (v1->z) + m1->m32;
-  float32_t w = (m1->m30) * (v1->x) + (m1->m31) * (v1->y) + (m1->m32) * (v1->z) + m1->m33;
-
-  v1->x = x / w;
-  v1->y = y / w;
-  v1->z = z / w;
-
-  return C_OK;
-}

ARDroneLib/Soft/Lib/Maths/matrix3d.h

@@ -1,59 +0,0 @@
-/**
- *  \brief    Matrix 3d declaration
- *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.fr>
- *  \version  1.0
- *  \date     04/06/2007
- *  \warning  Subject to completion
- */
-
-#ifndef _MATRIX3D_H_
-#define _MATRIX3D_H_
-
-#include <VP_Os/vp_os_types.h>
-
-typedef struct _matrix3d_t {
-  float32_t m00, m01, m02, m03;
-  float32_t m10, m11, m12, m13;
-  float32_t m20, m21, m22, m23;
-  float32_t m30, m31, m32, m33;
-} matrix3d_t;
-
-struct _vector31_t;
-
-extern matrix3d_t matrix3d_id; // identity matrix
-
-// Set m to zero
-void matrix3d_zero(matrix3d_t* m);
-
-// Set m to identity
-void matrix3d_identity(matrix3d_t* m);
-
-// Initialize m from euler angles
-C_RESULT matrix3d_euler(matrix3d_t* m, float32_t phi, float32_t theta, float32_t psi);
-
-// Initialize m from a position and a direction
-C_RESULT matrix3d_vector( matrix3d_t* m, struct _vector31_t* pos, struct _vector31_t* dir,
-                                         struct _vector31_t* right, struct _vector31_t* up);
-
-// Initialize m from a position and a normalized orientation
-C_RESULT matrix3d_orientation(matrix3d_t* m, const struct _vector31_t* pos, const struct _vector31_t* dir,
-                                             const struct _vector31_t* right, const struct _vector31_t* up);
-
-// Compute transposed matrix
-C_RESULT matrix3d_transpose(matrix3d_t* out, matrix3d_t* in);
-
-// Common arithmetic operation
-C_RESULT matrix3d_add(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2);
-C_RESULT matrix3d_sub(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2);
-C_RESULT matrix3d_mul(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2);
-
-// Common 3d transformation
-C_RESULT matrix3d_translate(matrix3d_t* m, struct _vector31_t* tr);
-C_RESULT matrix3d_add_translate(matrix3d_t* m, struct _vector31_t* tr);
-
-C_RESULT matrix3d_rotate_euler(matrix3d_t* m, float32_t phi, float32_t theta, float32_t psi);
-C_RESULT matrix3d_rotate_axis(matrix3d_t* m, struct _vector31_t* axis, float32_t value);
-
-C_RESULT matrix3d_transform(matrix3d_t* m, struct _vector31_t* v);
-
-#endif // _MATRIX3D_H_

ARDroneLib/Soft/Lib/Maths/point3d.h

@@ -1,11 +0,0 @@
-#ifndef _POINT3D_H_
-#define _POINT3D_H_
-
-typedef struct _point3d_t {
-  float32_t x;
-  float32_t y;
-  float32_t z;
-  float32_t w;
-} point3d_t;
-
-#endif // _POINT3D_H_

ARDroneLib/Soft/Lib/Maths/quaternions.c

@@ -1,142 +0,0 @@
-/**
- *  \file     quaternions.c
- *  \brief    Quaternions library used by Mykonos
- *  \author   Francois Callou <francois.callou@parrot.com>
- *  \version  1.0
- */
-
-#include <VP_Os/vp_os_assert.h>
-#include <Maths/quaternions.h>
-#include <Maths/maths.h>
-
-const quaternion_t quat_unitary = { 1.0f, {{{ 0.0f, 0.0f, 0.0f}}} };
-
-void mul_quat( quaternion_t* out, quaternion_t* q1, quaternion_t* q2)
-{
-  vector31_t temp_v;
-  
-  /// You can't have output & input pointing to the same location
-  VP_OS_ASSERT( out != q1 );
-  VP_OS_ASSERT( out != q2 );
-
-  // scalar result
-  out->a = q1->a*q2->a - (q1->v.x*q2->v.x + q1->v.y*q2->v.y + q1->v.z*q2->v.z);
-  
-  // pure quaternion result
-  cross_vec( &out->v , &q1->v,  &q2->v );
-  mulconst_vec( &temp_v, &q2->v, q1->a );
-  add_vec( &out->v, &out->v, &temp_v);
-  mulconst_vec( &temp_v, &q1->v, q2->a );
-  add_vec( &out->v, &out->v, &temp_v);
-}
-
-void add_quat( quaternion_t* out, quaternion_t* q1, quaternion_t* q2 )
-{
-  // scalar result
-  out->a = q1->a + q2->a;
-  // pure quaternion result
-  add_vec( &out->v, &q1->v, &q2->v );
-}
-
-void mulconst_quat( quaternion_t* out, quaternion_t* q, float32_t k )
-{
-  out->a = (q->a) * k;
-  mulconst_vec( &out->v, &q->v, k );
-}
-
-void conjugate_quat( quaternion_t* out, quaternion_t* q )
-{
-  out->a = q->a;
-  out->v.x = -q->v.x;
-  out->v.y = -q->v.y;
-  out->v.z = -q->v.z;
-}
-
-float32_t norm_quat( quaternion_t *q )
-{
-  return sqrtf( q->a*q->a + q->v.x * q->v.x + q->v.y * q->v.y + q->v.z * q->v.z );
-}
-
-bool_t normalize_quat( quaternion_t* q )
-{
-  bool_t ret;
-  float32_t norm;
-
-  norm = norm_quat( q );
-
-  if( f_is_zero( norm ) )
-  {
-    q->a   = 0.0f;
-    q->v.x = 0.0f;
-    q->v.y = 0.0f;
-    q->v.z = 0.0f;
-
-    ret = FALSE;
-  }
-  else
-  {
-    q->a   = f_zero( q->a / norm );
-    q->v.x = f_zero( q->v.x / norm );
-    q->v.y = f_zero( q->v.y / norm );
-    q->v.z = f_zero( q->v.z / norm );
-
-    ret = TRUE;
-  }
-
-  return ret;
-}
-
-
-void quat_to_euler_rot_mat(matrix33_t* m, quaternion_t* q)
-{
-  //to use with normalised quaternion
-  m->m11 = 1.0f - 2*q->v.y*q->v.y - 2*q->v.z*q->v.z;
-  m->m12 = 2*q->v.x*q->v.y - 2*q->v.z*q->a;
-  m->m13 = 2*q->v.z*q->v.x + 2*q->v.y*q->a;
-  m->m21 = 2*q->v.x*q->v.y + 2*q->v.z*q->a;
-  m->m22 = 1.0f - 2*q->v.x*q->v.x - 2*q->v.z*q->v.z;
-  m->m23 = 2*q->v.z*q->v.y - 2*q->v.x*q->a;
-  m->m31 = 2*q->v.z*q->v.x - 2*q->v.y*q->a;
-  m->m32 = 2*q->v.z*q->v.y + 2*q->v.x*q->a;
-  m->m33 = 1.0f - 2*q->v.x*q->v.x - 2*q->v.y*q->v.y;
-}
-
-
-
-void quat_to_euler_angles(angles_t* a, quaternion_t* q)
-{ 
-	//to use with normalised quaternion
-	float32_t sqvx = q->v.x*q->v.x;
-	float32_t sqvy = q->v.y*q->v.y;
-  	float32_t sqvz = q->v.z*q->v.z;
-
- /* if ( f_is_zero(test -0.5) ) { // singularity at north pole
-		a->psi   = 2 * atan2(q->a,q->v.z);
-		a->theta = PI/2;
-		a->phi   = 0;
-		return;
-	}
-	if ( f_is_zero(test + 0.5) ) { // singularity at south pole
-		a->psi   = -2 * atan2(q->a,q->v.z);
-		a->theta = - PI/2;
-		a->phi   = 0;
-		return;
-	}*/
-  
-	a->phi   = atan2f(2*q->v.y*q->v.z+2*q->a*q->v.x , 1 - 2*sqvx - 2*sqvy);
-	a->theta = asinf(2*(q->a*q->v.y - q->v.x*q->v.z ));
-	a->psi   = atan2f(2*q->v.x*q->v.y+2*q->a*q->v.z , 1 - 2*sqvy - 2*sqvz);
-}
-
-void euler_angles_to_quat(angles_t* a, quaternion_t* q)
-{
-	float32_t cphi_2, sphi_2, cthe_2, sthe_2, cpsi_2, spsi_2;
-	sincosf((a->phi)*0.5f,  &sphi_2, &cphi_2);
-	sincosf((a->theta)*0.5f,  &sthe_2, &cthe_2);
-	sincosf((a->psi)*0.5f,  &spsi_2, &cpsi_2);
-
-	q->a   = cphi_2*cthe_2*cpsi_2 + sphi_2*sthe_2*spsi_2;
-	q->v.x = sphi_2*cthe_2*cpsi_2 - cphi_2*sthe_2*spsi_2;
-	q->v.y = cphi_2*sthe_2*cpsi_2 + sphi_2*cthe_2*spsi_2;
-	q->v.z = cphi_2*cthe_2*spsi_2 - sphi_2*sthe_2*cpsi_2;
-}

ARDroneLib/Soft/Lib/Maths/quaternions.h

@@ -1,56 +0,0 @@
-/**
- *  \file     quaternions.c
- *  \brief    Quaternions library used by Mykonos
- *  \author   Fran�ois Callou <francois.callou@parrot.com>
- *  \version  1.0
- */
-
-#ifndef _QUATERNIONS_H_
-#define _QUATERNIONS_H_
-
-#include <Maths/matrices.h>
-#include <VP_Os/vp_os_types.h>
-
-typedef struct _angles_t
-{
-  float32_t phi;
-  float32_t theta;
-  float32_t psi;
-} angles_t;
-
-
-typedef struct _quaternion_t {
-  float32_t   a;
-  vector31_t  v;
-} quaternion_t;
-
-extern const quaternion_t quat_unitary;
-
-// TODO Documentation
-
-// Multiplies two quaternions q1 & q2. Stores result in out.
-void mul_quat( quaternion_t* out, quaternion_t* q1, quaternion_t* q2);
-
-// Adds two quaternions q1 & q2. Stores result in out.
-void add_quat( quaternion_t* out, quaternion_t* q1, quaternion_t* q2 );
-
-// Multiplies a quaternion ny a scalar
-void mulconst_quat( quaternion_t *out, quaternion_t *q, float32_t k );
-
-// Stores the conjugate quaternion in out
-void conjugate_quat( quaternion_t* out, quaternion_t* q );
-
-// Compuets the norm of a quaternion
-float32_t norm_quat( quaternion_t* q );
-
-//Normalises a quaternion
-bool_t normalize_quat( quaternion_t* q );
-
-//transformss a quaternion to the cprrsep�nding euler rotation matrix
-void quat_to_euler_rot_mat(matrix33_t* m, quaternion_t* q);
-
-//transformss a quaternion to the corrseponding euler angles
-void quat_to_euler_angles(angles_t* a, quaternion_t* q);
-
-void euler_angles_to_quat(angles_t* a, quaternion_t* q);
-#endif // _QUATERNIONS_H_

ARDroneLib/Soft/Lib/Maths/time.c

@@ -1,34 +0,0 @@
-#include <Maths/time.h>
-
-#ifndef _WIN32
-	#include <sys/time.h>
-#else
- 
- #include <sys/timeb.h>
- //#include <Winsock2.h>  // dont include; already included and double inclusion is buggy
-
- int gettimeofday (struct timeval *tp, void *tz)
- {
-	 struct _timeb timebuffer;
-	 _ftime (&timebuffer);
-	 tp->tv_sec = (long)timebuffer.time;
-	 tp->tv_usec = (long)timebuffer.millitm * 1000;
-	 return 0;
- }
-#endif
-
-float32_t time_in_ms_f(void)
-{
-  float32_t time_milli_sec, f_sec, f_usec;
-
-  struct timeval  tv;
-
-  gettimeofday(&tv, NULL);
-
-  f_sec   = (float32_t)tv.tv_sec;
-  f_usec  = (float32_t)tv.tv_usec;
-
-  time_milli_sec = (float32_t)(1000.0f*f_sec + f_usec/1000.0f);
-
-  return time_milli_sec;
-}

ARDroneLib/Soft/Lib/Maths/time.h

@@ -1,8 +0,0 @@
-#ifndef _MATHS_TIME_H_
-#define _MATHS_TIME_H_
-
-#include <VP_Os/vp_os_types.h>
-
-float32_t time_in_ms_f(void);
-
-#endif // _TIME_H_

ARDroneLib/Soft/Lib/Maths/vision_math.c

@@ -1,255 +0,0 @@
-
-#include <VP_Os/vp_os_print.h>
-#include <Maths/vision_math.h>
-
-extern float32_t used_focal;
-
-void euler_matrix(float32_t theta, float32_t phi, float32_t psi, matrix33_t *mat)
-{
-  float32_t cthe, sthe, cphi, sphi, cpsi, spsi;
-
-  // Euler angles are now in radians
-  cthe = cosf(theta);
-  sthe = sinf(theta);
-  cphi = cosf(phi);
-  sphi = sinf(phi);
-  cpsi = cosf(psi);
-  spsi = sinf(psi);
-  
-  mat->m11 = cpsi* cthe;
-  mat->m12 = -spsi*cphi + cpsi*sthe*sphi;
-  mat->m13 = spsi*sphi + cpsi*sthe*cphi;
-  mat->m21 = spsi*cthe;
-  mat->m22 = cpsi*cphi + spsi*sthe*sphi; 
-  mat->m23 = -cpsi*sphi + spsi*sthe*cphi;
-  mat->m31 = -sthe;
-  mat->m32 = cthe*sphi;
-  mat->m33 = cthe*cphi;
-}
-
-
-void frame_euler_matrix(float32_t theta, float32_t phi, float32_t psi, matrix33_t *mat)
-{
-  float32_t cthe, sthe, cphi, sphi, cpsi, spsi;
-  float32_t m11, m12, m13, m21, m22, m23, m31, m32, m33;
-  // R_euler*Rc with Rc = [0 -1 0; 1 0 0; 0 0 1]  
-  
-  // Euler angles are now in radians
-  cthe = cosf(theta);
-  sthe = sinf(theta);
-  cphi = cosf(phi);
-  sphi = sinf(phi);
-  cpsi = cosf(psi);
-  spsi = sinf(psi);
-  
-  m11 = cpsi* cthe;
-  m12 = -spsi*cphi + cpsi*sthe*sphi;
-  m13 = spsi*sphi + cpsi*sthe*cphi;
-  m21 = spsi*cthe;
-  m22 = cpsi*cphi + spsi*sthe*sphi; 
-  m23 = -cpsi*sphi + spsi*sthe*cphi;
-  m31 = -sthe;
-  m32 = cthe*sphi;
-  m33 = cthe*cphi;
-
-
-  mat->m11= m12;
-  mat->m12 = -m11;
-  mat->m13 = m13;
-  mat->m21 = m22;
-  mat->m22 = -m21;
-  mat->m23 = m23;
-  mat->m31 = m32;
-  mat->m32 = -m31;
-  mat->m33 = m33;
-}
-
-void vertical_frame_euler_matrix(float32_t theta, float32_t phi, float32_t psi, matrix33_t *mat)
-{
-  float32_t cthe, sthe, cphi, sphi, cpsi, spsi;
-  float32_t m11, m12, m13, m21, m22, m23, m31, m32, m33;
-  // R_euler*Rc with Rc = [0 -1 0; 1 0 0; 0 0 1]
-  
-  // Euler angles are now in radians
-  cthe = cosf(theta);
-  sthe = sinf(theta);
-  cphi = cosf(phi);
-  sphi = sinf(phi);
-  cpsi = cosf(psi);
-  spsi = sinf(psi);
-  
-  m11 = cpsi* cthe;
-  m12 = -spsi*cphi + cpsi*sthe*sphi;
-  m13 = spsi*sphi + cpsi*sthe*cphi;
-  m21 = spsi*cthe;
-  m22 = cpsi*cphi + spsi*sthe*sphi; 
-  m23 = -cpsi*sphi + spsi*sthe*cphi;
-  m31 = -sthe;
-  m32 = cthe*sphi;
-  m33 = cthe*cphi;
-
-
-  mat->m11= m12;
-  mat->m12 = -m11;
-  mat->m13 = m13;
-  mat->m21 = m22;
-  mat->m22 = -m21;
-  mat->m23 = m23;
-  mat->m31 = m32;
-  mat->m32 = -m31;
-  mat->m33 = m33;
-}
-
-void horizontal_frame_euler_matrix(float32_t theta, float32_t phi, float32_t psi, matrix33_t *mat)
-{
-  float32_t cthe, sthe, cphi, sphi, cpsi, spsi;
-  float32_t m11, m12, m13, m21, m22, m23, m31, m32, m33;
-  // R_euler*Rc with Rc = [ 0 0 1; 1 0 0; 0 1 0 ]
-  
-  // Euler angles are now in radians
-  cthe = cosf(theta);
-  sthe = sinf(theta);
-  cphi = cosf(phi);
-  sphi = sinf(phi);
-  cpsi = cosf(psi);
-  spsi = sinf(psi);
-  
-  m11 = cpsi* cthe;
-  m12 = -spsi*cphi + cpsi*sthe*sphi;
-  m13 = spsi*sphi + cpsi*sthe*cphi;
-  m21 = spsi*cthe;
-  m22 = cpsi*cphi + spsi*sthe*sphi; 
-  m23 = -cpsi*sphi + spsi*sthe*cphi;
-  m31 = -sthe;
-  m32 = cthe*sphi;
-  m33 = cthe*cphi;
-
-  mat->m11 =    m12;
-  mat->m12 =    m13;
-  mat->m13 =    m11;
-  mat->m21 =    m22;
-  mat->m22 =    m23;
-  mat->m23 =    m21;
-  mat->m31 =    m32;
-  mat->m32 =    m33;
-  mat->m33 =    m31;
-}
-
-void max_euler_matrix(float32_t theta, float32_t phi, float32_t psi, matrix33_t *mat)
-{
-  float32_t cthe, sthe, cphi, sphi, cpsi, spsi;
-  float32_t m11, m12, m13, m21, m22, m23, m31, m32, m33;
-  // R_euler*Rc with Rc = [ 0 1 0; 0 0 -1; -1 0 0 ]
-  
-  // Euler angles are now in radians
-  cthe = cosf(theta);
-  sthe = sinf(theta);
-  cphi = cosf(phi);
-  sphi = sinf(phi);
-  cpsi = cosf(psi);
-  spsi = sinf(psi);
-  
-  m11 = cpsi* cthe;
-  m12 = -spsi*cphi + cpsi*sthe*sphi;
-  m13 = spsi*sphi + cpsi*sthe*cphi;
-  m21 = spsi*cthe;
-  m22 = cpsi*cphi + spsi*sthe*sphi; 
-  m23 = -cpsi*sphi + spsi*sthe*cphi;
-  m31 = -sthe;
-  m32 = cthe*sphi;
-  m33 = cthe*cphi;
-
-  
-  mat->m11 =    -m13;
-  mat->m12 =    m11;
-  mat->m13 =    -m12;
-  mat->m21 =    -m23;
-  mat->m22 =    m21;
-  mat->m23 =    -m22;
-  mat->m31 =    -m33;
-  mat->m32 =    m31;
-  mat->m33 =    -m32;
-}
-
-void integrated_gyros_matrix(float32_t delta_theta, float32_t delta_phi, float32_t delta_psi, matrix33_t *matproj)
-{
-  // for the case which used integrated gyros
-  // projection matrix used for cancelling rotation between two frames
-  // ie transpose(Rc) * matrot * Rc
-  // with Rc = [0 -1 0; 1 0 0; 0 0 1]
-  // matrot = [1 delta_psi -delta_theta ; -delta_psi 1 delta_phi; delta_theta  -delta_phi 1]
-
-  matproj->m11 = 1.0;
-  matproj->m12 = delta_psi;
-  matproj->m13 = delta_phi;
-  matproj->m21 = -delta_psi;
-  matproj->m22 = 1.0;
-  matproj->m23 = delta_theta;
-  matproj->m31 = -delta_phi;
-  matproj->m32 = -delta_theta;
-  matproj->m33 = 1.0;
-}
-
-void frame_euler_angles(vector31_t *angles, matrix33_t *R)
-{
-  angles->x = (float32_t)asinf(-R->m31);
-  angles->y = (float32_t)atan2f(R->m32, R->m33);
-  angles->z = (float32_t)atan2f(R->m21, R->m11);
-
-  if (angles->z < 0)
-    angles->z += 2*PI;
-}
-
-void horizontal_frame_euler_angles(vector31_t *angles, matrix33_t *R)
-{
-  angles->x = (float32_t)asinf(-R->m33);
-  angles->y = (float32_t)atan2f(R->m31, R->m32);
-  angles->z = (float32_t)atan2f(R->m23, R->m13);
-
-  if (angles->z < 0)
-    angles->z += 2*PI;
-}
-
-void proj_point(screen_point_t *point, screen_point_t *center, matrix33_t *mat, vector21_t *out)
-{
-  float32_t denom;
-  int32_t x_centre = point->x - center->x;
-  int32_t y_centre = point->y - center->y;
-   
-  denom = mat->m31*x_centre/used_focal + mat->m32*y_centre/used_focal + mat->m33;
-
-  out->x = (float32_t)center->x + ( mat->m11*x_centre + mat->m12*y_centre + mat->m13*used_focal) / denom;
-  out->y = (float32_t)center->y + ( mat->m21*x_centre + mat->m22*y_centre + mat->m23*used_focal ) / denom;
-}
-
-void proj_pointf(vector21_t *point, screen_point_t *center, matrix33_t *mat, vector21_t *out)
-{
-  float32_t denom;
-  float32_t x_centre = point->x - (float32_t)center->x;
-  float32_t y_centre = point->y - (float32_t)center->y;
-  
-  denom = mat->m31*x_centre/used_focal + mat->m32*y_centre/used_focal + mat->m33;
-
-  out->x = (float32_t)center->x + ( mat->m11*x_centre + mat->m12*y_centre + mat->m13*used_focal) / denom;
-  out->y = (float32_t)center->y + ( mat->m21*x_centre + mat->m22*y_centre + mat->m23*used_focal ) / denom;
-}
-
-
-void vision_direction_result(vector21_t *t, screen_point_t *v, int32_t  threshold)
-{
-  float32_t norm, angle;
-  
-  norm = t->x*t->x + t->y*t->y;
-  
-  if (norm < threshold*threshold)
-    {
-      v->x = 0;
-      v->y = 0;
-    }
-  else
-    {
-      angle = (float32_t)atan2f(t->y,t->x);
-      v->x = (angle >= -3*PI/8) * (angle <= 3*PI/8) - (angle <= -5*PI/8) - (angle >= 5*PI/8);
-      v->y = (angle >= PI/8) * (angle <= 7*PI/8) - (angle >= - 7*PI/8) * (angle <= -PI/8);
-    }
-}

ARDroneLib/Soft/Lib/Maths/vision_math.h

@@ -1,74 +0,0 @@
-
-#ifndef _STAGES_VISION_MATH_INCLUDE_
-#define _STAGES_VISION_MATH_INCLUDE_
-
-#include <Maths/maths.h>
-#include <Maths/matrices.h>
-
-/**
- * @fn     Compute the matrix of uav pose in space
- * @param  float32_t theta : euler angle
- * @param  float32_t phi : euler angle
- * @param  float32_t psi : euler angle
- * @param  matrix *mat 
- * @return VOID
-*/ 
-void 
-euler_matrix(float32_t theta, float32_t phi, float32_t psi, matrix33_t *mat);
-void
-horizontal_frame_euler_matrix(float32_t theta, float32_t phi, float32_t psi, matrix33_t *mat);
-void
-vertical_frame_euler_matrix(float32_t theta, float32_t phi, float32_t psi, matrix33_t *mat);
-void
-max_euler_matrix(float32_t theta, float32_t phi, float32_t psi, matrix33_t *mat);
-
-/**
- * @fn     Compute the matrix of uav pose in space R_euler*Rc, in camera basis
- * @param  float32_t theta : euler angle
- * @param  float32_t phi : euler angle
- * @param  float32_t psi : euler angle
- * @param  matrix *mat 
- * @return VOID
-*/ 
-void 
-frame_euler_matrix(float32_t theta, float32_t phi, float32_t psi, matrix33_t *mat);
-
-void
-frame_euler_angles(vector31_t *angles, matrix33_t *R);
-void
-horizontal_frame_euler_angles(vector31_t *angles, matrix33_t *R);
-
-/**
- * @fn     Compute the matrix which projects points from frame (t-1) to frame (t) : tr(Rc)*Rot*Rc
- * @param  float32_t delta_theta : integrated gyro in theta
- * @param  float32_t delta_phi : integrated gyro in phi
- * @param  float32_t delta_psi : integrated gyro in psi
- * @param  matrix *matproj 
- * @return VOID
-*/ 
-void 
-integrated_gyros_matrix(float32_t delta_theta, float32_t delta_phi, float32_t delta_psi, matrix33_t *matproj);
-
-/**
- * @fn     compute projection of a point on a plane
- * @param  int x : first coordinate
- * @param  int y : second coordinate
- * @param  int centerx : first coordinate of the image center
- * @param  int centery : second coordinate of the image center
- * @param  matrix mat : projection matrix
- * @param  float *u : first coordinate of result
- * @param  float *v : second coordinate of result
- * @return VOID
-*/ 
-void 
-proj_point(screen_point_t *point, screen_point_t *center, matrix33_t *mat, vector21_t *out);
-
-void 
-proj_pointf(vector21_t *point, screen_point_t *center, matrix33_t *mat, vector21_t *out);
-
-void 
-vision_direction_result(vector21_t *t, screen_point_t *v, int32_t  threshold);
-
-
-#endif // ! _STAGES_VISION_MATH_INCLUDE_
-

ARDroneLib/Soft/Lib/ardrone_tool/AT/ardrone_at_mutex.c

@@ -1,984 +0,0 @@
-/********************************************************************
- *                    COPYRIGHT PARROT 2010
- ********************************************************************
- *       PARROT                MODULES
- *-----------------------------------------------------------------*/
-/**
- * @file   ardrone_at.c
- * @brief  .
- *
- * @author K. Leplat <karl.leplat.ext@parrot.com>
- * @date   Mon Feb 1 10:30:50 2010
- *
- *
- *******************************************************************/
-#ifdef __ARMCC_VERSION
-#undef _XOPEN_SOURCE
-#endif
-
-#include <VP_Os/vp_os_assert.h>
-#include <VP_Os/vp_os_print.h>
-#include <ardrone_tool/Com/config_com.h>
-#include <ardrone_tool/ardrone_tool.h>
-
-//Common
-#include <ardrone_api.h>
-#include <at_msgs_ids.h>
-#include <config.h>
-
-//SDK
-#include <VP_Com/vp_com.h>
-#include <VP_Com/vp_com_socket.h>
-#include <VP_SDK/ATcodec/ATcodec_api.h>
-
-//GNU STANDARD C LIBRARY
-#include <stdio.h>
-#include <stdlib.h>
-#include <ctype.h>
-#include <string.h>
-#include <sys/socket.h>
-
-#include <netinet/in.h>
-#include <netinet/ip.h>
-
-
-/********************************************************************
- * Constants
- *******************************************************************/
-#define MAX_BUF_SIZE 256
-#define AT_MUTEX_SNDBUF_SIZE    256
-
-/********************************************************************
- * Static variables and types
- *******************************************************************/
-AT_CODEC_MSG_IDS ids;
-static uint32_t at_init = 0;
-static vp_os_mutex_t at_mutex;
-static uint32_t nb_sequence = 0;
-static vp_com_socket_t at_socket;
-static AT_CODEC_FUNCTIONS_PTRS func_ptrs;
-static Write atcodec_write = NULL;
-static Read atcodec_read = NULL;
-
-// Navdata
-extern float32_t nd_iphone_gaz;
-extern float32_t nd_iphone_yaw;
-extern int32_t nd_iphone_flag;
-extern float32_t nd_iphone_phi;
-extern float32_t nd_iphone_theta;
-extern float32_t nd_iphone_magneto_psi;
-extern float32_t nd_iphone_magneto_psi_accuracy;
-
-/********************************************************************
- * Static function declarations
- *******************************************************************/
-static void atcodec_init( AT_CODEC_FUNCTIONS_PTRS *funcs );
-void ardrone_at_shutdown ( void );
-AT_CODEC_ERROR_CODE host_init( void );
-AT_CODEC_ERROR_CODE host_shutdown( void );
-AT_CODEC_ERROR_CODE host_enable( void );
-AT_CODEC_ERROR_CODE host_open( void );
-AT_CODEC_ERROR_CODE host_close( void );
-AT_CODEC_ERROR_CODE host_write(uint8_t *buffer, int32_t *len);
-AT_CODEC_ERROR_CODE host_read(uint8_t *buffer, int32_t *len);
-
-/********************************************************************
- * Static functions
- *******************************************************************/
-AT_CODEC_ERROR_CODE host_init( void )
-{
-  if( func_ptrs.init != NULL )
-     func_ptrs.init();
-
-# undef ATCODEC_DEFINE_AT_CMD
-# define ATCODEC_DEFINE_AT_CMD(ID,Str,From,Cb,Prio) \
-    if((ids.ID = ATcodec_Add_Defined_Message(Str)) == -1) \
-      { \
-        return AT_CODEC_INIT_ERROR; \
-      }
-
-# undef ATCODEC_DEFINE_AT_RESU
-# define ATCODEC_DEFINE_AT_RESU(ID,Str,From,Cb) \
-    if((ids.ID = ATcodec_Add_Hashed_Message(Str,ids.From,Cb,0)) == -1) \
-      { \
-        return AT_CODEC_INIT_ERROR; \
-      }
-
-# include <at_msgs.h>
-
-  return AT_CODEC_INIT_OK;
-}
-
-AT_CODEC_ERROR_CODE host_shutdown( void )
-{
-  if( func_ptrs.shutdown != NULL )
-     func_ptrs.shutdown();
-
-  ardrone_at_shutdown();
-
-  return AT_CODEC_SHUTDOWN_OK;
-}
-
-AT_CODEC_ERROR_CODE host_enable( void )
-{
-   if( func_ptrs.enable != NULL )
-      return func_ptrs.enable();
-
-   /* Only used with ARDrone */
-   return AT_CODEC_ENABLE_OK;
-}
-
-AT_CODEC_ERROR_CODE host_open( void )
-{
-  static bool_t init_ok = FALSE;
-
-  if( func_ptrs.open != NULL )
-    return func_ptrs.open();
-
-  if( !init_ok )
-  {
-    COM_CONFIG_SOCKET_AT(&at_socket, VP_COM_CLIENT, AT_PORT, wifi_ardrone_ip);
-    at_socket.protocol = VP_COM_UDP;
-
-    if(VP_FAILED(vp_com_init(COM_AT())))
-    {
-      PRINT ("Failed to init AT\n");
-      vp_com_shutdown( COM_AT() );
-      return AT_CODEC_OPEN_ERROR;
-    }
-
-    if(VP_FAILED(vp_com_open(COM_AT(), &at_socket, &atcodec_read, &atcodec_write)))
-    {
-      PRINT ("Failed to open AT\n");
-      return AT_CODEC_OPEN_ERROR;
-    }
-
-    // set send_buffer to a low value to limit latency
-    int32_t sendbuf = AT_MUTEX_SNDBUF_SIZE;
-    if ( setsockopt((int32_t)at_socket.priv, SOL_SOCKET, SO_SNDBUF, &sendbuf, sizeof(sendbuf)) )
-    {
-      PRINT ("Error setting SND_BUF for AT socket\n");
-    }
-
-    int opt = IPTOS_PREC_NETCONTROL;
-    int res = setsockopt((int)at_socket.priv, IPPROTO_IP, IP_TOS, &opt, (socklen_t)sizeof(opt));
-    if (res)
-    {
-        perror("AT stage - setting Live video socket IP Type Of Service : "); 
-    }
-    else
-    {
-        printf ("Set IP_TOS ok\n");
-    }
-
-    
-
-    init_ok = TRUE;
-  }
-
-  return AT_CODEC_OPEN_OK;
-}
-
-AT_CODEC_ERROR_CODE host_close( void )
-{
-   if( func_ptrs.close != NULL )
-      return func_ptrs.close();
-
-  vp_com_close(COM_AT(), &at_socket);
-
-  return AT_CODEC_CLOSE_OK;
-}
-
-AT_CODEC_ERROR_CODE host_write(uint8_t *buffer, int32_t *len)
-{
-  if( func_ptrs.write != NULL )
-     return func_ptrs.write( buffer, len );
-
-  if( atcodec_write != NULL )
-  {
-    return VP_FAILED(atcodec_write(&at_socket, buffer, len)) ? AT_CODEC_WRITE_ERROR : AT_CODEC_WRITE_OK;
-  }
-
-  return AT_CODEC_WRITE_OK;
-}
-
-AT_CODEC_ERROR_CODE host_read(uint8_t *buffer, int32_t *len)
-{
-  if( func_ptrs.read != NULL )
-     return func_ptrs.read( buffer, len );
-
-  return AT_CODEC_READ_OK;
-}
-
-static void atcodec_init( AT_CODEC_FUNCTIONS_PTRS *funcs )
-{
-	if( funcs != NULL)
-	{
-		memcpy(&func_ptrs, funcs, sizeof(*funcs));
-	}
-
-#if defined (_MSC_VER)
-
-	AT_CODEC_FUNCTIONS_PTRS ptrs =
-	{
-		/*init*/host_init,
-		/*shutdown*/host_shutdown,
-		/*enable*/host_enable,
-		/*open*/host_open,
-		/*close*/host_close,
-		/*write*/host_write,
-		/*read*/host_read
-	};
-#else
-	AT_CODEC_FUNCTIONS_PTRS ptrs =
-	{
-		.init     = host_init,
-		.shutdown = host_shutdown,
-		.enable   = host_enable,
-		.open     = host_open,
-		.close    = host_close,
-		.read     = host_read,
-		.write    = host_write,
-	};
-#endif
-	vp_os_mutex_init(&at_mutex);
-	ATcodec_Init_Library( &ptrs );
-}
-
-/********************************************************************
- * Public functions
- *******************************************************************/
-void ardrone_at_set_ui_pad_value( uint32_t value )
-{
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);  
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_RC_REF_EXE,
-                                ++nb_sequence,
-                                value );
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_set_pmode( int32_t pmode )
-{
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_PMODE_EXE,
-                                ++nb_sequence,
-                                pmode );
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_set_ui_misc(int32_t m1, int32_t m2, int32_t m3, int32_t m4)
-{
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_MISC_EXE, 
-                                ++nb_sequence,
-                                m1, 
-                                m2, 
-                                m3, 
-                                m4 );
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_set_anim( anim_mayday_t type, int32_t duration )
-{
-	int32_t animtype = type;
-
-	if (!at_init)
-		return;
-
-	vp_os_mutex_lock(&at_mutex);
-	ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_ANIM_EXE,
-			++nb_sequence,
-			animtype,
-			duration );
-	vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_set_flat_trim(void)
-{
-  if (!at_init)
-     return;
-  vp_os_mutex_lock(&at_mutex);
-	ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_FTRIM_EXE,
-                                 ++nb_sequence );
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_set_manual_trims(float32_t trim_pitch, float32_t trim_roll, float32_t trim_yaw)
-{
-  float_or_int_t _trim_pitch, _trim_roll, _trim_yaw;
-  if (!at_init)
-     return;
-
-  _trim_pitch.f = trim_pitch;
-  _trim_roll.f = trim_roll;
-  _trim_yaw.f = trim_yaw;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_MTRIM_EXE, 
-                                ++nb_sequence,
-                                _trim_pitch.i, 
-                                _trim_roll.i, 
-                                _trim_yaw.i);
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_set_control_gains( api_control_gains_t* gains )
-{
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_GAIN_EXE,
-                                ++nb_sequence,
-                                gains->pq_kp, gains->r_kp, gains->r_ki, gains->ea_kp, gains->ea_ki,
-                                gains->alt_kp, gains->alt_ki, gains->vz_kp, gains->vz_ki,
-                                gains->hovering_kp, gains->hovering_ki,
-                                gains->hovering_b_kp, gains->hovering_b_ki);
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_set_vision_track_params( api_vision_tracker_params_t* params )
-{
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_VISP_EXE,
-                                ++nb_sequence,
-                                params->coarse_scale,
-                                params->nb_pair,
-                                params->loss_per,
-                                params->nb_tracker_width,
-                                params->nb_tracker_height,
-                                params->scale,
-                                params->trans_max,
-                                params->max_pair_dist,
-                                params->noise );
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_raw_capture(  uint8_t active )
-{
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_RAWC_EXE,
-                               ++nb_sequence,
-                               0,
-                               active);
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_raw_picture(void)
-{
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_RAWC_EXE,
-                               ++nb_sequence,
-                               1,
-                               0);
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_zap( ZAP_VIDEO_CHANNEL channel )
-{
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_ZAP_EXE,
-                                ++nb_sequence,
-                                channel );
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_cad( CAD_TYPE type, float32_t tag_size )
-{
-  float_or_int_t size;
-  size.f = tag_size;
-
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_CAD_EXE, 
-                                ++nb_sequence,
-                                type, 
-                                size.i);
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-/********************************************************************
- * ardrone_at_set_progress_cmd: 
- *-----------------------------------------------------------------*/
-/**
- * @param enable 1,with pitch,roll and 0,without pitch,roll.
- * @param pitch Using floating value between -1 to +1. 
- * @param roll Using floating value between -1 to +1.
- * @param gaz Using floating value between -1 to +1.
- * @param yaw Using floating value between -1 to +1.
- *
- * @brief
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-void ardrone_at_set_progress_cmd(int32_t flag, float32_t phi, float32_t theta,float32_t gaz, float32_t yaw) {
-
-	float_or_int_t _phi, _theta, _gaz, _yaw;
-
-	if (!at_init)
-		return;
-
-	_phi.f = phi;
-	_theta.f = theta;
-	_gaz.f = gaz;
-	_yaw.f = yaw;
-
-	// Saving values to set them in navdata_file
-	nd_iphone_flag = flag;
-	nd_iphone_phi = phi;
-	nd_iphone_theta = theta;
-	nd_iphone_gaz = gaz;
-	nd_iphone_yaw = yaw;
-
-	vp_os_mutex_lock(&at_mutex);
-	ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PCMD_EXE, ++nb_sequence,
-			flag, _phi.i, _theta.i, _gaz.i, _yaw.i);
-	vp_os_mutex_unlock(&at_mutex);
-}
-
-/********************************************************************
- * ardrone_at_set_progress_cmd:
- *-----------------------------------------------------------------*/
-/**
- * @param enable 1,with pitch,roll and 0,without pitch,roll.
- * @param pitch Using floating value between -1 to +1.
- * @param roll Using floating value between -1 to +1.
- * @param gaz Using floating value between -1 to +1.
- * @param yaw Using floating value between -1 to +1.
- * @param magneto_psi floating value between -1 to +1.
- * @param magneto_psi_accuracy floating value between -1 to +1
- *
- * @brief
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-void ardrone_at_set_progress_cmd_with_magneto(int32_t flag, float32_t phi, float32_t theta,float32_t gaz, float32_t yaw, float32_t magneto_psi,float32_t magneto_psi_accuracy) {
-
-	float_or_int_t _phi, _theta, _gaz, _yaw, _magneto_psi, _magneto_psi_accuracy;
-
-	if (!at_init)
-		return;
-
-	_phi.f = phi;
-	_theta.f = theta;
-	_gaz.f = gaz;
-	_yaw.f = yaw;
-	_magneto_psi.f = magneto_psi;
-	_magneto_psi_accuracy.f = magneto_psi_accuracy;
-
-	// Saving values to set them in navdata_file
-	nd_iphone_flag = flag;
-	nd_iphone_phi = phi;
-	nd_iphone_theta = theta;
-	nd_iphone_gaz = gaz;
-	nd_iphone_yaw = yaw;
-	nd_iphone_magneto_psi = magneto_psi;
-	nd_iphone_magneto_psi_accuracy = magneto_psi_accuracy;
-
-	//printf("Sent : psi_iphone = %.4f    acc = %.4f\n",magneto_psi,magneto_psi_accuracy);
-
-	vp_os_mutex_lock(&at_mutex);
-	ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PCMD_MAG_EXE, ++nb_sequence,
-			flag, _phi.i, _theta.i, _gaz.i, _yaw.i, _magneto_psi.i, _magneto_psi_accuracy.i);
-	vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_set_led_animation ( LED_ANIMATION_IDS anim_id, float32_t freq, uint32_t duration_sec )
-{
-	float_or_int_t _freq;
-
-	if (!at_init)
-     return;
-	
-	_freq.f = freq;
-	
-  vp_os_mutex_lock(&at_mutex);
-	ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_LED_EXE,
-                                ++nb_sequence,
-                                anim_id, 
-                                _freq.i, 
-                                duration_sec);
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_set_vision_update_options(int32_t user_vision_option)
-{
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_VISO_EXE, 
-                               ++nb_sequence,
-                               user_vision_option);
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-/********************************************************************
- * ardrone_at_set_polaris_pos:
- *-----------------------------------------------------------------*/
-void ardrone_at_set_polaris_pos( float32_t fx, float32_t fy, float32_t fpsi, bool_t defined, int32_t time_us )
-{
-  float_or_int_t x, y, psi;
-
-  if (!at_init)
-     return;
-
-  x.f   = fx;
-  y.f   = fy;
-  psi.f = fpsi;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_POLARIS_EXE,
-                                ++nb_sequence,
-                                x.i, 
-                                y.i, 
-                                psi.i, 
-                                defined, 
-                                time_us );
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-void ardrone_at_set_vicon_data(struct timeval time, int32_t frame_number, float32_t latency, vector31_t global_translation, vector31_t global_rotation_euler)
-{
-	float_or_int_t _latency, _global_translation_x, _global_translation_y, _global_translation_z, _global_rotation_euler_x, _global_rotation_euler_y,
-					_global_rotation_euler_z;
-
-	if (!at_init)
-	 return;
-
-	_latency.f = latency;
-	_global_translation_x.f = global_translation.x;
-	_global_translation_y.f = global_translation.y;
-	_global_translation_z.f = global_translation.z;
-	_global_rotation_euler_x.f = global_rotation_euler.x;
-	_global_rotation_euler_y.f = global_rotation_euler.y;
-	_global_rotation_euler_z.f = global_rotation_euler.z;
-
-	vp_os_mutex_lock(&at_mutex);
-	ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_VICON_EXE,
-								++nb_sequence,
-								(int)time.tv_sec,
-								(int)time.tv_usec,
-								(int)frame_number,
-								_latency.i,
-								_global_translation_x.i,
-								_global_translation_y.i,
-								_global_translation_z.i,
-								_global_rotation_euler_x.i,
-								_global_rotation_euler_y.i,
-								_global_rotation_euler_z.i);
-
-	vp_os_mutex_unlock(&at_mutex);
-}
-
-/********************************************************************
- * ardrone_at_set_toy_configuration_ids:
- *-----------------------------------------------------------------*/
-/**
- * @param param A key as read from an ini file is given as "section:key".
- *
- * @param value
- *
- * @brief identified ardrone_at_set_toy_configuration
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-void ardrone_at_set_toy_configuration_ids(const char* param,char* ses_id, char* usr_id, char* app_id,  const char* value)
-{
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_CONFIG_IDS,
-                                ++nb_sequence,
-                                ses_id,
-                                usr_id,
-                                app_id );
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_CONFIG_EXE,
-                                ++nb_sequence,
-                                param,
-                                value );
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-/********************************************************************
- * ardrone_at_reset_com_watchdog:
- *-----------------------------------------------------------------*/
-/**
- * @brief Re-connect with the ARDrone.
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-void ardrone_at_reset_com_watchdog(void)
-{
-  if (!at_init)
-     return;
-  
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_RESET_COM_WATCHDOG,
-                                ++nb_sequence );
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-/********************************************************************
- * ardrone_at_update_control_mode:
- *-----------------------------------------------------------------*/
-/**
- * @param what_to_do
- *
- * @brief .
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-void ardrone_at_update_control_mode(ARDRONE_CONTROL_MODE control_mode)
-{
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_CTRL_EXE,
-                                ++nb_sequence,
-                                control_mode,
-                                0);
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-/********************************************************************
- * ardrone_at_configuration_get_ctrl_mode:
- *-----------------------------------------------------------------*/
-/**
- * @brief Request to receive configuration file.
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-void ardrone_at_configuration_get_ctrl_mode(void)
-{
-  if (!at_init)
-     return;
-  
- ardrone_at_update_control_mode( CFG_GET_CONTROL_MODE ); 
-}
-
-void ardrone_at_custom_configuration_get_ctrl_mode(void)
-{
-  if (!at_init)
-     return;
-
- ardrone_at_update_control_mode( CUSTOM_CFG_GET_CONTROL_MODE );
-}
-
-/********************************************************************
- * ardrone_at_configuration_ack_ctrl_mode:
- *-----------------------------------------------------------------*/
-/**
- * @brief Signal to the drone that the file has been received.
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-void ardrone_at_configuration_ack_ctrl_mode(void)
-{
-  if (!at_init)
-     return;
- 
-  ardrone_at_update_control_mode( ACK_CONTROL_MODE );
-}
-
-/********************************************************************
- * ardrone_at_set_pwm: .
- *-----------------------------------------------------------------*/
-/**
- * @param p1
- *
- * @param p2
- *
- * @param p3
- *
- * @param p4
- *
- * @brief .
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-void ardrone_at_set_pwm(int32_t p1, int32_t p2, int32_t p3, int32_t p4)
-{
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);
-  ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_PWM_EXE, 
-                                ++nb_sequence,
-                                p1,  
-                                p2, 
-                                p3, 
-                                p4 );
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-/********************************************************************
- * ardrone_at_set_autonomous_flight: Enables / disables the autopilot.
- *-----------------------------------------------------------------*/
-/**
- * @param isActive Integer set to 1 to enable the autopilot.
- *
- * @brief Enables / disables the autopilot.
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-void ardrone_at_set_autonomous_flight( int32_t isActive )
-{
-  if (!at_init)
-     return;
-  
-  vp_os_mutex_lock(&at_mutex);
-   ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_AUTONOMOUS_FLIGHT_EXE,
-                                ++nb_sequence,
-                                isActive );
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-/********************************************************************
- * ardrone_at_set_calibration: Start calibration sequence on device
- *-----------------------------------------------------------------*/
-/**
- * @param deviceId Integer -> device to calibrate (0 = magnetometer)
- *
- * @brief Start calibration sequence on device.
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-void ardrone_at_set_calibration( int32_t deviceId )
-{
-  if (!at_init)
-     return;
-
-  vp_os_mutex_lock(&at_mutex);
-	ATcodec_Queue_Message_valist( ids.AT_MSG_ATCMD_CALIB,
-                                ++nb_sequence,
-                                deviceId );
-  vp_os_mutex_unlock(&at_mutex);
-}
-
-static inline void strtolower(char *str, int length)
-{
-	int i;
-    for(i = 0 ; (i < length) && (str[i] != '\0') ; i++)
-		str[i] = (char)tolower((int)str[i]);
-}
-
-#undef ARDRONE_CONFIG_KEY_IMM
-#undef ARDRONE_CONFIG_KEY_REF
-#undef ARDRONE_CONFIG_KEY_STR
-#define ARDRONE_CONFIG_KEY_IMM(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK) 	\
-ARDRONE_CONFIGURATION_PROTOTYPE(NAME)															\
-{																								\
-	C_RESULT res = C_FAIL;																		\
-    char msg[64];                                                                               \
-    if(strcmp("" #INI_TYPE, "INI_FLOAT") == 0)                                                  \
-    {                                                                                           \
-        res = C_OK;                                                                             \
-        snprintf( &msg[0], sizeof(msg), "%f", *((float*)value));                                \
-    }                                                                                           \
-    if(strcmp("" #INI_TYPE, "INI_DOUBLE") == 0)                                                 \
-    {                                                                                           \
-    	snprintf( &msg[0], sizeof(msg), "%lf", *((double*)value));                                           \
-    	res = C_OK;                                                                             \
-    }                                                                                           \
-    else if(strcmp("" #INI_TYPE, "INI_INT") == 0)                                               \
-    {                                                                                           \
-        snprintf( &msg[0], sizeof(msg), "%d", *((int*)value));                                  \
-        res = C_OK;                                                                             \
-    }                                                                                           \
-    else if(strcmp("" #INI_TYPE, "INI_BOOLEAN") == 0)                                           \
-    {                                                                                           \
-        snprintf( &msg[0], sizeof(msg), *((bool_t*)value) ? "TRUE" : "FALSE");                  \
-        res = C_OK;                                                                             \
-    }                                                                                           \
-    if(res == C_OK)                                                                             \
-    {                                                                                           \
-        char tmp[64];                                                                           \
-		tmp[sizeof(tmp)-1]='\0';																\
-		strncpy(&tmp[0], KEY, sizeof(tmp)-1);                                          		 	\
-        strtolower(&tmp[0], strlen(tmp));                                                       \
-        strncat(tmp, ":" #NAME, sizeof(tmp)-strlen(tmp)-1);                                     \
-        ardrone_at_set_toy_configuration_ids( &tmp[0], ses_id, usr_id, app_id, &msg[0] );       \
-    }                                                                                           \
-	return res;																					\
-}
-
-#define ARDRONE_CONFIG_KEY_REF(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK)
-
-#define ARDRONE_CONFIG_KEY_STR(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK)  \
-ARDRONE_CONFIGURATION_PROTOTYPE(NAME)															\
-{																								\
-	C_RESULT res = C_FAIL; 																		\
-	if(value != NULL)                                                                           \
-	{																							\
-		char tmp[64];																			\
-		tmp[sizeof(tmp)-1]='\0';																\
-		strncpy(&tmp[0], KEY, sizeof(tmp)-1);                                                   \
-		strtolower(&tmp[0], strlen(tmp));																\
-		strncat(tmp, ":" #NAME, sizeof(tmp)-strlen(tmp)-1);                                           	\
-		ardrone_at_set_toy_configuration_ids( &tmp[0], ses_id, usr_id, app_id, ((C_TYPE_PTR)value) ); 	\
-		res = C_OK;																						\
-	}																									\
-	return res;																							\
-}
-
-#include <config_keys.h> // must be included before to have types
-
-/********************************************************************
- * ardrone_at_init_with_funcs: Init at command with ATCodec funcs
- *-----------------------------------------------------------------*/
-/**
- * @param void
- *
- * @brief Fill structure AT codec
- *        and built the library AT commands.
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-void ardrone_at_init_with_funcs ( const char* ip, size_t ip_len, AT_CODEC_FUNCTIONS_PTRS *funcs)
-{
-   if ( at_init )
-      return;
-
-   VP_OS_ASSERT( ip_len < ARDRONE_IPADDRESS_SIZE );
- 
-   if(ip_len >= ARDRONE_IPADDRESS_SIZE)
-       ip_len = ARDRONE_IPADDRESS_SIZE - 1;
-
-   vp_os_memcpy( &wifi_ardrone_ip[0], ip, ip_len);
-   wifi_ardrone_ip[ip_len]='\0';
-
-   atcodec_init (funcs);
-
-   at_init = 1;
-}
-
-/********************************************************************
- * ardrone_at_shutdown: Close at command.
- *-----------------------------------------------------------------*/
-/**
- * @param void
- *
- * @brief 
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-void ardrone_at_shutdown ( void )
-{
-	if ( !at_init )
-		return;
-
-	ATcodec_Shutdown_Library();
-	vp_os_mutex_destroy(&at_mutex);
-
-	at_init = 0;
-}
-
-/********************************************************************
- * ardrone_at_init: Init at command.
- *-----------------------------------------------------------------*/
-/**
- * @param void
- *
- * @brief Fill structure AT codec
- *        and built the library AT commands.
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-void ardrone_at_init ( const char* ip, size_t ip_len)
-{
-   if ( at_init )
-      return;
-
-   VP_OS_ASSERT( ip_len < ARDRONE_IPADDRESS_SIZE );
-
-    if(ip_len >= ARDRONE_IPADDRESS_SIZE)
-        ip_len = ARDRONE_IPADDRESS_SIZE - 1;
-
-	   vp_os_memcpy( &wifi_ardrone_ip[0], ip, ip_len);
-   wifi_ardrone_ip[ip_len]='\0';
-   
-   atcodec_init (NULL);
-
-   at_init = 1;
-}
-
-/********************************************************************
- * ardrone_at_open: Open at command socket.
- *-----------------------------------------------------------------*/
-/**
- * @param void
- *
- * @brief Open at command socket.
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-ATCODEC_RET ardrone_at_open ( void )
-{
-   if ( !at_init )
-      return ATCODEC_FALSE;
-
-   return host_open()==AT_CODEC_OPEN_OK?ATCODEC_TRUE:ATCODEC_FALSE;
-}
-
-/********************************************************************
- * ardrone_at_send: Send all pushed messages.
- *-----------------------------------------------------------------*/
-/**
- * @param void
- *
- * @brief Send all pushed messages.
- *
- * @DESCRIPTION
- *
- *******************************************************************/
-ATCODEC_RET ardrone_at_send ( void )
-{
-	ATCODEC_RET res;
-
-    if ( !at_init )
-      return ATCODEC_FALSE;
-
-	res = ATcodec_Send_Messages();
-
-   return res;
-}

ARDroneLib/Soft/Lib/ardrone_tool/Academy/academy.c

@@ -1,247 +0,0 @@
-/**
- *  academy.c
- *
- *  Created by Frederic D'HAEYER on 8/04/11.
- *  Copyright 2011 Parrot SA. All rights reserved.
- *
- */
-#include <ardrone_tool/Academy/academy.h>
-#include <ardrone_tool/Academy/academy_download.h>
-#include <ardrone_tool/Academy/academy_upload.h>
-#include <utils/ardrone_date.h>
-
-PROTO_THREAD_ROUTINE(academy, data);
-
-char flight_dir[ROOT_NAME_SIZE] = ".";
-
-static THREAD_HANDLE academy_thread;
-static bool_t academy_started = FALSE;
-
-typedef struct _academy_t_
-{
-	vp_os_mutex_t mutex;
-	vp_os_cond_t cond;
-	int16_t  flight_max_storing_size;
-	uint32_t flight_sum;
-	char flight_oldest_date[ARDRONE_DATE_MAXSIZE];
-} academy_t;
-
-static academy_t academy;
-
-void academy_init(const char *flightdir, int max_storing_size)
-{
-	if(!academy_started)
-	{
-        PA_WARNING("MEMORY SPACE ALLOWED : %d MB\n", max_storing_size);
-		vp_os_memset(&academy, 0, sizeof(academy_t));
-		vp_os_mutex_init(&academy.mutex);
-		vp_os_cond_init(&academy.cond, &academy.mutex);
-		academy.flight_max_storing_size = max_storing_size;
-
-        // copy root directory
-		if((flightdir != NULL) && strlen(flightdir) < ROOT_NAME_SIZE)
-			strcpy(flight_dir, flightdir);
-
-		academy_started = TRUE;
-		vp_os_thread_create(thread_academy, (THREAD_PARAMS)NULL, &academy_thread);
-	}
-
-	academy_upload_init();
-}
-
-void academy_shutdown(void)
-{
-	if(academy_started)
-	{
-		academy_started = FALSE;
-		vp_os_mutex_lock(&academy.mutex);
-		vp_os_cond_signal(&academy.cond);
-		vp_os_mutex_unlock(&academy.mutex);
-		vp_os_thread_join(academy_thread);
-	}
-
-	academy_upload_shutdown();
-}
-
-void academy_check_memory(void)
-{
-	vp_os_mutex_lock(&academy.mutex);
-	vp_os_cond_signal(&academy.cond);
-	vp_os_mutex_unlock(&academy.mutex);
-}
-
-void academy_setState(academy_state_t *state, ACADEMY_STATE academy_state)
-{
-	state->state 		= academy_state;
-	state->result 	 	= ACADEMY_RESULT_NONE;
-}
-
-void academy_resetState(academy_state_t *state)
-{
-	state->state 		= ACADEMY_STATE_NONE;
-	state->result 	 	= ACADEMY_RESULT_NONE;
-}
-
-void academy_nextState(academy_state_t *state)
-{
-	state->state 		= (state->state + 1) % ACADEMY_STATE_MAX;
-	state->result 		= ACADEMY_RESULT_NONE;
-}
-
-void academy_stateOK(academy_state_t *state)
-{
-	state->result 		= ACADEMY_RESULT_OK;
-}
-
-void academy_stateERROR(academy_state_t *state)
-{
-	state->result 		= ACADEMY_RESULT_FAILED;
-}
-
-int academy_remove(const char* fpath, const struct stat *sb, int typeflag)
-{
-	if(typeflag == FTW_F)
-		remove(fpath);
-
-	return 0;
-}
-
-int academy_compute_memory_used(const char* fpath, const struct stat *sb, int typeflag)
-{
-	char prefix[FLIGHT_NAME_SIZE];
-	sprintf(prefix, "%s/flight_", flight_dir);
-
-	if(strncmp(fpath, prefix, strlen(prefix)) == 0)
-	{
-		if(typeflag == FTW_F)
-		{
-			academy.flight_sum += sb->st_size;
-		}
-		else if(typeflag == FTW_D)
-		{
-            if(academy.flight_oldest_date[0] == '\0')
-            {
-                sscanf(fpath + strlen(prefix), "%s", academy.flight_oldest_date);
-            }
-		}
-	}
-
-	return 0;
-}
-
-char *academy_get_next_item_with_prefix(const char *list, char **next_item, const char *prefix, bool_t isDirectory)
-{
-	char *result = NULL;
-	static char directoryLine[ACADEMY_MAX_LINE];
-
-	if(*next_item == NULL)
-		*next_item = (char*)list;
-
-	if(*next_item && prefix)
-	{
-		char *ptr = *next_item;
-		while(!result && ptr)
-		{
-			ptr = strchr(*next_item, '\r');
-			if(ptr != NULL)
-			{
-				int length = (ptr - *next_item);
-				memcpy(directoryLine, *next_item, length);
-				directoryLine[length] = '\0';
-				*next_item = ptr + 2; // To remove \r\n to end of line
-
-				// One line found
-				ptr = strrchr(directoryLine, ' ');
-				if(ptr != NULL)
-				{
-					ptr++;
-					if((directoryLine[0] == (isDirectory ? 'd' : '-')) && (strncmp(ptr, prefix, strlen(prefix)) == 0))
-						result = ptr;
-				}
-			}
-		}
-	}
-
-	return result;
-}
-
-// Can remove ftp_directory if there is only files inside
-_ftp_status academy_remove_ftp_directory(_ftp_t *ftp, const char *directory_name)
-{
-	char *list = NULL;
-	char *ptr = NULL;
-	_ftp_status academy_status = ftpCd(ftp, directory_name);
-	if(FTP_SUCCEDED(academy_status))
-	{
-		char *next_item = NULL;
-		academy_status = ftpList(ftp, &list, NULL);
-		PA_DEBUG("list file :\n%s\n", list);
-		while(FTP_SUCCEDED(academy_status) && (ptr = academy_get_next_item_with_prefix(list, &next_item, "", FALSE)))
-		{
-			PA_DEBUG("Removing %s...\n", ptr);
-			academy_status = ftpRemove(ftp, ptr);
-		}
-
-		if(list != NULL)
-		{
-			vp_os_free(list);
-			list = NULL;
-		}
-
-		academy_status = ftpCd(ftp, "..");
-		if(FTP_SUCCEDED(academy_status))
-		{
-			PA_DEBUG("Removing %s...\n", directory_name);
-			academy_status = ftpRmdir(ftp, directory_name);
-		}
-	}
-
-	return academy_status;
-}
-
-DEFINE_THREAD_ROUTINE(academy, data)
-{
-	printf("Start thread %s\n", __FUNCTION__);
-    bool_t needToCheckMemory = TRUE;
-    
-	while( academy_started && !ardrone_tool_exit() )
-	{
-        if(!needToCheckMemory)
-        {
-            vp_os_mutex_lock(&academy.mutex);
-            vp_os_cond_wait(&academy.cond);
-            needToCheckMemory = TRUE;
-            vp_os_mutex_unlock(&academy.mutex);
-        }
-        
-        while(needToCheckMemory)
-        {
-            academy.flight_sum = 0;
-            academy.flight_oldest_date[0] = '\0';
-            
-            if(!ftw(flight_dir, &academy_compute_memory_used, 1))
-            {
-                if(academy.flight_sum > MBYTE_TO_BYTE(academy.flight_max_storing_size))
-                {
-                    char remove_dir[ACADEMY_MAX_FILENAME];
-                    sprintf(remove_dir, "%s/flight_%s", flight_dir, academy.flight_oldest_date);
-                    
-                    // remove oldest flight
-                    PA_WARNING("Too much memory used %d MB > %d MB, removing oldest flight %s...", BYTE_TO_MBYTE(academy.flight_sum), academy.flight_max_storing_size, remove_dir);
-                    
-                    if(!ftw(remove_dir, &academy_remove, 1))
-                    {
-                        rmdir(remove_dir);
-                        PA_WARNING("OK.\n");
-                    }
-                }
-                else
-                    needToCheckMemory = FALSE;
-            }
-            else
-                needToCheckMemory = FALSE;
-        }
-	}
-
-	THREAD_RETURN(C_OK);
-}

ARDroneLib/Soft/Lib/ardrone_tool/Academy/academy.h

@@ -1,81 +0,0 @@
-/**
- *  academy.h
- *
- *  Created by Frederic D'HAEYER on 8/04/11.
- *  Copyright 2011 Parrot SA. All rights reserved.
- *
- */
-#ifndef _ACADEMY_H_
-#define _ACADEMY_H_
-
-#include <ardrone_api.h>
-#include <academy_common.h>
-#include <ardrone_tool/ardrone_tool.h>
-
-#include <VP_Os/vp_os_types.h>
-#include <VP_Api/vp_api_thread_helper.h>
-#include <utils/ardrone_ftp.h>
-#include <VP_Os/vp_os_delay.h>
-#include <VP_Os/vp_os_thread.h>
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Os/vp_os_signal.h>
-#include <stdio.h>
-#include <dirent.h>
-#include <ftw.h>
-#include <time.h>
-
-#ifndef _WIN32
-	#include <sys/time.h>
-	#include <unistd.h>
-#else
-
- 	#include <sys/timeb.h>
-	#include <Winsock2.h>  // for timeval structure
-#endif
-
-#ifdef DEBUG
-#define PILOTACADEMY_DEBUG
-#endif
-
-#define ACADEMY_MAX_LIST		1024
-#define ACADEMY_MAX_LINE		128
-#define ACADEMY_MAX_FILENAME	256
-
-#define PA_PREFIX "PA : "
-
-#ifdef PILOTACADEMY_DEBUG
-#define PA_DEBUG(...)			\
-  do							\
-    {							\
-      printf (PA_PREFIX);		\
-      printf (__VA_ARGS__);		\
-    } while (0)
-#define PA_WARNING(...)			\
-do							\
-{							\
-printf (PA_PREFIX);		\
-printf (__VA_ARGS__);		\
-} while (0)
-#else
-#define PA_DEBUG(...)
-#define PA_WARNING(...)		\
-do							\
-{							\
-printf (PA_PREFIX);		\
-printf (__VA_ARGS__);		\
-} while (0)
-#endif
-
-#define ACADEMY_SERVERNAME			""
-#define ACADEMY_PORT				21
-#define BYTE_TO_MBYTE(a) (a / 1048576)
-#define MBYTE_TO_BYTE(a) (a * 1048576)
-
-void academy_init(const char *flight_dir, int max_storing_size);
-void academy_shutdown(void);
-C_RESULT academy_connect(const char *username, const char *password, academy_callback callback);
-C_RESULT academy_disconnect(void);
-
-extern char flight_dir[];
-
-#endif // _ACADEMY_H_

ARDroneLib/Soft/Lib/ardrone_tool/Academy/academy_download.c

@@ -1,417 +0,0 @@
-/**
- *  academy_download.c
- *
- *  Created by Frederic D'HAEYER on 8/04/11.
- *  Copyright 2011 Parrot SA. All rights reserved.
- *
- */
-#include <ardrone_tool/Academy/academy_download.h>
-
-#define DISPLAY_STRING_LENGTH (128)
-
-typedef struct _academy_download_t_
-{
-    academy_callback callback;
-	academy_download_new_media new_media_callback;
-	academy_state_t state;
-} academy_download_t;
-
-PROTO_THREAD_ROUTINE(academy_download, data);
-
-static bool_t academy_download_started = FALSE;
-static bool_t academy_download_in_pause = FALSE;
-static THREAD_HANDLE academy_download_thread;
-static vp_os_mutex_t academy_download_mutex;
-static vp_os_cond_t academy_download_cond;
-
-static void academy_download_private_callback(academy_state_t state)
-{
-    static char msg[DISPLAY_STRING_LENGTH] = { 0 };
-	switch(state.result)
-	{
-		case ACADEMY_RESULT_NONE:
-			switch(state.state)
-			{
-				case ACADEMY_STATE_CONNECTION:
-                    snprintf (msg, DISPLAY_STRING_LENGTH, "Connecting to %s...", &wifi_ardrone_ip[0]);
-					break;
-
-				case ACADEMY_STATE_PREPARE_PROCESS:
-                    snprintf (msg, DISPLAY_STRING_LENGTH, "Preparing download from %s to local directory...", &wifi_ardrone_ip[0]);
-					break;
-
-				case ACADEMY_STATE_PROCESS:
-                    snprintf (msg, DISPLAY_STRING_LENGTH, "Downloading from %s to local directory...", &wifi_ardrone_ip[0]);
-					break;
-
-				case ACADEMY_STATE_FINISH_PROCESS:
-                    snprintf (msg, DISPLAY_STRING_LENGTH, "Finishing download from %s to local directory...", &wifi_ardrone_ip[0]);
-					break;
-
-				case ACADEMY_STATE_DISCONNECTION:
-                    snprintf (msg, DISPLAY_STRING_LENGTH, "Disconnection to %s...", &wifi_ardrone_ip[0]);
-					break;
-
-				case ACADEMY_STATE_NONE:
-                    strncpy(msg, "", DISPLAY_STRING_LENGTH);
-					break;
-
-				default:
-                    strncpy(msg, "", DISPLAY_STRING_LENGTH);
-					break;
-			}
-			break;
-
-		case ACADEMY_RESULT_OK:
-            strncat(msg, "OK", DISPLAY_STRING_LENGTH - strlen (msg));
-			break;
-
-		case ACADEMY_RESULT_FAILED:
-            strncat(msg, "FAILED", DISPLAY_STRING_LENGTH - strlen (msg));
-			break;
-	}
-    
-	if(strlen(msg) != 0)
-		PA_DEBUG("===========> %s\n", msg);
-}
-
-static void academy_download_resetState(academy_download_t *academy)
-{
-	academy_resetState(&academy->state);
-	if(academy->callback)
-		academy->callback(academy->state);
-}
-
-static void academy_download_nextState(academy_download_t *academy)
-{
-	academy_nextState(&academy->state);
-	if(academy->callback)
-		academy->callback(academy->state);
-}
-
-static void academy_download_stateOK(academy_download_t *academy)
-{
-	academy_stateOK(&academy->state);
-	if(academy->callback)
-		academy->callback(academy->state);
-}
-
-static void academy_download_stateERROR(academy_download_t *academy)
-{
-	academy_stateERROR(&academy->state);
-	if(academy->callback)
-		academy->callback(academy->state);
-	academy_download_resetState(academy);
-}
-
-void academy_download_init(academy_download_new_media academy_download_callback_func)
-{
-	if(!academy_download_started)
-	{
-        vp_os_mutex_init (&academy_download_mutex);
-        vp_os_cond_init (&academy_download_cond, &academy_download_mutex);
-		academy_download_started = TRUE;
-		vp_os_thread_create(thread_academy_download, (THREAD_PARAMS)academy_download_callback_func, &academy_download_thread);
-	}
-}
-
-void academy_download_shutdown(void)
-{
-	if(academy_download_started)
-	{
-		academy_download_started = FALSE;
-        academy_download_resume ();
-		vp_os_thread_join(academy_download_thread);
-	}
-}
-
-DEFINE_THREAD_ROUTINE(academy_download, data)
-{
-	char *directoryList = NULL;
-    bool_t shouldGoInPause = FALSE;
-	char *fileList = NULL;
-	char process_dirname[ACADEMY_MAX_FILENAME];
-	_ftp_t *academy_ftp = NULL;
-	_ftp_status academy_status;
-	struct stat statbuf;
-	char *ptr = NULL;
-	academy_download_t academy;
-    
-    academy.new_media_callback = (academy_download_new_media)data;    
-    academy.callback = academy_download_private_callback;
-    
-	printf("Start thread %s \n", __FUNCTION__);
-    do
-    {
-        academy_download_resetState(&academy);
-        shouldGoInPause = FALSE;
-        if (TRUE == academy_download_in_pause)
-        {
-            vp_os_mutex_lock (&academy_download_mutex);
-            printf ("Academy download stage paused\n");
-            vp_os_cond_wait (&academy_download_cond);
-            vp_os_mutex_unlock (&academy_download_mutex);
-        }
-        academy_download_pause();
-        printf ("Academy download stage resumed\n");
-        academy_download_nextState(&academy);
-         
-		while( academy_download_started && !shouldGoInPause)
-		{
-			academy_status = FTP_FAIL;
-
-			switch(academy.state.state)
-			{				
-                case ACADEMY_STATE_NONE:
-                    academy_status = FTP_SUCCESS;
-                    break;
-                    
-                case ACADEMY_STATE_CONNECTION:
-					if(academy_ftp == NULL)
-						academy_ftp = ftpConnect(&wifi_ardrone_ip[0], ACADEMY_PORT, "anonymous", "", &academy_status);
-
-					if(academy_ftp != NULL)
-						academy_status = FTP_SUCCESS;
-					break;
-
-				case ACADEMY_STATE_PREPARE_PROCESS:
-					academy_status = ftpCd(academy_ftp, "/boxes");
-					if(FTP_SUCCEDED(academy_status))
-					{
-						char *next_dir = NULL;
-						PA_DEBUG("Enter to boxes directory\n");
-						academy_status = ftpList(academy_ftp, &directoryList, NULL);
-
-						// If directory is empty, we consider that it is an error
-						if(academy_status == FTP_SAMESIZE)
-							academy_status = FTP_FAIL;
-
-						if(FTP_SUCCEDED(academy_status))
-						{
-							char local_dir[ACADEMY_MAX_FILENAME];
-							// Search if it stay ftpremove_* directories to continue removing
-							PA_DEBUG("Get directory list :\n%s", directoryList);
-							while(FTP_SUCCEDED(academy_status) && (ptr = academy_get_next_item_with_prefix(directoryList, &next_dir, "ftpremove_downloading_", TRUE)))
-							{
-								char remove_dirname[ACADEMY_MAX_FILENAME];
-                            strncpy(remove_dirname, ptr, ACADEMY_MAX_FILENAME);
-								academy_status = academy_remove_ftp_directory(academy_ftp, remove_dirname);
-							}
-
-							academy_status = FTP_FAIL;
-							next_dir = NULL;
-							// Search if it stay downloading_flight_* file to continue downloading.
-							ptr = academy_get_next_item_with_prefix(directoryList, &next_dir, "downloading_flight_", TRUE);
-							// Check if transfer was in progress
-							if(ptr != NULL)
-							{
-								// Transfer was in progress
-								PA_DEBUG("Transfer was in progress\n");
-                                strncpy(process_dirname, ptr, ACADEMY_MAX_FILENAME);
-                                snprintf(local_dir, ACADEMY_MAX_FILENAME, "%s/%s", flight_dir, process_dirname);
-								if((stat(local_dir, &statbuf) == 0) && S_ISDIR(statbuf.st_mode))
-								{
-									// Transfer was in progress by current device
-									PA_DEBUG("Transfer was in progress by current device\n");
-									academy_status = FTP_SUCCESS;
-								}
-								else
-								{
-									// Transfer was in progress by an other device => Create local directory
-									PA_DEBUG("Transfer was in progress by an other device\n");
-                                    printf("Creating local directory %s\n", local_dir);
-									if(mkdir(local_dir, 0777) >= 0)
-									{
-										PA_DEBUG("Create local directory %s\n", local_dir);
-										academy_status = FTP_SUCCESS;
-									}
-								}
- 							}
-							else
-							{
-								PA_DEBUG(" Transfer was not in progress\n");
-								// Transfer was not in progress => Get oldest flight, rename remote directory and create local directory
-								next_dir = NULL;
-								ptr = academy_get_next_item_with_prefix(directoryList, &next_dir, "flight_", TRUE);
-								if(ptr != NULL)
-								{
-									// Prepare to process new transfer
-									PA_DEBUG("Prepare to process new transfer\n");
-                                    snprintf(process_dirname, ACADEMY_MAX_FILENAME, "downloading_%s", ptr);
-									academy_status = ftpRename(academy_ftp, ptr, process_dirname);
-									if(FTP_SUCCEDED(academy_status))
-									{
-										PA_DEBUG("Rename %s to %s directory\n", ptr, process_dirname);
-                                    snprintf(local_dir, ACADEMY_MAX_FILENAME, "%s/%s", flight_dir, process_dirname);
-										if((stat(local_dir, &statbuf) != 0) && (mkdir(local_dir, 0777) >= 0))
-											PA_DEBUG("Create local directory %s if not exist\n", local_dir);
-										academy_status = FTP_SUCCESS;
-									}
- 								}
-                                else
-                                {
-                                    shouldGoInPause = TRUE;
-                                }
-							}
-
-							if(directoryList != NULL)
-							{
-								vp_os_free(directoryList);
-								directoryList = NULL;
-							}
-						}
-					}
-					break;
-
-				case ACADEMY_STATE_PROCESS:
-					academy_status = ftpCd(academy_ftp, process_dirname);
-					if(FTP_SUCCEDED(academy_status))
-					{
-						PA_DEBUG("Enter to %s directory\n", process_dirname);
-						academy_status = ftpList(academy_ftp, &fileList, NULL);
-						if(FTP_SUCCEDED(academy_status))
-						{
-							char *next_file = NULL;
-							char media_dirname[ACADEMY_MAX_FILENAME];
-							char local_filename[ACADEMY_MAX_FILENAME];
-							bool_t userbox_ready = FALSE;
-
-							PA_DEBUG("Get file list :\n%s", fileList);
-							ptr = academy_get_next_item_with_prefix(fileList, &next_file, "userbox_", FALSE);
-							if(ptr != NULL)
-							{
-                                snprintf(local_filename, ACADEMY_MAX_FILENAME, "%s/%s/%s", flight_dir, process_dirname, ptr);
-								PA_DEBUG("Get %s from drone to local directory...", local_filename);
-								academy_status = ftpGet (academy_ftp, ptr, local_filename, 1, NULL);
-								if(FTP_SUCCEDED(academy_status))
-								{
-									userbox_ready = TRUE;
-									PA_DEBUG("OK\n");
-								}
-								else
-									PA_DEBUG("ERROR\n");
-							}
-
-                            snprintf(media_dirname, ACADEMY_MAX_FILENAME, "%s/media_%s", flight_dir, process_dirname + (strlen("downloading_flight_")));
-							//printf("medias directory : %s\n", media_dirname);
-							next_file = NULL;
-							while(FTP_SUCCEDED(academy_status) && (ptr = academy_get_next_item_with_prefix(fileList, &next_file, "picture_", FALSE)))
-							{
-								if((stat(media_dirname, &statbuf) != 0) && (mkdir(media_dirname, 0777) >= 0))
-									PA_DEBUG("Create local media directory %s if not exist\n", media_dirname);
-
-								sprintf(local_filename, "%s/%s", media_dirname, ptr);
-								PA_DEBUG("Get %s from drone to local directory...", local_filename);
-								academy_status = ftpGet (academy_ftp, ptr, local_filename, 1, NULL);
-								if(FTP_SUCCEDED(academy_status))
-                                {
-                                    academy.new_media_callback((const char *)local_filename);
-									PA_DEBUG("OK\n");
-								}
-                                else
-								{
-                                    PA_DEBUG("ERROR\n");
-                                }
-							}
-
-							if(FTP_SUCCEDED(academy_status) && !userbox_ready)
-							{
-								char local_dirname[ACADEMY_MAX_FILENAME];
-                                snprintf(local_dirname, ACADEMY_MAX_FILENAME, "%s/%s", flight_dir, process_dirname);
-								remove(local_dirname);
-							}
-						}
-
-						if(FTP_SUCCEDED(academy_status))
-							ftpCd(academy_ftp, "..");
-					}
-					break;
-
-				case ACADEMY_STATE_FINISH_PROCESS:
-					{
-						char remove_dirname[ACADEMY_MAX_FILENAME];
-						char src[ACADEMY_MAX_FILENAME];
-						char dest[ACADEMY_MAX_FILENAME];
-
-						// Rename local directory from downloading_flight_* to flight_*
-                        snprintf(src, ACADEMY_MAX_FILENAME, "%s/%s", flight_dir, process_dirname);
-                        snprintf(dest, ACADEMY_MAX_FILENAME, "%s/%s", flight_dir, process_dirname + strlen("downloading_"));
-						rename(src, dest);
-
-						// Rename ftp remote directory from downloading_flight_* to ftpremove_downloading_flight_*
-                        snprintf(remove_dirname, ACADEMY_MAX_FILENAME, "ftpremove_%s", process_dirname);
-						academy_status = ftpRename(academy_ftp, process_dirname, remove_dirname);
-
-						// Delete ftpremove_downloading_flight_*
-						if(FTP_SUCCEDED(academy_status))
-							academy_status = academy_remove_ftp_directory(academy_ftp, remove_dirname);
-					}
-					break;
-
-				case ACADEMY_STATE_DISCONNECTION:
-					if(academy_ftp != NULL)
-						ftpClose(&academy_ftp);
- 					academy_check_memory();
-					academy_status = FTP_SUCCESS;
-					break;
-
-				default:
-					// Nothing to do
-                    PA_DEBUG("THIS CASE SHOULD NOT HAPPEN\n");
-					break;
-			}
-
-			if(FTP_SUCCEDED(academy_status))
-			{
-				PA_DEBUG("continue state from %d to %d\n", academy.state.state, (academy.state.state + 1) % ACADEMY_STATE_MAX);
-				academy_download_stateOK(&academy);
-                academy_download_nextState(&academy);
-			}
-			else
-			{
-				PA_DEBUG("stop\n");
-                shouldGoInPause = TRUE;
-                academy_download_stateERROR(&academy);
-                
-				if(fileList != NULL)
-				{
-					vp_os_free(fileList);
-					fileList = NULL;
-				}
-
-				if(academy_ftp)
-					ftpClose(&academy_ftp);
-			}
-		}
-
-		if(fileList != NULL)
-		{
-			vp_os_free(fileList);
-			fileList = NULL;
-		}
-
-		if(academy_ftp)
-			ftpClose(&academy_ftp);
-        
-	}
-    while(academy_download_started && !ardrone_tool_exit());
-
-    vp_os_cond_destroy(&academy_download_cond);
-    vp_os_mutex_destroy(&academy_download_mutex);
-	THREAD_RETURN(C_OK);
-}
-
-void academy_download_pause (void)
-{
-    vp_os_mutex_lock (&academy_download_mutex);
-    academy_download_in_pause = TRUE;
-    vp_os_mutex_unlock (&academy_download_mutex);
-}
-
-void academy_download_resume (void)
-{
-    vp_os_mutex_lock (&academy_download_mutex);
-    academy_download_in_pause = FALSE;
-    vp_os_cond_signal (&academy_download_cond);
-    vp_os_mutex_unlock (&academy_download_mutex);
-}

ARDroneLib/Soft/Lib/ardrone_tool/Academy/academy_download.h

@@ -1,28 +0,0 @@
-/**
- *  academy_download.h
- *  
- *  Created by Frederic D'HAEYER on 8/04/11.
- *  Copyright 2011 Parrot SA. All rights reserved.
- *
- */
-#ifndef _ACADEMY_DOWNLOAD_H_
-#define _ACADEMY_DOWNLOAD_H_
-
-#include <ardrone_tool/Academy/academy.h>
-
-void academy_check_memory(void);
-void academy_setState(academy_state_t *state, ACADEMY_STATE academy_state);
-void academy_resetState(academy_state_t *state);
-void academy_nextState(academy_state_t *state);
-void academy_stateOK(academy_state_t *state);
-void academy_stateERROR(academy_state_t *state);
-int  academy_remove(const char* fpath, const struct stat *sb, int typeflag);
-char *academy_get_next_item_with_prefix(const char *list, char **next_item, const char *prefix, bool_t isDirectory);
-_ftp_status academy_remove_ftp_directory(_ftp_t *ftp, const char *directory_name);
-
-void academy_download_init(academy_download_new_media callback);
-void academy_download_shutdown(void);
-void academy_download_pause(void);
-void academy_download_resume(void);
-
-#endif // _ACADEMY_DOWNLOAD_H_

ARDroneLib/Soft/Lib/ardrone_tool/Academy/academy_stage_recorder.c

@@ -1,175 +0,0 @@
-#include <time.h>
-#ifndef _WIN32
-	#include <sys/time.h>
-#else
-    #include <sys/timeb.h>
-    #include <Winsock2.h>  // for timeval structure
-#endif
-
-#include <VP_Os/vp_os_malloc.h>
-
-#include <config.h>
-#include <ardrone_tool/Academy/academy_stage_recorder.h>
-#include <utils/ardrone_date.h>
-
-#define ACADEMY_RECORD_FILE_EXTENSION "enc"
-#define ACADEMY_RECORD_FILE_EXTENSION_INPROGRESS "tmp"
-
-#ifndef ACADEMY_FILE_DEFAULT_PATH
-#define ACADEMY_FILE_DEFAULT_PATH flight_dir
-extern char flight_dir[];
-#endif
-
-static void ardrone_academy_stage_recorder_internal_close(ardrone_academy_stage_recorder_config_t *cfg);
-
-ardrone_academy_stage_recorder_config_t ardrone_academy_stage_recorder_config;
-
-const vp_api_stage_funcs_t ardrone_academy_stage_recorder_funcs = {
-  (vp_api_stage_handle_msg_t) NULL,
-  (vp_api_stage_open_t) ardrone_academy_stage_recorder_open,
-  (vp_api_stage_transform_t) ardrone_academy_stage_recorder_transform,
-  (vp_api_stage_close_t) ardrone_academy_stage_recorder_close
-};
-
-bool_t ardrone_academy_stage_recorder_state(void)
-{
-	return (ardrone_academy_stage_recorder_config.startRec != ACADEMY_RECORD_STOP);
-}
-
-C_RESULT
-ardrone_academy_stage_recorder_handle (ardrone_academy_stage_recorder_config_t * cfg, PIPELINE_MSG msg_id, void *callback, void *param)
-{
-	C_RESULT result = C_FAIL;
-
-	switch (msg_id)
-	{
-		case PIPELINE_MSG_START:
-			if(cfg->startRec == ACADEMY_RECORD_STOP)
-            {
-				time_t t;
-                char date[ARDRONE_DATE_MAXSIZE];
-                ardrone_time2date(*((uint32_t*)param), ARDRONE_FILE_DATE_FORMAT, date);
-                char video_filename[ACADEMY_MAX_FILENAME];
-                char media_dirname[ACADEMY_MAX_FILENAME];
-                struct stat statbuf;
-
-                sprintf(media_dirname, "%s/media_%s", ACADEMY_FILE_DEFAULT_PATH, date);
-				if((stat(media_dirname, &statbuf) != 0) && (mkdir(media_dirname, 0777) >= 0))
-					PA_DEBUG("Create local media directory %s if not exist\n", media_dirname);
-
-				t = time(NULL);
-				ardrone_time2date(t, ARDRONE_FILE_DATE_FORMAT, date);
-
-				sprintf(cfg->video_filename, "%s/video_%s.%s",
-						media_dirname,
-						date,
-						ACADEMY_RECORD_FILE_EXTENSION);
-
-				strcpy(video_filename, cfg->video_filename);
-				strcat(video_filename, ".");
-				strcat(video_filename, ACADEMY_RECORD_FILE_EXTENSION_INPROGRESS);
-
-				cfg->fp = fopen(video_filename, "wb");
-				if (cfg->fp != NULL)
-				{
-					printf("Start recording %s\n", cfg->video_filename);
-					cfg->startRec = ACADEMY_RECORD_START;
-					result = C_OK;
-				}
-				else
-				{
-					printf ("Can't open file %s\n", video_filename);
-				}
-            }
-			break;
-  
-		case PIPELINE_MSG_STOP:
-			if(cfg->startRec != ACADEMY_RECORD_STOP)
-            {
-				cfg->startRec = ACADEMY_RECORD_STOP;
-                printf("Stop recording %s\n", cfg->video_filename);
-                ardrone_academy_stage_recorder_internal_close(cfg);
-            }
-			break;
-
-		default:
-			break;
-	}
-
-	return (VP_SUCCESS);
-}
-
-void ardrone_academy_stage_recorder_enable(bool_t enable, uint32_t timestamp)
-{
-	printf("Recording %s...\n", enable ? "started" : "stopped");
-    ardrone_academy_stage_recorder_handle (&ardrone_academy_stage_recorder_config, (enable ? PIPELINE_MSG_START : PIPELINE_MSG_STOP), NULL, &timestamp);    
-}
-
-void ardrone_academy_stage_recorder_internal_close(ardrone_academy_stage_recorder_config_t *cfg)
-{
-    char video_filename[ACADEMY_MAX_FILENAME];
-    strcpy(video_filename, cfg->video_filename);
-    strcat(video_filename, ".");
-    strcat(video_filename, ACADEMY_RECORD_FILE_EXTENSION_INPROGRESS);
-    
-    fclose(cfg->fp);
-    cfg->fp=NULL;    
-    
-    rename(video_filename, cfg->video_filename);
-}
-
-C_RESULT ardrone_academy_stage_recorder_open(ardrone_academy_stage_recorder_config_t *cfg)
-{
-	cfg->startRec = ACADEMY_RECORD_STOP;
-	return C_OK;
-}
-
-C_RESULT ardrone_academy_stage_recorder_transform(ardrone_academy_stage_recorder_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-	C_RESULT result = C_OK;
-#ifndef _WIN32
-	vp_os_mutex_lock( &out->lock );
-
-	if( out->status == VP_API_STATUS_INIT )
-	{
-		out->numBuffers   = 1;
-		out->indexBuffer  = 0;
-		out->lineSize     = NULL;
-	}
-
-	out->size     = in->size;
-	out->status   = in->status;
-	out->buffers  = in->buffers;
-
-	if( in->status == VP_API_STATUS_ENDED )
-	{
-		out->status = in->status;
-	}
-	else if(in->status == VP_API_STATUS_STILL_RUNNING)
-    {
-		out->status = VP_API_STATUS_PROCESSING;
-	}
-	else
-	{
-		out->status = in->status;
-	}
-
-	if( (cfg->fp != NULL) && (in->size > 0) && (out->status == VP_API_STATUS_PROCESSING) && (cfg->startRec == ACADEMY_RECORD_START))
-	{
-        fwrite(&in->size, 1, sizeof(int32_t), cfg->fp);
-        fwrite(in->buffers[in->indexBuffer], 1, in->size, cfg->fp);
-    }
-
-	vp_os_mutex_unlock( &out->lock );
-#endif
-	return result;
-}
-
-C_RESULT ardrone_academy_stage_recorder_close(ardrone_academy_stage_recorder_config_t *cfg)
-{
-  if( cfg->fp != NULL )
-  {
-      ardrone_academy_stage_recorder_internal_close(cfg);
-  }
-  return C_OK;
-}

ARDroneLib/Soft/Lib/ardrone_tool/Academy/academy_stage_recorder.h

@@ -1,46 +0,0 @@
-#ifndef _ACADEMY_STAGE_RECORDER_H_
-#define _ACADEMY_STAGE_RECORDER_H_
-
-#include <stdio.h>
-#include <VP_Api/vp_api.h>
-#include <VP_Api/vp_api_picture.h>
-#include <ardrone_tool/Academy/academy.h>
-
-#ifndef _ACADEMY_RECORD_STATE_ENUM_
-#define _ACADEMY_RECORD_STATE_ENUM_
-typedef enum
-{
-	ACADEMY_RECORD_STOP,    // Video recording has been stopped. Stage will end and restart.
-	ACADEMY_RECORD_START,   // Video recording has started.
-} 
-ardrone_academy_record_state;
-#endif
-
-typedef struct _ardrone_academy_stage_recorder_config_t_ ardrone_academy_stage_recorder_config_t;
-
-typedef void (*ardrone_academy_recorder_callback)(ardrone_academy_stage_recorder_config_t *);
-
-struct _ardrone_academy_stage_recorder_config_t_
-{
-	// public
-	vp_api_picture_t *picture;
-	DEST_HANDLE 	  dest;
-    ardrone_academy_recorder_callback callback;
-    
- 	// private
-    FILE* fp;
-    ardrone_academy_record_state startRec;
-	char video_filename[ACADEMY_MAX_FILENAME];
-};
-
-bool_t ardrone_academy_stage_recorder_state(void);
-void ardrone_academy_stage_recorder_enable(bool_t enable, uint32_t timestamps);
-
-C_RESULT ardrone_academy_stage_recorder_open(ardrone_academy_stage_recorder_config_t *cfg);
-C_RESULT ardrone_academy_stage_recorder_transform(ardrone_academy_stage_recorder_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT ardrone_academy_stage_recorder_close(ardrone_academy_stage_recorder_config_t *cfg);
-
-extern const vp_api_stage_funcs_t ardrone_academy_stage_recorder_funcs;
-extern ardrone_academy_stage_recorder_config_t ardrone_academy_stage_recorder_config;
-
-#endif // _ACADEMY_STAGE_RECORDER_H_

ARDroneLib/Soft/Lib/ardrone_tool/Academy/academy_upload.c

@@ -1,406 +0,0 @@
-/**
- *  academy_upload.c
- *
- *  Created by Frederic D'HAEYER on 8/04/11.
- *  Copyright 2011 Parrot SA. All rights reserved.
- *
- */
-#include <ardrone_tool/Academy/academy_upload.h>
-
-typedef struct _academy_upload_t_
-{
-	vp_os_mutex_t mutex;
-	vp_os_cond_t cond;
-	academy_callback callback;
-	academy_state_t state;
-	academy_user_t user;
-	bool_t connected;
-} academy_upload_t;
-
-PROTO_THREAD_ROUTINE(academy_upload, data);
-
-static bool_t academy_upload_started = FALSE;
-static THREAD_HANDLE academy_upload_thread;
-static academy_upload_t academy_upload;
-
-C_RESULT academy_connect(const char *username, const char *password, academy_callback callback)
-{
-	C_RESULT result = C_FAIL;
-
-	if(academy_upload_started && (academy_upload.state.state == ACADEMY_STATE_NONE))
-    {
-        if(!academy_upload.connected)
-        {
-            _ftp_t *academy_ftp = NULL;
-            _ftp_status status;
-            strcpy(academy_upload.user.username, username ? username : "");
-            strcpy(academy_upload.user.password, password ? password : "");
-
-            if(callback != NULL)
-                academy_upload.callback = callback;
-
-            academy_ftp = ftpConnectFromName(ACADEMY_SERVERNAME, ACADEMY_PORT, academy_upload.user.username, academy_upload.user.password, &status);
-            if(academy_ftp != NULL)
-            {
-                ftpClose(&academy_ftp);
-                vp_os_mutex_lock(&academy_upload.mutex);
-                academy_upload.connected = TRUE;
-                vp_os_cond_signal(&academy_upload.cond);
-                vp_os_mutex_unlock(&academy_upload.mutex);
-                result = C_OK;
-            }
-        }
-        else
-            result = C_OK;
-    }
-    
-	return result;
-}
-
-C_RESULT academy_disconnect(void)
-{
-	C_RESULT result = C_FAIL;
-
-	if(academy_upload_started)
-    {
-        if(academy_upload.connected)
-        {
-            vp_os_mutex_lock(&academy_upload.mutex);
-            academy_upload.connected = FALSE;
-            vp_os_mutex_unlock(&academy_upload.mutex);
-            result = C_OK;
-        }
-        else
-            result = C_OK;
-    }
-    
-	return result;
-}
-
-static void academy_upload_private_callback(academy_state_t state)
-{
-	static char msg[128] = { 0 };
-	switch(state.result)
-	{
-		case ACADEMY_RESULT_NONE:
-			switch(state.state)
-			{
-				case ACADEMY_STATE_CONNECTION:
-					sprintf(msg, "Connecting to %s...", ACADEMY_SERVERNAME);
-					break;
-
-				case ACADEMY_STATE_PREPARE_PROCESS:
-					sprintf(msg, "Preparing upload from local directory to %s...", ACADEMY_SERVERNAME);
-					break;
-
-				case ACADEMY_STATE_PROCESS:
-					sprintf(msg, "Uploading from local directory to %s...", ACADEMY_SERVERNAME);
-					break;
-
-				case ACADEMY_STATE_FINISH_PROCESS:
-					sprintf(msg, "Finishing upload from local directory to %s...", ACADEMY_SERVERNAME);
-					break;
-
-				case ACADEMY_STATE_DISCONNECTION:
-					sprintf(msg, "Disconnection to %s...", ACADEMY_SERVERNAME);
-					break;
-
-				case ACADEMY_STATE_NONE:
-					strcpy(msg, "");
-					break;
-
-				default:
-					strcpy(msg, "");
-					break;
-			}
-			break;
-
-		case ACADEMY_RESULT_OK:
-			strcat(msg, "OK");
-//			time_to_process += state.time_in_ms;
-	//		if(state.state == ACADEMY_STATE_DRONE_DISCONNECTION)
-//			{
-	//			sprintf(msg, "%s in %d ms\n", msg, time_to_process);
-	//			time_to_process = 0;
-	//		}
-			break;
-
-		case ACADEMY_RESULT_FAILED:
-	//		if(state.state == ACADEMY_STATE_DRONE_PREPARE_DOWNLOAD)
-	//			time_to_process = 0;
-
-			strcat(msg, "FAILED");
-			break;
-	}
-	if(strlen(msg) != 0)
-		PA_DEBUG("===========> %s\n", msg);
-}
-
-static void academy_upload_setState(academy_upload_t *academy, ACADEMY_STATE state)
-{
-	academy_setState(&academy->state, state);
-	if(academy->callback)
-		academy->callback(academy->state);
-}
-
-static void academy_upload_resetState(academy_upload_t *academy)
-{
-	academy_resetState(&academy->state);
-	if(academy->callback)
-		academy->callback(academy->state);
-}
-
-static void academy_upload_nextState(academy_upload_t *academy)
-{
-	academy_nextState(&academy->state);
-	if(academy->callback)
-		academy->callback(academy->state);
-}
-
-static void academy_upload_stateOK(academy_upload_t *academy)
-{
-	academy_stateOK(&academy->state);
-	if(academy->callback)
-		academy->callback(academy->state);
-}
-
-static void academy_upload_stateERROR(academy_upload_t *academy)
-{
-	academy_stateERROR(&academy->state);
-	if(academy->callback)
-		academy->callback(academy->state);
-	academy_upload_resetState(academy);
-}
-
-void academy_upload_init(void)
-{
-	if(!academy_upload_started)
-	{
-		vp_os_mutex_init(&academy_upload.mutex);
-		vp_os_cond_init(&academy_upload.cond, &academy_upload.mutex);
-		academy_upload.connected = FALSE;
-		vp_os_memset(&academy_upload.user, 0, sizeof(academy_user_t));
-		academy_upload_started = TRUE;
-		vp_os_thread_create(thread_academy_upload, (THREAD_PARAMS)&academy_upload, &academy_upload_thread);
-	}
-}
-
-void academy_upload_shutdown(void)
-{
-	if(academy_upload_started)
-	{
-		academy_upload_started = FALSE;
-		vp_os_mutex_lock(&academy_upload.mutex);
-		vp_os_cond_signal(&academy_upload.cond);
-		vp_os_mutex_unlock(&academy_upload.mutex);
-		vp_os_thread_join(academy_upload_thread);
-	}
-}
-
-DEFINE_THREAD_ROUTINE(academy_upload, data)
-{
-	char *directoryList = NULL;
-	char *fileList = NULL;
-	char dirname[ACADEMY_MAX_FILENAME];
-	_ftp_t *academy_ftp = NULL;
-	_ftp_status academy_status;
-	char *ptr = NULL;
-	academy_upload_t *academy = (academy_upload_t *)data;
-
-	printf("Start thread %s\n", __FUNCTION__);
-
-	while( academy_upload_started && !ardrone_tool_exit() )
-	{
-		vp_os_mutex_lock(&academy->mutex);
-		vp_os_memset(&academy->user, 0, sizeof(academy_user_t));
-		academy->callback = &academy_upload_private_callback;
-		academy->connected = FALSE;
-		academy_upload_resetState(academy);
-		vp_os_cond_wait(&academy->cond);
-		vp_os_mutex_unlock(&academy->mutex);
-
-		while(academy_upload_started && academy->connected)
-		{
-			academy_status = FTP_FAIL;
-			academy_upload_nextState(academy);
-
-			switch(academy->state.state)
-			{
-				case ACADEMY_STATE_CONNECTION:
-					{
-						struct dirent *dirent = NULL;
-						DIR *dir = NULL;
-						academy_status = FTP_FAIL;
-
-						// Check if flight_* directory exist in local dir
-						if((dir = opendir(flight_dir)) != NULL)
-						{
-							struct stat statbuf;
-							while(FTP_FAILED(academy_status) && (dirent = readdir(dir)) != NULL)
-							{
-								if((strncmp(dirent->d_name, "flight_", strlen("flight_")) == 0))
-								{
-									char local_dir[ACADEMY_MAX_FILENAME];
-									sprintf(dirname, "%s", dirent->d_name);
-									sprintf(local_dir, "%s/%s", flight_dir, dirname);
-									if((stat(local_dir, &statbuf) == 0) && S_ISDIR(statbuf.st_mode))
-										academy_status = FTP_SUCCESS;
-								}
-							}
-                            closedir(dir);
-						}
-
-						if(FTP_SUCCEDED(academy_status))
-						{
-							if(academy_ftp == NULL)
-								academy_ftp = ftpConnectFromName(ACADEMY_SERVERNAME, ACADEMY_PORT, academy->user.username, academy->user.password, &academy_status);
-						}
-					}
-					break;
-
-				case ACADEMY_STATE_PREPARE_PROCESS:
-					academy_status = ftpCd(academy_ftp, "/Uploaded");
-					if(FTP_FAILED(academy_status))
-					{
-						ftpMkdir(academy_ftp, "/Uploaded");
-						academy_status = ftpCd(academy_ftp, "/Uploaded");
-					}
-
-					if(FTP_SUCCEDED(academy_status))
-					{
-						academy_status = ftpList(academy_ftp, &directoryList, NULL);
-						if(FTP_SUCCEDED(academy_status))
-						{
-							bool_t found = FALSE;
-							char *next_dir = NULL;
-
-							while(!found && (ptr = academy_get_next_item_with_prefix(directoryList, &next_dir, "flight_", TRUE)))
-							{
-								if(strcmp(ptr, dirname) == 0)
-								{
-									found = TRUE;
-									academy_upload_setState(academy, ACADEMY_STATE_FINISH_PROCESS);
-								}
-							}
-
-							if(directoryList != NULL)
-							{
-								vp_os_free(directoryList);
-								directoryList = NULL;
-							}
-						}
-					}
-					break;
-
-				case ACADEMY_STATE_PROCESS:
-					academy_status = ftpCd(academy_ftp, "/Uploading");
-					if(FTP_FAILED(academy_status))
-					{
-						ftpMkdir(academy_ftp, "/Uploading");
-						academy_status = ftpCd(academy_ftp, "/Uploading");
-					}
-
-					if(FTP_SUCCEDED(academy_status))
-					{
-						ftpMkdir(academy_ftp, dirname);
-						academy_status = ftpCd(academy_ftp, dirname);
-						if(FTP_SUCCEDED(academy_status))
-						{
-							char local_dir[ACADEMY_MAX_FILENAME];
-							struct dirent *dirent = NULL;
-							DIR *dir = NULL;
-
-							sprintf(local_dir, "%s/%s", flight_dir, dirname);
-							if((dir = opendir(local_dir)) != NULL)
-							{
-								char local_filename[ACADEMY_MAX_FILENAME];
-								struct stat statbuf;
-								while(FTP_SUCCEDED(academy_status) && ((dirent = readdir(dir)) != NULL))
-								{
-									if((strncmp(dirent->d_name, "picture_", strlen("picture_")) == 0) || (strncmp(dirent->d_name, "userbox_", strlen("userbox_")) == 0))
-									{
-										sprintf(local_filename, "%s/%s", local_dir, dirent->d_name);
-										if((stat(local_filename, &statbuf) == 0) && !S_ISDIR(statbuf.st_mode))
-										{
-											PA_DEBUG("Put %s from local directory to server...", dirent->d_name);
-											academy_status = ftpPut(academy_ftp, local_filename, dirent->d_name, 1, NULL);
-											if(FTP_SUCCEDED(academy_status))
-												PA_DEBUG("OK\n");
-											else
-												PA_DEBUG("ERROR\n");
-										}
-									}
-								}
-                                
-                                closedir(dir);
-							}
-						}
-					}
-					break;
-
-				case ACADEMY_STATE_FINISH_PROCESS:
-					{
-						char local_dir[ACADEMY_MAX_FILENAME];
-						char src[ACADEMY_MAX_FILENAME];
-						char dest[ACADEMY_MAX_FILENAME];
-						sprintf(src, "/Uploading/%s", dirname);
-						sprintf(dest, "/Uploaded/%s", dirname);
-						academy_status = ftpRename(academy_ftp, src, dest);
-
-						// Penser à supprimer le fichier local
-						academy_status = FTP_FAIL;
-						sprintf(local_dir, "%s/%s", flight_dir, dirname);
-						if(!ftw(local_dir, &academy_remove, 1))
-						{
-							rmdir(local_dir);
-							academy_status = FTP_SUCCESS;
-						}
-					}
-					break;
-
-				case ACADEMY_STATE_DISCONNECTION:
-					if(academy_ftp != NULL)
-						ftpClose(&academy_ftp);
-					academy_status = FTP_SUCCESS;
-					break;
-
-				default:
-					// Nothing to do
-					break;
-			}
-
-			if(FTP_SUCCEDED(academy_status))
-			{
-				PA_DEBUG("continue state from %d to %d\n", academy->state.state, (academy->state.state + 1) % ACADEMY_STATE_MAX);
-				academy_upload_stateOK(academy);
-			}
-			else
-			{
-				PA_DEBUG("stop\n");
-				academy_upload_stateERROR(academy);
-
-				if(fileList != NULL)
-				{
-					vp_os_free(fileList);
-					fileList = NULL;
-				}
-
-				if(academy_ftp)
-					ftpClose(&academy_ftp);
-
-				vp_os_delay(1000);
-			}
-		}
-
-		if(fileList != NULL)
-		{
-			vp_os_free(fileList);
-			fileList = NULL;
-		}
-
-		if(academy_ftp)
-			ftpClose(&academy_ftp);
-	} // while
-
-	THREAD_RETURN(C_OK);
-}

ARDroneLib/Soft/Lib/ardrone_tool/Academy/academy_upload.h

@@ -1,25 +0,0 @@
-/**
- *  academy_upload.h
- *  
- *  Created by Frederic D'HAEYER on 8/04/11.
- *  Copyright 2011 Parrot SA. All rights reserved.
- *
- */
-#ifndef _ACADEMY_UPLOAD_H_
-#define _ACADEMY_UPLOAD_H_
-
-#include <ardrone_tool/Academy/academy.h>
-
-void academy_setState(academy_state_t *state, ACADEMY_STATE academy_state);
-void academy_resetState(academy_state_t *state);
-void academy_nextState(academy_state_t *state);
-void academy_stateOK(academy_state_t *state);
-void academy_stateERROR(academy_state_t *state);
-int academy_remove(const char* fpath, const struct stat *sb, int typeflag);
-char *academy_get_next_item_with_prefix(const char *list, char **next_item, const char *prefix, bool_t isDirectory);
-_ftp_status academy_remove_ftp_directory(_ftp_t *ftp, const char *directory_name);
-
-void academy_upload_init(void);
-void academy_upload_shutdown(void);
-
-#endif // _ACADEMY_UPLOAD_H_

ARDroneLib/Soft/Lib/ardrone_tool/Com/config_com.h

@@ -1,12 +0,0 @@
-#ifndef _CONFIG_COM_H_
-#define _CONFIG_COM_H_
-
-#include <config.h>
-
-#define NUM_ATTEMPTS 10
-
-#include <ardrone_tool/Com/config_serial.h>
-
-#include <ardrone_tool/Com/config_wifi.h>
-
-#endif // _CONFIG_COM_H_

ARDroneLib/Soft/Lib/ardrone_tool/Com/config_serial.c

@@ -1,108 +0,0 @@
-#include <VP_Os/vp_os_malloc.h>
-
-#include <config.h>
-#include <ardrone_tool/Com/config_com.h>
-
-#ifndef _WIN32
-
-vp_com_t* serial_com(void)
-{
-  static vp_com_t com = {
-    VP_COM_SERIAL,
-    FALSE,
-    0,
-#ifdef _WIN32
-	0,
-#else
-	PTHREAD_MUTEX_INITIALIZER,
-#endif
-    NULL,
-    NULL,
-    0,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL
-  };
-
-  return &com;
-}
-
-vp_com_config_t* serial_config_0(void)
-{
-  static vp_com_serial_config_t config = {
-    SERIAL_LINK_0,
-    VP_COM_BAUDRATE_115200,
-    SL0_BAUDRATE,
-    1,
-    0,
-    0
-  };
-
-  return (vp_com_config_t*) &config;
-}
-
-vp_com_config_t* serial_config_1(void)
-{
-  static vp_com_serial_config_t config = {
-    SERIAL_LINK_1,
-    VP_COM_BAUDRATE_115200,
-    SL1_BAUDRATE,
-    1,
-    0,
-    1
-  };
-
-  return (vp_com_config_t*) &config;
-}
-
-vp_com_config_t* serial_config_2(void)
-{
-  static vp_com_serial_config_t config = {
-    SERIAL_LINK_2,
-    VP_COM_BAUDRATE_115200,
-    SL2_BAUDRATE,
-    1,
-    0,
-    0
-  };
-
-  return (vp_com_config_t*) &config;
-}
-
-vp_com_connection_t*  serial_connection_0(void)
-{
-  static vp_com_connection_t connection = { 0 };
-
-  return &connection;
-}
-
-vp_com_connection_t*  serial_connection_1(void)
-{
-  static vp_com_connection_t connection = { 0 };
-
-  return &connection;
-}
-
-vp_com_connection_t*  serial_connection_2(void)
-{
-  static vp_com_connection_t connection = { 0 };
-
-  return &connection;
-}
-
-void serial_config_socket(vp_com_socket_t* socket, VP_COM_SOCKET_TYPE type)
-{
-  vp_os_memset(socket, 0, sizeof(vp_com_socket_t));
-
-  socket->type = type;
-}
-
-#endif

ARDroneLib/Soft/Lib/ardrone_tool/Com/config_serial.h

@@ -1,53 +0,0 @@
-#ifndef _CONFIG_SERIAL_H_
-#define _CONFIG_SERIAL_H_
-
-#ifndef _CONFIG_COM_H_
-#error "You cannot include config_serial.h. Please include config_com.h instead."
-#endif
-
-
-#include <VP_Com/vp_com.h>
-
-/// Initializations for serial communication
-/// Serial link 0 is used for navdata & ATCmd
-/// Serial link 1 is used for video
-/// Serial link 2 is used for communication with ADC
-
-// Each tools must implement this functions
-extern vp_com_t*             serial_com(void);
-extern vp_com_config_t*      serial_config_0(void);
-extern vp_com_config_t*      serial_config_1(void);
-extern vp_com_config_t*      serial_config_2(void);
-extern vp_com_connection_t*  serial_connection_0(void);
-extern vp_com_connection_t*  serial_connection_1(void);
-extern vp_com_connection_t*  serial_connection_2(void);
-
-void serial_config_socket(vp_com_socket_t* socket, VP_COM_SOCKET_TYPE type);
-
-#ifdef USE_NAVDATA_SERIAL
-  #define COM_NAVDATA()             serial_com()
-  #define COM_CONFIG_NAVDATA()      serial_config_0()
-  #define COM_CONNECTION_NAVDATA()  serial_connection_0()
-  #define COM_CONFIG_SOCKET_NAVDATA(socket, type, opt, serverhost)  serial_config_socket(socket, type)
-#endif // USE_NAVDATA_SERIAL
-
-#ifdef USE_AT_SERIAL
-  #define COM_AT()                  serial_com()
-  #define COM_CONFIG_AT()           serial_config_0()
-  #define COM_CONNECTION_AT()       serial_connection_0()
-  #define COM_CONFIG_SOCKET_AT(socket, type, opt, serverhost)  serial_config_socket(socket, type)
-#endif // USE_NAVDATA_SERIAL
-
-#ifdef USE_VIDEO_SERIAL
-  #define COM_VIDEO()               serial_com()
-  #define COM_CONFIG_VIDEO()        serial_config_1()
-  #define COM_CONNECTION_VIDEO()    serial_connection_1()
-  #define COM_CONFIG_SOCKET_VIDEO(socket, type, opt, serverhost)  serial_config_socket(socket, type)
-
-  #define COM_RAW_CAPTURE()               serial_com()
-  #define COM_CONFIG_RAW_CAPTURE()        serial_config_2()
-  #define COM_CONNECTION_RAW_CAPTURE()    serial_connection_2()
-  #define COM_CONFIG_SOCKET_RAW_CAPTURE(socket, type, opt, serverhost)  serial_config_socket(socket, type)
-#endif // USE_VIDEO_SERIAL
-
-#endif // _CONFIG_SERIAL_H_

ARDroneLib/Soft/Lib/ardrone_tool/Com/config_wifi.c

@@ -1,345 +0,0 @@
-#include <VP_Os/vp_os_malloc.h>
-
-#include <config.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <string.h>
-
-#include <ardrone_tool/Com/config_com.h>
-#include <VP_Os/vp_os_print.h>
-
-#include <VP_Com/vp_com_socket.h>
-#include <VP_Com/vp_com.h>
-
-#include <arpa/inet.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <net/if.h>
-#include <arpa/inet.h>
-#include <errno.h>
-#include <stdio.h>
-
-#ifndef USE_ANDROID
-#include <ifaddrs.h>
-#else
-#include <net/if_arp.h>
-#endif
-
-#define BUFFER_SIZE			1024
-#define AUTH_MAX_NUMRETRIES	3
-#define AUTH_MSG			"PARROT AUTH"
-#define AUTH_MSG_OK			"PARROT AUTH OK"
-
-vp_com_t* wifi_com(void)
-{
-  static vp_com_t com = {
-    VP_COM_WIFI,
-    FALSE,
-    0,
-#ifdef _WIN32
-    { 0 },
-#else // ! USE_MINGW32
-    PTHREAD_MUTEX_INITIALIZER,
-#endif // ! USE_MINGW32
-    NULL,
-    NULL,
-    0,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL,
-    NULL
-  };
-
-  return &com;
-}
-
-#define inaddrr(x) (*(struct in_addr *) &ifr->x[sizeof sa.sin_port])
-#define IFRSIZE ((int)(size * sizeof (struct ifreq)))
-
-C_RESULT wifi_server_auth(struct in_addr *addr)
-{
-	Read read = NULL;
-	Write write = NULL;
-	C_RESULT result = C_FAIL;
-    int numretries = 1;
-    uint8_t recvString[BUFFER_SIZE]; /* Buffer for received string */
-    int recvStringLen;            /* Length of received string */
-    struct timeval tv = {0, 500000};
-    int on=1;
-    const uint8_t msg[] = AUTH_MSG;
-    struct in_addr to;
-    struct in_addr from;
-
-    vp_com_socket_t socket;
-
-    // Initialize sending socket
-    to.s_addr = htonl(WIFI_BROADCAST_ADDR);
-	COM_CONFIG_SOCKET_AUTH(&socket, VP_COM_CLIENT, AUTH_PORT, inet_ntoa(to));
-	socket.protocol = VP_COM_UDP;
-
-	if(VP_FAILED(vp_com_init(COM_AUTH())))
-	{
-		printf("Failed to init Authentification\n");
-		vp_com_shutdown( COM_AUTH() );
-		return C_FAIL;
-	}
-
-	if(VP_FAILED(vp_com_open(COM_AUTH(), &socket, &read, &write)))
-	{
-		printf("Failed to open Authentification\n");
-		vp_com_shutdown( COM_AUTH() );
-		return C_FAIL;
-	}
-
-    if (setsockopt((int)socket.priv, SOL_SOCKET, SO_BROADCAST,(char *)&on,sizeof(on)) < 0)
-    {
-		printf("Failed to set socket option Authentification\n");
-    	vp_com_close(COM_AUTH(), &socket);
-		vp_com_shutdown( COM_AUTH() );
-        return C_FAIL;
-    }
-
-    if (setsockopt((int)socket.priv, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv)) < 0)
-    {
-		printf("Failed to set socket option Authentification\n");
-    	vp_com_close(COM_AUTH(), &socket);
-		vp_com_shutdown( COM_AUTH() );
-        return C_FAIL;
-    }
-
-    do
-    {
-    	int len = strlen((char*)msg);
-    	if(write != NULL)
-    	{
-    		if (VP_FAILED(write(&socket, msg, &len)))
-			{
-				vp_com_close(COM_AUTH(), &socket);
-				vp_com_shutdown( COM_AUTH() );
-				return C_FAIL;
-			}
-    	}
-
-    	printf("Wait authentification\n");
-    	do
-        {
-        	if(read != NULL)
-        	{
-             	recvStringLen = BUFFER_SIZE;
-				if(VP_FAILED(read(&socket, recvString, &recvStringLen)))
-				{
-					vp_com_close(COM_AUTH(), &socket);
-					vp_com_shutdown( COM_AUTH());
-					return C_FAIL;
-				}
-        	}
-
-        	recvString[recvStringLen] = '\0';
-        }
-        while((recvStringLen != 0) && (strcmp((char *)recvString, AUTH_MSG) == 0));
-    }
-    while((strcmp((char *)recvString, AUTH_MSG_OK) != 0) && (numretries++ < AUTH_MAX_NUMRETRIES));
-
-    if(strcmp((char*)recvString, AUTH_MSG_OK) == 0)
-    {
-    	from.s_addr = socket.scn;
-    	printf("Authentification ok from %s:%d\n", inet_ntoa(from), socket.port);
-    	memcpy(addr, &from, sizeof(struct in_addr));
-    	result = C_OK;
-    }
-
-    vp_com_close(COM_AUTH(), &socket);
-	vp_com_shutdown( COM_AUTH() );
-
-    return result;
-}
-
-
-
-#ifdef USE_ANDROID
-vp_com_config_t* wifi_config(void)
-{
-	static vp_com_wifi_config_t config =
-	{
-		{ 0 },
-		WIFI_MOBILE_IP,
-		WIFI_NETMASK,
-		WIFI_BROADCAST,
-		WIFI_GATEWAY,
-		WIFI_SERVER,
-		WIFI_INFRASTRUCTURE,
-		WIFI_SECURE,
-		WIFI_PASSKEY,
-		{ 0 },
-	};
-
-	unsigned char *u;
-	int sockfd, size = 1;
-	struct ifreq *ifr;
-	struct ifconf ifc;
-	struct sockaddr_in sa;
-
-	if (0 > (sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_IP))) {
-		fprintf(stderr, "Cannot open socket.\n");
-		exit(EXIT_FAILURE);
-	}
-
-	ifc.ifc_len = IFRSIZE;
-	ifc.ifc_req = NULL;
-
-	do {
-		++size;
-		/* realloc buffer size until no overflow occurs */
-		if (NULL == (ifc.ifc_req = vp_os_realloc(ifc.ifc_req, IFRSIZE))) {
-			fprintf(stderr, "Out of memory.\n");
-			exit(EXIT_FAILURE);
-		}
-		ifc.ifc_len = IFRSIZE;
-		if (ioctl(sockfd, SIOCGIFCONF, &ifc)) {
-			perror("ioctl SIOCFIFCONF");
-			exit(EXIT_FAILURE);
-		}
-	} while (IFRSIZE <= ifc.ifc_len);
-
-	ifr = ifc.ifc_req;
-	for (; (char *) ifr < (char *) ifc.ifc_req + ifc.ifc_len; ++ifr) {
-
-		if (ifr->ifr_addr.sa_data == (ifr + 1)->ifr_addr.sa_data) {
-			continue; /* duplicate, skip it */
-		}
-
-		if (ioctl(sockfd, SIOCGIFFLAGS, ifr)) {
-			continue; /* failed to get flags, skip it */
-		}
-
-		struct in_addr addr;
-		addr = inaddrr(ifr_addr.sa_data);
-
-		if ( (ntohl(addr.s_addr) & 0xFFFFFF00) == WIFI_BASE_ADDR )
-		{
-			inet_ntop(AF_INET, &addr, config.localHost, VP_COM_NAME_MAXSIZE);
-
-			//INTERFACE
-			memcpy(config.itfName, ifr->ifr_name, strlen(ifr->ifr_name));
-
-			//IP ADDRESS
-			addr.s_addr = htonl ( ntohl(addr.s_addr) - ( ( ( ntohl(addr.s_addr) & 0xFF ) - 1 ) % 5 ) );
-			memcpy(config.server, inet_ntoa(addr), strlen(inet_ntoa(addr)));
-
-			//NET MASK
-			if (0 == ioctl(sockfd, SIOCGIFNETMASK, ifr) && strcmp(
-					"255.255.255.255", inet_ntoa(inaddrr(ifr_addr.sa_data)))) {
-
-				addr = inaddrr(ifr_addr.sa_data);
-				inet_ntop(AF_INET, &addr, config.netmask, VP_COM_NAME_MAXSIZE);
-			}
-
-			//BROADCAST ADDRESS
-			if (ifr->ifr_flags & IFF_BROADCAST) {
-				if (0 == ioctl(sockfd, SIOCGIFBRDADDR, ifr) && strcmp("0.0.0.0",
-						inet_ntoa(inaddrr(ifr_addr.sa_data)))) {
-
-					addr = inaddrr(ifr_addr.sa_data);
-					inet_ntop(AF_INET, &addr, config.broadcast, VP_COM_NAME_MAXSIZE);
-				}
-			}
-
-			break;
-		}
-	}
-
-	close(sockfd);
-	return (vp_com_config_t*)&config;
-}
-
-#else
-vp_com_config_t* wifi_config(void)
-{
-	static vp_com_wifi_config_t config =
-	{
-		{ 0 },
-		WIFI_MOBILE_IP,
-		WIFI_NETMASK,
-		WIFI_BROADCAST,
-		WIFI_GATEWAY,
-		WIFI_SERVER,
-		WIFI_INFRASTRUCTURE,
-		WIFI_SECURE,
-		WIFI_PASSKEY,
-		{ 0 },
-	};
-
-	struct ifaddrs * ifAddrStructHead = NULL;
-	struct ifaddrs * ifAddrStruct = NULL;
-	struct in_addr tmpAddr;
-	bool_t found = FALSE;
-
-	if(strlen(config.itfName) == 0)
-	{
-		getifaddrs(&ifAddrStruct);
-		ifAddrStructHead = ifAddrStruct;
-
-		while (!found && (ifAddrStruct != NULL))
-		{
-			// Looking for WIFI interface's IP address corresponding to WIFI_BASE_ADDR
-			if (ifAddrStruct->ifa_addr->sa_family == AF_INET)
-			{
-				tmpAddr = ((struct sockaddr_in *)ifAddrStruct->ifa_addr)->sin_addr;
-				if ( (ntohl(tmpAddr.s_addr) & 0xFFFFFF00) == WIFI_BASE_ADDR )
-				{
-					inet_ntop(AF_INET, &tmpAddr, config.localHost, VP_COM_NAME_MAXSIZE);
-					memcpy(config.itfName, ifAddrStruct->ifa_name, strlen(ifAddrStruct->ifa_name));
-					if(VP_FAILED(wifi_server_auth(&tmpAddr)))
-						tmpAddr.s_addr = htonl ( ntohl(tmpAddr.s_addr) - ( ( ( ntohl(tmpAddr.s_addr) & 0xFF ) - 1 ) % 5 ) );
-					memcpy(config.server, inet_ntoa(tmpAddr), strlen(inet_ntoa(tmpAddr)));
-					tmpAddr = ((struct sockaddr_in *)ifAddrStruct->ifa_netmask)->sin_addr;
-					inet_ntop(AF_INET, &tmpAddr, config.netmask, VP_COM_NAME_MAXSIZE);
-					tmpAddr = ((struct sockaddr_in *)ifAddrStruct->ifa_broadaddr)->sin_addr;
-					inet_ntop(AF_INET, &tmpAddr, config.broadcast, VP_COM_NAME_MAXSIZE);
-					found = TRUE;
-				}
-			}
-			ifAddrStruct = ifAddrStruct->ifa_next;
-		}
-
-		if (ifAddrStructHead != NULL)
-		{
-		  freeifaddrs(ifAddrStructHead);
-		}
-	}
-
-	return (vp_com_config_t*)&config;
-}
-#endif
-
-vp_com_connection_t* wifi_connection(void)
-{
-  static vp_com_wifi_connection_t connection = {
-    0,
-    WIFI_NETWORK_NAME
-  };
-
-  return (vp_com_connection_t*) &connection;
-}
-
-void wifi_config_socket(vp_com_socket_t* socket, VP_COM_SOCKET_TYPE type, int32_t port, const char* serverhost)
-{
-  vp_os_memset(socket, 0, sizeof(vp_com_socket_t));
-
-  socket->type           = type;
-  socket->protocol       = VP_COM_TCP;
-  socket->port           = port;
-
-  if(serverhost && socket->type == VP_COM_CLIENT)
-	{
-    	strncpy(socket->serverHost, serverhost, VP_COM_NAME_MAXSIZE-1);
-		socket->serverHost[VP_COM_NAME_MAXSIZE-1]='\0';
-	}
-}

ARDroneLib/Soft/Lib/ardrone_tool/Com/config_wifi.h

@@ -1,59 +0,0 @@
-#ifndef _CONFIG_WIFI_H_
-#define _CONFIG_WIFI_H_
-
-#ifndef _CONFIG_COM_H_
-#error "You cannot include config_wifi.h. Please include config_com.h instead."
-#endif
-
-
-#include <VP_Com/vp_com.h>
-
-// Each tools must implement this functions
-extern vp_com_t*             wifi_com(void);
-extern vp_com_config_t*      wifi_config(void);
-extern vp_com_connection_t*  wifi_connection(void);
-
-void wifi_config_socket(vp_com_socket_t* socket, VP_COM_SOCKET_TYPE type, int32_t port, const char* serverhost);
-
-#ifdef USE_NAVDATA_IP
-  #define COM_NAVDATA()             wifi_com()
-  #define COM_CONFIG_NAVDATA()      wifi_config()
-  #define COM_CONNECTION_NAVDATA()  wifi_connection()
-  #define COM_CONFIG_SOCKET_NAVDATA(socket, type, opt, serverhost)  wifi_config_socket(socket, type, opt, serverhost)
-#endif // USE_NAVDATA_IP
-
-#ifdef USE_AT_IP
-  #define COM_AT()                  wifi_com()
-  #define COM_CONFIG_AT()           wifi_config()
-  #define COM_CONNECTION_AT()       wifi_connection()
-  #define COM_CONFIG_SOCKET_AT(socket, type, opt, serverhost)  wifi_config_socket(socket, type, opt, serverhost)
-#endif // USE_NAVDATA_IP
-
-#ifdef USE_VIDEO_IP
-  #define COM_VIDEO()               wifi_com()
-  #define COM_CONFIG_VIDEO()        wifi_config()
-  #define COM_CONNECTION_VIDEO()    wifi_connection()
-  #define COM_CONFIG_SOCKET_VIDEO(socket, type, opt, serverhost)  wifi_config_socket(socket, type, opt, serverhost)
-
-  #define COM_RAW_CAPTURE()               wifi_com()
-  #define COM_CONFIG_RAW_CAPTURE()        wifi_config()
-  #define COM_CONNECTION_RAW_CAPTURE()    wifi_connection()
-  #define COM_CONFIG_SOCKET_RAW_CAPTURE(socket, type, opt, serverhost)  wifi_config_socket(socket, type, opt, serverhost)
-#endif // USE_VIDEO_IP
-
-#define COM_AUTH()               wifi_com()
-#define COM_CONFIG_AUTH()        wifi_config()
-#define COM_CONNECTION_AUTH()    wifi_connection()
-#define COM_CONFIG_SOCKET_AUTH(socket, type, opt, serverhost)  wifi_config_socket(socket, type, opt, serverhost)
-
-#define COM_CONTROL()                  wifi_com()
-#define COM_CONFIG_CONTROL()           wifi_config()
-#define COM_CONNECTION_CONTROL()       wifi_connection()
-#define COM_CONFIG_SOCKET_CONTROL(socket, type, opt, serverhost)  wifi_config_socket(socket, type, opt, serverhost)
-
-#define COM_REMOTE_CONSOLE()               wifi_com()
-#define COM_CONFIG_REMOTE_CONSOLE()        wifi_config()
-#define COM_CONNECTION_REMOTE_CONSOLE()    wifi_connection()
-#define COM_CONFIG_SOCKET_REMOTE_CONSOLE(socket, type, opt, serverhost)  wifi_config_socket(socket, type, opt, serverhost)
-
-#endif // _CONFIG_WIFI_H_

ARDroneLib/Soft/Lib/ardrone_tool/Control/ardrone_control.c

@@ -1,315 +0,0 @@
-#include <config.h>
-
-#include <VP_Os/vp_os_print.h>
-#include <VP_Com/vp_com.h>
-
-#include <ardrone_api.h>
-#include <ardrone_tool/ardrone_tool.h>
-#include <ardrone_tool/Control/ardrone_control.h>
-#include <ardrone_tool/Control/ardrone_control_configuration.h>
-#include <ardrone_tool/Control/ardrone_control_ack.h>
-#include <ardrone_tool/Com/config_com.h>
-#include <ardrone_tool/Com/config_wifi.h>
-
-#ifndef _WIN32
-#include <sys/socket.h>
-#include <sys/ioctl.h>
-#include <netinet/in.h>
-#include <netinet/tcp.h>
-#include <unistd.h>
-#endif
-
-static vp_com_socket_t  control_socket;
-static Read             control_read    = NULL;
-static Write            control_write   = NULL;
-
-static vp_os_mutex_t  control_mutex;
-static vp_os_cond_t   control_cond;
-
-static bool_t   control_waited;
-static bool_t bContinue = TRUE;
-static uint32_t ardrone_state;
-
-static int32_t start_index_in_queue;
-static int32_t end_index_in_queue;
-static ardrone_control_event_ptr_t  ardrone_control_event_queue[ARDRONE_CONTROL_MAX_NUM_EVENTS_IN_QUEUE];
-
-static vp_os_mutex_t  event_queue_mutex;
-
-C_RESULT ardrone_control_init(void)
-{
-    COM_CONFIG_SOCKET_CONTROL(&control_socket, VP_COM_CLIENT, CONTROL_PORT, wifi_ardrone_ip);
-
-    control_waited = FALSE;
-    ardrone_state   = 0;
-
-    vp_os_mutex_init(&control_mutex);
-    vp_os_cond_init(&control_cond, &control_mutex);
-
-    vp_os_mutex_init(&event_queue_mutex);
-
-    start_index_in_queue = 0;
-    end_index_in_queue   = (start_index_in_queue - 1) & (ARDRONE_CONTROL_MAX_NUM_EVENTS_IN_QUEUE - 1);
-
-    return C_OK;
-}
-
-C_RESULT ardrone_control_shutdown(void)
-{
-    ardrone_control_resume_on_navdata_received(0);
-    /*BUG FIX : Dont destroy the mutexes here,
-      they are still being used by the ardrone_control thread,
-      while this function is called by another thread.*/
-#ifdef THIS_IS_A_BUG
-    vp_os_mutex_destroy(&event_queue_mutex);
-    vp_os_cond_destroy(&control_cond);
-    vp_os_mutex_destroy(&control_mutex);*/
-#endif
-
-        bContinue = FALSE;
-
-        return C_OK;
-}
-
-C_RESULT ardrone_control_connect_to_drone()
-{
-    int res_open_socket;
-
-#ifdef _WIN32
-    int timeout_windows=1000;/*milliseconds*/
-#else
-    struct timeval tv;
-#endif
-
-    res_open_socket = vp_com_open(COM_CONTROL(), &control_socket, &control_read, &control_write);
-    if( VP_SUCCEEDED(res_open_socket) )
-    {
-        tv.tv_sec   = 1;
-        tv.tv_usec  = 0;
-
-        setsockopt((int32_t)control_socket.priv,
-                   SOL_SOCKET,
-                   SO_RCVTIMEO,
-#ifdef _WIN32
-                   (const char*)&timeout_windows, sizeof(timeout_windows)
-#else
-                   (const char*)&tv, sizeof(tv)
-#endif
-            );
-
-        control_socket.is_disable = FALSE;
-        return C_OK;
-    }
-    else
-    {
-        DEBUG_PRINT_SDK("VP_Com : Failed to open socket for control\n");
-        perror("FTOSFC");
-        return C_FAIL;
-    }
-}
-
-
-/**
- * \brief Signals the client control thread that new navdata were received.
- * Called by one of the navdata callbacks.
- */
-C_RESULT ardrone_control_resume_on_navdata_received(uint32_t new_ardrone_state)
-{
-    vp_os_mutex_lock(&control_mutex);
-    if( control_waited )
-    {
-        ardrone_state = new_ardrone_state;
-        vp_os_cond_signal(&control_cond);
-    }
-    vp_os_mutex_unlock(&control_mutex);
-    return C_OK;
-}
-
-C_RESULT ardrone_control_read(uint8_t* buffer, int32_t* size)
-{
-    C_RESULT res = C_FAIL;
-
-    if( control_read != NULL )
-    {
-        res = control_read(&control_socket, buffer, size);
-        if(*size == 0)
-        {
-            res = C_FAIL;
-        }
-    }
-
-    return res;
-}
-
-C_RESULT ardrone_control_write(const uint8_t* buffer, int32_t* size)
-{
-    C_RESULT res = C_FAIL;
-
-    if( control_write != NULL )
-    {
-        res = control_write(&control_socket, buffer, size);
-    }
-
-    return res;
-}
-
-C_RESULT ardrone_control_send_event( ardrone_control_event_t* event )
-{
-    C_RESULT res;
-    int32_t next_index_in_queue;
-
-    res = C_FAIL;
-
-    vp_os_mutex_lock(&event_queue_mutex);
-    next_index_in_queue = (start_index_in_queue + 1) & (ARDRONE_CONTROL_MAX_NUM_EVENTS_IN_QUEUE - 1);
-    if( next_index_in_queue != end_index_in_queue )
-    {
-        ardrone_control_event_queue[start_index_in_queue] = event;
-        start_index_in_queue = next_index_in_queue;
-
-        res = C_OK;
-    }
-
-    vp_os_mutex_unlock(&event_queue_mutex);
-
-    return res;
-}
-
-DEFINE_THREAD_ROUTINE( ardrone_control, nomParams )
-{
-    C_RESULT res_wait_navdata = C_OK;
-    C_RESULT res = C_OK;
-    uint32_t retry, current_ardrone_state;
-    int32_t next_index_in_queue;
-    ardrone_control_event_ptr_t  current_event;
-
-    retry = 0;
-    current_event = NULL;
-
-    DEBUG_PRINT_SDK("Thread control in progress...\n");
-    control_socket.is_disable = TRUE;
-
-    ardrone_control_connect_to_drone();
-
-    while( bContinue
-           && !ardrone_tool_exit() )
-    {
-        vp_os_mutex_lock(&control_mutex);
-        control_waited = TRUE;
-
-        /* Wait for new navdata to be received. */
-        res_wait_navdata = vp_os_cond_timed_wait(&control_cond, 1000);
-        vp_os_mutex_unlock(&control_mutex);
-
-        /*
-         * In case of timeout on the navdata, we assume that there was a problem
-         * with the Wifi connection.
-         * It is then safer to close and reopen the control socket (TCP 5559) since
-         * some OS might stop giving data but not signal any disconnection.
-         */
-        if(VP_FAILED(res_wait_navdata))
-        {
-            if (FALSE == control_socket.is_disable)
-            {
-                DEBUG_PRINT_SDK("Timeout while waiting for new navdata.\n");
-                vp_com_close(COM_CONTROL(), &control_socket);
-                control_socket.is_disable = TRUE;
-            }
-        }
-        else
-        {
-
-            if(control_socket.is_disable)
-            {
-                ardrone_control_connect_to_drone();
-            }
-
-            if(VP_SUCCEEDED(res_wait_navdata) && (!control_socket.is_disable))
-            {
-                vp_os_mutex_lock(&control_mutex);
-                current_ardrone_state = ardrone_state;
-                control_waited = FALSE;
-                vp_os_mutex_unlock(&control_mutex);
-
-                if( ardrone_tool_exit() ) // Test if we received a signal because we are quitting the application
-                    THREAD_RETURN( res );
-
-                if( current_event == NULL )
-                {
-                    vp_os_mutex_lock(&event_queue_mutex);
-                    next_index_in_queue = (end_index_in_queue + 1) & (ARDRONE_CONTROL_MAX_NUM_EVENTS_IN_QUEUE - 1);
-
-                    if( next_index_in_queue != start_index_in_queue )
-                    { // There's an event to process
-                        current_event = ardrone_control_event_queue[next_index_in_queue];
-                        if( current_event != NULL )
-                        {
-                            if( current_event->ardrone_control_event_start != NULL )
-                            {
-                                current_event->ardrone_control_event_start( current_event );
-                            }
-                        }
-                        end_index_in_queue = next_index_in_queue;
-
-                        retry = 0;
-                    }
-
-                    vp_os_mutex_unlock(&event_queue_mutex);
-                }
-
-                if( current_event != NULL )
-                {
-                    switch( current_event->event )
-                    {
-                    case CFG_GET_CONTROL_MODE:
-                    case CUSTOM_CFG_GET_CONTROL_MODE: /* multiconfiguration support */
-                        res = ardrone_control_configuration_run( current_ardrone_state, (ardrone_control_configuration_event_t*) current_event );
-                        break;
-
-                    case ACK_CONTROL_MODE:
-                        res = ardrone_control_ack_run( current_ardrone_state, (ardrone_control_ack_event_t *) current_event);
-                        break;
-
-                    default:
-                        break;
-                    }
-
-                    if( VP_FAILED(res) )
-                    {
-                        retry ++;
-                        if( retry > current_event->num_retries)
-                            current_event->status = ARDRONE_CONTROL_EVENT_FINISH_FAILURE;
-                    }
-                    else
-                    {
-                        retry = 0;
-                    }
-
-                    if( current_event->status & ARDRONE_CONTROL_EVENT_FINISH )
-                    {
-                        if( current_event->ardrone_control_event_end != NULL )
-                            current_event->ardrone_control_event_end( current_event );
-
-                        /* Make the thread read a new event on the next loop iteration */
-                        current_event = NULL;
-                    }
-                    else
-                    {
-                        /* Not changing 'current_event' makes the loop process the same
-                         * event when the next navdata packet arrives. */
-                    }
-                }
-            }
-        }
-    }// while
-
-    /* Stephane : Bug fix - mutexes were previously detroyed by another thread,
-       which made ardrone_control crash.*/
-    vp_os_mutex_destroy(&event_queue_mutex);
-    vp_os_cond_destroy(&control_cond);
-    vp_os_mutex_destroy(&control_mutex);
-
-    vp_com_close(COM_CONTROL(), &control_socket);
-
-    THREAD_RETURN( res );
-}

ARDroneLib/Soft/Lib/ardrone_tool/Control/ardrone_control.h

@@ -1,46 +0,0 @@
-#ifndef _ARDRONE_CONTROL_H_
-#define _ARDRONE_CONTROL_H_
-
-#include <VP_Os/vp_os_types.h>
-#include <VP_Api/vp_api_thread_helper.h>
-
-#define ARDRONE_CONTROL_MAX_NUM_EVENTS_IN_QUEUE   32
-
-typedef enum _ardrone_control_event_status_t {
-  ARDRONE_CONTROL_EVENT_IDLE            = 0x0000,
-  ARDRONE_CONTROL_EVENT_WAITING         = 0x1000,
-  ARDRONE_CONTROL_EVENT_IN_PROGRESS     = 0x2000,
-  ARDRONE_CONTROL_EVENT_FINISH          = 0x4000,
-  ARDRONE_CONTROL_EVENT_FINISH_SUCCESS  = 0x4001,
-  ARDRONE_CONTROL_EVENT_FINISH_FAILURE  = 0x4002
-} ardrone_control_event_status_t;
-
-struct _ardrone_control_event_t;
-
-typedef void (*ardrone_control_event_cb)( struct _ardrone_control_event_t* event );
-
-typedef struct _ardrone_control_event_t {
-
-  uint32_t event;       // event type
-  uint32_t num_retries; // number of times we'll try to execute this event
-  uint32_t status;      // event status
-
-  ardrone_control_event_cb  ardrone_control_event_start;
-  ardrone_control_event_cb  ardrone_control_event_end;
-
-  uint8_t data[];       // User data associated with this event
-
-} ardrone_control_event_t, *ardrone_control_event_ptr_t;
-
-C_RESULT ardrone_control_init(void);
-C_RESULT ardrone_control_shutdown(void);
-C_RESULT ardrone_control_resume_on_navdata_received(uint32_t ardrone_state);
-
-C_RESULT ardrone_control_read(uint8_t* buffer, int32_t* size);
-C_RESULT ardrone_control_write(const uint8_t* buffer, int32_t* size);
-
-C_RESULT ardrone_control_send_event( ardrone_control_event_t* event );
-
-PROTO_THREAD_ROUTINE( ardrone_control, nomParams );
-
-#endif // _ARDRONE_CONTROL_H_

ARDroneLib/Soft/Lib/ardrone_tool/Control/ardrone_control_ack.c

@@ -1,35 +0,0 @@
-#include <config.h>
-#include <ardrone_api.h>
-#include <ardrone_tool/Control/ardrone_control_ack.h>
-
-C_RESULT ardrone_control_ack_run( uint32_t ardrone_state, ardrone_control_ack_event_t* event )
-{
-  C_RESULT res;
-
-  switch( event->ack_state )
-  {
-    case ACK_COMMAND_MASK_TRUE:
-      res = ( ardrone_state & ARDRONE_COMMAND_MASK ) ? C_OK : C_FAIL;
-      if( VP_SUCCEEDED(res) )
-      {
-    	  ardrone_at_update_control_mode( ACK_CONTROL_MODE);
-          event->ack_state = ACK_COMMAND_MASK_FALSE;
-      }
-      break;
-
-    case ACK_COMMAND_MASK_FALSE:
-      ardrone_at_update_control_mode( ACK_CONTROL_MODE);
-
-      res = ( ( ardrone_state & ARDRONE_COMMAND_MASK ) == 0 ) ? C_OK : C_FAIL;
-      if( VP_SUCCEEDED(res) )
-        event->status = ARDRONE_CONTROL_EVENT_FINISH_SUCCESS;
-      break;
-
-    default:
-      res = C_FAIL;
-      event->ack_state = ACK_COMMAND_MASK_TRUE; // Go back to a know state (we may timeout)
-      break;
-  }
-
-  return res;
-}

ARDroneLib/Soft/Lib/ardrone_tool/Control/ardrone_control_ack.h

@@ -1,26 +0,0 @@
-#ifndef _ARDRONE_CONTROL_ACK_H_
-#define _ARDRONE_CONTROL_ACK_H_
-
-#include <ardrone_tool/Control/ardrone_control.h>
-
-typedef enum _ardrone_ack_state_t {
-  ACK_COMMAND_MASK_TRUE,  // First we are waiting command mask goes true
-  ACK_COMMAND_MASK_FALSE, // Then we are waiting after its reset
-} ardrone_ack_state_t;
-
-typedef struct _ardrone_control_ack_event_t {
-
-  uint32_t  event;            // event type
-  uint32_t  num_retries;      // number of times we'll try to execute this event
-  uint32_t  status;           // event status
-
-  ardrone_control_event_cb  ardrone_control_event_start;
-  ardrone_control_event_cb  ardrone_control_event_end;
-
-  ardrone_ack_state_t   ack_state;
-
-} ardrone_control_ack_event_t;
-
-C_RESULT ardrone_control_ack_run( uint32_t ardrone_state, ardrone_control_ack_event_t* event );
-
-#endif // _ARDRONE_CONTROL_CONFIGURATION_H_

ARDroneLib/Soft/Lib/ardrone_tool/Control/ardrone_control_configuration.c

@@ -1,378 +0,0 @@
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Os/vp_os_print.h>
-
-#include <ardrone_api.h>
-
-#include <ardrone_tool/Control/ardrone_control_configuration.h>
-
-#include <config_keys.h>
-
-static uint8_t ini_buffer[ARDRONE_CONTROL_CONFIGURATION_INI_BUFFER_SIZE];
-static uint32_t ini_buffer_index = 0;
-
-static void set_state(ardrone_control_configuration_event_t* event, ardrone_config_state_t s)
-{
-  DEBUG_PRINT_SDK("[CONTROL CONFIGURATION] Switching to state %d\n", s);
-
-  event->config_state = s;
-}
-
-static inline void noprintf(char *s,...){}
-
-/* Activate debugging this file */
-	//#define DEBUG_CONFIG_RECEIVE PRINT
-	#define DEBUG_CONFIG_RECEIVE noprintf
-
-//extern const char * custom_configuration_headers[NB_CONFIG_CATEGORIES];
-//extern custom_configuration_list_t available_configurations[NB_CONFIG_CATEGORIES];
-
-void ardrone_control_reset_custom_configurations_list(custom_configuration_list_t *available_configurations)
-{
-	int i;
-
-	for (i=0;i<NB_CONFIG_CATEGORIES;i++)
-	{
-		if (available_configurations[i].list) { vp_os_free(available_configurations[i].list); }
-		available_configurations[i].list=NULL;
-		available_configurations[i].nb_configurations=0;
-	}
-}
-
-
-void ardrone_control_read_custom_configurations_list(/*in*/uint8_t * buffer,
-													 /*in*/int buffer_size,
-													 /*out*/custom_configuration_list_t *available_configurations)
-{
-	custom_configuration_list_t * current_scope = NULL;
-	char id[CUSTOM_CONFIGURATION_ID_LENGTH+1];
-	char description[1024];
-	int index = 0;
-	uint8_t * pindex; 
-	int j;
-	uint8_t * end_of_buffer;
-
-	index = 0;
-	pindex = buffer;
-	end_of_buffer = buffer + buffer_size;
-
-	DEBUG_CONFIG_RECEIVE("Decoding %i bytes",buffer_size);
-	DEBUG_CONFIG_RECEIVE("\n");
-
-	while(1)
-	{
-		//DEBUG_CONFIG_RECEIVE("Analysing <"); for (i=index;i<buffer_size;i++) DEBUG_CONFIG_RECEIVE("[%i]",buffer[i]); DEBUG_CONFIG_RECEIVE(">\n");
-		/* Go to the beginning of a section */
-			while((*pindex)!='[') { index++; pindex++; if (pindex==end_of_buffer) return; }
-		/* Search the end of the section name */
-			for (;index<buffer_size;index++) { if (buffer[index]==13 ) { buffer[index]=0; break; } }    if(index==buffer_size) return;
-		/* Search the corresponding category */
-			for (j=0;j<NB_CONFIG_CATEGORIES;j++){
-				if ( strcmp((char*)custom_configuration_headers[j],(char*)pindex)==0 ){
-					/* Found the category */
-					current_scope = &available_configurations[j];
-					DEBUG_CONFIG_RECEIVE(" Found Scope <%s>\n",custom_configuration_headers[j]);
-					break;
-				}
-			}
-			if (j==NB_CONFIG_CATEGORIES) { DEBUG_CONFIG_RECEIVE("Unknown category."); return ;}
-		/* Reset the list */
-			if (current_scope!=NULL)
-			{
-				current_scope->nb_configurations = 0;
-				if (current_scope->list!=NULL) { vp_os_free(current_scope->list); current_scope->list = NULL; }
-			}
-		/* Points on the first ID */
-			index++;
-			pindex=buffer+index;
-
-		/* Read the IDs */
-			while(pindex<end_of_buffer && (*pindex)!='[' && (*pindex)!=0)
-			{
-				vp_os_memset(id,0,sizeof(id));
-				vp_os_memset(description,0,sizeof(description));
-
-				//DEBUG_CONFIG_RECEIVE("Now scanning <%c> %i\n",*pindex,index);
-				for (;index<buffer_size;index++) { if (buffer[index]==',' || buffer[index]=='\r') { buffer[index]=0; break; } }   if(index==buffer_size) return;
-				strncpy(id,(char*)pindex,sizeof(id));
-				index++;
-				pindex=buffer+index;
-				for (;index<buffer_size;index++) { if (buffer[index]==0 || buffer[index]=='\r') { buffer[index]=0; break; } }   if(index==buffer_size) return;
-				strncpy(description,(char*)pindex,sizeof(description));
-				DEBUG_CONFIG_RECEIVE(" Found ID <%s> description <%s>\n",id,description);
-				index++;
-				pindex=buffer+index;
-
-				/* Store the found ID */
-					/* Increase the size of the list by one element */
-					current_scope->list = vp_os_realloc(current_scope->list,sizeof(*current_scope->list)*(current_scope->nb_configurations+1));
-					/* Store the new element */
-					strncpy(current_scope->list[current_scope->nb_configurations].id,
-							id,
-							sizeof(current_scope->list[current_scope->nb_configurations].id)  );
-					strncpy(current_scope->list[current_scope->nb_configurations].description,
-							description,
-							sizeof(current_scope->list[current_scope->nb_configurations].description)  );
-					current_scope->nb_configurations++;
-			}
-	}
-	return;
-}
-
-
-
-/**
- * \brief Runs a control event managing the configuration file.
- * This functions handles reading the configuration information
- * sent by the drone on the TCP 'control' socket on port 5559.
- * Called by the 'ardrone_control' thread loop in 'ardrone_control.c'.
- */
-C_RESULT ardrone_control_configuration_run( uint32_t ardrone_state, ardrone_control_configuration_event_t* event )
-{
-	int32_t buffer_size;
-	char *start_buffer, *buffer;
-	char *value, *param, *c;
-	bool_t ini_buffer_end, ini_buffer_more;
-	C_RESULT res = C_OK;
-	int bytes_to_read;
-
-	/* Multiconfiguration support */
-	static uint8_t *custom_configuration_list_buffer = NULL;
-	static int  custom_configuration_list_buffer_size = 0;
-	static int  custom_configuration_list_data_size = 0;
-	#define CUSTOM_CFG_BLOCK_SIZE 1024
-
-	int i;
-
-	switch( event->config_state )
-	{
-		case CONFIG_REQUEST_INI:
-			if( ardrone_state & ARDRONE_COMMAND_MASK )
-			{
-				/* If the ACK bit is set, we must ask the drone to clear it before asking the configuration. */
-				DEBUG_CONFIG_RECEIVE("%s %s %i - Requesting ack. bit reset.\n",__FILE__,__FUNCTION__,__LINE__);
-				ardrone_at_update_control_mode(ACK_CONTROL_MODE);
-			}
-			else
-			{
-				DEBUG_CONFIG_RECEIVE("%s %s %i - Requesting the configuration.\n",__FILE__,__FUNCTION__,__LINE__);
-				ini_buffer_index = 0;
-				ardrone_at_configuration_get_ctrl_mode();
-				set_state(event, CONFIG_RECEIVE_INI);
-			}
-			break;
-
-		/* multi-configuration support */
-		case CUSTOM_CONFIG_REQUEST:
-			DEBUG_CONFIG_RECEIVE("%s %s %i\n",__FILE__,__FUNCTION__,__LINE__);
-			if( ardrone_state & ARDRONE_COMMAND_MASK )
-			{
-				DEBUG_CONFIG_RECEIVE("%s %s %i - Requesting ack. bit reset.\n",__FILE__,__FUNCTION__,__LINE__);
-				ardrone_at_update_control_mode(ACK_CONTROL_MODE);
-			}
-			else
-			{
-				DEBUG_CONFIG_RECEIVE("%s %s %i - Requesting the custom config.\n",__FILE__,__FUNCTION__,__LINE__);
-				custom_configuration_list_buffer = NULL;
-				custom_configuration_list_buffer_size = 0;
-				custom_configuration_list_data_size = 0;
-				ardrone_at_custom_configuration_get_ctrl_mode();
-				set_state(event, CUSTOM_CONFIG_RECEIVE);
-			}
-			break;
-
-		case CONFIG_RECEIVE_INI:
-			DEBUG_CONFIG_RECEIVE("%s %s %i - Trying to read the control socket.\n",__FILE__,__FUNCTION__,__LINE__);
-			// Read data coming from ARDrone
-			buffer_size = ARDRONE_CONTROL_CONFIGURATION_INI_BUFFER_SIZE - ini_buffer_index;
-			res = ardrone_control_read( &ini_buffer[ini_buffer_index], &buffer_size );
-			DEBUG_CONFIG_RECEIVE("Received <<%s>>\n",&ini_buffer[ini_buffer_index]);
-
-			if(VP_SUCCEEDED(res))
-			{      
-				buffer_size += ini_buffer_index;
-
-				ini_buffer[buffer_size]=0;  // Makes sure the buffer ends with a zero
-
-				// Parse received data
-				if( buffer_size > 0 )
-				{
-					//DEBUG_CONFIG_RECEIVE(" Searching value\n");
-
-					ini_buffer_end  = ini_buffer[buffer_size-1] == '\0'; // End of configuration data
-					ini_buffer_more = ini_buffer[buffer_size-1] != '\n'; // Need more configuration data to end parsing current line
-
-					//if (ini_buffer_end) DEBUG_CONFIG_RECEIVE(" ini_buffer_end\n");
-					//if (ini_buffer_more) DEBUG_CONFIG_RECEIVE(" ini_buffer_more\n");
-
-					start_buffer = (char*)&ini_buffer[0];
-					buffer = strchr(start_buffer, '\n');
-
-					//DEBUG_CONFIG_RECEIVE("Le start buffer : <<%s>>\n",start_buffer);
-
-					while( buffer != NULL )
-					{
-						//DEBUG_CONFIG_RECEIVE(" Found an '\\n' \n");
-
-						value = start_buffer;
-						param = strchr(value, '=');
-
-						*buffer = '\0';
-						*param  = '\0';
-
-						// Remove spaces at end of strings
-						c = param - 1;
-						while( *c == ' ' )
-						{
-							*c = '\0';
-							c  = c-1;
-						}
-
-						c = buffer-1;
-						while( *c == ' ' )
-						{
-							*c = '\0';
-							c  = c-1;
-						}
-
-						// Remove spaces at beginning of strings
-						while( *value == ' ' )
-						{
-							value = value + 1;
-						}
-
-						param = param + 1;
-						while( *param == ' ' )
-						{
-							param = param + 1;
-						}
-
-						DEBUG_CONFIG_RECEIVE(" Decoding from control stream : <%s>=<%s>\n",value,param);
-						iniparser_setstring( event->ini_dict, value, param );
-
-						start_buffer = buffer + 1;
-						buffer = strchr(start_buffer, '\n');
-					}
-
-					if( ini_buffer_end )
-					{
-						/* Reading the condfiguration is finished, we ask the drone
-						 * to clear the ACK bit */
-						ardrone_at_update_control_mode(ACK_CONTROL_MODE);
-						set_state(event, CONFIG_RECEIVED);
-					}
-					else if( ini_buffer_more )
-					{
-						// Compute number of bytes to copy
-						int32_t size = (int32_t)&ini_buffer[buffer_size] - (int32_t)start_buffer;
-						vp_os_memcpy( &ini_buffer[0], start_buffer, size );
-						ini_buffer_index = size;
-					}
-					else
-					{
-						/* The previous line was completely consumed -  next data
-						 * from the network will be stored at the beginning of the
-						 * buffer. */
-						ini_buffer_index = 0;
-					}
-				}
-			}
-         else
-         {
-        	 res = C_FAIL;
-
-        	 DEBUG_CONFIG_RECEIVE("%s %s %i - no data to read from the control socket.\n",__FILE__,__FUNCTION__,__LINE__);
-
-            if(!(ardrone_state & ARDRONE_COMMAND_MASK))
-				   set_state(event, CONFIG_REQUEST_INI);
-         }
-		break;
-
-		case CUSTOM_CONFIG_RECEIVE:
-			DEBUG_CONFIG_RECEIVE("%s %s %i - Trying to read the control socket.\n",__FILE__,__FUNCTION__,__LINE__);
-			DEBUG_CONFIG_RECEIVE("%s %s %i\n",__FILE__,__FUNCTION__,__LINE__);
-			/* Read data until a zero byte is received */
-
-			/* Clear old data from the buffer when receiving the first bytes */
-				if (custom_configuration_list_buffer!=NULL && custom_configuration_list_data_size==0){
-					vp_os_memset(custom_configuration_list_buffer,0,custom_configuration_list_buffer_size);
-				}
-
-			/* Enlarge the buffer if needed */
-				if (custom_configuration_list_data_size==custom_configuration_list_buffer_size)
-				{
-					custom_configuration_list_buffer_size += CUSTOM_CFG_BLOCK_SIZE;
-					custom_configuration_list_buffer = vp_os_realloc(custom_configuration_list_buffer,custom_configuration_list_buffer_size);
-				}
-			/* Read data at the end of the buffer */
-				bytes_to_read = custom_configuration_list_buffer_size - custom_configuration_list_data_size;
-				res = ardrone_control_read( &custom_configuration_list_buffer[custom_configuration_list_data_size], &bytes_to_read );
-				DEBUG_CONFIG_RECEIVE(" Reading %i bytes of the custom config. list\n",bytes_to_read);
-				for (i=0;i<bytes_to_read;i++) { DEBUG_CONFIG_RECEIVE("<%i>",custom_configuration_list_buffer[i]); }
-
-			/* Searches a zero */
-				if (VP_SUCCEEDED(res))
-				{
-					custom_configuration_list_data_size += bytes_to_read;
-					for (i=bytes_to_read;i>0;i--){
-						if (custom_configuration_list_buffer[custom_configuration_list_data_size - i] == 0) {
-
-							/* Reading the condfiguration is finished, we ask the drone
-							 * to clear the ACK bit */
-							DEBUG_CONFIG_RECEIVE("Finished receiving\n");
-							ardrone_at_update_control_mode(ACK_CONTROL_MODE);
-							set_state(event, CUSTOM_CONFIG_RECEIVED);
-
-							ardrone_control_reset_custom_configurations_list(available_configurations);
-
-							ardrone_control_read_custom_configurations_list(custom_configuration_list_buffer,
-																			custom_configuration_list_data_size,
-																			available_configurations);
-
-							/* Clean up */
-								vp_os_sfree((void**)&custom_configuration_list_buffer);
-								custom_configuration_list_buffer_size = 0;
-								custom_configuration_list_data_size = 0;
-							res = C_OK;
-							break;
-						}
-					}
-
-				}
-				else{
-					/* No data are available on the control socket. */
-					DEBUG_CONFIG_RECEIVE("%s %s %i - no data to read from the control socket.\n",__FILE__,__FUNCTION__,__LINE__);
-					/* Reset the buffer */
-					custom_configuration_list_data_size = 0;
-					/* The request for the configuration file should have been acknowledged by the drone.
-					 * If not, another request is sent.	*/
-					if(!(ardrone_state & ARDRONE_COMMAND_MASK))   set_state(event, CUSTOM_CONFIG_REQUEST);
-				}
-
-				break;
-
-
-		case CONFIG_RECEIVED:
-		case CUSTOM_CONFIG_RECEIVED:
-				/* We finished reading the configuration, we wait for the drone to reset the ACK bit */
-				if( ardrone_state & ARDRONE_COMMAND_MASK )
-				{
-					/* If the ACK bit is set, we must ask the drone to clear it before asking the configuration. */
-					DEBUG_PRINT("%s %s %i - Requesting ack. bit reset.\n",__FILE__,__FUNCTION__,__LINE__);
-					ardrone_at_update_control_mode(ACK_CONTROL_MODE);
-				}
-				else
-				{
-					DEBUG_PRINT("%s %s %i - Finished.\n",__FILE__,__FUNCTION__,__LINE__);
-					event->status = ARDRONE_CONTROL_EVENT_FINISH_SUCCESS;
-				}
-				res = C_OK;
-				break;
-
-
-		default:
-         res = C_FAIL;
-			break;
-	}
-
-	return res;
-}

ARDroneLib/Soft/Lib/ardrone_tool/Control/ardrone_control_configuration.h

@@ -1,39 +0,0 @@
-#ifndef _ARDRONE_CONTROL_CONFIGURATION_H_
-#define _ARDRONE_CONTROL_CONFIGURATION_H_
-
-#include <stdio.h>
-#include <iniparser3.0b/src/iniparser.h>
-
-#include <ardrone_tool/Control/ardrone_control.h>
-
-// Size of temporary buffer used to parse incoming configuration data
-// This value should be big enough to hold a line from the config file
-#define ARDRONE_CONTROL_CONFIGURATION_INI_BUFFER_SIZE         1024
-
-typedef enum _ardrone_config_state_t {
-  CONFIG_REQUEST_INI,
-  CONFIG_RECEIVE_INI,
-  /* Stephane - multiconfiguration support */
-  CUSTOM_CONFIG_REQUEST,
-  CUSTOM_CONFIG_RECEIVE,
-  CONFIG_RECEIVED,
-  CUSTOM_CONFIG_RECEIVED
-} ardrone_config_state_t;
-
-typedef struct _ardrone_control_configuration_event_t {
-
-  uint32_t  event;            // event type
-  uint32_t  num_retries;      // number of times we'll try to execute this event
-  uint32_t  status;           // event status
-
-  ardrone_control_event_cb  ardrone_control_event_start;
-  ardrone_control_event_cb  ardrone_control_event_end;
-
-  ardrone_config_state_t  config_state;
-  dictionary* ini_dict;
-
-} ardrone_control_configuration_event_t;
-
-C_RESULT ardrone_control_configuration_run( uint32_t ardrone_state, ardrone_control_configuration_event_t* event );
-
-#endif // _ARDRONE_CONTROL_CONFIGURATION_H_

ARDroneLib/Soft/Lib/ardrone_tool/Control/ardrone_navdata_control.c

@@ -1,21 +0,0 @@
-#include <ardrone_tool/Control/ardrone_navdata_control.h>
-#include <ardrone_tool/Control/ardrone_control.h>
-
-C_RESULT ardrone_navdata_control_init( void* data )
-{
-  return C_OK;
-}
-
-C_RESULT ardrone_navdata_control_process( const navdata_unpacked_t* const navdata )
-{
- /* Signal the client control thread that new navdata arrived.
-  * The control thread can then decide, depending on the ACK bit value,
-  * to send AT commands to retrieve the configuration or set a configuration parameter.
-  */
-  return ardrone_control_resume_on_navdata_received(navdata->ardrone_state);
-}
-
-C_RESULT ardrone_navdata_control_release( void )
-{
-  return C_OK;
-}

ARDroneLib/Soft/Lib/ardrone_tool/Control/ardrone_navdata_control.h

@@ -1,14 +0,0 @@
-#ifndef _ARDRONE_NAVDATA_CONTROL_H_
-#define _ARDRONE_NAVDATA_CONTROL_H_
-
-#include <ardrone_tool/Navdata/ardrone_navdata_client.h>
-
-//
-// Handler that resume ardrone control thread when new navdatas are received
-//
-
-C_RESULT ardrone_navdata_control_init( void* data );
-C_RESULT ardrone_navdata_control_process( const navdata_unpacked_t* const navdata );
-C_RESULT ardrone_navdata_control_release( void );
-
-#endif // _ARDRONE_NAVDATA_CONTROL_H_

ARDroneLib/Soft/Lib/ardrone_tool/Navdata/ardrone_academy_navdata.c

@@ -1,679 +0,0 @@
-#include <stdio.h>
-#include <sys/time.h>
-#include <ardrone_api.h>
-#include <control_states.h>
-
-#include <ardrone_tool/ardrone_tool.h>
-#include <ardrone_tool/ardrone_tool_configuration.h>
-#include <ardrone_tool/Academy/academy_stage_recorder.h>
-#include <ardrone_tool/Academy/academy_download.h>
-#include <ardrone_tool/Navdata/ardrone_navdata_client.h>
-#include <ardrone_tool/Navdata/ardrone_academy_navdata.h>
-
-#include <ardrone_tool/UI/ardrone_input.h>
-#include <ardrone_tool/ardrone_version.h>
-#include <ardrone_tool/Video/video_com_stage.h>
-#include <ardrone_tool/Video/video_stage_encoded_recorder.h>
-
-#include <VP_Os/vp_os_assert.h>
-#include <VP_Os/vp_os_print.h>
-
-#include <utils/ardrone_date.h>
-
-#define TAKEOFF_TIMEOUT_SEC (5)
-
-typedef enum
-{
-    SCREENSHOT_STATE_IDLE,
-    SCREENSHOT_STATE_NEEDED,
-    SCREENSHOT_STATE_INPROGRESS,
-} SCREENSHOT_STATE;
-
-typedef enum
-{
-    TAKEOFF_STATE_IDLE,
-    TAKEOFF_STATE_NEEDED,
-    TAKEOFF_STATE_WAIT_USERBOX,
-    TAKEOFF_STATE_CANCELLING,
-} TAKEOFF_STATE;
-
-typedef enum
-{
-    RECORD_STATE_IDLE,
-    RECORD_STATE_NEEDED,
-    RECORD_STATE_WAIT_USERBOX,
-} RECORD_STATE;
-
-typedef enum
-{
-    USERBOX_STATE_STARTING,
-    USERBOX_STATE_STARTED,
-    USERBOX_STATE_STOPPING,
-    USERBOX_STATE_STOPPED,
-} USERBOX_STATE;
-
-typedef struct
-{
-    /**
-     * variable to know if setting is needed
-     */
-    bool_t wasEmergency;
-    bool_t needSetEmergency;
-    TAKEOFF_STATE takeoff_state;
-    time_t takeoff_time;
-    RECORD_STATE record_state;
-    USERBOX_STATE userbox_state;
-    SCREENSHOT_STATE screenshot_state;
-    time_t userbox_time;
-    vp_os_mutex_t aan_mutex;
-    uint32_t usbFreeTime;
-    bool_t droneStoppedUsbRecording;
-    bool_t takeOffWasCancelled;
-
-    /**
-     * Strings to display in interface
-     */
-    bool_t isTakeOff;
-    bool_t isEmergency;
-    uint32_t lastState;
-    bool_t cameraIsReady;
-    bool_t usbIsReady;
-    bool_t usbRecordInProgress;
-    bool_t internalRecordInProgress;
-} ardrone_academy_navdata_state_t;
-
-static const codec_type_t usbRecordCodec = MP4_360P_H264_720P_CODEC;
-codec_type_t deviceWifiRecordCodec = MP4_360P_H264_720P_CODEC;
-static ardrone_academy_navdata_state_t navdata_state;
-
-#define LOCK_ND_MUTEX() vp_os_mutex_lock (&navdata_state.aan_mutex)
-#define UNLOCK_ND_MUTEX() vp_os_mutex_unlock (&navdata_state.aan_mutex)
-#define TRYLOCK_ND_MUTEX() vp_os_mutex_trylock (&navdata_state.aan_mutex)
-
-bool_t ardrone_academy_navdata_takeoff(void)
-{
-    bool_t result = FALSE;
-    bool_t isBatteryLow = (ARDRONE_VBAT_LOW & navdata_state.lastState) ? TRUE : FALSE;
-    bool_t shouldNotDo = (TRUE == isBatteryLow && FALSE == navdata_state.isTakeOff) ? TRUE : FALSE;
-    if(navdata_state.takeoff_state == TAKEOFF_STATE_IDLE &&
-       FALSE == shouldNotDo)
-    {
-        LOCK_ND_MUTEX ();
-        navdata_state.takeoff_state = TAKEOFF_STATE_NEEDED;
-        navdata_state.takeoff_time = time (NULL);
-        UNLOCK_ND_MUTEX ();
-        result = TRUE;
-    }
-    return result;
-}
-
-bool_t ardrone_academy_navdata_emergency(void)
-{
-    bool_t result = TRUE;
-    LOCK_ND_MUTEX ();
-    navdata_state.needSetEmergency = TRUE;
-    UNLOCK_ND_MUTEX ();
-    return result;
-}
-
-bool_t ardrone_academy_navdata_record(void)
-{
-    bool_t result = FALSE;
-    if(navdata_state.record_state == RECORD_STATE_IDLE)
-    {
-        LOCK_ND_MUTEX ();
-        navdata_state.record_state = RECORD_STATE_NEEDED;
-        UNLOCK_ND_MUTEX ();
-        result = TRUE;
-    }
-    return result;
-}
-
-bool_t ardrone_academy_navdata_screenshot(void)
-{
-    bool_t result = FALSE;
-    if(navdata_state.screenshot_state == SCREENSHOT_STATE_IDLE)
-    {
-        LOCK_ND_MUTEX ();
-        navdata_state.screenshot_state = SCREENSHOT_STATE_NEEDED;
-        UNLOCK_ND_MUTEX ();
-        result = TRUE;
-    }
-    return result;
-}
-
-bool_t ardrone_academy_navdata_get_camera_state(void)
-{
-    return (navdata_state.cameraIsReady && (navdata_state.screenshot_state == SCREENSHOT_STATE_IDLE));
-}
-
-bool_t ardrone_academy_navdata_get_usb_state(void)
-{
-    return navdata_state.usbIsReady;
-}
-
-bool_t ardrone_academy_navdata_get_takeoff_state(void)
-{
-    return navdata_state.isTakeOff;
-}
-
-bool_t ardrone_academy_navdata_get_record_ready(void)
-{
-    bool_t result = FALSE;
-
-    if(1 == ARDRONE_VERSION())
-    {
-        result = ardrone_academy_stage_recorder_state();
-    }
-    else if(2 == ARDRONE_VERSION())
-    {
-#if defined (RECORD_ENCODED_VIDEO)
-        result = (video_stage_encoded_recorder_state() || navdata_state.usbRecordInProgress);
-#else
-        printf("ARDRONE VERSION 2 NEEDS RECORD_ENCODED_VIDEO MACRO!!!\n");
-#endif
-    }
-    else
-    {
-        printf("ARDRONE VERSION NOT INITIALIZED !!!\n");
-    }
-    return result;
-}
-
-bool_t ardrone_academy_navdata_get_record_state(void)
-{
-    bool_t result = FALSE;
-
-    if(IS_ARDRONE1)
-    {
-        result = ardrone_academy_stage_recorder_state();
-    }
-    else if(IS_ARDRONE2)
-    {
-#if defined (RECORD_ENCODED_VIDEO)
-        video_encoded_record_state recState = video_stage_encoded_complete_recorder_state ();
-        result = navdata_state.usbRecordInProgress ||
-            ( VIDEO_ENCODED_STOPPED != recState &&
-              VIDEO_ENCODED_WAITING_STREAM_END != recState);
-#else
-        printf("ARDRONE VERSION 2 NEEDS RECORD_ENCODED_VIDEO MACRO!!!\n");
-#endif
-    }
-    else
-    {
-        printf("ARDRONE VERSION NOT INITIALIZED !!!\n");
-    }
-    return result;
-}
-
-bool_t ardrone_academy_navdata_get_emergency_state(void)
-{
-    return navdata_state.isEmergency;
-}
-
-uint32_t ardrone_academy_navdata_get_remaining_usb_time (void)
-{
-    return navdata_state.usbFreeTime;
-}
-
-bool_t ardrone_academy_navdata_check_usb_record_status (void)
-{
-    LOCK_ND_MUTEX ();
-    bool_t retVal = navdata_state.droneStoppedUsbRecording;
-    navdata_state.droneStoppedUsbRecording = FALSE;
-    UNLOCK_ND_MUTEX ();
-    return retVal;
-}
-
-bool_t ardrone_academy_navdata_check_takeoff_cancelled (void)
-{
-    LOCK_ND_MUTEX ();
-    bool_t retVal = navdata_state.takeOffWasCancelled;
-    navdata_state.takeOffWasCancelled = FALSE;
-    UNLOCK_ND_MUTEX ();
-    return retVal;
-}
-
-void ardrone_academy_navdata_recorder_enable(bool_t enable, uint32_t timestamp)
-{
-    if(1 == ARDRONE_VERSION())
-    {
-        ardrone_academy_stage_recorder_enable(enable, timestamp);
-    }
-    else if(2 == ARDRONE_VERSION())
-    {
-#if defined (RECORD_ENCODED_VIDEO)
-        if (1 == enable)
-        {
-            /*
-              Calling this function to disable the recorder is to be made outside
-              a navdata handler, so we can finish a video even if the drone is
-              disconnected (battery removed, or out of wifi range)
-              The disable call is made inside the UI "button press" callbacks
-            */
-            video_stage_encoded_recorder_enable(enable, timestamp);
-        }
-#else
-        printf("ARDRONE VERSION 2 NEEDS RECORD_ENCODED_VIDEO MACRO!!!\n");
-#endif
-    }
-    else
-    {
-        printf("ARDRONE VERSION NOT INITIALIZED !!!\n");
-    }
-}
-
-FLYING_STATE ardrone_academy_navdata_get_flying_state(const navdata_unpacked_t* data)
-{
-    FLYING_STATE tmp_state;
-    switch ((data->navdata_demo.ctrl_state >> 16))
-    {
-    case CTRL_FLYING:
-    case CTRL_HOVERING:
-    case CTRL_TRANS_GOTOFIX:
-    case CTRL_TRANS_LOOPING:
-        tmp_state = FLYING_STATE_FLYING;
-        break;
-
-    case CTRL_TRANS_TAKEOFF:
-        tmp_state = FLYING_STATE_TAKING_OFF;
-        break;
-
-    case CTRL_TRANS_LANDING:
-        tmp_state = FLYING_STATE_LANDING;
-        break;
-
-    case CTRL_DEFAULT:
-    case CTRL_LANDED:
-    default:
-        tmp_state = FLYING_STATE_LANDED;
-        break;
-    }
-    return tmp_state;
-}
-
-void ardrone_academy_navdata_userbox_cb(bool_t result)
-{
-    if(result)
-    {
-        LOCK_ND_MUTEX ();
-        if(navdata_state.userbox_state == USERBOX_STATE_STARTING)
-        {
-            printf("Userbox started\n");
-            navdata_state.userbox_state = USERBOX_STATE_STARTED;
-
-            switch (navdata_state.takeoff_state)
-            {
-            case TAKEOFF_STATE_WAIT_USERBOX:
-                navdata_state.takeoff_state = TAKEOFF_STATE_IDLE;
-                ardrone_tool_set_ui_pad_start(1);
-                break;
-            case TAKEOFF_STATE_CANCELLING:
-                navdata_state.takeoff_state = TAKEOFF_STATE_IDLE;
-                ardrone_tool_set_ui_pad_start(0);
-                break;
-            default:
-                break;
-            }
-
-
-            if(navdata_state.record_state == RECORD_STATE_WAIT_USERBOX)
-            {
-                navdata_state.record_state = RECORD_STATE_IDLE;
-                if (FALSE == navdata_state.usbRecordInProgress)
-                {
-                    ardrone_academy_navdata_recorder_enable(TRUE, navdata_state.userbox_time);
-                }
-            }
-        }
-        else if(navdata_state.userbox_state == USERBOX_STATE_STOPPING)
-        {
-            printf("Userbox stopped\n");
-            academy_download_resume ();
-            if(navdata_state.takeoff_state == TAKEOFF_STATE_WAIT_USERBOX ||
-               TAKEOFF_STATE_CANCELLING == navdata_state.takeoff_state)
-            {
-                navdata_state.takeoff_state = TAKEOFF_STATE_IDLE;
-                ardrone_tool_set_ui_pad_start(0);
-            }
-
-            if(navdata_state.record_state == RECORD_STATE_WAIT_USERBOX)
-            {
-                navdata_state.record_state = RECORD_STATE_IDLE;
-                ardrone_academy_navdata_recorder_enable(FALSE, navdata_state.userbox_time);
-                navdata_state.usbRecordInProgress = FALSE;
-            }
-
-            navdata_state.userbox_state = USERBOX_STATE_STOPPED;
-        }
-        UNLOCK_ND_MUTEX ();
-    }
-}
-
-void ardrone_academy_navdata_screenshot_cb(bool_t result)
-{
-    if(result)
-    {
-        LOCK_ND_MUTEX ();
-        if(navdata_state.screenshot_state == SCREENSHOT_STATE_INPROGRESS)
-        {
-            navdata_state.screenshot_state = SCREENSHOT_STATE_IDLE;
-        }
-        UNLOCK_ND_MUTEX ();
-    }
-}
-
-void ardrone_academy_check_take_off_timeout (void)
-{
-    static char cancelCommand[ARDRONE_DATE_MAXSIZE];
-    time_t elapsedTime = time (NULL) - navdata_state.takeoff_time;
-    if (TAKEOFF_TIMEOUT_SEC < elapsedTime)
-    {
-        switch (navdata_state.takeoff_state)
-        {
-        case TAKEOFF_STATE_WAIT_USERBOX:
-            snprintf (cancelCommand, ARDRONE_DATE_MAXSIZE-1, "%d", USERBOX_CMD_CANCEL);
-            navdata_state.userbox_state = USERBOX_STATE_STOPPING;
-            navdata_state.takeoff_state = TAKEOFF_STATE_CANCELLING;
-            ARDRONE_TOOL_CONFIGURATION_ADDEVENT (userbox_cmd, cancelCommand, ardrone_academy_navdata_userbox_cb);
-            navdata_state.takeOffWasCancelled = TRUE;
-            break;
-        case TAKEOFF_STATE_NEEDED:
-            navdata_state.takeoff_state = TAKEOFF_STATE_IDLE;
-            navdata_state.takeOffWasCancelled = TRUE;
-            break;
-        default:
-            break;
-        }
-    }
-}
-
-
-void ardrone_academy_navdata_userbox_switch(void)
-{
-    static char param[ARDRONE_DATE_MAXSIZE + 8];
-    static char date[ARDRONE_DATE_MAXSIZE];
-    if(navdata_state.userbox_state == USERBOX_STATE_STOPPED)
-    {
-        navdata_state.userbox_time = time(NULL);
-        ardrone_time2date(navdata_state.userbox_time, ARDRONE_FILE_DATE_FORMAT, date);
-        sprintf(param, "%d,%s", USERBOX_CMD_START, date);
-        navdata_state.userbox_state = USERBOX_STATE_STARTING;
-        ARDRONE_TOOL_CONFIGURATION_ADDEVENT(userbox_cmd, param, ardrone_academy_navdata_userbox_cb);
-    }
-    else if(navdata_state.userbox_state == USERBOX_STATE_STARTED)
-    {
-        sprintf(param, "%d", USERBOX_CMD_STOP);
-        navdata_state.userbox_state = USERBOX_STATE_STOPPING;
-        ARDRONE_TOOL_CONFIGURATION_ADDEVENT(userbox_cmd, param, ardrone_academy_navdata_userbox_cb);
-    }
-}
-
-C_RESULT ardrone_academy_navdata_init(void* data)
-{
-    navdata_state.wasEmergency = FALSE;
-    navdata_state.needSetEmergency = FALSE;
-    navdata_state.takeoff_state = TAKEOFF_STATE_IDLE;
-    navdata_state.record_state = TAKEOFF_STATE_IDLE;
-    navdata_state.userbox_state = USERBOX_STATE_STOPPED;
-    navdata_state.isTakeOff = FALSE;
-    navdata_state.isEmergency = FALSE;
-    navdata_state.cameraIsReady = FALSE;
-    navdata_state.usbIsReady = FALSE;
-    navdata_state.usbRecordInProgress = FALSE;
-    navdata_state.userbox_time = (time_t)0;
-    navdata_state.takeoff_time = (time_t)0;
-    navdata_state.usbFreeTime = 0;
-    navdata_state.droneStoppedUsbRecording = FALSE;
-    navdata_state.takeOffWasCancelled = FALSE;
-    navdata_state.internalRecordInProgress = FALSE;
-    navdata_state.lastState = 0;
-    vp_os_mutex_init (&navdata_state.aan_mutex);
-
-    return C_OK;
-}
-
-C_RESULT ardrone_academy_navdata_process( const navdata_unpacked_t* const pnd )
-{
-    static bool_t prevCameraIsReady = FALSE;
-    static bool_t prevDroneUsbRecording = FALSE;
-    if (C_OK == TRYLOCK_ND_MUTEX ())
-    {
-        input_state_t* input_state = ardrone_tool_input_get_state();
-        bool_t recordIsReady = ! ardrone_academy_navdata_get_record_ready();
-        bool_t recordIsInProgress = ardrone_academy_navdata_get_record_state();
-        
-        // Save ARDrone State
-        navdata_state.lastState = pnd->ardrone_state;
-
-        // Save remaining USB time
-        navdata_state.usbFreeTime = pnd->navdata_hdvideo_stream.usbkey_remaining_time;
-
-        bool_t currentDroneUsbRecording = (NAVDATA_HDVIDEO_USBKEY_IS_RECORDING == (NAVDATA_HDVIDEO_USBKEY_IS_RECORDING & pnd->navdata_hdvideo_stream.hdvideo_state));
-        // Check for record stop from drone
-        if (navdata_state.usbRecordInProgress)
-        {
-            if (TRUE  == prevDroneUsbRecording &&
-                FALSE == currentDroneUsbRecording)
-            {
-                navdata_state.droneStoppedUsbRecording = TRUE;
-                navdata_state.record_state = RECORD_STATE_NEEDED;
-            }
-        }
-        prevDroneUsbRecording = currentDroneUsbRecording;
-
-        ardrone_academy_check_take_off_timeout ();
-
-        // Take off and Emergency management
-        if(navdata_state.takeoff_state == TAKEOFF_STATE_NEEDED)
-        {
-            if(pnd->ardrone_state & ARDRONE_EMERGENCY_MASK)
-            {
-                navdata_state.needSetEmergency = TRUE;
-            }
-            else
-            {
-                if(recordIsInProgress)
-                {
-                    if(!(pnd->ardrone_state & ARDRONE_USER_FEEDBACK_START))
-                        ardrone_tool_set_ui_pad_start(1);
-                    else
-                        ardrone_tool_set_ui_pad_start(0);
-                    navdata_state.takeoff_state = TAKEOFF_STATE_IDLE;
-
-                }
-                else
-                {
-                    navdata_state.takeoff_state = TAKEOFF_STATE_WAIT_USERBOX;
-                    ardrone_academy_navdata_userbox_switch();
-                }
-            }
-        }
-
-        if(navdata_state.needSetEmergency)
-        {
-            ardrone_tool_set_ui_pad_select(1);
-            navdata_state.needSetEmergency = FALSE;
-        }
-
-        if(pnd->ardrone_state & ARDRONE_EMERGENCY_MASK)
-        {
-            if(!navdata_state.wasEmergency && (input_state->user_input & (1 << ARDRONE_UI_BIT_SELECT)))
-            {
-                ardrone_tool_set_ui_pad_select(0);
-            }
-
-            navdata_state.isEmergency = TRUE;
-            navdata_state.isTakeOff = FALSE;
-
-            if(!navdata_state.internalRecordInProgress && !navdata_state.usbRecordInProgress && (navdata_state.userbox_state == USERBOX_STATE_STARTED))
-            {
-                printf("Emergency !! Stopping userbox...\n");
-                ardrone_academy_navdata_userbox_switch();
-            }
-
-            ardrone_tool_input_start_reset();
-        }
-        else // Not emergency landing
-        {
-            if(navdata_state.wasEmergency && (input_state->user_input & (1 << ARDRONE_UI_BIT_SELECT)))
-            {
-                ardrone_tool_set_ui_pad_select(0);
-            }
-
-            if(!(pnd->ardrone_state & ARDRONE_TIMER_ELAPSED))
-                navdata_state.isEmergency = FALSE;
-
-            if(input_state->user_input & (1 << ARDRONE_UI_BIT_START))
-            {
-                navdata_state.isTakeOff = (pnd->ardrone_state & ARDRONE_USER_FEEDBACK_START) ? TRUE : FALSE;
-            }
-            else
-            {
-                navdata_state.isTakeOff = FALSE;
-            }
-        }
-        navdata_state.wasEmergency = (pnd->ardrone_state & ARDRONE_EMERGENCY_MASK) ? TRUE : FALSE;
-
-        // Video record management
-
-        bool_t usbRecordEnable = FALSE;
-        if(navdata_state.record_state == RECORD_STATE_NEEDED &&
-           TAKEOFF_STATE_IDLE == navdata_state.takeoff_state)
-        {
-            bool_t continueRecord = TRUE;
-            bool_t nextInternalRecordState = FALSE;
-            if (IS_LEAST_ARDRONE2)
-            {
-                static codec_type_t oldCodec;
-                codec_type_t cancelCodec;
-                if (recordIsReady && ! navdata_state.usbRecordInProgress && !navdata_state.internalRecordInProgress) // We want to enable recording
-                {
-                    if ((ARDRONE_USB_MASK == (pnd->ardrone_state & ARDRONE_USB_MASK)) &&
-                        (0 < pnd->navdata_hdvideo_stream.usbkey_remaining_time) &&
-                        (TRUE == ardrone_control_config.video_on_usb))
-                    {
-                        usbRecordEnable = TRUE;
-                    }
-                    // Set the "non-record codec" to the codec defined as the application default
-                    oldCodec = ardrone_application_default_config.video_codec;
-                    cancelCodec = oldCodec;
-                    ardrone_control_config.video_codec = (TRUE == usbRecordEnable) ? usbRecordCodec : deviceWifiRecordCodec;
-                    printf ("Set codec %d -> %d\n", oldCodec, ardrone_control_config.video_codec);
-                    nextInternalRecordState = TRUE;
-                }
-                else // We want to disable recording
-                {
-                    cancelCodec = ardrone_control_config.video_codec;
-                    ardrone_control_config.video_codec = oldCodec;
-                    printf ("Reset codec %d -> %d\n", cancelCodec, oldCodec);
-                }
-                bool_t addEventSucceeded = ARDRONE_TOOL_CONFIGURATION_ADDEVENT (video_codec, &ardrone_control_config.video_codec, NULL);
-                if (FALSE == addEventSucceeded)
-                {
-                    printf ("Unable to send codec switch ... retry later\n");
-                    ardrone_control_config.video_codec = cancelCodec;
-                    continueRecord = FALSE;
-                }
-            }
-            else if (IS_ARDRONE1)
-            {
-                nextInternalRecordState = !recordIsInProgress;
-            }
-
-            if (TRUE == continueRecord)
-            {
-                navdata_state.internalRecordInProgress = nextInternalRecordState;
-                switch (navdata_state.userbox_state)
-                {
-                case USERBOX_STATE_STOPPED:
-                    navdata_state.record_state = RECORD_STATE_WAIT_USERBOX;
-                    navdata_state.usbRecordInProgress = usbRecordEnable;
-                    ardrone_academy_navdata_userbox_switch();
-                    break;
-                case USERBOX_STATE_STARTED:
-                    if(navdata_state.isTakeOff)
-                    {
-                        if(! recordIsReady)
-                        {
-                            printf("Userbox is started and record is started => Stop record\n");
-                            ardrone_academy_navdata_recorder_enable(FALSE, navdata_state.userbox_time);
-                            navdata_state.usbRecordInProgress = FALSE;
-                        }
-                        else
-                        {
-                            printf("Userbox is started and record is stopped => Start record\n");
-                            if (FALSE == usbRecordEnable)
-                            {
-                                // Only activate the local recorder if we don't record on USB
-                                ardrone_academy_navdata_recorder_enable(TRUE, navdata_state.userbox_time);
-                                navdata_state.usbRecordInProgress = FALSE;
-                            }
-                            else
-                            {
-                                navdata_state.usbRecordInProgress = TRUE;
-                            }
-                        }
-
-                        navdata_state.record_state = RECORD_STATE_IDLE;
-                    }
-                    else
-                    {
-                        navdata_state.record_state = RECORD_STATE_WAIT_USERBOX;
-                        ardrone_academy_navdata_userbox_switch();
-                    }
-                    break;
-                case USERBOX_STATE_STARTING:
-                    navdata_state.usbRecordInProgress = usbRecordEnable;
-                    navdata_state.record_state = RECORD_STATE_WAIT_USERBOX;
-                    break;
-                case USERBOX_STATE_STOPPING:
-                    navdata_state.usbRecordInProgress = usbRecordEnable;
-                    // Should never be here
-                    PRINT ("Don't know what to do for USERBOX_STATE_STOPPING\n");
-                    VP_OS_ASSERT (0 == 1); // Debug handler
-                    break;
-                }
-            }
-        }
-
-        // Screenshot management
-        prevCameraIsReady = navdata_state.cameraIsReady;
-        navdata_state.cameraIsReady = (pnd->ardrone_state & ARDRONE_CAMERA_MASK) ? TRUE : FALSE;
-        if (TRUE == navdata_state.cameraIsReady && FALSE == prevCameraIsReady)
-        {
-            academy_download_resume ();
-        }
-        
-        if((navdata_state.screenshot_state == SCREENSHOT_STATE_NEEDED) && navdata_state.cameraIsReady)
-        {
-            char param[ARDRONE_DATE_MAXSIZE + 64];
-            char date[ARDRONE_DATE_MAXSIZE];
-            time_t t = time(NULL);
-            ardrone_time2date(t, ARDRONE_FILE_DATE_FORMAT, date);
-            navdata_state.screenshot_state = SCREENSHOT_STATE_INPROGRESS;
-            sprintf(param, "%d,%d,%d,%s", USERBOX_CMD_SCREENSHOT, 0, 0, date);
-            ARDRONE_TOOL_CONFIGURATION_ADDEVENT(userbox_cmd, (char*)param, ardrone_academy_navdata_screenshot_cb);
-        }
-
-        // USB management
-        navdata_state.usbIsReady = (pnd->ardrone_state & ARDRONE_USB_MASK) ? TRUE : FALSE;
-        UNLOCK_ND_MUTEX ();
-    }
-    return C_OK;
-}
-
-C_RESULT ardrone_academy_navdata_release( void )
-{
-    if(ardrone_academy_navdata_get_record_state())
-    {
-        ardrone_academy_navdata_recorder_enable(FALSE, navdata_state.userbox_time);
-    }
-    vp_os_mutex_destroy (&navdata_state.aan_mutex);
-    return C_OK;
-}
-
-void ardrone_academy_navdata_set_wifi_record_codec (codec_type_t newCodec)
-{
-    deviceWifiRecordCodec = newCodec;
-}

ARDroneLib/Soft/Lib/ardrone_tool/Navdata/ardrone_academy_navdata.h

@@ -1,28 +0,0 @@
-#ifndef _ARDRONE_ACADEMY_NAVDATA_H_
-#define _ARDRONE_ACADEMY_NAVDATA_H_
-
-#include <ardrone_tool/Navdata/ardrone_navdata_client.h>
-#include <VLIB/video_codec.h>
-
-C_RESULT ardrone_academy_navdata_init( void* data );
-C_RESULT ardrone_academy_navdata_process( const navdata_unpacked_t* const navdata );
-C_RESULT ardrone_academy_navdata_release( void );
-
-FLYING_STATE ardrone_academy_navdata_get_flying_state(const navdata_unpacked_t* data);
-bool_t ardrone_academy_navdata_takeoff(void);
-bool_t ardrone_academy_navdata_record(void);
-bool_t ardrone_academy_navdata_screenshot(void);
-bool_t ardrone_academy_navdata_emergency(void);
-bool_t ardrone_academy_navdata_get_configuration(void);
-bool_t ardrone_academy_navdata_get_takeoff_state(void);
-bool_t ardrone_academy_navdata_get_record_ready(void);
-bool_t ardrone_academy_navdata_get_camera_state(void);
-bool_t ardrone_academy_navdata_get_usb_state(void);
-bool_t ardrone_academy_navdata_get_emergency_state(void);
-uint32_t ardrone_academy_navdata_get_remaining_usb_time(void);
-bool_t ardrone_academy_navdata_check_usb_record_status(void);
-bool_t ardrone_academy_navdata_check_takeoff_cancelled(void);
-void ardrone_academy_navdata_set_wifi_record_codec(codec_type_t newCodec);
-
-
-#endif //! _ARDRONE_ACADEMY_NAVDATA_H_

ARDroneLib/Soft/Lib/ardrone_tool/Navdata/ardrone_general_navdata.c

@@ -1,445 +0,0 @@
-#include <stdio.h>
-#include <sys/time.h>
-#include <ardrone_api.h>
-#include <ardrone_tool/ardrone_tool.h>
-#include <ardrone_tool/ardrone_tool_configuration.h>
-#include <ardrone_tool/Navdata/ardrone_navdata_client.h>
-#include <ardrone_tool/Navdata/ardrone_general_navdata.h>
-#include <utils/ardrone_gen_ids.h>
-
-int configWasDone = 0;
-
-static MULTICONFIG_STATE configState;
-static NAVDATA_REQUEST_STATE navdataState;
-static int appSwitch = 0;
-static int usrSwitch = 0;
-static int sesSwitch = 0;
-static int navdataNeeded = 0;
-static int droneSupportsMulticonfig = 0;
-
-#define __MULTICONFIGURATION_MIN_VERSION_MAJOR__    (1U)
-#define __MULTICONFIGURATION_MIN_VERSION_MINOR__    (6U)
-#define __MULTICONFIGURATION_MIN_VERSION_REVISION__ (0U)
-#define __MULTICONFIGURATION_MIN_VERSION__ ((__MULTICONFIGURATION_MIN_VERSION_MAJOR__ << 16) | (__MULTICONFIGURATION_MIN_VERSION_MINOR__ << 8) | (__MULTICONFIGURATION_MIN_VERSION_REVISION__))
-static inline int versionSupportsMulticonfiguration (const char *currentString)
-{
-  uint32_t currentMajor = 0, currentMinor = 0, currentRevision = 0;
-  uint32_t currentVersion;
-  sscanf (currentString, "%d.%d.%d", &currentMajor, &currentMinor, &currentRevision);
-  currentVersion = ((currentMajor << 16) | (currentMinor << 8) | (currentRevision));
-  return currentVersion >= __MULTICONFIGURATION_MIN_VERSION__;
-}
-
-
-#define _GENERAL_NAVDATA_DEBUG (0)
-#define _GENERAL_NAVDATA_DEBUG_PREFIX "General Navdata : "
-#if _GENERAL_NAVDATA_DEBUG || defined (DEBUG)
-#define PRINTDBG(...)                                                   \
-  do                                                                    \
-    {                                                                   \
-      printf ("[%d] %s", __LINE__, _GENERAL_NAVDATA_DEBUG_PREFIX);      \
-      printf (__VA_ARGS__);                                             \
-      printf ("\n");                                                    \
-    } while (0)
-#else
-#define PRINTDBG(...)
-#endif
-
-static void sendInitConfigurations(void)
-{
-}
-
-static void switchToSession(void)
-{	
-  ARDRONE_TOOL_CONFIGURATION_ADDEVENT (session_id, ses_id, NULL);
-}
-
-static void switchToUser(void)
-{
-  ARDRONE_TOOL_CONFIGURATION_ADDEVENT (profile_id, usr_id, NULL);
-}
-
-static void switchToApplication(void)
-{
-  ARDRONE_TOOL_CONFIGURATION_ADDEVENT (application_id , app_id, NULL);
-}
-
-void configurationCallback (int res)
-{
-  PRINTDBG ("Config callback called with result %d", res);
-  if (0 != res)
-    {
-      PRINTDBG ("State : %d", configState);
-      switch (configState)
-        {
-        case MULTICONFIG_IN_PROGRESS_VERSION: // got config version
-          PRINTDBG ("Got config file");
-          configState = MULTICONFIG_GOT_DRONE_VERSION;
-          break;
-        case MULTICONFIG_IN_PROGRESS_LIST: // got multiconfig ids
-          PRINTDBG ("Got ids list");
-          configState = MULTICONFIG_GOT_IDS_LIST;
-          break;
-        case MULTICONFIG_IN_PROGRESS_IDS:
-          PRINTDBG ("Got current ids");
-          configState = MULTICONFIG_GOT_CURRENT_IDS;
-          break;
-        case MULTICONFIG_IN_PROGRESS_NAVDATA:
-          PRINTDBG ("Got navdatas");
-          configState = MULTICONFIG_GOT_NAVDATA;
-          break;
-        case MULTICONFIG_IDLE:
-        case MULTICONFIG_GOT_IDS_LIST:
-        case MULTICONFIG_GOT_DRONE_VERSION:
-        case MULTICONFIG_GOT_CURRENT_IDS:
-        case MULTICONFIG_GOT_NAVDATA:
-        case MULTICONFIG_NEEDED:
-        case MULTICONFIG_REQUEST_NAVDATA:
-        default:
-          break;
-        }
-    }
-  PRINTDBG ("End of config callback call");
-}
-
-void navdataCallback (int res)
-{
-  PRINTDBG ("Navdata callback called with result %d", res);
-  if (0 != res)
-    {
-      PRINTDBG ("State : %d", navdataState);
-      switch (navdataState)
-        {
-        case NAVDATA_REQUEST_IN_PROGRESS: // Navdata request got acknowledged by the AR.Drone
-          navdataState = NAVDATA_REQUEST_DONE;
-          break;
-        case NAVDATA_REQUEST_IDLE:
-        case NAVDATA_REQUEST_NEEDED:
-        case NAVDATA_REQUEST_DONE:
-        default:
-          break;
-        }
-    }
-  PRINTDBG ("End of navdata callback call");
-}
-
-C_RESULT ardrone_general_navdata_init( void* data )
-{
-  ARDRONE_TOOL_CONFIGURATION_ADDEVENT (session_id, "-all", NULL);
-  
-  navdataState = NAVDATA_REQUEST_IDLE;
-  configState = MULTICONFIG_NEEDED;
-  appSwitch = 1;
-  usrSwitch = 1;
-  sesSwitch = 1;
-  navdataNeeded = 1;
-  
-  return C_OK;
-}
-
-C_RESULT ardrone_general_navdata_process( const navdata_unpacked_t* const pnd )
-{
-  navdata_mode_t current_navdata_state = NAVDATA_BOOTSTRAP;
-  
-  /* Makes sure the navdata stream will be resumed if the drone is disconnected and reconnected.
-   * Allows changing the drone battery during debugging sessions.	 */
-  if( ardrone_get_mask_from_state(pnd->ardrone_state, ARDRONE_NAVDATA_BOOTSTRAP) )
-    {
-      current_navdata_state = NAVDATA_BOOTSTRAP;
-    }
-  else
-    {
-      current_navdata_state = (ardrone_get_mask_from_state(pnd->ardrone_state, ARDRONE_NAVDATA_DEMO_MASK)) ? NAVDATA_DEMO : NAVDATA_FULL ;
-    }
-
-  if (current_navdata_state == NAVDATA_BOOTSTRAP && configState == MULTICONFIG_IDLE && navdataState == NAVDATA_REQUEST_IDLE)
-    {
-      navdataState = NAVDATA_REQUEST_NEEDED; 
-    }
-	
-  /* Multiconfig settings */
-  int configIndex, userNeedInit, appNeedInit;
-  userNeedInit = 0; appNeedInit = 0;
-  switch (configState)
-    {
-    case MULTICONFIG_GOT_DRONE_VERSION:
-      PRINTDBG ("Checking drone version ...");
-      // Check if drone version is >= 1.6
-      if (versionSupportsMulticonfiguration (ardrone_control_config.num_version_soft))
-        {
-          PRINTDBG ("Drone supports multiconfig");
-          configState = MULTICONFIG_IN_PROGRESS_LIST;
-          ARDRONE_TOOL_CUSTOM_CONFIGURATION_GET (configurationCallback);
-          droneSupportsMulticonfig = 1;
-        }
-      else
-        {
-          PRINTDBG ("Drone does not support multiconfig");
-          // Drone does not support multiconfig ... don't call init functions because we don't want to mess up things in default config
-          configState = MULTICONFIG_REQUEST_NAVDATA;
-        }
-      break;
-    case MULTICONFIG_GOT_IDS_LIST:
-      // At this point, we're sure that the AR.Drone supports multiconfiguration, so we'll wheck if our ids exists, and send them.
-      PRINTDBG ("Got AR.Drone ID list. Switch->%d,%d,%d. ND->%d", sesSwitch, usrSwitch, appSwitch, navdataNeeded);
-      if (1 == sesSwitch)
-        {
-          switchToSession(); // Go to session ...
-        }
-
-      if (1 == appSwitch)
-        {
-          if (0 != strcmp(ardrone_control_config_default.application_id, app_id)) // Check for application only if we're not asking for the default one
-            {
-              appNeedInit = 1;
-              for (configIndex = 0; configIndex < available_configurations[CAT_APPLI].nb_configurations; configIndex++) // Check all existing app_ids
-                {
-                  PRINTDBG ("Checking application %s (desc : %s)", available_configurations[CAT_APPLI].list[configIndex].id,
-                            available_configurations[CAT_APPLI].list[configIndex].description);
-                  if (0 == strcmp(available_configurations[CAT_APPLI].list[configIndex].id, app_id))
-                    {
-                      PRINTDBG ("Found our application ... should not init");
-                      appNeedInit = 0;
-                      break;
-                    }
-                }
-              switchToApplication();
-            }
-          else
-            {
-              PRINTDBG ("We're requesting default application (%s), do nothing.", app_id);
-            }
-        }
-			
-      if (1 == usrSwitch)
-        {
-          if (0 != strcmp(ardrone_control_config_default.profile_id, usr_id)) // Check for user only if we're not asking for the default one
-            {
-              userNeedInit = 1;
-              for (configIndex = 0; configIndex < available_configurations[CAT_USER].nb_configurations; configIndex++) // Check all existing user_ids
-                {
-                  PRINTDBG ("Checking user %s (desc : %s)", available_configurations[CAT_USER].list[configIndex].id,
-                            available_configurations[CAT_USER].list[configIndex].description);
-                  if (0 == strcmp(available_configurations[CAT_USER].list[configIndex].id, usr_id))
-                    {
-                      PRINTDBG ("Found our user ... should not init");
-                      userNeedInit = 0;
-                      break;
-                    }
-                }
-              switchToUser();
-            }
-          else
-            {
-              PRINTDBG ("We're requesting default user (%s), do nothing.", usr_id);
-            }
-        }
-			
-      if (1 == appNeedInit)
-        {
-          // Send application defined default values
-          ardrone_tool_send_application_default();
-          PRINTDBG ("Creating app. profile on AR.Drone");
-          ARDRONE_TOOL_CONFIGURATION_ADDEVENT (application_desc, app_name, NULL);
-        }
-      if (1 == userNeedInit)
-        {
-          // Send user defined default values
-          ardrone_tool_send_user_default();
-          PRINTDBG ("Creating usr. profile on AR.Drone");
-          ARDRONE_TOOL_CONFIGURATION_ADDEVENT (profile_desc, usr_name, NULL);
-        }
-      if (1 == sesSwitch)
-        {
-          if (0 != strcmp(ardrone_control_config_default.session_id, ses_id)) // Send session info only if session is not the default one
-            {
-              ARDRONE_TOOL_CONFIGURATION_ADDEVENT (session_desc, ses_name, NULL);
-              // Send session specific default values
-              ardrone_tool_send_session_default();
-            }
-          else
-            {
-              PRINTDBG ("We're requesting default session (%s), do nothing.", ses_id);
-            }
-        }
-      configState = MULTICONFIG_IN_PROGRESS_IDS;
-      ARDRONE_TOOL_CONFIGURATION_GET (configurationCallback);
-      break;
-			
-    case MULTICONFIG_GOT_CURRENT_IDS:
-      if (0 != strcmp(ardrone_control_config.session_id, ses_id) ||
-          0 != strcmp(ardrone_control_config.profile_id, usr_id) ||
-          0 != strcmp(ardrone_control_config.application_id, app_id))
-        {
-          configState = MULTICONFIG_GOT_DRONE_VERSION; // We failed at setting up the application ids ... restart (but assume that drone supports multiconfig as we already checked)
-        }
-      else if (1 == navdataNeeded)
-        {
-          configState = MULTICONFIG_REQUEST_NAVDATA;
-        }
-      else
-        {
-          configState = MULTICONFIG_IDLE;
-        }
-      break;
-    case MULTICONFIG_NEEDED:
-      PRINTDBG ("Need to check multiconfig ... request config file");
-      // Get config file for reset
-      configState = MULTICONFIG_IN_PROGRESS_VERSION;
-      ARDRONE_TOOL_CONFIGURATION_GET (configurationCallback);
-      break;
-    case MULTICONFIG_REQUEST_NAVDATA:
-      PRINTDBG ("Send application navdata demo/options");
-      // Send application navdata demo/options to start navdatas from AR.Drone
-      ARDRONE_TOOL_CONFIGURATION_ADDEVENT (navdata_demo, &ardrone_application_default_config.navdata_demo, NULL);
-      ARDRONE_TOOL_CONFIGURATION_ADDEVENT (navdata_options, &ardrone_application_default_config.navdata_options, configurationCallback);
-      configState = MULTICONFIG_IN_PROGRESS_NAVDATA;
-      break;
-    case MULTICONFIG_GOT_NAVDATA:
-      // Refresh configuration file
-      configState = MULTICONFIG_IDLE;
-      PRINTDBG ("Refreshing from MULTICONFIG FSM");
-      configWasDone = 1;
-      ARDRONE_TOOL_CONFIGURATION_GET (NULL);
-      break;
-    case MULTICONFIG_IDLE:
-    case MULTICONFIG_IN_PROGRESS_LIST:
-    case MULTICONFIG_IN_PROGRESS_VERSION:
-    case MULTICONFIG_IN_PROGRESS_IDS:
-    default:
-      break;
-    }
-			
-  /* Navdata request settings */
-  switch (navdataState)
-    {
-    case NAVDATA_REQUEST_NEEDED:
-      PRINTDBG ("Resetting navdatas to %s", (0 == ardrone_application_default_config.navdata_demo) ? "full" : "demo");
-      navdataState = NAVDATA_REQUEST_IN_PROGRESS;
-      switchToSession(); // Resend session id when reconnecting.
-      sendInitConfigurations();
-      ARDRONE_TOOL_CONFIGURATION_ADDEVENT(navdata_demo, &ardrone_application_default_config.navdata_demo, NULL);
-      ARDRONE_TOOL_CONFIGURATION_ADDEVENT (navdata_options, &ardrone_application_default_config.navdata_options, navdataCallback);
-      break;
-    case NAVDATA_REQUEST_DONE:
-      // Refresh configuration file
-      PRINTDBG ("Refreshing from NAVDATA FSM");
-      navdataState = NAVDATA_REQUEST_IDLE;
-      ARDRONE_TOOL_CONFIGURATION_GET (NULL);      
-      break;
-    case NAVDATA_REQUEST_IN_PROGRESS:
-    case NAVDATA_REQUEST_IDLE:
-    default:
-      break;
-    }
-
-  return C_OK;
-}
-
-C_RESULT ardrone_general_navdata_release( void )
-{
-  return C_OK;
-}
-
-/* User switch/list functions */
-
-
-/* User functions */
-void ardrone_refresh_user_list(void)
-{
-  if (1 == droneSupportsMulticonfig)
-    {
-      appSwitch = 0;
-      usrSwitch = 0;
-      sesSwitch = 0;
-      navdataNeeded = 0;
-      configState = MULTICONFIG_GOT_DRONE_VERSION;
-    }
-}
-
-void ardrone_switch_to_user(const char *new_user)
-{
-  if (1 == droneSupportsMulticonfig)
-    {
-      ardrone_gen_usrid (new_user, usr_id, usr_name, USER_NAME_SIZE);
-      appSwitch = 0;
-      usrSwitch = 1;
-      sesSwitch = 0;
-      navdataNeeded = 0;
-      configState = MULTICONFIG_GOT_DRONE_VERSION;
-    }
-}
-
-void ardrone_switch_to_user_id(const char *new_user_id)
-{
-  if (1 == droneSupportsMulticonfig)
-    {
-      // We assume that the userlist is up to date
-      int userExists = 0;
-      int configIndex;
-      for (configIndex = 0; configIndex < available_configurations[CAT_USER].nb_configurations; configIndex++) // Check all existing user_ids
-        {
-          if (0 == strcmp(available_configurations[CAT_USER].list[configIndex].id, new_user_id))
-            {
-              userExists = 1;
-              break;
-            }
-        }
-        
-      if (1 == userExists)
-        {
-          strncpy (usr_id, new_user_id, MULTICONFIG_ID_SIZE);
-          appSwitch = 0;
-          usrSwitch = 0;
-          sesSwitch = 0;
-          navdataNeeded = 0;
-          configState = MULTICONFIG_GOT_DRONE_VERSION;
-        }
-    }
-}
-
-ardrone_users_t *ardrone_get_user_list(void)
-{
-  if (0 == droneSupportsMulticonfig)
-    {
-      return NULL;
-    }
-  ardrone_users_t *retVal = vp_os_malloc (sizeof (ardrone_users_t));
-  if (NULL == retVal)
-    return NULL;
-    
-    
-  // Assume that userlist is up to date
-  int validUserCount = 0; // User whose descriptions start with a dot ('.') are hidden users that may not be shown to the application user (e.g. default user for each iPhone, or user specific to a control mode
-  int configIndex;
-  for (configIndex = 0; configIndex < available_configurations[CAT_USER].nb_configurations; configIndex++) // Check all existing user_ids
-    {
-      if ('.' != available_configurations[CAT_USER].list[configIndex].description[0]) // Not an hidden user
-        {
-          validUserCount++;
-          retVal->userList = vp_os_realloc (retVal->userList, validUserCount * sizeof (ardrone_user_t));
-          if (NULL == retVal->userList)
-            {
-              vp_os_free (retVal);
-              return NULL;
-            }
-          strncpy (retVal->userList[validUserCount-1].ident, available_configurations[CAT_USER].list[configIndex].id, MULTICONFIG_ID_SIZE);
-          strncpy (retVal->userList[validUserCount-1].description, available_configurations[CAT_USER].list[configIndex].description, USER_NAME_SIZE);
-        }
-    }
-  retVal->userCount = validUserCount;
-  return retVal;
-}
-
-void ardrone_free_user_list (ardrone_users_t **users)
-{
-  if (NULL != *users)
-    {
-      if (NULL != (*users)->userList)
-        {
-          vp_os_free ((*users)->userList);
-        }
-      vp_os_free (*users);
-      *users = NULL;
-    }
-}

ARDroneLib/Soft/Lib/ardrone_tool/Navdata/ardrone_general_navdata.h

@@ -1,36 +0,0 @@
-#ifndef _ARDRONE_NAVDATA_GENERAL_H_
-#define _ARDRONE_NAVDATA_GENERAL_H_
-
-#include <ardrone_tool/Navdata/ardrone_navdata_client.h>
-
-typedef enum _MULTICONFIG_STATE_
-  {
-    MULTICONFIG_IDLE,
-    MULTICONFIG_NEEDED,
-    MULTICONFIG_GOT_DRONE_VERSION,
-    MULTICONFIG_GOT_IDS_LIST,
-    MULTICONFIG_GOT_CURRENT_IDS,
-    MULTICONFIG_GOT_NAVDATA,
-    MULTICONFIG_IN_PROGRESS_VERSION,
-    MULTICONFIG_IN_PROGRESS_LIST,
-    MULTICONFIG_IN_PROGRESS_IDS,
-    MULTICONFIG_IN_PROGRESS_NAVDATA,
-    MULTICONFIG_REQUEST_NAVDATA,
-  } MULTICONFIG_STATE;
-
-typedef enum _NAVDATA_REQUEST_STATE_
-  {
-    NAVDATA_REQUEST_IDLE,
-    NAVDATA_REQUEST_NEEDED,
-    NAVDATA_REQUEST_IN_PROGRESS,
-    NAVDATA_REQUEST_DONE,
-  } NAVDATA_REQUEST_STATE;
-
-C_RESULT ardrone_general_navdata_init( void* data );
-C_RESULT ardrone_general_navdata_process( const navdata_unpacked_t* const navdata );
-C_RESULT ardrone_general_navdata_release( void );
-
-extern int configWasDone;
-
-#endif //! _ARDRONE_NAVDATA_GENERAL_H_
-

ARDroneLib/Soft/Lib/ardrone_tool/Navdata/ardrone_navdata_client.c

@@ -1,256 +0,0 @@
-#include <errno.h>
-#include <string.h>
-
-#include <config.h>
-
-#include <VP_Os/vp_os_print.h>
-#include <VP_Com/vp_com.h>
-
-#include <ardrone_api.h>
-#include <ardrone_tool/ardrone_tool.h>
-#include <ardrone_tool/Navdata/ardrone_navdata_client.h>
-#include <ardrone_tool/Com/config_com.h>
-
-#ifndef _WIN32
-#include <sys/socket.h>
-#include <sys/ioctl.h>
-#include <netinet/in.h>
-#include <netinet/tcp.h>
-#include <unistd.h>
-#endif
-
-static bool_t navdata_thread_in_pause = TRUE;
-static bool_t bContinue = TRUE;
-static uint32_t num_retries = 0; 
-static vp_os_cond_t navdata_client_condition;
-static vp_os_mutex_t navdata_client_mutex;
-
-static vp_com_socket_t navdata_socket;
-static Read navdata_read      = NULL;
-static Write navdata_write    = NULL;
-
-uint8_t navdata_buffer[NAVDATA_MAX_SIZE];
-navdata_unpacked_t navdata_unpacked;
-
-C_RESULT ardrone_navdata_client_init(void)
-{
-  C_RESULT res;
-
-  COM_CONFIG_SOCKET_NAVDATA(&navdata_socket, VP_COM_CLIENT, NAVDATA_PORT, wifi_ardrone_ip);
-  navdata_socket.protocol = VP_COM_UDP;
-  navdata_socket.is_multicast = 0;      // disable multicast for Navdata
-  navdata_socket.multicast_base_addr = MULTICAST_BASE_ADDR;
-
-  vp_os_mutex_init(&navdata_client_mutex);
-  vp_os_cond_init(&navdata_client_condition, &navdata_client_mutex);
-	
-  res = C_OK;
-
-  return res;
-}
-
-C_RESULT ardrone_navdata_client_suspend(void)
-{
-	vp_os_mutex_lock(&navdata_client_mutex);
-	navdata_thread_in_pause = TRUE;
-	vp_os_mutex_unlock(&navdata_client_mutex);	
-	
-	return C_OK;
-}
-
-C_RESULT ardrone_navdata_client_resume(void)
-{
-	vp_os_mutex_lock(&navdata_client_mutex);
-	vp_os_cond_signal(&navdata_client_condition);
-	navdata_thread_in_pause = FALSE;
-	vp_os_mutex_unlock(&navdata_client_mutex);	
-
-	return C_OK;
-}
-
-C_RESULT ardrone_navdata_open_server(void)
-{
-  // Flag value :
-  // 1 -> Unicast
-  // 2 -> Multicast
-  int32_t flag = 1, len = sizeof(flag);
-
-  if( navdata_write != NULL )
-  {
-    if (navdata_socket.is_multicast == 1)
-      flag = 2;
-
-    navdata_write(&navdata_socket, (const uint8_t*) &flag, &len);
-  }
-
-  return C_OK;
-}
-
-DEFINE_THREAD_ROUTINE( navdata_update, nomParams )
-{
-  C_RESULT res;
-  int32_t  i, size;
-  uint32_t cks, navdata_cks, sequence = NAVDATA_SEQUENCE_DEFAULT-1;
-  struct timeval tv;
-#ifdef _WIN32
-  int timeout_for_windows=1000/*milliseconds*/;
-#endif
-
-
-  navdata_t* navdata = (navdata_t*) &navdata_buffer[0];
-
-  tv.tv_sec   = 1/*second*/;
-  tv.tv_usec  = 0;
-
-  res = C_OK;
-
-  if( VP_FAILED(vp_com_open(COM_NAVDATA(), &navdata_socket, &navdata_read, &navdata_write)) )
-  {
-    printf("VP_Com : Failed to open socket for navdata\n");
-    res = C_FAIL;
-  }
-
-  if( VP_SUCCEEDED(res) )
-  {
-    PRINT("Thread navdata_update in progress...\n");
-
-#ifdef _WIN32
-	setsockopt((int32_t)navdata_socket.priv, SOL_SOCKET, SO_RCVTIMEO, (const char*)&timeout_for_windows, sizeof(timeout_for_windows));
-	/* Added by Stephane to force the drone start sending data. */
-	if(navdata_write)
-	{	int sizeinit = 5; navdata_write( (void*)&navdata_socket, (int8_t*)"Init", &sizeinit ); }
-#else
-	setsockopt((int32_t)navdata_socket.priv, SOL_SOCKET, SO_RCVTIMEO, (const char*)&tv, sizeof(tv));
-#endif
-
-
-    i = 0;
-    while( ardrone_navdata_handler_table[i].init != NULL )
-    {
-      // if init failed for an handler we set its process function to null
-      // We keep its release function for cleanup
-      if( VP_FAILED( ardrone_navdata_handler_table[i].init(ardrone_navdata_handler_table[i].data) ) )
-        ardrone_navdata_handler_table[i].process = NULL;
-
-      i ++;
-    }
-
-   navdata_thread_in_pause = FALSE;
-    while( VP_SUCCEEDED(res) 
-           && !ardrone_tool_exit() 
-           && bContinue )
-    {
-	  if(navdata_thread_in_pause)
-	  {
-		vp_os_mutex_lock(&navdata_client_mutex);
-		num_retries = NAVDATA_MAX_RETRIES + 1;
-		vp_os_cond_wait(&navdata_client_condition);
-		vp_os_mutex_unlock(&navdata_client_mutex);
-	  }
-	
-		if( navdata_read == NULL )
-      {
-        res = C_FAIL;
-        continue;
-      }
-
-      size = NAVDATA_MAX_SIZE;
-      navdata->header = 0; // Soft reset
-      res = navdata_read( (void*)&navdata_socket, &navdata_buffer[0], &size );
-#ifdef _WIN32	
-	  if( size <= 0 )
-#else
-	  if( size == 0 )
-#endif
-		{
-			// timeout
-			PRINT("Timeout when reading navdatas - resending a navdata request on port %i\n",NAVDATA_PORT);
-			/* Resend a request to the drone to get navdatas */
-			ardrone_navdata_open_server();
-			sequence = NAVDATA_SEQUENCE_DEFAULT-1;
-			num_retries++;
-		} 
-		else
-         num_retries = 0;
-
-      if( VP_SUCCEEDED( res ) )
-      {
-        if( navdata->header == NAVDATA_HEADER )
-        {
-          if( ardrone_get_mask_from_state(navdata->ardrone_state, ARDRONE_COM_WATCHDOG_MASK) )
-          {
-            // reset sequence number because of com watchdog
-            // This code is mandatory because we can have a com watchdog without detecting it on mobile side :
-            //        Reconnection is fast enough (less than one second)
-            sequence = NAVDATA_SEQUENCE_DEFAULT-1;
-
-            if( ardrone_get_mask_from_state(navdata->ardrone_state, ARDRONE_NAVDATA_BOOTSTRAP) == FALSE )
-              ardrone_tool_send_com_watchdog(); // acknowledge
-          }
-
-          if( navdata->sequence > sequence )
-          {
-            i = 0;
-
-            ardrone_navdata_unpack_all(&navdata_unpacked, navdata, &navdata_cks);
-            cks = ardrone_navdata_compute_cks( &navdata_buffer[0], size - sizeof(navdata_cks_t) );
-
-            if( cks == navdata_cks )
-            {
-              while( ardrone_navdata_handler_table[i].init != NULL )
-              {
-                if( ardrone_navdata_handler_table[i].process != NULL )
-                  ardrone_navdata_handler_table[i].process( &navdata_unpacked );
-
-                i++;
-              }
-            }
-            else
-            {
-              PRINT("[Navdata] Checksum failed : %d (distant) / %d (local)\n", navdata_cks, cks);
-            }
-          }
-          else
-          {
-            PRINT("[Navdata] Sequence pb : %d (distant) / %d (local)\n", navdata->sequence, sequence);
-          }
-
-          sequence = navdata->sequence;
-        }
-      }
-    }
-
-    // Release resources alllocated by handlers
-    i = 0;
-    while( ardrone_navdata_handler_table[i].init != NULL )
-    {
-      ardrone_navdata_handler_table[i].release();
-
-      i ++;
-    }
-  }
-
-  vp_com_close(COM_NAVDATA(), &navdata_socket);
-
-  DEBUG_PRINT_SDK("Thread navdata_update ended\n");
-
-  return (THREAD_RET)res;
-}
-
-uint32_t ardrone_navdata_client_get_num_retries(void)
-{
-  return num_retries;
-}
-
-C_RESULT ardrone_navdata_client_shutdown(void)
-{
-   bContinue = FALSE;
-
-   vp_os_mutex_lock(&navdata_client_mutex);
-   vp_os_cond_signal(&navdata_client_condition);
-   vp_os_mutex_unlock(&navdata_client_mutex);
-   
-   return C_OK;
-}
-
-

ARDroneLib/Soft/Lib/ardrone_tool/Navdata/ardrone_navdata_client.h

@@ -1,63 +0,0 @@
-#ifndef _ARDRONE_NAVDATA_CLIENT_H_
-#define _ARDRONE_NAVDATA_CLIENT_H_
-
-#include <VP_Os/vp_os_types.h>
-#include <VP_Api/vp_api_thread_helper.h>
-
-#include <ardrone_api.h>
-#include <ardrone_tool/Control/ardrone_navdata_control.h>
-#include <ardrone_tool/Navdata/ardrone_navdata_file.h>
-#include <ardrone_tool/Navdata/ardrone_general_navdata.h>
-#include <ardrone_tool/Navdata/ardrone_academy_navdata.h>
-#include <ardrone_tool/Video/video_navdata_handler.h>
-#include <config.h>
-
-#define NAVDATA_MAX_RETRIES     5
-
-// Facility to declare a set of navdata handler
-// Handler to resume control thread is mandatory
-#define BEGIN_NAVDATA_HANDLER_TABLE                                 \
-    ardrone_navdata_handler_t ardrone_navdata_handler_table[] = { \
-    { ardrone_navdata_control_init, ardrone_navdata_control_process, ardrone_navdata_control_release, NULL }, \
-  { ardrone_general_navdata_init, ardrone_general_navdata_process, ardrone_general_navdata_release, NULL }, \
-    { video_navdata_handler_init, video_navdata_handler_process, video_navdata_handler_release, NULL }, \
-  { ardrone_academy_navdata_init, ardrone_academy_navdata_process, ardrone_academy_navdata_release, NULL },
-
-#define END_NAVDATA_HANDLER_TABLE                                       \
-  { NULL, NULL, NULL, NULL }                                            \
-  };
-
-#define NAVDATA_HANDLER_TABLE_ENTRY( init, process, release, init_data_ptr ) \
-    { (ardrone_navdata_handler_init_t)init, process, release, init_data_ptr },
-
-typedef C_RESULT (*ardrone_navdata_handler_init_t)( void* data );
-typedef C_RESULT (*ardrone_navdata_handler_process_t)( const navdata_unpacked_t* const navdata );
-typedef C_RESULT (*ardrone_navdata_handler_release_t)( void );
-
-typedef struct _ardrone_navdata_handler_t {
-    ardrone_navdata_handler_init_t    init;
-    ardrone_navdata_handler_process_t process;
-    ardrone_navdata_handler_release_t release;
-
-    void*                             data; // Data used during initialization
-} ardrone_navdata_handler_t;
-
-typedef enum
-{
-    NAVDATA_BOOTSTRAP = 0,
-    NAVDATA_DEMO,
-    NAVDATA_FULL
-} navdata_mode_t;
-
-extern ardrone_navdata_handler_t ardrone_navdata_handler_table[] WEAK;
-
-uint32_t ardrone_navdata_client_get_num_retries(void);
-C_RESULT ardrone_navdata_client_init(void);
-C_RESULT ardrone_navdata_client_suspend(void);
-C_RESULT ardrone_navdata_client_resume(void);
-C_RESULT ardrone_navdata_client_shutdown(void);
-C_RESULT ardrone_navdata_open_server(void);
-
-PROTO_THREAD_ROUTINE( navdata_update , nomParams );
-
-#endif // _ARDRONE_NAVDATA_H_

ARDroneLib/Soft/Lib/ardrone_tool/Navdata/ardrone_navdata_file.c

@@ -1,619 +0,0 @@
-#include <time.h>
-#ifndef _WIN32
-	#include <sys/time.h>
-#else
-
- #include <sys/timeb.h>
- #include <Winsock2.h>  // for timeval structure
-
- int gettimeofday (struct timeval *tp, void *tz)
- {
-	 struct _timeb timebuffer;
-	 _ftime (&timebuffer);
-	 tp->tv_sec = (long)timebuffer.time;
-	 tp->tv_usec = (long)timebuffer.millitm * 1000;
-	 return 0;
- }
-#endif
-
-#include <stdlib.h>
-
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Os/vp_os_print.h>
-
-#include <ardrone_tool/ardrone_tool.h>
-#include <ardrone_tool/Navdata/ardrone_navdata_file.h>
-#include <ardrone_tool/UI/ardrone_input.h>
-
-uint32_t num_picture_decoded = 0;
-
-float32_t nd_iphone_gaz = 0.0;
-float32_t nd_iphone_yaw = 0.0;
-int32_t nd_iphone_flag = 0;
-float32_t nd_iphone_phi = 0.0;
-float32_t nd_iphone_theta = 0.0;
-float32_t nd_iphone_magneto_psi_accuracy = 0.0;
-float32_t nd_iphone_magneto_psi = 0.0;
-
-// Public declaration of navdata_file allowing other handlers to write into
-FILE* navdata_file = NULL;
-
-// Private declaration of navdata_file
-// Allow this handler to disable other handlers that write in navdata file
-static FILE* navdata_file_private = NULL;
-static ardrone_navdata_file_data *navdata_file_data = NULL;
-
-static void ardrone_navdata_file_print_version( void )
-{
-  unsigned int i;
-  fprintf(navdata_file,"VERSION 19c\n");  // TODO : CHANGE VERSION NUMBER EVERY TIME THE FILE STRUCTURE CHANGES
-  fprintf(navdata_file,
-  "Control_state [-]; ARDrone_state [-]; Time [s]; nd_seq_num [-]; \
-    AccX_raw [LSB]; AccY_raw [LSB]; AccZ_raw [LSB]; \
-    GyroX_raw [LSB]; GyroY_raw [LSB]; GyroZ_raw [LSB]; GyroZIMMU3000 [LSB]; GyroX_110_raw [LSB]; GyroY_110_raw [LSB];Battery_Voltage_raw [mV]; \
-    Alim_3V3 [LSB]; vrefEpson [LSB]; vrefIDG [LSB]; flag_echo_ini [LSB]; us_debut_echo [LSB]; us_fin_echo [LSB]; us_association_echo; us_distance_echo [LSB];\
-    us_courbe_temps [LSB]; us_courbe_valeur [LSB]; us_courbe_ref [LSB]; nombre_echo [LSB]; sum_echo[LSB]; alt_temp_raw [mm];\
-    gradient [LSB];\
-    UP [LSB]; UT [LSB]; Temperature_meas [0_1C]; Pression_meas [Pa];\
-    Prediction_US [mm];\
-    Somme_inno [mm];\
-    Offset_Pressure [Pa];\
-    Estimated_altitude [mm];\
-    Estimated_velocity [m/s];\
-    Estimated_Bias_PWM [m/s2];\
-    Estimated_Biais_Pressure [Pa];\
-    Estimated_cov_alt [m];\
-    Estimated_offset_US [m];\
-    Estimated_cov_PWM;\
-    Bool_effet_sol [SU];\
-    Bool_rejet_US [SU];\
-    Estimated_cov_Vz [m/s];\
-    mx [LSB]; my [LSB]; mz [LSB];\
-    mx [mG]; my [mG]; mz [mG];\
-    mx_rect [mG]; my_rect [mG]; mz_rect [mG];\
-    offsetx [mG]; offsety [mG]; offsetz [mG];\
-    heading_unwrapped [deg];	heading_gyro_unwrapped [deg]; heading_fusion_unwrapped [mdeg];\
-    magneto_calibration_ok [bool];\
-    magneto_state [SU];\
-    wind_speed [m/s]; wind_angle [deg];\
-    wind_estimator_state_x1 [SU]; wind_estimator_state_x2 [SU]; wind_estimator_state_x3 [SU]; wind_estimator_state_x4 [SU]; wind_estimator_state_x5 [SU]; wind_estimator_state_x6 [SU];\
-    Phi_wind_compensation [rad]; Theta_wind_compensation [rad];\
-    magneto_radius [mG];\
-    magneto_error_mean [mG]; magneto_error_var [mG2];\
-    magneto_debug1 [SU]; magneto_debug2 [SU]; magneto_debug3 [SU];\
-    Accs_temperature [K]; Gyro_temperature [LSB]; AccX_phys_filt [mg]; AccY_phys_filt [mg]; AccZ_phys_filt [mg]; \
-    GyroX_phys_filt [deg/s]; GyroY_phys_filt [deg/s]; GyroZ_phys_filt [deg/s]; GyroZ_immu3000 [deg/s];\
-    GyroX_offset [deg/s]; GyroY_offset [deg/s]; GyroZ_offset [deg/s]; \
-    Theta_acc [mdeg]; Phi_acc [mdeg];\
-    Theta_ref_embedded [mdeg]; Phi_ref_embedded [mdeg]; Psi_ref_embedded [mdeg]; Theta_ref_int [mdeg]; Phi_ref_int [mdeg]; \
-    Pitch_ref_embedded [mdeg]; Roll_ref_embedded [mdeg]; Yaw_ref_embedded [mdeg/s]; \
-    Theta_trim_embedded [mdeg]; Phi_trim_embedded [mdeg]; Yaw_trim_embedded [mdeg/s]; \
-    Pitch_rc_embedded [-]; Roll_rc_embedded [-]; Yaw_rc_embedded [-]; Gaz_rc_embedded [-]; Ag_rc_embedded [-]; User_Input [-]; \
-    PWM1 [PWM]; PWM2 [PWM]; PWM3 [PWM]; PWM4 [PWM];\
-    SAT_PWM1 [PWM]; SAT_PWM2 [PWM]; SAT_PWM3 [PWM]; SAT_PWM4 [PWM];\
-    Gaz_feed_forward [PWM]; Gaz_altitude [PWM];\
-    Altitude_integral [mm/s]; Vz_ref [mm/s];\
-    Altitude_prop [PWM]; Altitude_der [PWM]; \
-    u_pitch [PWM]; u_roll [PWM]; u_yaw [PWM]; yaw_u_I [PWM];\
-    u_pitch_planif [PWM]; u_roll_planif [PWM]; u_yaw_planif [PWM]; u_gaz_planif [PWM];\
-    Current_motor1 [mA]; Current_motor2 [mA]; Current_motor3 [mA]; Current_motor4 [mA];\
-    Altitude_vision [mm]; Altitude_vz [mm/s]; Altitude_ref_embedded [mm]; Altitude_raw [mm]; \
-    Observer AccZ [m/s2]; Observer altitude US [m]; Estimated Altitude[m]; Estimated Vz [m/s]; Estimated acc bias [m/s2];\
-    Observer state [-]; vb 1; vb 2;	Observer flight state [-];\
-    Vision_tx_raw [-]; Vision_ty_raw [-]; Vision_tz_raw [-];   Vision_State [-]; Vision_defined [-];\
-    Vision_phi_trim[rad]; Vision_phi_ref_prop[rad]; Vision_theta_trim[rad]; Vision_theta_ref_prop[rad];\
-    Vx_body [mm/s]; Vy_body [mm/s]; Vz_body [mm/s];\
-    New_raw_picture [-]; T_capture; F_capture; P_capture; delta_Phi; delta_Theta; delta_Psi; Alt_capture [-]; time_capture [s];\
-    Demo_vbat [-]; Demo_theta [mdeg]; Demo_phi [mdeg]; Demo_psi [mdeg];  Demo_altitude [mm];  Demo_vx [mm/s]; Demo_vy [mm/s]; Demo_vz [mm/s];Demo_num_frames [-];\
-    Demo_detect_rot_m11 [-]; Demo_detect_rot_m12 [-]; Demo_detect_rot_m13 [-]; Demo_detect_rot_m21 [-]; Demo_detect_rot_m22 [-]; Demo_detect_rot_m23 [-];\
-    Demo_detect_rot_m31 [-]; Demo_detect_rot_m32 [-]; Demo_detect_rot_m33 [-]; Demo_detect_trans_v1 [-]; Demo_detect_trans_v2 [-]; Demo_detect_trans_v3 [-]; \
-	  Demo_detect_tag_index [-]; Demo_camera_type [-]; Demo_drone_camera_rot_m11 [-]; Demo_drone_camera_rot_m12 [-]; Demo_drone_camera_rot_m13 [-];\
-    Demo_drone_camera_rot_m21 [-]; Demo_drone_camera_rot_m22 [-]; Demo_drone_camera_rot_m23 [-]; Demo_drone_camera_rot_m31 [-]; Demo_drone_camera_rot_m32 [-];\
-    Demo_drone_camera_rot_m33 [-]; Demo_drone_camera_trans_x [-]; Demo_drone_camera_trans_y [-]; Demo_drone_camera_trans_z [-];\
-	  nd_iphone_flag [-]; nd_iphone_phi [-]; nd_iphone_theta [-]; nd_iphone_gaz [-]; nd_iphone_yaw [-];\
-	  quant [-]; encoded_frame_size [bytes]; encoded_frame_number [-]; atcmd_ref_seq [-]; atcmd_mean_ref_gap [ms]; atcmd_var_ref_gap [SU]; atcmd_ref_quality[-]; out_bitrate[-]; desired_bitrate[-]; tcp_queue_level[-]; fifo_queue_level[-];\
-    hdvideo_frame_number [-];");
-
-/*  for(i = 0 ; i < DEFAULT_NB_TRACKERS_WIDTH*DEFAULT_NB_TRACKERS_HEIGHT ; i++)
-    fprintf(navdata_file, "Locked_%u; X_%u; Y_%u; ", i, i, i);
-*/
-  fprintf(navdata_file, "Nb_detected; ");
-
-  for(i = 0 ; i < 4 ; i++)
-    fprintf(navdata_file, "Type_%u; Xd_%u; Yd_%u; W_%u; H_%u; D_%u; O_%u; ", i, i, i, i, i, i, i);
-
-  fprintf(navdata_file, "Perf_szo [ms]; Perf_corners [ms]; Perf_compute [ms]; Perf_tracking [ms]; Perf_trans [ms]; Perf_update [ms]; ");
-
-	for(i=0; i<NAVDATA_MAX_CUSTOM_TIME_SAVE; i++)
-		fprintf(navdata_file, "Perf_Custom_%u; ", i);
-
-  // tags after "flag_new_picture" will be written on the IHM side
-  fprintf(navdata_file, "Watchdog Control [-]; flag_new_picture [-]; Sample time [s]; ");
-
-  fprintf(navdata_file, "Vx_Ref_[mm/s]; Vy_Ref_[mm/s]; Theta_modele [rad]; Phi_modele [rad]; k_v_x [-]; k_v_y [-]; k_mode [-];UI Time [-]; Theta UI [-]; Phi UI [-];Psi UI [-];Psi_accuracy UI [-]; UI_Seq;");
-
-  #ifdef PC_USE_POLARIS
-    fprintf( navdata_file,
-    "POLARIS_X [mm]; POLARIS_Y [mm]; POLARIS_Z [mm]; \
-  POLARIS_QX [deg]; POLARIS_QY [deg]; POLARIS_QZ [deg];\
-  POLARIS_Q0 [deg]; Time s [s]; Time us [us]; ");
-  #endif
-
-  #ifdef USE_TABLE_PILOTAGE
-      fprintf( navdata_file, " Table_Pilotage_position [mdeg]; Table_Pilotage_vitesse [deg/s]; ");
-  #endif
-
-	if((navdata_file_data != NULL) && (navdata_file_data->print_header != NULL))
-		navdata_file_data->print_header(navdata_file);
-}
-
-struct tm *navdata_atm = NULL;
-
-C_RESULT ardrone_navdata_file_init( void* data )
-{
-  char filename[1024];
-  struct timeval tv;
-  time_t temptime;
-
-  navdata_file_data = (ardrone_navdata_file_data*)data;
-
-  gettimeofday(&tv,NULL);
-  temptime = (time_t)tv.tv_sec;
-  navdata_atm = localtime(&temptime);
-  strcpy(filename, root_dir);
-  strcat(filename, "/");
-
-  if((navdata_file_data != NULL) && (navdata_file_data->filename != NULL))
-  {
-	  strcpy(filename, navdata_file_data->filename);
-  }
-  else
-  {
-      sprintf(filename, "%s/mesures_%04d%02d%02d_%02d%02d%02d.txt",
-        filename,
-        navdata_atm->tm_year+1900, navdata_atm->tm_mon+1, navdata_atm->tm_mday,
-        navdata_atm->tm_hour, navdata_atm->tm_min, navdata_atm->tm_sec);
-  }
-
-  // private for instance
-  navdata_file_private = fopen(filename, "wb");
-
-  return navdata_file_private != NULL ? C_OK : C_FAIL;
-}
-
-C_RESULT ardrone_navdata_file_process( const navdata_unpacked_t* const pnd )
-{
-	uint32_t i;
-	char str[50];
-	int32_t* locked_ptr;
-	screen_point_t* point_ptr;
-	struct timeval time;
-	input_state_t *input_state = NULL;
-
-	gettimeofday(&time,NULL);
-
-	if( navdata_file_private == NULL )
-		return C_FAIL;
-
-	if( ardrone_get_mask_from_state(pnd->ardrone_state, ARDRONE_NAVDATA_BOOTSTRAP) )
-		return C_OK;
-
-	if( navdata_file == NULL )
-	{
-		navdata_file = navdata_file_private;
-
-		if( ardrone_get_mask_from_state(pnd->ardrone_state, ARDRONE_NAVDATA_DEMO_MASK) )
-		{
-			printf("Receiving navdata demo\n");
-		}
-		else
-		{
-			printf("Receiving all navdata\n");
-		}
-		ardrone_navdata_file_print_version();
-	}
-
-	// Handle the case where user asked for a new navdata file
-	if( navdata_file != navdata_file_private )
-	{
-		fclose(navdata_file);
-		navdata_file = navdata_file_private;
-
-		if( ardrone_get_mask_from_state(pnd->ardrone_state, ARDRONE_NAVDATA_DEMO_MASK) )
-		{
-			printf("Receiving navdata demo\n");
-		}
-		else
-		{
-			printf("Receiving all navdata\n");
-		}
-		ardrone_navdata_file_print_version();
-	}
-
-	vp_os_memset(&str[0], 0, sizeof(str));
-	input_state = ardrone_tool_input_get_state();
-	fprintf( navdata_file,"\n" );
-	fprintf( navdata_file, "%u; %u", (unsigned int) pnd->navdata_demo.ctrl_state, (unsigned int) pnd->ardrone_state );
-
-	sprintf( str, "%d.%06d", (int)((pnd->navdata_time.time & TSECMASK) >> TSECDEC), (int)(pnd->navdata_time.time & TUSECMASK) );
-	fprintf( navdata_file, ";%s", str );
-	fprintf( navdata_file, "; %u", (unsigned int) pnd->nd_seq);
-
-	fprintf( navdata_file, "; %04u; %04u; %04u; %04d; %04d; %04d; %04d; %04u; %04u; %04u; %04u; %04u; %04u; %04u; %04u; %04u; %04u; %04u; %04u; %04u; %04u; %04u; %04u; %04d; %04d",
-			(unsigned int) pnd->navdata_raw_measures.raw_accs[ACC_X],
-			(unsigned int) pnd->navdata_raw_measures.raw_accs[ACC_Y],
-			(unsigned int) pnd->navdata_raw_measures.raw_accs[ACC_Z],
-			(int) pnd->navdata_raw_measures.raw_gyros[GYRO_X],
-			(int) pnd->navdata_raw_measures.raw_gyros[GYRO_Y],
-			(int) pnd->navdata_raw_measures.raw_gyros[GYRO_Z],
-			(int) pnd->navdata_zimmu_3000.vzimmuLSB,
-			(unsigned int) pnd->navdata_raw_measures.raw_gyros_110[0],
-			(unsigned int) pnd->navdata_raw_measures.raw_gyros_110[1],
-			(unsigned int) pnd->navdata_raw_measures.vbat_raw,
-			(unsigned int) pnd->navdata_phys_measures.alim3V3,
-			(unsigned int) pnd->navdata_phys_measures.vrefEpson,
-			(unsigned int) pnd->navdata_phys_measures.vrefIDG,
-			(unsigned int) pnd->navdata_raw_measures.flag_echo_ini,
-			(unsigned int) pnd->navdata_raw_measures.us_debut_echo,
-			(unsigned int) pnd->navdata_raw_measures.us_fin_echo,
-			(unsigned int) pnd->navdata_raw_measures.us_association_echo,
-			(unsigned int) pnd->navdata_raw_measures.us_distance_echo,
-			(unsigned int) pnd->navdata_raw_measures.us_courbe_temps,
-			(unsigned int) pnd->navdata_raw_measures.us_courbe_valeur,
-			(unsigned int) pnd->navdata_raw_measures.us_courbe_ref,
-			(unsigned int) pnd->navdata_raw_measures.nb_echo,
-			(unsigned int) pnd->navdata_raw_measures.sum_echo,
-			(int) pnd->navdata_raw_measures.alt_temp_raw,
-      (int) pnd->navdata_raw_measures.gradient
-
-	        );
-
-
-	fprintf( navdata_file, "; %10u; %10u; %10u; %10u",
-			(signed int) pnd->navdata_pressure_raw.up,
-			(signed int) pnd->navdata_pressure_raw.ut,
-			(signed int) pnd->navdata_pressure_raw.Temperature_meas,
-			(signed int) pnd->navdata_pressure_raw.Pression_meas );
-
-
-	fprintf( navdata_file, "; %6f; %6f; %6f",
-			pnd->navdata_kalman_pressure.prediction_US,
-			pnd->navdata_kalman_pressure.somme_inno,
-			pnd->navdata_kalman_pressure.offset_pressure);
-
-	fprintf( navdata_file, "; %6f; %6f; %6f; %6f; %6f; %6f; %6f; %6d; %6d; %6f",
-			pnd->navdata_kalman_pressure.est_z,
-			pnd->navdata_kalman_pressure.est_zdot,
-			pnd->navdata_kalman_pressure.est_bias_PWM,
-			pnd->navdata_kalman_pressure.est_biais_pression,
-			pnd->navdata_kalman_pressure.cov_alt,
-			pnd->navdata_kalman_pressure.offset_US,
-			pnd->navdata_kalman_pressure.cov_PWM ,
-			pnd->navdata_kalman_pressure.bool_effet_sol,
-			pnd->navdata_kalman_pressure.flag_rejet_US,
-			pnd->navdata_kalman_pressure.cov_vitesse);
-
-	fprintf( navdata_file, "; %5d; %5d; %5d; %6f; %6f; %6f; %6f; %6f; %6f",
-			(signed int) pnd->navdata_magneto.mx,
-			(signed int) pnd->navdata_magneto.my,
-			(signed int) pnd->navdata_magneto.mz,
-			pnd->navdata_magneto.magneto_raw.x,
-			pnd->navdata_magneto.magneto_raw.y,
-			pnd->navdata_magneto.magneto_raw.z,
-			pnd->navdata_magneto.magneto_rectified.x,
-			pnd->navdata_magneto.magneto_rectified.y,
-			pnd->navdata_magneto.magneto_rectified.z);
-
-	fprintf( navdata_file, "; %6f; %6f; %6f; %6f; %6f; %6f",
-			pnd->navdata_magneto.magneto_offset.x,
-			pnd->navdata_magneto.magneto_offset.y,
-			pnd->navdata_magneto.magneto_offset.z,
-			pnd->navdata_magneto.heading_unwrapped,
-			pnd->navdata_magneto.heading_gyro_unwrapped,
-			pnd->navdata_magneto.heading_fusion_unwrapped);
-
-	fprintf( navdata_file, "; %d; %d; %6f; %6f; %6f; %6f; %6f; %6f; %6f; %6f; %6f; %6f; %6f; %6f; %6f; %6f; %6f; %6f",
-			pnd->navdata_magneto.magneto_calibration_ok,
-			pnd->navdata_magneto.magneto_state,
-			pnd->navdata_wind_speed.wind_speed,
-			pnd->navdata_wind_speed.wind_angle,
-			pnd->navdata_wind_speed.state_x1,
-			pnd->navdata_wind_speed.state_x2,
-			pnd->navdata_wind_speed.state_x3,
-			pnd->navdata_wind_speed.state_x4,
-			pnd->navdata_wind_speed.state_x5,
-			pnd->navdata_wind_speed.state_x6,
-			pnd->navdata_wind_speed.wind_compensation_phi,
-			pnd->navdata_wind_speed.wind_compensation_theta,
-			pnd->navdata_magneto.magneto_radius,
-			pnd->navdata_magneto.error_mean,
-			pnd->navdata_magneto.error_var,
-			pnd->navdata_wind_speed.magneto_debug1,
-			pnd->navdata_wind_speed.magneto_debug2,
-			pnd->navdata_wind_speed.magneto_debug3);
-
-	fprintf( navdata_file, "; %f; %04u; % 5f; % 5f; % 5f; % 6f; % 6f; % 6f; %6f",
-			pnd->navdata_phys_measures.accs_temp,
-			(unsigned int)pnd->navdata_phys_measures.gyro_temp,
-			pnd->navdata_phys_measures.phys_accs[ACC_X],
-			pnd->navdata_phys_measures.phys_accs[ACC_Y],
-			pnd->navdata_phys_measures.phys_accs[ACC_Z],
-			pnd->navdata_phys_measures.phys_gyros[GYRO_X],
-			pnd->navdata_phys_measures.phys_gyros[GYRO_Y],
-			pnd->navdata_phys_measures.phys_gyros[GYRO_Z],
-			pnd->navdata_zimmu_3000.vzfind                );
-
-	fprintf( navdata_file, "; % f; % f; % f",
-			pnd->navdata_gyros_offsets.offset_g[GYRO_X],
-			pnd->navdata_gyros_offsets.offset_g[GYRO_Y],
-			pnd->navdata_gyros_offsets.offset_g[GYRO_Z] );
-
-	fprintf( navdata_file, "; % f; % f",
-			pnd->navdata_euler_angles.theta_a,
-			pnd->navdata_euler_angles.phi_a);
-
-	fprintf( navdata_file, ";  %04d; %04d; %04d; %04d; %04d; %06d; %06d; %06d",
-			(int) pnd->navdata_references.ref_theta,
-			(int) pnd->navdata_references.ref_phi,
-			(int) pnd->navdata_references.ref_psi,
-			(int) pnd->navdata_references.ref_theta_I,
-			(int) pnd->navdata_references.ref_phi_I,
-			(int) pnd->navdata_references.ref_pitch,
-			(int) pnd->navdata_references.ref_roll,
-			(int) pnd->navdata_references.ref_yaw );
-
-	fprintf( navdata_file, "; % 8.6f; % 8.6f; % 8.6f",
-			pnd->navdata_trims.euler_angles_trim_theta,
-			pnd->navdata_trims.euler_angles_trim_phi,
-			pnd->navdata_trims.angular_rates_trim_r );
-
-	fprintf( navdata_file, "; %04d; %04d; %04d; %04d; %04d; %04u",
-			(int) pnd->navdata_rc_references.rc_ref_pitch,
-			(int) pnd->navdata_rc_references.rc_ref_roll,
-			(int) pnd->navdata_rc_references.rc_ref_yaw,
-			(int) pnd->navdata_rc_references.rc_ref_gaz,
-			(int) pnd->navdata_rc_references.rc_ref_ag,
-			(unsigned int) input_state->user_input );
-
-	fprintf( navdata_file, "; %03u; %03u; %03u; %03u; %03u; %03u; %03u; %03u",
-			(unsigned int) pnd->navdata_pwm.motor1,
-			(unsigned int) pnd->navdata_pwm.motor2,
-			(unsigned int) pnd->navdata_pwm.motor3,
-			(unsigned int) pnd->navdata_pwm.motor4,
-			(unsigned int) pnd->navdata_pwm.sat_motor1,
-			(unsigned int) pnd->navdata_pwm.sat_motor2,
-			(unsigned int) pnd->navdata_pwm.sat_motor3,
-			(unsigned int) pnd->navdata_pwm.sat_motor4);
-
-	fprintf( navdata_file, "; %6f; %6f;%6f; %6f;%6f; %6f",
-			pnd->navdata_pwm.gaz_feed_forward,
-			pnd->navdata_pwm.gaz_altitude,
-			pnd->navdata_pwm.altitude_integral,
-			pnd->navdata_pwm.vz_ref,
-			pnd->navdata_pwm.altitude_prop,
-			pnd->navdata_pwm.altitude_der);
-
-	fprintf( navdata_file, "; %03d; %03d; %03d; %f",
-			(int) pnd->navdata_pwm.u_pitch,
-			(int) pnd->navdata_pwm.u_roll,
-			(int) pnd->navdata_pwm.u_yaw,
-			pnd->navdata_pwm.yaw_u_I);
-
-	fprintf( navdata_file, "; %03d; %03d; %03d; %f",
-			(int) pnd->navdata_pwm.u_pitch_planif,
-			(int) pnd->navdata_pwm.u_roll_planif,
-			(int) pnd->navdata_pwm.u_yaw_planif,
-			pnd->navdata_pwm.u_gaz_planif);
-
-	fprintf(navdata_file, "; %04d; %04d; %04d; %04d",
-			(int) pnd->navdata_pwm.current_motor1,
-			(int) pnd->navdata_pwm.current_motor2,
-			(int) pnd->navdata_pwm.current_motor3,
-			(int) pnd->navdata_pwm.current_motor4 );
-
-	fprintf( navdata_file, "; %04d; %f; %04d;%04u",
-			(int) pnd->navdata_altitude.altitude_vision,
-			pnd->navdata_altitude.altitude_vz,
-			(int) pnd->navdata_altitude.altitude_ref,
-			(unsigned int) pnd->navdata_altitude.altitude_raw );
-
-	fprintf( navdata_file, "; %f; %f; %f; %f; %f; %04u; %f; %f; %04u",
-			pnd->navdata_altitude.obs_accZ,
-			pnd->navdata_altitude.obs_alt,
-			pnd->navdata_altitude.obs_x.v[0],
-			pnd->navdata_altitude.obs_x.v[1],
-			pnd->navdata_altitude.obs_x.v[2],
-			pnd->navdata_altitude.obs_state,
-			pnd->navdata_altitude.est_vb.v[0],
-			pnd->navdata_altitude.est_vb.v[1],
-			pnd->navdata_altitude.est_state );
-
-	vp_os_memset(&str[0], 0, sizeof(str));
-	sprintf( str, "%d.%06d", (int)((pnd->navdata_vision.time_capture & TSECMASK) >> TSECDEC), (int)(pnd->navdata_vision.time_capture & TUSECMASK) );
-
-	fprintf( navdata_file, "; % 8.6f; % 8.6f; % 8.6f; %u; %u; % f;% f;% f;% f; % f; % f; % f; %u; % f; % f; % f; % f; % f; % f; % d; %s",
-			pnd->navdata_vision_raw.vision_tx_raw,
-			pnd->navdata_vision_raw.vision_ty_raw,
-			pnd->navdata_vision_raw.vision_tz_raw,
-			(unsigned int) pnd->navdata_vision.vision_state,
-			(unsigned int) pnd->vision_defined,
-			pnd->navdata_vision.vision_phi_trim,
-			pnd->navdata_vision.vision_phi_ref_prop,
-			pnd->navdata_vision.vision_theta_trim,
-			pnd->navdata_vision.vision_theta_ref_prop,
-			pnd->navdata_vision.body_v.x,
-			pnd->navdata_vision.body_v.y,
-			pnd->navdata_vision.body_v.z,
-			(unsigned int) pnd->navdata_vision.new_raw_picture,
-			pnd->navdata_vision.theta_capture,
-			pnd->navdata_vision.phi_capture,
-			pnd->navdata_vision.psi_capture,
-			pnd->navdata_vision.delta_phi,
-			pnd->navdata_vision.delta_theta,
-			pnd->navdata_vision.delta_psi,
-			(int)pnd->navdata_vision.altitude_capture,
-			str );
-
-	fprintf( navdata_file, "; %04u",
-			(unsigned int) pnd->navdata_demo.vbat_flying_percentage );
-
-	fprintf( navdata_file, "; % f; % f; % f",
-			pnd->navdata_demo.theta,
-			pnd->navdata_demo.phi,
-			pnd->navdata_demo.psi );
-
-	fprintf( navdata_file, "; %04d",
-			(int) pnd->navdata_demo.altitude );
-
-	fprintf( navdata_file, "; %f; %f; %f ",
-			pnd->navdata_demo.vx,
-			pnd->navdata_demo.vy,
-			pnd->navdata_demo.vz );
-
-	fprintf( navdata_file, "; %04u", (unsigned int) pnd->navdata_demo.num_frames );
-
-	fprintf( navdata_file, "; %f; %f; %f; %f; %f; %f; %f; %f; %f", pnd->navdata_demo.detection_camera_rot.m11,
-			pnd->navdata_demo.detection_camera_rot.m12,
-			pnd->navdata_demo.detection_camera_rot.m13,
-			pnd->navdata_demo.detection_camera_rot.m21,
-			pnd->navdata_demo.detection_camera_rot.m22,
-			pnd->navdata_demo.detection_camera_rot.m23,
-			pnd->navdata_demo.detection_camera_rot.m31,
-			pnd->navdata_demo.detection_camera_rot.m32,
-			pnd->navdata_demo.detection_camera_rot.m33);
-
-	fprintf( navdata_file, "; %f; %f; %f", pnd->navdata_demo.detection_camera_trans.x,
-			pnd->navdata_demo.detection_camera_trans.y,
-			pnd->navdata_demo.detection_camera_trans.z);
-
-	fprintf( navdata_file, "; %04u; %04u",
-			(unsigned int) pnd->navdata_demo.detection_tag_index,
-			(unsigned int) pnd->navdata_demo.detection_camera_type);
-
-	fprintf( navdata_file, "; %f; %f; %f; %f; %f; %f; %f; %f; %f", pnd->navdata_demo.drone_camera_rot.m11,
-			pnd->navdata_demo.drone_camera_rot.m12,
-			pnd->navdata_demo.drone_camera_rot.m13,
-			pnd->navdata_demo.drone_camera_rot.m21,
-			pnd->navdata_demo.drone_camera_rot.m22,
-			pnd->navdata_demo.drone_camera_rot.m23,
-			pnd->navdata_demo.drone_camera_rot.m31,
-			pnd->navdata_demo.drone_camera_rot.m32,
-			pnd->navdata_demo.drone_camera_rot.m33);
-
-	fprintf( navdata_file, "; %f; %f; %f", pnd->navdata_demo.drone_camera_trans.x,
-			pnd->navdata_demo.drone_camera_trans.y,
-			pnd->navdata_demo.drone_camera_trans.z);
-
-	fprintf( navdata_file, "; %d; %f; %f; %f; %f",
-			(int)nd_iphone_flag,
-			nd_iphone_phi,
-			nd_iphone_theta,
-			nd_iphone_gaz,
-			nd_iphone_yaw);
-
-	/* Store information regarding the live video stream and the associated rate control */
-	fprintf( navdata_file, "; %d; %d; %d; %d; %d; %f; %d; %d; %d; %d; %d",
-			pnd->navdata_video_stream.quant,
-			pnd->navdata_video_stream.frame_size,
-			pnd->navdata_video_stream.frame_number,
-			pnd->navdata_video_stream.atcmd_ref_seq,
-			pnd->navdata_video_stream.atcmd_mean_ref_gap,
-			pnd->navdata_video_stream.atcmd_var_ref_gap,
-			pnd->navdata_video_stream.atcmd_ref_quality,
-			pnd->navdata_video_stream.out_bitrate,
-			pnd->navdata_video_stream.desired_bitrate,
-			pnd->navdata_video_stream.tcp_queue_level,
-			pnd->navdata_video_stream.fifo_queue_level
-	);
-
-	/* Store information regarding the HD storage stream */
-	fprintf( navdata_file, "; %d",
-			pnd->navdata_hdvideo_stream.frame_number
-			);
-
-
-
-	locked_ptr  = (int32_t*) &pnd->navdata_trackers_send.locked[0];
-	point_ptr   = (screen_point_t*) &pnd->navdata_trackers_send.point[0];
-
-/*
-	for(i = 0; i < DEFAULT_NB_TRACKERS_WIDTH*DEFAULT_NB_TRACKERS_HEIGHT; i++)
-	{
-		fprintf( navdata_file, "; %d; %u; %u",
-				(int) *locked_ptr++,
-				(unsigned int) point_ptr->x,
-				(unsigned int) point_ptr->y );
-		point_ptr++;
-	}
-*/
-	fprintf( navdata_file, "; %u", (unsigned int) pnd->navdata_vision_detect.nb_detected );
-	for(i = 0 ; i < 4 ; i++)
-	{
-		fprintf( navdata_file, "; %u; %u; %u; %u; %u; %u; %f",
-				(unsigned int) pnd->navdata_vision_detect.type[i],
-				(unsigned int) pnd->navdata_vision_detect.xc[i],
-				(unsigned int) pnd->navdata_vision_detect.yc[i],
-				(unsigned int) pnd->navdata_vision_detect.width[i],
-				(unsigned int) pnd->navdata_vision_detect.height[i],
-				(unsigned int) pnd->navdata_vision_detect.dist[i],
-				pnd->navdata_vision_detect.orientation_angle[i]);
-	}
-
-	fprintf( navdata_file, "; %f; %f; %f; %f; %f; %f",
-			pnd->navdata_vision_perf.time_szo,
-			pnd->navdata_vision_perf.time_corners,
-			pnd->navdata_vision_perf.time_compute,
-			pnd->navdata_vision_perf.time_tracking,
-			pnd->navdata_vision_perf.time_trans,
-			pnd->navdata_vision_perf.time_update );
-
-	for(i = 0 ; i < NAVDATA_MAX_CUSTOM_TIME_SAVE ; i++)
-	{
-		fprintf( navdata_file, "; %f", pnd->navdata_vision_perf.time_custom[i]);
-	}
-
-	fprintf( navdata_file, "; %d", (int) pnd->navdata_watchdog.watchdog );
-
-	fprintf( navdata_file, "; %u", (unsigned int) num_picture_decoded );
-
-	sprintf( str, "%d.%06d", (int)time.tv_sec, (int)time.tv_usec);
-	fprintf( navdata_file, "; %s", str );
-
-    fprintf( navdata_file, ";%f;%f;%f;%f;%f;%f;%d;%f;%f;%f;%f;%f;%d",
-      (float) pnd->navdata_references.vx_ref,
-      (float) pnd->navdata_references.vy_ref,
-      (float) pnd->navdata_references.theta_mod,
-      (float) pnd->navdata_references.phi_mod,
-      (float) pnd->navdata_references.k_v_x,
-      (float) pnd->navdata_references.k_v_y,
-      (int) pnd->navdata_references.k_mode,
-      (float) pnd->navdata_references.ui_time,
-      (float) pnd->navdata_references.ui_theta,
-      (float) pnd->navdata_references.ui_phi,
-      (float) pnd->navdata_references.ui_psi,
-      (float) pnd->navdata_references.ui_psi_accuracy,
-      (int) pnd->navdata_references.ui_seq);
-
-    if((navdata_file_data != NULL) && (navdata_file_data->print != NULL))
-  	  navdata_file_data->print(navdata_file);
-
-	return C_OK;
-}
-
-C_RESULT ardrone_navdata_file_release( void )
-{
-  if( navdata_file != NULL )
-  {
-    navdata_file = NULL;
-
-    fprintf(navdata_file_private,"\n");
-
-    fclose( navdata_file_private );
-
-    navdata_file_private = NULL;
-
-    navdata_file_data = NULL;
-  }
-
-  return C_OK;
-}

ARDroneLib/Soft/Lib/ardrone_tool/Navdata/ardrone_navdata_file.h

@@ -1,27 +0,0 @@
-#ifndef _ARDRONE_NAVDATA_FILE_H_
-#define _ARDRONE_NAVDATA_FILE_H_
-
-#include <stdio.h>
-#include <ardrone_api.h>
-
-#include <ardrone_tool/Navdata/ardrone_navdata_client.h>
-
-extern FILE* navdata_file;
-
-typedef void (*ardrone_navdata_custom_print_header)(FILE *navdata_file);
-typedef void (*ardrone_navdata_custom_print)(FILE *navdata_file);
-
-typedef struct _ardrone_navdata_file_data_
-{
-	const char *filename;
-	ardrone_navdata_custom_print_header print_header;
-	ardrone_navdata_custom_print 		print;
-} ardrone_navdata_file_data;
-
-// For this handler, data is the path where the file will be created
-// If data is NULL then the file is created in current directory
-C_RESULT ardrone_navdata_file_init( void* data );
-C_RESULT ardrone_navdata_file_process( const navdata_unpacked_t* const navdata );
-C_RESULT ardrone_navdata_file_release( void );
-
-#endif // _ARDRONE_NAVDATA_FILE_H_

ARDroneLib/Soft/Lib/ardrone_tool/Navdata/navdata.c

@@ -1,146 +0,0 @@
-
-#include <VP_Os/vp_os_types.h>
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Os/vp_os_print.h>
-
-#include <ardrone_api.h>
-
-/* Uncomment to activate interesting printf's */
-//#define DEBUG_NAVDATA_C
-
-
-/********************************************************************
- * @fn ardrone_navdata_compute_cks:
- * @param nv Data to calculate the checksum.
- * @param size Size of data calculate as follow : size-sizeof(navdata_cks_t).
- * @return Retrieves the checksum from the navdata nv.
- *******************************************************************/
-uint32_t ardrone_navdata_compute_cks( uint8_t* nv, int32_t size )
-{
-  int32_t i;
-  uint32_t cks;
-  uint32_t temp;
-
-  cks = 0;
-
-  for( i = 0; i < size; i++ )
-  {
-    temp = nv[i];
-    cks += temp;
-  }
-
-  return cks;
-}
-
-
-
-/********************************************************************
- * @fn ardrone_navdata_search_option:
- * @param navdata_options_ptr
- * @param tag ID of the bloc to search for.
- * @brief Jumps to a specified 'option' (block of navdata) inside
- * a navdata packed buffer.
- *******************************************************************/
-navdata_option_t* ardrone_navdata_search_option( navdata_option_t* navdata_options_ptr, navdata_tag_t tag )
-{
-  uint8_t* ptr;
-
-  while( navdata_options_ptr->tag != tag )
-  {
-    ptr  = (uint8_t*) navdata_options_ptr;
-    ptr += navdata_options_ptr->size;
-
-    navdata_options_ptr = (navdata_option_t*) ptr;
-  }
-
-  return navdata_options_ptr;
-}
-
-
-/********************************************************************
- * ardrone_navdata_unpack_all:
- * @param navdata_unpacked  navdata_unpacked in which to store the navdata.
- * @param navdata One packet read from the port NAVDATA.
- * @param Checksum of navdata
- * @brief Disassembles a buffer of received navdata, and dispatches
- * it inside 'navdata_unpacked' structure.
- * @DESCRIPTION
- *
- *******************************************************************/
-C_RESULT ardrone_navdata_unpack_all(navdata_unpacked_t* navdata_unpacked, navdata_t* navdata, uint32_t* cks)
-{
-  C_RESULT res;
-  navdata_cks_t navdata_cks = { 0 };
-  navdata_option_t* navdata_option_ptr;
-
-  navdata_option_ptr = (navdata_option_t*) &navdata->options[0];
-
-  vp_os_memset( navdata_unpacked, 0, sizeof(*navdata_unpacked) );
-
-  navdata_unpacked->nd_seq   = navdata->sequence;
-  navdata_unpacked->ardrone_state   = navdata->ardrone_state;
-  navdata_unpacked->vision_defined  = navdata->vision_defined;
-
-  res = C_OK;
-
-#ifdef DEBUG_NAVDATA_C
-  if (navdata_unpacked->ardrone_state & ARDRONE_COMMAND_MASK) { printf("[ACK]"); }
-  printf("Received navdatas tags :");
-#endif
-
-
-  while( navdata_option_ptr != NULL )
-  {
-    // Check if we have a valid option
-    if( navdata_option_ptr->size == 0 )
-    {
-      PRINT("One option (%d) is not a valid option because its size is zero\n", navdata_option_ptr->tag);
-      navdata_option_ptr = NULL;
-      res = C_FAIL;
-    }
-    else
-    {
-
-      if( navdata_option_ptr->tag <= NAVDATA_NUM_TAGS){
-			#ifdef DEBUG_NAVDATA_C
-    	  	 printf("[%d]",navdata_option_ptr->tag);
-			#endif
-    	  navdata_unpacked->last_navdata_refresh |= NAVDATA_OPTION_MASK(navdata_option_ptr->tag);
-      }
-
-
-
-      switch( navdata_option_ptr->tag )
-      {
-
-		  #define NAVDATA_OPTION(STRUCTURE,NAME,TAG) \
-			case TAG: \
-			navdata_option_ptr = ardrone_navdata_unpack( navdata_option_ptr, navdata_unpacked->NAME); \
-			break;
-
-			#define NAVDATA_OPTION_DEMO(STRUCTURE,NAME,TAG)  NAVDATA_OPTION(STRUCTURE,NAME,TAG)
-			#define NAVDATA_OPTION_CKS(STRUCTURE,NAME,TAG) {}
-
-			#include <navdata_keys.h>
-
-        case NAVDATA_CKS_TAG:
-          navdata_option_ptr = ardrone_navdata_unpack( navdata_option_ptr, navdata_cks );
-          *cks = navdata_cks.cks;
-          navdata_option_ptr = NULL; // End of structure
-          break;
-
-
-        default:
-          PRINT("Tag %d is an unknown navdata option tag\n", (int) navdata_option_ptr->tag);
-          navdata_option_ptr = (navdata_option_t *)(((uint32_t)navdata_option_ptr) + navdata_option_ptr->size);
-          break;
-      }
-    }
-  }
-
-  #ifdef DEBUG_NAVDATA_C
-		  printf("\n");
-  #endif
-
-  return res;
-}

ARDroneLib/Soft/Lib/ardrone_tool/UI/ardrone_input.c

@@ -1,330 +0,0 @@
-#include <VP_Os/vp_os_print.h>
-#include <VP_Os/vp_os_assert.h>
-
-#include <ardrone_tool/UI/ardrone_input.h>
-#include <ardrone_tool/ardrone_version.h>
-
-static input_device_t* devices_list[MAX_NUM_DEVICES];
-
-static input_state_t input_state = { 0 };
-
-C_RESULT ardrone_tool_input_add( input_device_t* device )
-{
-  C_RESULT res;
-  int32_t i;
-
-  VP_OS_ASSERT( device != NULL );
-
-  res = C_FAIL;
-  i   = 0;
-
-  while( i < MAX_NUM_DEVICES && devices_list[i] != NULL ) i++;
-
-  if( i < MAX_NUM_DEVICES )
-  {
-    if( VP_SUCCEEDED(device->init()) )
-    {
-      devices_list[i] = device;
-      PRINT("Input device %s added\n", device->name);
-      res = C_OK;
-    }
-    else
-    {
-      PRINT("Input device %s init failed\n", device->name);
-      res = C_FAIL;
-    }
-  }
-  else
-  {
-    PRINT("Not enough memory to add input device %s\n", device->name);
-  }
-
-  return res;
-}
-
-static C_RESULT ardrone_tool_input_remove_i( uint32_t i )
-{
-  C_RESULT res;
-
-  res = C_OK;
-
-  if( i < MAX_NUM_DEVICES )
-  {
-      if( devices_list[i] != NULL )
-    {
-        if( VP_SUCCEEDED(devices_list[i]->shutdown()) )
-        {
-          PRINT("Input device %s removed\n", devices_list[i]->name);
-      res = C_OK;
-    }
-    else
-    {
-          PRINT("Input device %s removed but an error occured during its shutdown\n", devices_list[i]->name);
-      res = C_FAIL;
-    }
-
-        devices_list[i] = NULL;
-      }
-  } else {
-    res = C_FAIL;
-    PRINT("Input device index out of range\n");
-  }
-
-  return res;
-}
-
-C_RESULT ardrone_tool_input_remove( input_device_t* device )
-{
-  C_RESULT res;
-  uint32_t i;
-
-  VP_OS_ASSERT( device != NULL );
-
-  res = C_FAIL;
-  i   = 0;
-
-  while( i < MAX_NUM_DEVICES && devices_list[i] != device ) i++;
-
-  if( i < MAX_NUM_DEVICES )
-  {
-    res = ardrone_tool_input_remove_i(i);
-  }
-  else
-  {
-    DEBUG_PRINT_SDK("Input %s not found while removing\n", device->name);
-  }
-
-  return res;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_ab(int32_t value)
-{
-	if( value )
-		input_state.user_input |= (1 << ARDRONE_UI_BIT_AB);
-	else
-		input_state.user_input &= ~(1 << ARDRONE_UI_BIT_AB);
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_ag(int32_t value)
-{
-	if( value )
-		input_state.user_input |= (1 << ARDRONE_UI_BIT_AG);
-	else
-		input_state.user_input &= ~(1 << ARDRONE_UI_BIT_AG);
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_ad(int32_t value)
-{
-	if( value )
-		input_state.user_input |= (1 << ARDRONE_UI_BIT_AD);
-	else
-		input_state.user_input &= ~(1 << ARDRONE_UI_BIT_AD);
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_ah(int32_t value)
-{
-	if( value )
-		input_state.user_input |= (1 << ARDRONE_UI_BIT_AH);
-	else
-		input_state.user_input &= ~(1 << ARDRONE_UI_BIT_AH);
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_l1(int32_t value)
-{
-	if( value )
-		input_state.user_input |= (1 << ARDRONE_UI_BIT_L1);
-	else
-		input_state.user_input &= ~(1 << ARDRONE_UI_BIT_L1);
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_r1(int32_t value)
-{
-	if( value )
-		input_state.user_input |= (1 << ARDRONE_UI_BIT_R1);
-	else
-		input_state.user_input &= ~(1 << ARDRONE_UI_BIT_R1);
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_l2(int32_t value)
-{
-	if( value )
-		input_state.user_input |= (1 << ARDRONE_UI_BIT_L2);
-	else
-		input_state.user_input &= ~(1 << ARDRONE_UI_BIT_L2);
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_r2(int32_t value)
-{
-	if( value )
-		input_state.user_input |= (1 << ARDRONE_UI_BIT_R2);
-	else
-		input_state.user_input &= ~(1 << ARDRONE_UI_BIT_R2);
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_select(int32_t value)
-{
-	if( value )
-		input_state.user_input |= (1 << ARDRONE_UI_BIT_SELECT);
-	else
-		input_state.user_input &= ~(1 << ARDRONE_UI_BIT_SELECT);
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_start(int32_t value)
-{
-	if( value )
-		input_state.user_input |= (1 << ARDRONE_UI_BIT_START);
-	else
-		input_state.user_input &= ~(1 << ARDRONE_UI_BIT_START);
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_xy(int32_t x, int32_t y)
-{
-	input_state.user_input &= ~(3 << ARDRONE_UI_BIT_X);
-	input_state.user_input &= ~(3 << ARDRONE_UI_BIT_Y);
-
-	input_state.user_input |= (x + 1) << ARDRONE_UI_BIT_X;
-	input_state.user_input |= (y + 1) << ARDRONE_UI_BIT_Y;
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_phi_trim( int32_t phi_trim )
-{
-	input_state.user_input &= ~(3 << ARDRONE_UI_BIT_TRIM_PHI);
-	input_state.user_input |= (phi_trim + 1) << ARDRONE_UI_BIT_TRIM_PHI;
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_theta_trim( int32_t theta_trim )
-{
-	input_state.user_input &= ~(3 << ARDRONE_UI_BIT_TRIM_THETA);
-	input_state.user_input |= (theta_trim + 1) << ARDRONE_UI_BIT_TRIM_THETA;
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_ui_pad_yaw_trim( int32_t yaw_trim )
-{
-	input_state.user_input &= ~(3 << ARDRONE_UI_BIT_TRIM_YAW);
-	input_state.user_input |= (yaw_trim + 1) << ARDRONE_UI_BIT_TRIM_YAW;
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_set_progressive_cmd(int32_t flag, float32_t phi, float32_t theta, float32_t gaz, float32_t yaw, float32_t psi, float32_t psi_accuracy)
-{
-	input_state.pcmd.flag 	= flag;
-	input_state.pcmd.phi 	= phi;
-	input_state.pcmd.theta 	= theta;
-	input_state.pcmd.gaz 	= gaz;
-	input_state.pcmd.yaw 	= yaw;
-	input_state.pcmd.psi	= psi;
-	input_state.pcmd.psi_accuracy = psi_accuracy;
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_input_init(void)
-{
-  int32_t i;
-
-  i   = 0;
-
-  while( i < MAX_NUM_DEVICES )
-  {
-    devices_list[i] = NULL;
-    i++;
-  }
-
-  return ardrone_tool_input_reset();
-}
-
-C_RESULT ardrone_tool_input_reset(void)
-{
-	vp_os_memset(&input_state, 0, sizeof(input_state_t));
-	ardrone_tool_set_ui_pad_phi_trim(0);
-	ardrone_tool_set_ui_pad_yaw_trim(0);
-	ardrone_tool_set_ui_pad_theta_trim(0);
-	ardrone_tool_set_ui_pad_xy(0,0);
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_input_start_reset(void)
-{
-	ardrone_tool_set_ui_pad_start(0);
-
-	return C_OK;
-}
-
-C_RESULT ardrone_tool_input_update(void)
-{
-  C_RESULT res;
-  uint32_t i;
-
-  res = C_OK;
-  i   = 0;
-
-  while( VP_SUCCEEDED(res) && i < MAX_NUM_DEVICES )
-  {
-    if( devices_list[i] != NULL && VP_FAILED(devices_list[i]->update()) )
-    {
-      PRINT("Input device %s update failed... it'll be removed\n", devices_list[i]->name);
-      ardrone_tool_input_remove_i(i);
-
-      res = C_FAIL;
-    }
-    i++;
-  }
-
-  if(IS_ARDRONE1)
-  {
-	  ardrone_at_set_progress_cmd(input_state.pcmd.flag, input_state.pcmd.phi, input_state.pcmd.theta, input_state.pcmd.gaz, input_state.pcmd.yaw);
-  }
-  else
-  {
-	  ardrone_at_set_progress_cmd_with_magneto(input_state.pcmd.flag, input_state.pcmd.phi, input_state.pcmd.theta, input_state.pcmd.gaz, input_state.pcmd.yaw, input_state.pcmd.psi, input_state.pcmd.psi_accuracy);
-  }
-
-  ardrone_at_set_ui_pad_value( input_state.user_input );
-
-  return res;
-}
-
-C_RESULT ardrone_tool_input_shutdown(void)
-{
-  uint32_t i;
-
-  i   = 0;
-
-  while( i < MAX_NUM_DEVICES )
-  {
-    ardrone_tool_input_remove_i(i);
-    i++;
-  }
-
-  return C_OK;
-}
-
-input_state_t* ardrone_tool_input_get_state( void )
-{
-   return &input_state;
-}

ARDroneLib/Soft/Lib/ardrone_tool/UI/ardrone_input.h

@@ -1,63 +0,0 @@
-#ifndef _ARDRONE_INPUT_H_
-#define _ARDRONE_INPUT_H_
-
-#include <VP_Os/vp_os_types.h>
-#include <ardrone_tool/ardrone_tool.h>
-
-typedef struct _input_device_t {
-  char name[MAX_NAME_LENGTH];
-
-  C_RESULT (*init)(void);
-  C_RESULT (*update)(void);
-  C_RESULT (*shutdown)(void);
-} input_device_t;
-
-typedef struct _input_state_pcmd_t_
-{
-	int32_t flag;
-	float32_t phi;
-	float32_t theta;
-	float32_t gaz;
-	float32_t yaw;
-	float32_t psi;
-	float32_t psi_accuracy;
-} input_state_pcmd_t;
-
-typedef struct _input_state_t
-{
-  uint32_t user_input;
-  input_state_pcmd_t pcmd;
-} input_state_t;
-
-// Input change handling
-C_RESULT ardrone_tool_set_ui_pad_ag(int32_t value);
-C_RESULT ardrone_tool_set_ui_pad_ab(int32_t value);
-C_RESULT ardrone_tool_set_ui_pad_ad(int32_t value);
-C_RESULT ardrone_tool_set_ui_pad_ah(int32_t value);
-C_RESULT ardrone_tool_set_ui_pad_l1(int32_t value);
-C_RESULT ardrone_tool_set_ui_pad_r1(int32_t value);
-C_RESULT ardrone_tool_set_ui_pad_l2(int32_t value);
-C_RESULT ardrone_tool_set_ui_pad_r2(int32_t value);
-C_RESULT ardrone_tool_set_ui_pad_select(int32_t value);
-C_RESULT ardrone_tool_set_ui_pad_start(int32_t value);
-C_RESULT ardrone_tool_set_ui_pad_xy(int32_t x, int32_t y);
-
-C_RESULT ardrone_tool_set_ui_pad_phi_trim( int32_t phi_trim );
-C_RESULT ardrone_tool_set_ui_pad_theta_trim( int32_t theta_trim );
-C_RESULT ardrone_tool_set_ui_pad_yaw_trim( int32_t yaw_trim );
-
-C_RESULT ardrone_tool_set_progressive_cmd(int32_t flag, float32_t phi, float32_t theta, float32_t gaz, float32_t yaw, float32_t psi, float32_t psi_accuracy);
-
-input_state_t* ardrone_tool_input_get_state( void ); 
-
-// Input API
-C_RESULT ardrone_tool_input_add( input_device_t* device );
-C_RESULT ardrone_tool_input_remove( input_device_t* device );
-
-C_RESULT ardrone_tool_input_init(void);
-C_RESULT ardrone_tool_input_reset(void);
-C_RESULT ardrone_tool_input_update(void);
-C_RESULT ardrone_tool_input_shutdown(void);
-C_RESULT ardrone_tool_input_start_reset(void);
-
-#endif // _ARDRONE_INPUT_H_

ARDroneLib/Soft/Lib/ardrone_tool/Video/buffer_to_picture_stage.c

@@ -1,142 +0,0 @@
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Os/vp_os_print.h>
-
-#include <config.h>
-#include <ardrone_tool/Video/buffer_to_picture_stage.h>
-
-static int32_t copy_input_to_buffer( uint8_t* buffer, int32_t input_size, int32_t max_size, buffer_to_picture_config_t *cfg )
-{
-  int32_t size_to_copy;
-
-  size_to_copy = input_size;
-  if( size_to_copy > max_size )
-    size_to_copy = max_size;
-  vp_os_memcpy( buffer, cfg->input_ptr, size_to_copy );
-
-  cfg->cumulated_size += size_to_copy;
-  cfg->input_ptr      += size_to_copy;
-
-  return size_to_copy;
-}
-
-C_RESULT buffer_to_picture_open(buffer_to_picture_config_t *cfg)
-{
-  cfg->num_picture_decoded = 0;
-
-  return C_OK;
-}
-
-C_RESULT buffer_to_picture_transform(buffer_to_picture_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-  vp_os_mutex_lock(&out->lock);
-
-  if(out->status == VP_API_STATUS_INIT)
-  {
-    out->numBuffers   = 1;
-    out->buffers      = (int8_t**)(int8_t*) cfg->picture;
-    out->indexBuffer  = 0;
-    out->lineSize     = 0;
-
-    out->status = VP_API_STATUS_PROCESSING;
-
-    cfg->y_buf_ptr      = cfg->picture->y_buf;
-#ifdef USE_VIDEO_YUV
-    cfg->cr_buf_ptr     = cfg->picture->cr_buf;
-    cfg->cb_buf_ptr     = cfg->picture->cb_buf;
-#endif
-    cfg->cumulated_size = 0;
-    cfg->input_ptr      = NULL;
-  }
-
-  if( in->status == VP_API_STATUS_ENDED )
-    out->status = in->status;
-
-  if( out->status == VP_API_STATUS_PROCESSING )
-    cfg->input_ptr = (uint8_t*)in->buffers[in->indexBuffer];
-
-  if(out->status == VP_API_STATUS_PROCESSING || out->status == VP_API_STATUS_STILL_RUNNING)
-  {
-    int32_t copied_size, y_size, c_size = 0;
-    // If out->size == 1 it means picture is ready
-    out->size = 0;
-    out->status = VP_API_STATUS_PROCESSING;
-
-    y_size  = cfg->y_blockline_size;
-#ifdef USE_VIDEO_YUV
-    c_size  = cfg->y_blockline_size / 4;
-#endif
-
-    while(in->size > 0 && cfg->y_current_size != cfg->y_buffer_size)
-    {
-      if( in->size > 0 && cfg->cumulated_size < y_size )
-      {
-        copied_size = copy_input_to_buffer( cfg->y_buf_ptr, in->size, y_size - cfg->cumulated_size, cfg );
-
-        cfg->y_buf_ptr += copied_size;
-        in->size       -= copied_size;
-      }
-
-#ifdef USE_VIDEO_YUV
-      if( in->size > 0 && cfg->cumulated_size >= y_size && cfg->cumulated_size < y_size + c_size )
-      {
-        copied_size = copy_input_to_buffer( cfg->cb_buf_ptr, in->size, y_size + c_size - cfg->cumulated_size, cfg );
-
-        cfg->cb_buf_ptr += copied_size;
-        in->size        -= copied_size;
-      }
-
-      if( in->size > 0 && cfg->cumulated_size >= y_size + c_size && cfg->cumulated_size < y_size + 2*c_size )
-      {
-        copied_size = copy_input_to_buffer( cfg->cr_buf_ptr, in->size, y_size + 2*c_size - cfg->cumulated_size, cfg );
-
-        cfg->cr_buf_ptr += copied_size;
-        in->size        -= copied_size;
-      }
-#endif
-
-      if( cfg->cumulated_size == y_size + 2*c_size )
-      {
-        cfg->cumulated_size  = 0;
-        cfg->y_current_size += cfg->y_blockline_size;
-      }
-    }
-
-    // All buffers are full but there's still data
-    if( in->size > 0 )
-      out->status = VP_API_STATUS_STILL_RUNNING;
-
-    if( cfg->y_current_size == cfg->y_buffer_size )
-    {
-      // we got one picture (handle case 1)
-      out->size = 1;
-
-      cfg->num_picture_decoded++;
-
-      DEBUG_PRINT_SDK( "%d picture received\n", (int)cfg->num_picture_decoded );
-
-      cfg->y_current_size = 0;
-      cfg->y_buf_ptr      = cfg->picture->y_buf;
-#ifdef USE_VIDEO_YUV
-      cfg->cr_buf_ptr     = cfg->picture->cr_buf;
-      cfg->cb_buf_ptr     = cfg->picture->cb_buf;
-#endif
-    }
-  }
-
-  vp_os_mutex_unlock(&out->lock);
-
-  return C_OK;
-}
-
-C_RESULT buffer_to_picture_close(buffer_to_picture_config_t *cfg)
-{
-  return C_OK;
-}
-
-const vp_api_stage_funcs_t buffer_to_picture_funcs =
-{
-  NULL,
-  (vp_api_stage_open_t)buffer_to_picture_open,
-  (vp_api_stage_transform_t)buffer_to_picture_transform,
-  (vp_api_stage_close_t)buffer_to_picture_close
-};

ARDroneLib/Soft/Lib/ardrone_tool/Video/buffer_to_picture_stage.h

@@ -1,35 +0,0 @@
-#ifndef _BUFFER_TO_PICTURE_H_
-#define _BUFFER_TO_PICTURE_H_
-
-#include <VP_Api/vp_api.h>
-#include <VP_Api/vp_api_picture.h>
-
-typedef struct _buffer_to_picture_config_t
-{
-  vp_api_picture_t* picture;
-  int32_t           y_buffer_size;
-  int32_t           y_blockline_size;
-  int32_t           y_current_size;
-
-  int32_t           num_frames;
-
-  uint8_t*          y_buf_ptr;
-#ifdef USE_VIDEO_YUV
-  uint8_t*          cr_buf_ptr;
-  uint8_t*          cb_buf_ptr;
-#endif
-
-  int32_t           cumulated_size;
-  uint8_t*          input_ptr;
-
-  int32_t           num_picture_decoded;
-
-} buffer_to_picture_config_t;
-
-C_RESULT buffer_to_picture_open(buffer_to_picture_config_t *cfg);
-C_RESULT buffer_to_picture_transform(buffer_to_picture_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT buffer_to_picture_close(buffer_to_picture_config_t *cfg);
-
-extern const vp_api_stage_funcs_t buffer_to_picture_funcs;
-
-#endif // _BUFFER_TO_PICTURE_H_

ARDroneLib/Soft/Lib/ardrone_tool/Video/mjpeg_stage_decode.c

@@ -1,98 +0,0 @@
-#include <config.h>
-#include <VP_Os/vp_os_print.h>
-
-#include <ardrone_tool/Video/mjpeg_stage_decode.h>
-
-uint32_t mjpeg_stage_num_picture_decoded = 0;
-
-const vp_api_stage_funcs_t mjpeg_decoding_funcs = {
-  (vp_api_stage_handle_msg_t) NULL,
-  (vp_api_stage_open_t) mjpeg_stage_decoding_open,
-  (vp_api_stage_transform_t) mjpeg_stage_decoding_transform,
-  (vp_api_stage_close_t) mjpeg_stage_decoding_close
-};
-
-C_RESULT mjpeg_stage_decoding_open(mjpeg_stage_decoding_config_t *cfg)
-{
-  stream_new( &cfg->stream, OUTPUT_STREAM );
-
-  return mjpeg_init( &cfg->mjpeg, MJPEG_DECODE, cfg->picture->width, cfg->picture->height, cfg->picture->format );
-}
-
-C_RESULT mjpeg_stage_decoding_transform(mjpeg_stage_decoding_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-  bool_t got_image;
-
-  vp_os_mutex_lock( &out->lock );
-
-  if(out->status == VP_API_STATUS_INIT)
-  {
-    out->numBuffers   = 1;
-    out->buffers      = (int8_t**) cfg->picture;
-    out->indexBuffer  = 0;
-    out->lineSize     = 0;
-
-    out->status = VP_API_STATUS_PROCESSING;
-  }
-
-  if( in->status == VP_API_STATUS_ENDED ) {
-    out->status = in->status;
-  }
-
-  // Several cases must be handled in this stage
-  // 1st: Input buffer is too small to decode a complete picture
-  // 2nd: Input buffer is big enough to decode 1 frame
-  // 3rd: Input buffer is so big we can decode more than 1 frame
-
-  if( out->status == VP_API_STATUS_PROCESSING )
-  {
-    // Reinit stream with new data
-    stream_config( &cfg->stream, in->size, in->buffers[in->indexBuffer] );
-  }
-
-  if(out->status == VP_API_STATUS_PROCESSING || out->status == VP_API_STATUS_STILL_RUNNING)
-  {
-    // If out->size == 1 it means picture is ready
-    out->size = 0;
-    out->status = VP_API_STATUS_PROCESSING;
-
-    mjpeg_decode( &cfg->mjpeg, cfg->picture, &cfg->stream, &got_image );
-
-    if( got_image )
-    {
-      // we got one picture (handle case 1)
-      out->size = 1;
-
-      mjpeg_stage_num_picture_decoded = cfg->mjpeg.num_frames;
-
-#ifndef USE_VIDEO_YUV
-      int32_t i;
-      for(i = 0; i < cfg->picture->width * cfg->picture->height / 4; i++ )
-      {
-        cfg->picture->cr_buf[i] = 0x80;
-        cfg->picture->cb_buf[i] = 0x80;
-      }
-#endif
-
-      // handle case 2 & 3
-      if( FAILED(stream_is_empty( &cfg->stream )) )
-      {
-        // Some data are still in stream
-        // Next time we run this stage we don't want this data to be lost
-        // So flag it!
-        out->status = VP_API_STATUS_STILL_RUNNING;
-      }
-    }
-  }
-
-  vp_os_mutex_unlock( &out->lock );
-
-  return C_OK;
-}
-
-C_RESULT mjpeg_stage_decoding_close(mjpeg_stage_decoding_config_t *cfg)
-{
-  stream_delete( &cfg->stream );
-
-  return mjpeg_release( &cfg->mjpeg );
-}

ARDroneLib/Soft/Lib/ardrone_tool/Video/mjpeg_stage_decode.h

@@ -1,24 +0,0 @@
-#ifndef _MJPEG_STAGE_DECODE_H_
-#define _MJPEG_STAGE_DECODE_H_
-
-#include <VP_Api/vp_api.h>
-#include <MJPEG/mjpeg.h>
-
-typedef struct _mjpeg_stage_decoding_config_t
-{
-  stream_t          stream;
-  mjpeg_t           mjpeg;
-  vp_api_picture_t* picture;
-
-  uint32_t          out_buffer_size;
-
-} mjpeg_stage_decoding_config_t;
-
-C_RESULT mjpeg_stage_decoding_open(mjpeg_stage_decoding_config_t *cfg);
-C_RESULT mjpeg_stage_decoding_transform(mjpeg_stage_decoding_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT mjpeg_stage_decoding_close(mjpeg_stage_decoding_config_t *cfg);
-
-extern uint32_t mjpeg_stage_num_picture_decoded;
-extern const vp_api_stage_funcs_t mjpeg_decoding_funcs;
-
-#endif // _MJPEG_STAGE_DECODE_H_

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_com_stage.c

@@ -1,618 +0,0 @@
-#include <config.h>
-
-#include <VP_Os/vp_os_print.h>
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Os/vp_os_delay.h>
-#include <VP_Os/vp_os_assert.h>
-#include <ardrone_tool/Video/video_com_stage.h>
-
-#include <VP_Com/vp_com_socket.h>
-
-#ifndef _WIN32
-#include <sys/socket.h>
-#include <sys/ioctl.h>
-#include <netinet/in.h>
-#include <netinet/tcp.h>
-#include <unistd.h>
-#include <sys/time.h>
-#define SSOPTCAST_RW(x) x
-#define SSOPTCAST_RO(x) x
-#else
-#define SSOPTCAST_RO(x)  (const char*)x
-#define SSOPTCAST_RW(x)  (char*)x
-typedef int socklen_t;
-#endif
-
-#define VIDEO_COM_DEBUG (0)
-#if VIDEO_COM_DEBUG
-#define PDBG(...)                                               \
-  do                                                            \
-    {                                                           \
-      printf ("V_COM_STAGE: %s:%d : ", __FUNCTION__, __LINE__); \
-      printf (__VA_ARGS__);                                     \
-      printf ("\n");                                            \
-    } while (0)
-#else
-#define PDBG(...)
-#endif
-
-#define SOCKET_BUFFER_SIZE (1024*1024)
-
-/**
- * IPHONE DEBUG ZONE
- */
-float DEBUG_bitrate = 0.0;
-#define DEBUG_TIME_BITRATE_CALCULATION_MSEC 1000.0
-unsigned long DEBUG_totalBytes = 0;
-int DEBUG_isTcp = 0;
-
-static vp_os_mutex_t registerMutex;
-static video_com_config_t **registeredStages = NULL;
-static uint32_t nbRegisteredStages = 0;
-
-const vp_api_stage_funcs_t video_com_funcs = {
-  (vp_api_stage_handle_msg_t) NULL,
-  (vp_api_stage_open_t) video_com_stage_open,
-  (vp_api_stage_transform_t) video_com_stage_transform,
-  (vp_api_stage_close_t) video_com_stage_close
-};
-
-
-const vp_api_stage_funcs_t video_com_multisocket_funcs = {
-  (vp_api_stage_handle_msg_t) NULL,
-  (vp_api_stage_open_t) video_com_multisocket_stage_open,
-  (vp_api_stage_transform_t) video_com_multisocket_stage_transform,
-  (vp_api_stage_close_t) video_com_multisocket_stage_close
-};
-
-C_RESULT video_com_stage_register (video_com_config_t *cfg)
-{
-  static int runOnce = 1;
-  if (1 == runOnce)
-    {
-      vp_os_mutex_init (&registerMutex);
-      runOnce = 0;
-    }
-
-  vp_os_mutex_lock (&registerMutex);
-  nbRegisteredStages++;
-  registeredStages = vp_os_realloc (registeredStages, nbRegisteredStages * sizeof (video_com_config_t *));
-  C_RESULT retVal = C_FAIL;
-  if (NULL != registeredStages)
-    {
-      registeredStages[nbRegisteredStages - 1] = cfg;
-      retVal = C_OK;
-    }
-
-  vp_os_mutex_unlock (&registerMutex);
-  return retVal;
-}
-
-C_RESULT video_com_stage_connect (video_com_config_t *cfg)
-{
-#ifdef _WIN32
-  int timeout_for_windows=1000; /* timeout in milliseconds */
-  int sizeinit;
-#else
-  struct timeval tv;
-  // 1 second timeout
-  tv.tv_sec   = 1;
-  tv.tv_usec  = 0;
-#endif
-
-  C_RESULT res = C_FAIL;
-	
-  if (TRUE == cfg->connected)
-    {
-      PDBG ("Will close");
-      res = vp_com_close (cfg->com, &cfg->socket);
-      cfg->connected = FALSE;
-      if (VP_FAILED (res))
-        {
-          PDBG ("Close failed");
-          return res;
-        }
-    }
-
-  if( cfg->protocol == VP_COM_PROBE)
-    {
-      printf("\n\nPROBING\n");
-
-      cfg->socket.protocol = VP_COM_TCP;
-      res = vp_com_open(cfg->com, &cfg->socket, &cfg->read, &cfg->write);
-
-      if( VP_SUCCEEDED(res) )
-        {
-          printf("\n\nTCP\n");
-          vp_com_close (cfg->com, &cfg->socket);
-          cfg->protocol = VP_COM_TCP;
-        }
-      else
-        {
-          printf("\n\nUDP\n");
-          cfg->protocol = VP_COM_UDP;
-        }
-    }
-
-
-  if( cfg->protocol == VP_COM_UDP )
-    {
-      cfg->socket.protocol = VP_COM_UDP;
-      cfg->socket.is_multicast = 0; // disable multicast for video
-      cfg->socket.multicast_base_addr = MULTICAST_BASE_ADDR;
-
-      res = vp_com_open(cfg->com, &cfg->socket, &cfg->read, &cfg->write);
-
-      if( VP_SUCCEEDED(res) )
-    	{
-          int numi= 1;
-          socklen_t numi1= sizeof(int);
-#ifdef _WIN32
-          setsockopt((int32_t)cfg->socket.priv, SOL_SOCKET, SO_RCVTIMEO, SSOPTCAST_RO(&timeout_for_windows), sizeof(timeout_for_windows));
-#else
-          setsockopt((int32_t)cfg->socket.priv, SOL_SOCKET, SO_RCVTIMEO, SSOPTCAST_RO(&tv), sizeof(tv));
-#endif		
-          // Increase buffer for receiving datas.
-          setsockopt( (int32_t)cfg->socket.priv, SOL_SOCKET, SO_DEBUG, SSOPTCAST_RO(&numi), sizeof(numi));
-          numi = SOCKET_BUFFER_SIZE;
-          setsockopt( (int32_t)cfg->socket.priv, SOL_SOCKET, SO_RCVBUF, SSOPTCAST_RO(&numi),numi1);
-          getsockopt( (int32_t)cfg->socket.priv, SOL_SOCKET, SO_RCVBUF, SSOPTCAST_RW(&numi),&numi1);
-          PDBG ("New buffer size : %d", numi);
-          numi1 = 0;
-          setsockopt( (int32_t)cfg->socket.priv, SOL_SOCKET, SO_DEBUG, SSOPTCAST_RO(&numi1), sizeof(numi1));
-          cfg->connected = TRUE;
-    	}
-    }
-  else if( cfg->protocol == VP_COM_TCP )
-    {
-      PDBG ("Will open TCP");
-      res = vp_com_open(cfg->com, &cfg->socket, &cfg->read, &cfg->write);
-
-      if( VP_SUCCEEDED(res) )
-    	{
-          int numi= 1;
-          socklen_t numi1= sizeof(int);
-          PDBG ("Success open");
-          vp_com_sockopt(cfg->com, &cfg->socket, cfg->sockopt);
-#ifdef _WIN32
-          setsockopt((int32_t)cfg->socket.priv, SOL_SOCKET, SO_RCVTIMEO, SSOPTCAST_RO(&timeout_for_windows), sizeof(timeout_for_windows));
-#else
-          setsockopt((int32_t)cfg->socket.priv, SOL_SOCKET, SO_RCVTIMEO, SSOPTCAST_RO(&tv), sizeof(tv));
-#endif		
-          // Increase buffer for receiving datas.
-          setsockopt( (int32_t)cfg->socket.priv, SOL_SOCKET, SO_DEBUG, SSOPTCAST_RO(&numi), sizeof(numi));
-          numi = SOCKET_BUFFER_SIZE;
-          setsockopt( (int32_t)cfg->socket.priv, SOL_SOCKET, SO_RCVBUF, SSOPTCAST_RO(&numi),numi1);
-          getsockopt( (int32_t)cfg->socket.priv, SOL_SOCKET, SO_RCVBUF, SSOPTCAST_RW(&numi),&numi1);
-          PDBG ("NEW buffer size : %d", numi);
-          numi1 = 0;
-          setsockopt( (int32_t)cfg->socket.priv, SOL_SOCKET, SO_DEBUG, SSOPTCAST_RO(&numi1), sizeof(numi1));
-          cfg->connected = TRUE;
-    	}
-    }
-
-
-#ifdef _WIN32
-  sizeinit = strlen("Init");
-  vp_com_write_socket(&cfg->socket,"Init",&sizeinit);
-#endif
-  return res;
-}
-
-void video_com_stage_notify_timeout (void)
-{
-  vp_os_mutex_lock (&registerMutex);
-  int index = 0;
-  for (index = 0; index < nbRegisteredStages; index ++)
-    {
-      registeredStages[index]->mustReconnect = 1;
-    }
-  vp_os_mutex_unlock (&registerMutex);
-}
-
-C_RESULT video_com_stage_open(video_com_config_t *cfg)
-{
-  cfg->connected = FALSE;
-  cfg->mustReconnect = 0;
-  video_com_stage_register (cfg);
-  PDBG ("Will call connect");
-  return video_com_stage_connect (cfg);
-}
-
-C_RESULT video_com_multisocket_stage_open(video_com_multisocket_config_t *cfg)
-{
-  int i;
-  C_RESULT res = C_OK;
-  int nb_failed_connections = 0;
-  for (i = 0; i < cfg->nb_sockets; i++)
-    {
-      video_com_stage_register (cfg->configs[i]);
-      cfg->configs[i]->mustReconnect = 0;
-    }
-
-  printf("Video multisocket : init %i sockets\n",cfg->nb_sockets);
-
-  for(i=0;i<cfg->nb_sockets;i++)
-    {
-      printf("Video multisocket : connecting socket %d on port %d %s\n",
-             i,
-             cfg->configs[i]->socket.port,
-             (cfg->configs[i]->protocol==VP_COM_TCP)?"TCP":"UDP");
-
-      cfg->configs[i]->connected = FALSE;
-      res = video_com_stage_connect(cfg->configs[i]);
-      if (!VP_SUCCEEDED(res)) {
-        printf(" - Connection failed\n");
-        nb_failed_connections++;
-
-      }
-    }
-
-  cfg->last_active_socket = -1;
-
-  if (nb_failed_connections==cfg->nb_sockets) { return C_FAIL; }
-
-
-  return C_OK;
-}
-
-
-
-C_RESULT video_com_stage_transform(video_com_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-  C_RESULT res;
-  vp_os_mutex_lock(&out->lock);
-  
-  if (1 == cfg->mustReconnect)
-    {
-      PDBG ("Will call connect");
-      printf ("Reconnecting ... ");
-      res = video_com_stage_connect (cfg);
-      printf ("%s\n", (VP_FAILED (res) ? "FAIL" : "OK"));
-      cfg->mustReconnect = 0;
-    }
-
-  if(out->status == VP_API_STATUS_INIT)
-    {
-      out->numBuffers = 1;
-      out->size = 0;
-      out->buffers = (uint8_t **) vp_os_malloc (sizeof(uint8_t *)+cfg->buffer_size*sizeof(uint8_t));
-      out->buffers[0] = (uint8_t *)(out->buffers+1);
-      out->indexBuffer = 0;
-      // out->lineSize not used
-
-      out->status = VP_API_STATUS_PROCESSING;
-    }
-
-  if(out->status == VP_API_STATUS_PROCESSING && cfg->read != NULL)
-    {
-      bool_t nonBlock = (cfg->forceNonBlocking && *(cfg->forceNonBlocking)==TRUE) ? TRUE : FALSE;
-      out->size = cfg->buffer_size;
-      if (nonBlock)
-        {
-          cfg->socket.block = VP_COM_DONTWAIT;
-        }
-      res = cfg->read(&cfg->socket, out->buffers[0], &out->size);
-
-      if (! nonBlock && cfg->protocol == VP_COM_UDP && out->size == 0)
-        {
-          // Send "1" for Unicast
-          // Send "2" to enable Multicast
-          char flag = 1; int32_t len = sizeof(flag);
-          if ( cfg->socket.is_multicast == 1 )
-            {
-              flag = 2;
-            }
-          cfg->write(&cfg->socket, (uint8_t*) &flag, &len);
-        }
-
-      bool_t bContinue = TRUE;
-
-      if( VP_FAILED(res) )
-        {
-	  PDBG ("%s [%d] : status set to error !\n", __FUNCTION__, __LINE__);
-	  perror ("Video_com_stage");
-	  cfg->mustReconnect = 1;
-	  out->size = 0;
-	  vp_os_mutex_unlock (&out->lock);      
-	  return C_OK;
-	}
-
-      if( out->size == 0)
-        {
-          if (nonBlock)
-            {
-              out->size = -1; // Signal next stage that we don't have data waiting
-            }
-          else
-            {
-              cfg->num_retries++;
-            }
-          bContinue = FALSE;
-        }
-      else
-        {
-          cfg->num_retries = 0;
-        }
- 
-      cfg->socket.block = VP_COM_DONTWAIT;
-      int32_t readSize = cfg->buffer_size - out->size;
-      while (TRUE == bContinue)
-        {
-          res = cfg->read(&cfg->socket, &(out->buffers[0][out->size]), &readSize);
-          if( VP_FAILED(res) )
-            {
-	      PDBG ("%s [%d] : status set to error !\n", __FUNCTION__, __LINE__);
-	      perror ("Video_com_stage");
-	      cfg->mustReconnect = 1;
-              out->size = 0;
-	      vp_os_mutex_unlock (&out->lock);	      
-	      return C_OK;
-            }
-          if (0 == readSize)
-            {
-              bContinue = FALSE;
-            }
-          out->size += readSize;
-          readSize = cfg->buffer_size - out->size;
-        }
-      cfg->socket.block = VP_COM_DEFAULT;
-    }
-
-  if (NULL != cfg->timeoutFunc && 0 != cfg->timeoutFuncAfterSec)
-    {
-      if (cfg->num_retries >= cfg->timeoutFuncAfterSec)
-        {
-          cfg->timeoutFunc ();
-        }
-    }
-
-
-  vp_os_mutex_unlock(&out->lock);
-
-  return C_OK;
-}
-
-
-
-C_RESULT video_com_multisocket_stage_transform(video_com_multisocket_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-  C_RESULT res,res2;
-  fd_set rfds;
-  int retval;
-  int fs,maxfs;
-  struct timeval tv;
-  int i;
-  bool_t selectTimeout;
-
-  vp_os_mutex_lock(&out->lock);
-
-  out->size = 0;
-
-
-  for (i=0;i<cfg->nb_sockets;i++) {
-    if (1 == cfg->configs[i]->mustReconnect)
-      {
-        PDBG ("Will call connect");
-        printf ("Reconnecting ... ");
-        res = C_FAIL;
-        res = video_com_stage_connect (cfg->configs[i]);
-        printf ("%s\n", (VP_FAILED (res) ? "FAIL" : "OK"));
-        cfg->configs[i]->mustReconnect = 0;
-    }
-  }
-
-  if(out->status == VP_API_STATUS_INIT)
-    {
-      out->numBuffers = 1;
-      out->size = 0;
-      out->buffers = (uint8_t **) vp_os_malloc (sizeof(uint8_t *)+cfg->buffer_size*sizeof(uint8_t));
-      out->buffers[0] = (uint8_t *)(out->buffers+1);
-      out->indexBuffer = 0;
-      // out->lineSize not used
-
-      out->status = VP_API_STATUS_PROCESSING;
-    }
-
-  if(out->status == VP_API_STATUS_PROCESSING)
-    {
-
-      /* Check which socket has data to read */
-      tv.tv_sec = 1;
-      tv.tv_usec = 0;
-      if(cfg->forceNonBlocking && *(cfg->forceNonBlocking)==TRUE) { tv.tv_sec = 0; }
-
-      FD_ZERO(&rfds);
-      maxfs=0;
-      for (i=0;i<cfg->nb_sockets;i++) {
-        if(cfg->configs[i]->connected) {
-          fs = (int)cfg->configs[i]->socket.priv;
-
-          if (fs>maxfs) maxfs=fs;
-          FD_SET(fs,&rfds);
-        }
-      }
-        
-      retval = select(maxfs+1, &rfds, NULL, NULL, &tv);
-
-      /* Read the socket which has available data */
-      selectTimeout = FALSE;
-      i = -1;
-      if (retval>0)
-        {
-          if (cfg->last_active_socket!=-1)
-            {
-              i=cfg->last_active_socket;
-              fs = (int)cfg->configs[i]->socket.priv;
-              if (cfg->configs[i]->read && FD_ISSET(fs, &rfds))
-                {
-                  out->size = cfg->configs[i]->buffer_size;
-                }
-              else
-                {
-                  i = -1;
-                }
-            }
-
-          if (-1 == i)
-            {
-              for (i=0;i<cfg->nb_sockets;i++)
-                {
-                  fs = (int)cfg->configs[i]->socket.priv;
-                  if (cfg->configs[i]->read && FD_ISSET(fs, &rfds)) {
-
-                    DEBUG_PRINT_SDK("Video multisocket : found data on port %s %d\n",
-                                    (cfg->configs[i]->socket.protocol==VP_COM_TCP)?"TCP":"UDP",cfg->configs[i]->socket.port);
-
-                    cfg->last_active_socket = i;
-                    if (VP_COM_TCP == cfg->configs[i]->protocol)
-                      {
-                        DEBUG_isTcp = 1;
-                      }
-                    else
-                      {
-                        DEBUG_isTcp = 0;
-                      }
-                    out->size = cfg->configs[i]->buffer_size;
-                    break;
-                  }
-                }
-                
-                if(i == cfg->nb_sockets)
-                {
-                    printf("%s:%d BUG !!!!!", __FUNCTION__, __LINE__);
-                    selectTimeout = TRUE;
-                }
-            }
-        }
-      else
-        {
-          DEBUG_PRINT_SDK("%s\n",(retval==0) ? "timeout" : "error");
-          selectTimeout = TRUE;
-        }
-
-      if (FALSE == selectTimeout)
-        {
-          DEBUG_PRINT_SDK ("Will read on socket %d\n", i);
-          // Actual first time read
-          res = cfg->configs[i]->read(&cfg->configs[i]->socket, out->buffers[0], &out->size);
-          if (VP_FAILED (res))
-            {
-	      PDBG ("%s [%d] : status set to error !\n", __FUNCTION__, __LINE__);
-	      perror ("Video_com_stage");
-	      cfg->configs[i]->mustReconnect = 1;
-              out->size = 0;
-	      vp_os_mutex_unlock (&out->lock);
-	      return C_OK;
-	    }
-      
-          // Loop read to empty the socket buffers if needed
-          cfg->configs[i]->socket.block = VP_COM_DONTWAIT;
-          bool_t bContinue = TRUE;
-          int32_t readSize = cfg->configs[i]->buffer_size - out->size;
-          while (TRUE == bContinue)
-            {
-              DEBUG_PRINT_SDK ("Will read %d octets from socket %d\n", readSize, i);
-              res = cfg->configs[i]->read(&cfg->configs[i]->socket, &(out->buffers[0][out->size]), &readSize);
-              if (VP_FAILED (res))
-                {
-		  PDBG ("%s [%d] : status set to error !\n", __FUNCTION__, __LINE__);
-		  perror ("Video_com_stage");
-		  cfg->configs[i]->mustReconnect = 1;
-		  out->size = 0;
-		  vp_os_mutex_unlock (&out->lock);
-		  return C_OK;
-                }
-              if (0 == readSize)
-                {
-                  bContinue = FALSE;
-                }
-              out->size += readSize;
-              readSize = cfg->configs[i]->buffer_size - out->size;
-            }
-          cfg->configs[i]->socket.block = VP_COM_DEFAULT;
-        }
-
-      /* Resend a connection packet on UDP sockets */
-      if(!(cfg->forceNonBlocking && *(cfg->forceNonBlocking)==TRUE))
-      {
-      if( /* select timed out */ retval==0 )
-        {
-          for (i=0;i<cfg->nb_sockets;i++)
-            {
-              if( cfg->configs[i]->protocol == VP_COM_UDP )
-                {
-                  // Send "1" for Unicast
-                  // Send "2" to enable Multicast
-                  char flag = 1;  int len = sizeof(flag);
-                  if ( cfg->configs[i]->socket.is_multicast == 1 )
-                    flag = 2;
-
-                  DEBUG_PRINT_SDK("Video multisocket : sending connection byte on port %s %d\n",
-                                  (cfg->configs[i]->socket.protocol==VP_COM_TCP)?"TCP":"UDP",cfg->configs[i]->socket.port);
-
-                  res2 = cfg->configs[i]->write(&cfg->configs[i]->socket, (uint8_t*) &flag, &len);
-                }
-            }
-        }
-      }
-
-      if( (TRUE == selectTimeout || out->size == 0) && (!cfg->forceNonBlocking || (*(cfg->forceNonBlocking) == FALSE)) )
-      {
-          cfg->num_retries++;
-      }
-      else
-          cfg->num_retries = 0;
-
-      if((selectTimeout == TRUE) && cfg->forceNonBlocking && *(cfg->forceNonBlocking)==TRUE)
-      {
-    	  	 //printf("Debug %s:%d\n",__FUNCTION__,__LINE__);
-
-    	  	 /* No data are available here, but some are available in the next stage */
-    	     /* out->size=0 would restart the pipeline */
-    	  	 out->size=-1;
-      }
-    }
-
-  vp_os_mutex_unlock(&out->lock);
-
-  if (out->size > 0)
-  {
-	  DEBUG_totalBytes += out->size;
-	  static struct timeval DEBUG_now = {0, 0}, DEBUG_prev = {0, 0};
-	  gettimeofday (&DEBUG_now, NULL);
-	  float DEBUG_timeDiff = ((DEBUG_now.tv_sec - DEBUG_prev.tv_sec) * 1000.0) + ((DEBUG_now.tv_usec - DEBUG_prev.tv_usec) / 1000.0);
-	  if (DEBUG_TIME_BITRATE_CALCULATION_MSEC <= DEBUG_timeDiff)
-		{
-		  DEBUG_prev.tv_sec  = DEBUG_now.tv_sec;
-		  DEBUG_prev.tv_usec = DEBUG_now.tv_usec;
-		  float DEBUG_instantBitrate = 8.0 * (float)(DEBUG_totalBytes) / DEBUG_TIME_BITRATE_CALCULATION_MSEC;
-		  DEBUG_totalBytes = 0;
-		  DEBUG_bitrate = 0.8 * DEBUG_bitrate + 0.2 * DEBUG_instantBitrate;
-		}
-  }
-
-  return C_OK;
-}
-
-
-
-
-C_RESULT video_com_stage_close(video_com_config_t *cfg)
-{
-  vp_com_close(cfg->com, &cfg->socket);
-  return C_OK;
-}
-
-C_RESULT video_com_multisocket_stage_close(video_com_multisocket_config_t *cfg)
-{
-  int i;
-
-  for (i=0;i<cfg->nb_sockets;i++)
-    {
-      vp_com_close(cfg->configs[i]->com, &cfg->configs[i]->socket);
-    }
-
-  return C_OK;
-}
-

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_com_stage.h

@@ -1,58 +0,0 @@
-#ifndef _VIDEO_COM_STAGE_H_
-#define _VIDEO_COM_STAGE_H_
-
-#include <VP_Api/vp_api.h>
-#include <VP_Com/vp_com.h>
-
-#define VIDEO_MAX_RETRIES 5
- 
-typedef struct _video_com_config_t
-{
-  vp_com_t*             com;
-
-  vp_com_socket_t       socket;
-  VP_COM_SOCKET_OPTIONS sockopt;
-
-  uint32_t              buffer_size;
-
-  // Private Datas
-  Read                  read;
-  Write                 write;
-  uint32_t              num_retries;
-
-  VP_COM_SOCKET_PROTOCOL protocol;
-  bool_t connected;
-  bool_t mustReconnect;
-  bool_t *forceNonBlocking;
-
-  void (*timeoutFunc)(void);
-  uint32_t timeoutFuncAfterSec;
-
-} video_com_config_t;
-
-typedef struct _video_com_multisocket_config_t
-{
-	uint32_t nb_sockets;
-	video_com_config_t ** configs;
-	uint32_t last_active_socket;
-	uint32_t num_retries;
-	uint32_t buffer_size;
-	bool_t * forceNonBlocking;
-
-}video_com_multisocket_config_t;
-
-
-extern const vp_api_stage_funcs_t video_com_funcs;
-extern const vp_api_stage_funcs_t video_com_multisocket_funcs;
-
-void video_com_stage_notify_timeout (void);
-
-C_RESULT video_com_stage_open(video_com_config_t *cfg);
-C_RESULT video_com_stage_transform(video_com_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT video_com_stage_close(video_com_config_t *cfg);
-
-C_RESULT video_com_multisocket_stage_open(video_com_multisocket_config_t *cfg);
-C_RESULT video_com_multisocket_stage_transform(video_com_multisocket_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT video_com_multisocket_stage_close(video_com_multisocket_config_t *cfg);
-
-#endif // _VIDEO_COM_STAGE_H_

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_encapsulation.c

@@ -1,45 +0,0 @@
-#include <stdio.h>
-#include <VP_Os/vp_os_types.h>
-#include <video_encapsulation.h>
-
-C_RESULT init_parrot_video_encapsulation_header(parrot_video_encapsulation_t * header)
-{
-	header->signature[0]='P'; /* Parrot */
-	header->signature[1]='a';
-	header->signature[2]='V'; /* Video */
-	header->signature[3]='E'; /* Encapsulation */
-
-	header->version = PAVE_CURRENT_VERSION;
-	return C_OK;
-}
-
-int pave_is_same_frame(parrot_video_encapsulation_t * header1 , parrot_video_encapsulation_t * header2 )
-{
-  int res;
-  
-  if (!header1) { return 0; }
-  if (!header2) { return 0; }
- 
-  res = ( (header1->stream_id    == header2->stream_id)  &&
-          (header1->frame_number == header2->frame_number  )  );
-         
-  return ( res );
-}
-
-void dumpPave (parrot_video_encapsulation_t *PaVE)
-{
-  printf ("Signature : \"%c%c%c%c\" [0x%02x][0x%02x][0x%02x][0x%02x]\n", PaVE->signature[0], PaVE->signature[1],
-          PaVE->signature[2], PaVE->signature[3], PaVE->signature[0], PaVE->signature[1], PaVE->signature[2], PaVE->signature[3]);
-  printf ("Frame Type / Number : %s : %d : slice %d/%d\n",
-     (PaVE->frame_type == FRAME_TYPE_P_FRAME) ? "P-Frame" : ((PaVE->frame_type == FRAME_TYPE_I_FRAME) ? "I-Frame" : "IDR-Frame"),
-     PaVE->frame_number,
-     PaVE->slice_index+1,
-     PaVE->total_slices);
-  printf ("Codec : %s\n", (PaVE->video_codec == CODEC_MPEG4_VISUAL) ? "MP4" : ((PaVE->video_codec == CODEC_MPEG4_AVC) ? "H264" : "Unknown"));
-  printf ("StreamID : %d \n", PaVE->stream_id);
-  printf ("Encoded dims : %d x %d\n", PaVE->encoded_stream_width, PaVE->encoded_stream_height);
-  printf ("Display dims : %d x %d\n", PaVE->display_width, PaVE->display_height);
-  printf ("Header size  : %d\n", PaVE->header_size);
-  printf ("Payload size : %d\n", PaVE->payload_size);
-  printf ("Control : 0x%08x\n", PaVE->control);
-}

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_navdata_handler.c

@@ -1,134 +0,0 @@
-#include <ardrone_tool/Video/video_navdata_handler.h>
-#include <ardrone_tool/Video/video_com_stage.h>
-#include <ardrone_tool/ardrone_tool_configuration.h>
-
-
-#ifdef _WIN32
-#include <Windows.h>
-#else
-#include <sys/time.h>
-#endif
-
-#define TIMEOUT_SEC (1)
-#define TIMEOUT_MS (1000*TIMEOUT_SEC)
-
-uint32_t hdvideo_remaining_frames;
-uint32_t hdvideo_remaining_kilobytes;
-uint32_t hdvideo_maximum_kilobytes;
-float hdvideo_fifo_fill_percentage; // range 0.0 - 100.0
-float hdvideo_retrieving_progress;
-
-static uint32_t hdvideo_frames_to_retreive;
-
-C_RESULT video_navdata_handler_init( void* data )
-{
-  hdvideo_remaining_frames = 0;
-  hdvideo_remaining_kilobytes = 0;
-  hdvideo_maximum_kilobytes = 0;
-  hdvideo_fifo_fill_percentage = 0.0;
-  hdvideo_retrieving_progress = -1.0;
-  hdvideo_frames_to_retreive = 0;
-  return C_OK;
-}
-
-
-#ifdef _WIN32
-#define isTimeout(NOW,PREV)	(((NOW-PREV) >= TIMEOUT_MS) ? 1 : 0)
-#define getTime(TIME) (TIME) = GetTickCount()
-#else
-#define getTime(TIME) gettimeofday (&TIME, NULL)
-static inline int isTimeout (struct timeval now, struct timeval prev)
-{
-	struct timeval diff;
-	if (now.tv_usec >= prev.tv_usec)
-	{
-		diff.tv_usec = now.tv_usec - prev.tv_usec;
-		diff.tv_sec  = now.tv_sec  - prev.tv_sec;
-	}
-	else
-	{
-		diff.tv_usec = 1000000 - prev.tv_usec + now.tv_usec;
-		diff.tv_sec  = now.tv_sec  - prev.tv_sec - 1;
-	}
-	return ((diff.tv_sec >= TIMEOUT_SEC) ? 1 : 0);
-}
-#endif
-
-
-C_RESULT video_navdata_handler_process( const navdata_unpacked_t* const navdata )
-{
- /* Compute time between two prevous navdata to detect a timeout
-  * (i.e. more than 1 sec between two navdatas)
-  */
-  static int firstTime = 1;
-#if _WIN32
-  static DWORD prev, now;
-#else
-  static struct timeval prev, now;
-#endif
-  getTime (now);
-  if (1 == firstTime)
-  {
-    firstTime = 0;
-  }
-  else
-  {
-  	int flag = isTimeout (now, prev);
-    if (flag)
-    {
-  	  video_com_stage_notify_timeout ();
-    }
-  }
-
-  /* Video storage navdatas */
-  hdvideo_remaining_frames = navdata->navdata_hdvideo_stream.storage_fifo_nb_packets;
-  hdvideo_remaining_kilobytes = navdata->navdata_hdvideo_stream.storage_fifo_size;
-  hdvideo_maximum_kilobytes = ardrone_control_config.video_storage_space;
-  if (NAVDATA_HDVIDEO_STORAGE_FIFO_IS_FULL & navdata->navdata_hdvideo_stream.hdvideo_state)
-    {
-      // Socket is flagged as full 
-      hdvideo_fifo_fill_percentage = 100.0;
-    }
-  else if ((0 == hdvideo_maximum_kilobytes) ||
-           (hdvideo_maximum_kilobytes < hdvideo_remaining_kilobytes))
-    {
-      // Unexpected result (we don't have the total size
-      // or the current size is greater than the total size)
-      hdvideo_fifo_fill_percentage = -1.0;
-    }
-  else
-    {
-      // Normal case
-      hdvideo_fifo_fill_percentage = (hdvideo_remaining_kilobytes * 100.0) / (hdvideo_maximum_kilobytes * 1.0);
-    }
-
-  // Process check
-  if (0 != hdvideo_frames_to_retreive &&
-      hdvideo_frames_to_retreive >= hdvideo_remaining_frames)
-    {
-      uint32_t _retreived_frames = hdvideo_frames_to_retreive - hdvideo_remaining_frames;
-      hdvideo_retrieving_progress = (float)(_retreived_frames) / (float)(hdvideo_frames_to_retreive);
-    }
-  else
-    {
-      hdvideo_retrieving_progress = -1.0;
-    }
-
-  getTime (prev);
-  return C_OK;
-}
-
-C_RESULT video_navdata_handler_release( void )
-{
-  return C_OK;
-}
-
-void startRetreiving (void)
-{
-  hdvideo_frames_to_retreive = hdvideo_remaining_frames;
-}
-
-void endRetreiving (void)
-{
-  hdvideo_frames_to_retreive = 0;
-}

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_navdata_handler.h

@@ -1,21 +0,0 @@
-#ifndef _VIDEO_NAVDATA_HANDLER_H_
-#define _VIDEO_NAVDATA_HANDLER_H_
-
-#include <ardrone_tool/Navdata/ardrone_navdata_client.h>
-
-// Handler that reset video connexion when there is a timeout in navdata connexion
-
-extern uint32_t hdvideo_remaining_frames;
-extern uint32_t hdvideo_remaining_kilobytes;
-extern uint32_t hdvideo_maximum_kilobytes;
-extern float hdvideo_fifo_fill_percentage; // range 0.0 - 100.0
-extern float hdvideo_retrieving_progress; // -1.0 when not retreiving, else range 0.0-1.0
-
-C_RESULT video_navdata_handler_init( void* data );
-C_RESULT video_navdata_handler_process( const navdata_unpacked_t* const navdata );
-C_RESULT video_navdata_handler_release( void );
-
-void startRetreiving (void);
-void endRetreiving (void);
-
-#endif // _VIDEO_NAVDATA_HANDLER_H_

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_recorder_pipeline.c

@@ -1,151 +0,0 @@
-//
-//  video_recorder_pipeline.c
-//  ARDroneLib
-//
-//  Created by Nicolas Brulez on 14/10/11.
-//  Copyright 2011 Parrot. All rights reserved.
-//
-
-#include <VP_Api/vp_api.h>
-#include <VP_Api/vp_api_error.h>
-
-#include <ardrone_tool/ardrone_tool.h>
-#include <ardrone_tool/Com/config_com.h>
-#include <ardrone_tool/Video/video_com_stage.h>
-#include <ardrone_tool/Video/video_stage_encoded_recorder.h>
-#include <ardrone_tool/Video/video_recorder_pipeline.h>
-#include <ardrone_tool/Video/video_stage_tcp.h>
-
-#include <ardrone_tool/ardrone_version.h>
-
-video_com_config_t record_icc;
-
-static bool_t video_recorder_in_pause = TRUE;
-static vp_os_cond_t video_recorder_condition;
-static vp_os_mutex_t video_recorder_mutex;
-
-static bool_t isInit = FALSE;
-
-void video_recorder_init (void)
-{
-  vp_os_mutex_init (&video_recorder_mutex);
-  vp_os_cond_init (&video_recorder_condition, &video_recorder_mutex);
-  isInit = TRUE;
-}
-
-void video_recorder_suspend_thread (void)
-{
-  vp_os_mutex_lock (&video_recorder_mutex);
-  video_recorder_in_pause = TRUE;
-  vp_os_mutex_unlock (&video_recorder_mutex);
-}
-
-void video_recorder_resume_thread (void)
-{
-  vp_os_mutex_lock (&video_recorder_mutex);
-  vp_os_cond_signal (&video_recorder_condition);
-  video_recorder_in_pause = FALSE;
-  vp_os_mutex_unlock (&video_recorder_mutex);
-}
-
-DEFINE_THREAD_ROUTINE(video_recorder, data)
-{
-  if (1 >= ARDRONE_VERSION ()) // Run only for ARDrone 2 and upper
-    {
-      return (THREAD_RET)0;
-    }
-  C_RESULT res = C_OK;
-    
-  vp_api_io_pipeline_t pipeline;
-  vp_api_io_data_t out;
-  vp_api_io_stage_t stages[3];
-  PIPELINE_HANDLE video_recorder_pipeline_handle;
-  video_recorder_thread_param_t *video_recorder_thread_param = (video_recorder_thread_param_t *)data;
-    
-  video_stage_tcp_config_t tcpConf;
-    
-  if(video_recorder_thread_param != NULL)
-  {
-      CHANGE_THREAD_PRIO(video_recorder, video_recorder_thread_param->priority);
-      video_stage_encoded_recorder_config.finish_callback = video_recorder_thread_param->finish_callback; 
-  }
-    
-  vp_os_memset (&record_icc, 0x0, sizeof (record_icc));
-  record_icc.com = COM_VIDEO ();
-  record_icc.buffer_size = (8*1024);
-  record_icc.protocol = VP_COM_TCP;
-  record_icc.forceNonBlocking = &tcpConf.tcpStageHasMoreData;
-  COM_CONFIG_SOCKET_VIDEO (&record_icc.socket, VP_COM_CLIENT, VIDEO_RECORDER_PORT, wifi_ardrone_ip);
-  record_icc.timeoutFunc = &video_stage_encoded_recorder_com_timeout;
-  record_icc.timeoutFuncAfterSec = 10;
-  
-  vp_os_memset (&tcpConf, 0, sizeof (tcpConf));
-  tcpConf.maxPFramesPerIFrame = 30;
-  tcpConf.frameMeanSize = 160*1024;
-  tcpConf.latencyDrop = 0;
-    
-  pipeline.nb_stages = 0;
-  pipeline.stages = &stages[0];
-    
-  // Com
-  stages[pipeline.nb_stages].type = VP_API_INPUT_SOCKET;
-  stages[pipeline.nb_stages].cfg  = (void *)&record_icc;
-  stages[pipeline.nb_stages++].funcs = video_com_funcs;
-
-  // TCP
-  stages[pipeline.nb_stages].type = VP_API_FILTER_DECODER;
-  stages[pipeline.nb_stages].cfg  = (void *) &tcpConf;
-  stages[pipeline.nb_stages++].funcs = video_stage_tcp_funcs;
-    
-  // Record
-  stages[pipeline.nb_stages].type = VP_API_FILTER_DECODER;
-  stages[pipeline.nb_stages].cfg  = (void *) &video_stage_encoded_recorder_config;
-  stages[pipeline.nb_stages++].funcs = video_encoded_recorder_funcs;
-    
-  while (FALSE == isInit)
-    {
-        printf ("Waiting for init\n");
-    }
-    
-  if (! ardrone_tool_exit ())
-    {
-      PRINT ("Video recorder thread initialisation\n");
-      res = vp_api_open (&pipeline, &video_recorder_pipeline_handle);
-        
-      if (SUCCEED (res))
-        {
-          int loop = SUCCESS;
-          out.status = VP_API_STATUS_PROCESSING;
-            
-          while (! ardrone_tool_exit () && (SUCCESS == loop))
-            {
-              if (video_recorder_in_pause)
-                {
-                  vp_os_mutex_lock (&video_recorder_mutex);
-                  record_icc.num_retries = VIDEO_MAX_RETRIES;
-                  vp_os_cond_wait (&video_recorder_condition);
-                  vp_os_mutex_unlock (&video_recorder_mutex);
-                }
-
-              if (SUCCEED (vp_api_run (&pipeline, &out)))
-                {
-                  if ((VP_API_STATUS_PROCESSING == out.status) ||
-                      (VP_API_STATUS_STILL_RUNNING == out.status))
-                    {
-                      loop = SUCCESS;
-                    }
-                  else loop = -1;
-                }
-              else loop = -1;
-            }
-          vp_api_close (&pipeline, &video_recorder_pipeline_handle);
-        }
-    }
-  PRINT ("Video recorder thread ended\n");
-    
-  return (THREAD_RET)res;
-}
-
-uint32_t video_recorder_get_num_retries(void) {
-    return record_icc.num_retries;
-}

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_recorder_pipeline.h

@@ -1,40 +0,0 @@
-//
-//  video_recorder_pipeline.h
-//  ARDroneEngine
-//
-//  Created by Nicolas Brulez on 14/10/11.
-//  Copyright 2011 Parrot. All rights reserved.
-//
-
-#ifndef _VIDEO_RECORDER_PIPELINE_H_
-#define _VIDEO_RECORDER_PIPELINE_H_
-
-#include <VP_Os/vp_os.h>
-#include <VP_Os/vp_os_print.h>
-#include <VP_Os/vp_os_types.h>
-#include <VP_Os/vp_os_signal.h>
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Os/vp_os_delay.h>
-
-#include <VP_Api/vp_api.h>
-#include <VP_Api/vp_api_error.h>
-#include <VP_Api/vp_api_stage.h>
-#include <VP_Api/vp_api_picture.h>
-#include <VP_Api/vp_api_thread_helper.h>
-
-#include <ardrone_tool/Video/video_stage_encoded_recorder.h>
-
-typedef struct _video_recorder_thread_param_t_
-{
-    int32_t priority;
-    video_stage_encoded_recorder_callback finish_callback;
-} video_recorder_thread_param_t;
-
-PROTO_THREAD_ROUTINE (video_recorder, data);
-
-void video_recorder_init(void);
-void video_recorder_suspend_thread(void);
-void video_recorder_resume_thread(void);
-uint32_t video_recorder_get_num_retries(void);
-
-#endif

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage.c

@@ -1,220 +0,0 @@
-/*
- *  video_stage.c
- *  Test
- *
- *  Created by Frederic D'HAEYER on 22/02/10.
- *  Copyright 2010 Parrot SA. All rights reserved.
- *
- */
-
-#include <VP_Api/vp_api.h>
-#include <VP_Api/vp_api_error.h>
-
-#include <ardrone_tool/ardrone_tool.h>
-#include <ardrone_tool/Com/config_com.h>
-#include <ardrone_tool/Video/video_stage.h>
-#include <ardrone_tool/Academy/academy_stage_recorder.h>
-#include <ardrone_tool/Video/video_stage_encoded_recorder.h>
-
-#include <ardrone_tool/ardrone_version.h>
-
-#ifndef STREAM_WIDTH
-#define STREAM_WIDTH 512
-#endif
-#ifndef STREAM_HEIGHT
-#define STREAM_HEIGHT 512
-#endif
-
-#define NB_STAGES 5
-
-extern char documents_dir[];
-extern char resources_dir[];
-
-PIPELINE_HANDLE video_pipeline_handle;
-static bool_t video_stage_in_pause = TRUE;
-static vp_os_cond_t video_stage_condition;
-static vp_os_mutex_t video_stage_mutex;
-
-
-static video_com_config_t icc_tcp;
-static video_com_config_t icc_udp;
-video_com_multisocket_config_t icc;
-static video_com_config_t* icc_tab[2];
-
-static video_stage_tcp_config_t tcpConf;
-
-
-video_decoder_config_t vec;
-
-
-void video_stage_init(void) {
-    vp_os_mutex_init(&video_stage_mutex);
-    vp_os_cond_init(&video_stage_condition, &video_stage_mutex);
-}
-
-void video_stage_suspend_thread(void) {
-    vp_os_mutex_lock(&video_stage_mutex);
-    video_stage_in_pause = TRUE;
-    vp_os_mutex_unlock(&video_stage_mutex);
-}
-
-void video_stage_resume_thread(void) {
-    vp_os_mutex_lock(&video_stage_mutex);
-    vp_os_cond_signal(&video_stage_condition);
-    video_stage_in_pause = FALSE;
-    vp_os_mutex_unlock(&video_stage_mutex);
-}
-
-DEFINE_THREAD_ROUTINE(video_stage, data) {
-    C_RESULT res;
-
-    vp_api_io_pipeline_t pipeline;
-    vp_api_io_data_t out;
-    
-    vp_api_io_stage_t * stages;
-    video_stage_merge_slices_config_t merge_slices_cfg;
-    
-    uint8_t i;
-    
-    specific_parameters_t * params = (specific_parameters_t *)(data);
-
-    if (1 == params->needSetPriority)
-    {
-      CHANGE_THREAD_PRIO (video_stage, params->priority);
-    }
-    
-    vp_os_memset(&icc_tcp, 0, sizeof ( icc_tcp));
-    vp_os_memset(&icc_udp, 0, sizeof ( icc_udp));
-    
-    // Video Communication config
-    icc_tcp.com = COM_VIDEO();
-    icc_tcp.buffer_size = (1024*1024);
-    icc_tcp.protocol = VP_COM_TCP;
-    COM_CONFIG_SOCKET_VIDEO(&icc_tcp.socket, VP_COM_CLIENT, VIDEO_PORT, wifi_ardrone_ip);
-    
-    // Video Communication config
-    icc_udp.com = COM_VIDEO();
-    icc_udp.buffer_size = (1024*1024);
-    icc_udp.protocol = VP_COM_UDP;
-    COM_CONFIG_SOCKET_VIDEO(&icc_udp.socket, VP_COM_CLIENT, VIDEO_PORT, wifi_ardrone_ip);
-
-    icc.nb_sockets = 2;
-    icc.configs = icc_tab;
-    icc.forceNonBlocking = &(tcpConf.tcpStageHasMoreData);
-    icc_tab[1]  = &icc_tcp;
-    icc_tab[0]  = &icc_udp;
-    
-    icc.buffer_size = (1024*1024);
-    
-     vp_os_memset(&vec, 0, sizeof ( vec));
-
-     stages = (vp_api_io_stage_t*) (vp_os_calloc(
-        NB_STAGES + params->pre_processing_stages_list->length + params->post_processing_stages_list->length,
-        sizeof (vp_api_io_stage_t)
-    ));
-    
-    vec.src_picture = params->in_pic;
-    vec.dst_picture = params->out_pic;
-    
-    vp_os_memset(&tcpConf, 0, sizeof ( tcpConf));
-    tcpConf.maxPFramesPerIFrame = 30;
-    tcpConf.frameMeanSize = 160*1024;
-    tcpConf.tcpStageHasMoreData = FALSE;
-    tcpConf.latencyDrop = 1;
-
-    pipeline.nb_stages = 0;
-    pipeline.stages = &stages[0];
-
-    //ENCODED FRAME PROCESSING STAGES
-    stages[pipeline.nb_stages].type    = VP_API_INPUT_SOCKET;
-    stages[pipeline.nb_stages].cfg     = (void *) &icc;
-    stages[pipeline.nb_stages++].funcs = video_com_multisocket_funcs;
-
-    stages[pipeline.nb_stages].type    = VP_API_FILTER_DECODER;
-    stages[pipeline.nb_stages].cfg     = (void *) &tcpConf;
-    stages[pipeline.nb_stages++].funcs = video_stage_tcp_funcs;
-    
-    // Record Encoded video
-    if(1 == ARDRONE_VERSION())
-    {
-        ardrone_academy_stage_recorder_config.dest.pipeline = video_pipeline_handle;
-        ardrone_academy_stage_recorder_config.dest.stage    = pipeline.nb_stages;
-        stages[pipeline.nb_stages].type    = VP_API_FILTER_DECODER;
-        stages[pipeline.nb_stages].cfg     = (void*)&ardrone_academy_stage_recorder_config;
-        stages[pipeline.nb_stages++].funcs = ardrone_academy_stage_recorder_funcs;
-    }
-    else
-    {
-      // Nothing to do for AR.Drone 2 as we have a separated thread for recording
-    }
-
-    //PRE-DECODING STAGES ==> recording, ...
-    for(i=0;i<params->pre_processing_stages_list->length;i++){
-        stages[pipeline.nb_stages].type    = params->pre_processing_stages_list->stages_list[i].type;
-        stages[pipeline.nb_stages].cfg     = params->pre_processing_stages_list->stages_list[i].cfg;
-        stages[pipeline.nb_stages++].funcs = params->pre_processing_stages_list->stages_list[i].funcs;
-    }
-
-    stages[pipeline.nb_stages].type    = VP_API_FILTER_DECODER;
-    stages[pipeline.nb_stages].cfg     = (void *)&merge_slices_cfg;
-    stages[pipeline.nb_stages++].funcs = video_stage_merge_slices_funcs;
-
-    //DECODING STAGES
-    stages[pipeline.nb_stages].type    = VP_API_FILTER_DECODER;
-    stages[pipeline.nb_stages].cfg     = (void*) &vec;
-    stages[pipeline.nb_stages++].funcs = video_decoding_funcs;
-
-    //POST-DECODING STAGES ==> transformation, display, ...
-    for(i=0;i<params->post_processing_stages_list->length;i++){
-        stages[pipeline.nb_stages].type    = params->post_processing_stages_list->stages_list[i].type;
-        stages[pipeline.nb_stages].cfg     = params->post_processing_stages_list->stages_list[i].cfg;
-        stages[pipeline.nb_stages++].funcs = params->post_processing_stages_list->stages_list[i].funcs;
-    }
-
-
-    if (!ardrone_tool_exit()) {
-        PRINT("\nvideo stage thread initialisation\n\n");
-
-        res = vp_api_open(&pipeline, &video_pipeline_handle);
-
-        if (SUCCEED(res)) {
-            int loop = SUCCESS;
-            out.status = VP_API_STATUS_PROCESSING;
-
-            while (!ardrone_tool_exit() && (loop == SUCCESS)) {
-                if (video_stage_in_pause) {
-                    vp_os_mutex_lock(&video_stage_mutex);
-                    icc.num_retries = VIDEO_MAX_RETRIES;
-                    vp_os_cond_wait(&video_stage_condition);
-                    vp_os_mutex_unlock(&video_stage_mutex);
-                }
-
-                if (SUCCEED(vp_api_run(&pipeline, &out))) {
-                    if ((out.status == VP_API_STATUS_PROCESSING || out.status == VP_API_STATUS_STILL_RUNNING)) {
-                        loop = SUCCESS;
-                    }
-                } else loop = -1; // Finish this thread
-            }
-            
-            vp_os_free(params->pre_processing_stages_list->stages_list);
-            vp_os_free(params->post_processing_stages_list->stages_list);
-            vp_os_free(params->pre_processing_stages_list);
-            vp_os_free(params->post_processing_stages_list);
-            
-            vp_os_free(params->in_pic);
-            vp_os_free(params->out_pic);
-            
-            vp_os_free(params);
-            
-            vp_api_close(&pipeline, &video_pipeline_handle);
-        }
-    }
-
-    PRINT("\nvideo stage thread ended\n\n");
-
-    return (THREAD_RET) 0;
-}
-
-uint32_t video_stage_get_num_retries(void) {
-    return icc.num_retries;
-}

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage.h

@@ -1,66 +0,0 @@
-/*
- *  video_stage.h
- *  Test
- *
- *  Created by Frederic D'HAEYER on 22/02/10.
- *  Copyright 2010 Parrot SA. All rights reserved.
- *
- */
-#ifndef _VIDEO_STAGE_H_
-#define _VIDEO_STAGE_H_
-
-#include <VP_Os/vp_os.h>
-#include <VP_Os/vp_os_print.h>
-#include <VP_Os/vp_os_types.h>
-#include <VP_Os/vp_os_signal.h>
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Os/vp_os_delay.h>
-
-#include <VP_Api/vp_api.h>
-#include <VP_Api/vp_api_error.h>
-#include <VP_Api/vp_api_stage.h>
-#include <VP_Api/vp_api_picture.h>
-#include <VP_Api/vp_api_thread_helper.h>
-
-#include <ardrone_tool/Video/video_com_stage.h>
-#include <ardrone_tool/Video/video_stage_tcp.h>
-#include <ardrone_tool/Video/video_stage_decoder.h>
-#include <ardrone_tool/Video/video_stage_merge_slices.h>
-#include <ardrone_tool/Video/video_stage_latency_estimation.h>
-
-typedef struct _specific_stages_t_
-{
-    vp_api_io_stage_t * stages_list;
-    uint8_t length;
-} specific_stages_t;
-
-typedef struct _specific_parameters_t_
-{
-    specific_stages_t * pre_processing_stages_list;
-    specific_stages_t * post_processing_stages_list;
-    vp_api_picture_t * in_pic;
-    vp_api_picture_t * out_pic;
-    int needSetPriority;
-    int priority;
-} specific_parameters_t;
-
-extern video_decoder_config_t vec;
-
-PROTO_THREAD_ROUTINE(video_stage, data);
-
-static inline unsigned long RoundPower2(unsigned long x)
-{
-	int rval=512;
-	// rval<<=1 Is A Prettier Way Of Writing rval*=2; 
-	while(rval < x)
-		rval<<=1;
-	return rval;
-}
-
-void video_stage_init(void);
-void video_stage_suspend_thread(void);
-void video_stage_resume_thread(void);
-uint32_t video_stage_get_num_retries(void);
-
-
-#endif // _VIDEO_STAGE_H_

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_decoder.c

@@ -1,374 +0,0 @@
-/*
- *  video_stage_decoder.c
- *  ARDroneLib
- *
- *  Created by n.brulez on 02/08/11.
- *  Copyright 2011 Parrot SA. All rights reserved.
- *
- */
-#if defined (FFMPEG_SUPPORT) || defined (ITTIAM_SUPPORT)
-
-#include <ardrone_tool/Video/video_stage_decoder.h>
-#include <video_encapsulation.h>
-#include <VP_Os/vp_os_malloc.h>
-#include <stdio.h>
-
-#ifndef USE_ANDROID
-# ifdef ITTIAM_SUPPORT
-#  define mp4h264_open ittiam_stage_decoding_open
-#  define mp4h264_transform ittiam_stage_decoding_transform
-#  define mp4h264_close ittiam_stage_decoding_close
-# else // FFMPEG
-#  define mp4h264_open ffmpeg_stage_decoding_open
-#  define mp4h264_transform ffmpeg_stage_decoding_transform
-#  define mp4h264_close ffmpeg_stage_decoding_close
-# endif
-#else
-typedef enum {
-  NEON_SUPPORT_UNKNOWN = 0,
-  NEON_SUPPORT_OK,
-  NEON_SUPPORT_FAIL,
-} neon_status_t;
-
-static neon_status_t neonStatus = NEON_SUPPORT_UNKNOWN;
-
-C_RESULT mp4h264_open (mp4h264_config_t *cfg);
-C_RESULT mp4h264_transform (mp4h264_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT mp4h264_close (mp4h264_config_t *cfg);
-#endif
-
-/**
- * DEBUG ZONE
- */
-#if defined(TARGET_OS_IPHONE) || defined (TARGET_OS_IPHONE_SIMULATOR)
-#include <mach/mach_time.h>
-#endif
-float DEBUG_decodingTimeUsec = 0.0;
-
-#define ENABLE_VIDEO_STAGE_DECODER_DEBUG (0)
-
-const vp_api_stage_funcs_t video_decoding_funcs = {
-  (vp_api_stage_handle_msg_t) NULL,
-  (vp_api_stage_open_t) video_stage_decoder_open,
-  (vp_api_stage_transform_t) video_stage_decoder_transform,
-  (vp_api_stage_close_t) video_stage_decoder_close
-};
-
-#if ENABLE_VIDEO_STAGE_DECODER_DEBUG || defined (DEBUG)
-#define PDBG(...)                                                       \
-  do                                                                    \
-    {                                                                   \
-      printf ("VIDEO_STAGE_DECODER (%s@%d) : ", __FUNCTION__, __LINE__); \
-      printf (__VA_ARGS__);                                             \
-      printf ("\n");                                                    \
-    } while (0)
-#else
-#define PDBG(...)
-#endif
-
-
-#define ALLOC_CHECK(POINTER, SIZE)                      \
-  do                                                    \
-    {                                                   \
-      POINTER = vp_os_calloc (SIZE, 1);                 \
-      if (NULL == POINTER)                              \
-        {                                               \
-          printf ("Unable to alloc %s\n", #POINTER);    \
-          return C_FAIL;                                \
-        }                                               \
-    } while (0)
-
-#ifdef USE_LINUX
-#include <unistd.h>
-int video_stage_decoder_fakeLatency = 0;   /* Simulate a slow decoder inside AR.Drone Navigation */
-#endif
-
-
-parrot_video_encapsulation_codecs_t video_stage_decoder_lastDetectedCodec = 0;
-
-C_RESULT video_stage_decoder_open (video_decoder_config_t *cfg)
-{
-  // Allocate internal datas
-  ALLOC_CHECK (cfg->vlibConf, sizeof (vlib_stage_decoding_config_t));
-  ALLOC_CHECK (cfg->vlibOut, sizeof (vp_api_io_data_t));
-  ALLOC_CHECK (cfg->mp4h264Conf, sizeof (mp4h264_config_t));
-  ALLOC_CHECK (cfg->mp4h264Out, sizeof (vp_api_io_data_t));
-
-  // Fill alloc'd structs with data from cfg
-  // --> MPEG4 / H264
-  cfg->mp4h264Conf->dst_picture.format = cfg->dst_picture->format;
-  // --> VLIB
-  cfg->vlibConf->width = cfg->dst_picture->width;
-  cfg->vlibConf->height = cfg->dst_picture->height;
-  cfg->vlibConf->picture = cfg->dst_picture;
-  cfg->vlibConf->luma_only = FALSE;
-  cfg->vlibConf->block_mode_enable = TRUE;
-
-  switch (cfg->dst_picture->format)
-    {
-    case PIX_FMT_RGB565:
-      cfg->bpp=2;
-      break;
-    case PIX_FMT_RGB24:
-      cfg->bpp=3;
-      break;
-    default:
-      cfg->bpp=0;
-      break;
-    }
-      
-       
-  vlib_stage_decoding_open (cfg->vlibConf);
-  mp4h264_open (cfg->mp4h264Conf);
-
-  return C_OK;
-}
-
-static inline bool_t havePaVE (uint8_t *buffer)
-{
-  if (buffer [0] == 'P' &&
-      buffer [1] == 'a' &&
-      buffer [2] == 'V' &&
-      buffer [3] == 'E')
-    {
-      return TRUE;
-    }
-  else
-    {
-      return FALSE;
-    }
-}
-
-C_RESULT video_stage_decoder_transform (video_decoder_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-  C_RESULT retVal  = C_OK;
-  bool_t useVlib   = FALSE;
-  bool_t useMP4H264 = FALSE;
-  vp_api_io_data_t *outToCopy = NULL;
-  uint8_t *buffer = in->buffers[in->indexBuffer];
-  static int lastDecodedStreamID = -1;
-
-#if defined(TARGET_OS_IPHONE) || defined (TARGET_OS_IPHONE_SIMULATOR)
-  uint64_t startTime = 0;
-  uint64_t stopTime = 0;
-  uint64_t elapsedNano = 0;
-  static mach_timebase_info_data_t sTimebaseInfo;
-  if (0 == sTimebaseInfo.denom)
-    {
-      mach_timebase_info (&sTimebaseInfo);
-    }
-  startTime = mach_absolute_time ();
-#endif
-
-
-  
-  // Check for PaVE
-  if (havePaVE (buffer))
-    {
-      parrot_video_encapsulation_t *PaVE = (parrot_video_encapsulation_t *)buffer;
-      
-      video_stage_decoder_lastDetectedCodec = PaVE->video_codec;
-
-      if (lastDecodedStreamID!=-1 && lastDecodedStreamID!=PaVE->stream_id)
-        {
-          printf("Resetting the video decoder.\n"); 
-          video_stage_decoder_close(cfg);
-          video_stage_decoder_open(cfg);
-        }
-      lastDecodedStreamID=PaVE->stream_id;
-
-
-      if (CODEC_VLIB == PaVE->video_codec ||
-          CODEC_P264 == PaVE->video_codec)
-        {
-          useVlib = TRUE;
-        }
-      else if (CODEC_MPEG4_VISUAL == PaVE->video_codec ||
-               CODEC_MPEG4_AVC == PaVE->video_codec)
-        {
-          useMP4H264 = TRUE;
-        }
-      else
-        {
-          // Unknown codec
-          return C_FAIL;
-        }
-    }
-  else if ( ((*(uint32_t*)buffer) & 0xFFFE7C00 )== 0 )  /* true if a UVLC or P264 header is present */
-    {
-      /* Test bits 15 and 16 of the header to differenciate UVLC and P264 */
-      video_stage_decoder_lastDetectedCodec = ( ((*(uint32_t*)buffer) & 0x8000 )== 0x8000 ) ? CODEC_VLIB : CODEC_P264;
-      // No PaVE -> give to VLIB
-      useVlib = TRUE;
-    }
-  else
-    {
-      // Unknown codec
-      printf(" -- Critical error : unrecognized codec  (first bytes : %x %x %x %x %x) --\n",
-             buffer[0],buffer[1],buffer[2],buffer[3],buffer[4]);
-      return C_FAIL;
-    }
-
-  if (useVlib)
-    {
-      cfg->vlibConf->num_picture_decoded = cfg->num_picture_decoded;
-       
-      retVal = vlib_stage_decoding_transform (cfg->vlibConf, in, cfg->vlibOut);
-      if (C_FAIL == retVal)
-        {
-          return retVal;
-        }
-      cfg->num_picture_decoded = cfg->vlibConf->num_picture_decoded;
-      cfg->num_frames = cfg->vlibConf->controller.num_frames;
-        
-      cfg->src_picture->height = cfg->vlibConf->controller.height;
-      cfg->src_picture->width = cfg->vlibConf->controller.width;
-      cfg->rowstride = cfg->dst_picture->width * cfg->bpp; // Size of the buffer we got for VLIB
-      cfg->vlibOut->size = cfg->rowstride * cfg->dst_picture->height;
-      outToCopy = cfg->vlibOut;
-    }
-
-  if (useMP4H264)
-    {
-      parrot_video_encapsulation_t *PaVE = (parrot_video_encapsulation_t *)buffer;
-            
-      cfg->mp4h264Conf->num_picture_decoded = cfg->num_picture_decoded;
-      
-      retVal = mp4h264_transform (cfg->mp4h264Conf, in, cfg->mp4h264Out);
-      if (C_FAIL == retVal)
-        {
-          return retVal;
-        }
-      cfg->num_picture_decoded = cfg->mp4h264Conf->num_picture_decoded;
-      cfg->num_frames = PaVE->frame_number;
-        
-      cfg->dst_picture->height = cfg->mp4h264Conf->dst_picture.height;
-      cfg->dst_picture->width = cfg->mp4h264Conf->dst_picture.width;
-      cfg->src_picture->height = cfg->mp4h264Conf->src_picture.height;
-      cfg->src_picture->width = cfg->mp4h264Conf->src_picture.width;
-      cfg->rowstride = cfg->dst_picture->width * cfg->bpp; // Size of the actual picture, alloc'd by MPEG4 / H264 stage
-      outToCopy = cfg->mp4h264Out;
-    }
-
-  if (NULL == outToCopy)
-    {
-      retVal = C_FAIL;
-    }
-  else
-    {
-      out->numBuffers = outToCopy->numBuffers;
-      out->buffers = outToCopy->buffers;
-      out->indexBuffer = outToCopy->indexBuffer;
-      out->size = outToCopy->size;
-      out->lineSize = outToCopy->lineSize;
-      out->status = outToCopy->status;
-
-      retVal = C_OK;
-    }
-
-#if defined(TARGET_OS_IPHONE) || defined (TARGET_OS_IPHONE_SIMULATOR)
-  stopTime = mach_absolute_time ();
-  elapsedNano = (stopTime - startTime) * sTimebaseInfo.numer / sTimebaseInfo.denom;
-  if (0.0 == DEBUG_decodingTimeUsec)
-    {
-      DEBUG_decodingTimeUsec = elapsedNano / 1000.0;
-    }
-  else
-    {
-      DEBUG_decodingTimeUsec = 0.9 * DEBUG_decodingTimeUsec + (0.1 * elapsedNano / 1000.0);
-    }
-#endif
-
-
-#ifdef USE_LINUX
-  usleep(video_stage_decoder_fakeLatency * 1000);
-#endif
-
-  
-  return retVal;
-}
-
-
-C_RESULT video_stage_decoder_close (video_decoder_config_t *cfg)
-{
-  C_RESULT res, resVlib, resMp4h264;
-  resVlib = vlib_stage_decoding_close (cfg->vlibConf);
-  resMp4h264 = mp4h264_close (cfg->mp4h264Conf);
-  res = (C_OK == resVlib && C_OK == resMp4h264 ) ? C_OK : C_FAIL;
-  vp_os_free (cfg->vlibConf);
-  cfg->vlibConf = NULL;
-  vp_os_free (cfg->vlibOut);
-  cfg->vlibOut = NULL;
-  vp_os_free (cfg->mp4h264Conf);
-  cfg->mp4h264Conf = NULL;
-  vp_os_free (cfg->mp4h264Out);
-  cfg->mp4h264Out = NULL;
-  return res;
-}
-
-#ifdef USE_ANDROID
-#define NEONCHECK_BUFFER_STRING_SIZE (512)
-void checkNeonSupport ()
-{
-  neon_status_t loc_neonStat = NEON_SUPPORT_FAIL;
-  FILE *cpuInfo = fopen ("/proc/cpuinfo", "r");
-  if (NULL == cpuInfo)
-    {
-      return;
-    }
-
-  char *neonCheckStrBuf = vp_os_malloc (NEONCHECK_BUFFER_STRING_SIZE * sizeof (char));
-  if (NULL == neonCheckStrBuf)
-    {
-      fclose (cpuInfo);
-      return;
-    }
-
-  while (NULL != fgets (neonCheckStrBuf, NEONCHECK_BUFFER_STRING_SIZE, cpuInfo))
-    {
-      char *supportTest = strstr (neonCheckStrBuf, "neon");
-      if (NULL != supportTest)
-        {
-          loc_neonStat = NEON_SUPPORT_OK;
-          break;
-        }
-    }
-  
-  vp_os_free (neonCheckStrBuf);
-  fclose (cpuInfo);
-
-  neonStatus = loc_neonStat;
-}
-
-C_RESULT mp4h264_open (mp4h264_config_t *cfg)
-{
-  if (NEON_SUPPORT_UNKNOWN == neonStatus)
-    checkNeonSupport ();
-  if (NEON_SUPPORT_OK == neonStatus)
-    return ittiam_stage_decoding_open (cfg);
-  else
-    return ffmpeg_stage_decoding_open (cfg);
-}
-
-C_RESULT mp4h264_transform (mp4h264_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-  if (NEON_SUPPORT_UNKNOWN == neonStatus)
-    checkNeonSupport ();
-  if (NEON_SUPPORT_OK == neonStatus)
-    return ittiam_stage_decoding_transform (cfg, in, out);
-  else
-    return ffmpeg_stage_decoding_transform (cfg, in, out);
-}
-
-C_RESULT mp4h264_close (mp4h264_config_t *cfg)
-{
-  if (NEON_SUPPORT_UNKNOWN == neonStatus)
-    checkNeonSupport ();
-  if (NEON_SUPPORT_OK == neonStatus)
-    return ittiam_stage_decoding_close (cfg);
-  else
-    return ffmpeg_stage_decoding_close (cfg);
-}
-#endif
-
-#endif //FFMPEG_SUPPORT || ITTIAM_SUPPORT

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_decoder.h

@@ -1,60 +0,0 @@
-/*
- *  video_stage_decoder.h
- *  ARDroneLib
- *
- *  Created by n.brulez on 02/08/11.
- *  Copyright 2011 Parrot SA. All rights reserved.
- *
- */
-#if defined (FFMPEG_SUPPORT) || defined (ITTIAM_SUPPORT)
-
-#ifndef __VIDEO_STAGE_DECODER_H__
-#define __VIDEO_STAGE_DECODER_H__
-
-#ifndef TARGET_OS_ANDROID
-# ifdef ITTIAM_SUPPORT
-#  define mp4h264_config_t ittiam_stage_decoding_config_t
-#  include <ardrone_tool/Video/video_stage_ittiam_decoder.h>
-# else // FFMPEG
-#  define mp4h264_config_t ffmpeg_stage_decoding_config_t
-# endif
-#else
-# define mp4h264_config_t ffmpeg_stage_decoding_config_t
-# include <ardrone_tool/Video/video_stage_ittiam_decoder.h>
-#endif
-
-
-#ifdef FFMPEG_SUPPORT
-# include <ardrone_tool/Video/video_stage_ffmpeg_decoder.h>
-#endif
-
-#include <VLIB/Stages/vlib_stage_decode.h>
-
-typedef struct _video_decoder_config_t
-{
-  // Input data : dst_picture->format
-  // Output : all others
-  vp_api_picture_t *src_picture;
-  vp_api_picture_t *dst_picture;
-  uint32_t num_frames;
-  uint32_t num_picture_decoded;
-  uint32_t rowstride;
-  uint32_t bpp;
-
-  // Internal datas
-  bool_t vlibMustChangeFormat;
-  vlib_stage_decoding_config_t *vlibConf;
-  vp_api_io_data_t *vlibOut;
-  mp4h264_config_t *mp4h264Conf;
-  vp_api_io_data_t *mp4h264Out;
-} video_decoder_config_t;
-
-C_RESULT video_stage_decoder_open (video_decoder_config_t *cfg);
-C_RESULT video_stage_decoder_transform (video_decoder_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT video_stage_decoder_close (video_decoder_config_t *cfg);
-
-extern const vp_api_stage_funcs_t video_decoding_funcs;
-
-#endif // __VIDEO_STAGE_DECODER_H__
-
-#endif // FFMPEG_SUPPORT

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_encoded_recorder.c

@@ -1,525 +0,0 @@
-#include <time.h>
-#ifndef _WIN32
-#include <sys/time.h>
-#else
-#include <sys/timeb.h>
-#include <Winsock2.h>  // for timeval structure
-#endif
-
-#include <VP_Api/vp_api.h>
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Api/vp_api_picture.h>
-#include <ardrone_tool/Academy/academy.h>
-
-#include <config.h>
-#include <ardrone_tool/Video/video_stage_encoded_recorder.h>
-#include <utils/ardrone_date.h>
-
-#include <ardrone_tool/Video/video_navdata_handler.h>
-
-#ifdef USE_ELINUX
-#define VIDEO_ENCODED_FILE_DEFAULT_PATH "/data/video/usb/"
-#endif
-
-#define VIDEO_ENCODED_RECORDER_VERBOSE (1)
-
-#if defined(DEBUG) || VIDEO_ENCODED_RECORDER_VERBOSE
-#define __VER_DEBUG (1)
-#else
-#define __VER_DEBUG (0)
-#endif
-
-#if __VER_DEBUG
-#define VER_PRINT(...)                                                  \
-    do                                                                  \
-    {                                                                   \
-        printf ("Video encoded recorder [%s @ %d] : ", __FUNCTION__, __LINE__); \
-        printf (__VA_ARGS__);                                           \
-        printf ("\n");                                                  \
-    } while (0)
-#else
-#define VER_PRINT(...)
-#endif
-
-/* Uncomment to force all apps to generate .mov format instead of .mp4 for non-apple devices */
-//#define FORCE_MOV_FORMAT
-
-#if defined(TARGET_OS_IPHONE) || defined (TARGET_OS_IPHONE_SIMULATOR) || defined (FORCE_MOV_FORMAT)
-#define MOVIE_FILE_EXTENSION "mov"
-#define VIDEO_FORMAT (ARDRONE_VIDEO_MOV)
-#else
-#define MOVIE_FILE_EXTENSION "mp4"
-#define VIDEO_FORMAT (ARDRONE_VIDEO_MP4)
-#endif
-
-#ifndef VIDEO_ENCODED_FILE_DEFAULT_PATH
-#define VIDEO_ENCODED_FILE_DEFAULT_PATH flight_dir
-extern char flight_dir[];
-#endif
-
-const vp_api_stage_funcs_t video_encoded_recorder_funcs = {
-    (vp_api_stage_handle_msg_t) video_stage_encoded_recorder_handle,
-    (vp_api_stage_open_t) video_stage_encoded_recorder_open,
-    (vp_api_stage_transform_t) video_stage_encoded_recorder_transform,
-    (vp_api_stage_close_t) video_stage_encoded_recorder_close
-};
-
-video_stage_encoded_recorder_config_t video_stage_encoded_recorder_config;
-
-
-#ifdef USE_ELINUX
-DEFINE_THREAD_ROUTINE_STACK(video_stage_encoded_recorder,param,VIDEO_STAGE_ENCODED_RECORDER_STACK_SIZE)
-{
-    int res;
-    video_stage_encoded_recorder_config_t *cfg = (video_stage_encoded_recorder_config_t *)param;
-    video_stage_encoded_recorder_msg_t msg;
-    char errBuf [50] = {0};
-    ardrone_video_error_t vError = ARDRONE_VIDEO_NO_ERROR;
-    parrot_video_encapsulation_t *PaVE;
-    //int counter = 0;
-
-    /* TODO : check if mutual exclusion with the main thread is needed */
-
-    while(1)
-    {
-        /* Read the address of a new slice to write in the video file */
-        res = read(cfg->com_pipe[0],&msg,sizeof(msg));
-
-        if (res!=sizeof(msg)) { sleep(1); continue; }
-
-        //printf("----> Reading %p %d bytes\n",msg.slice,msg.sliceSize);
-        PaVE = (parrot_video_encapsulation_t *) msg.slice;
-
-        if (msg.slice!=NULL)
-        {
-            /* Create a new MP4 file if necessary */
-            if (NULL==cfg->video)
-            {
-                cfg->video = ardrone_video_start (cfg->video_filename, cfg->fps, VIDEO_FORMAT, &vError);
-                if (ARDRONE_VIDEO_SUCCEEDED (vError) && NULL != cfg->video)
-                {
-                    cfg->currentStreamId = PaVE->stream_id;
-                }
-                else
-                {
-                    VER_PRINT ("An error occured when creating video");
-                    cfg->startRec=VIDEO_ENCODED_STOPPED;
-                }
-            }
-
-            if (NULL!=cfg->video)
-            {
-                ardrone_video_error_t vError = ardrone_video_addSlice (cfg->video, msg.slice);
-
-                if (ARDRONE_VIDEO_FAILED (vError))
-                {
-                    ardrone_video_error_string (vError, errBuf, 50);
-                    VER_PRINT ("Error while recording frame : %s", errBuf);
-                    ardrone_video_cleanup (&(cfg->video));
-                    cfg->startRec = VIDEO_ENCODED_STOPPED;
-                }
-                if (1 == frameIsLastFrame(msg.slice))
-                {
-                    VER_PRINT ("Received last frame for current stream, finishing video\n");
-                    video_stage_encoded_recorder_finish (cfg);
-                }
-
-                //counter++; if (counter%16) { sync(); }
-            }
-
-            /* Free the data bloc which was just written */
-            vp_os_free(msg.slice);
-        }
-        else  /* the data pointer is NULL to signal the end of the recording */
-        {
-            video_stage_encoded_recorder_finish (cfg);
-        }
-
-    }/*while 1*/
-}
-#endif
-
-
-C_RESULT video_stage_encoded_recorder_finish (video_stage_encoded_recorder_config_t *cfg)
-{
-    C_RESULT retVal = C_OK;
-
-#ifndef USE_ELINUX
-    endRetreiving ();
-#endif
-
-    cfg->lastStreamId = cfg->currentStreamId;
-    ardrone_video_error_t vError = ardrone_video_finish (&(cfg->video));
-    if (ARDRONE_VIDEO_SUCCEEDED (vError))
-    {
-        VER_PRINT ("Video %s successfully written", cfg->video_filename);
-        if(cfg->finish_callback != NULL)
-            cfg->finish_callback((const char *)cfg->video_filename);
-    }
-    else
-    {
-        VER_PRINT ("Error while completing video");
-        retVal = C_FAIL;
-    }
-    // Erase filename
-    vp_os_memset (cfg->video_filename, 0x0, VIDEO_ENCODED_FILENAME_LENGTH);
-    cfg->startRec = VIDEO_ENCODED_STOPPED;
-
-#ifdef USE_ELINUX
-  ardrone_video_system_cleanup();
-#endif
-
-    return retVal;
-}
-
-C_RESULT video_stage_encoded_recorder_handle (video_stage_encoded_recorder_config_t * cfg, PIPELINE_MSG msg_id, void *callback, void *param)
-{
-#ifdef USE_ELINUX
-    /* Handling the asynchronous mode */
-    video_stage_encoded_recorder_msg_t asyn_msg;
-#endif
-
-
-#ifndef USE_ELINUX
-    vp_os_mutex_lock (&cfg->videoMutex);
-#endif
-
-    void (*recorder_callback)(video_stage_encoded_recorder_config_t*) = callback;
-
-    switch (msg_id)
-    {
-    case PIPELINE_MSG_START: // video start
-        if(cfg->startRec==VIDEO_ENCODED_STOPPED)
-        {
-            time_t t;
-            char date[ARDRONE_DATE_MAXSIZE];
-            ardrone_time2date(*((uint32_t*)param), ARDRONE_FILE_DATE_FORMAT, date);
-            char media_dirname[VIDEO_ENCODED_FILENAME_LENGTH];
-            struct stat statbuf;
-
-            snprintf(media_dirname, VIDEO_ENCODED_FILENAME_LENGTH, "%s/media_%s", VIDEO_ENCODED_FILE_DEFAULT_PATH, date);
-            if((stat(media_dirname, &statbuf) != 0) && (mkdir(media_dirname, 0777) >= 0))
-                VER_PRINT("Create local media directory %s if not exist\n", media_dirname);
-
-            t = time(NULL);
-            ardrone_time2date(t, ARDRONE_FILE_DATE_FORMAT, date);
-
-          snprintf(cfg->video_filename, 
-                     VIDEO_ENCODED_FILENAME_LENGTH,
-                     "%s/video_%s.%s",
-                     media_dirname,
-                     date,
-                     MOVIE_FILE_EXTENSION);
-
-            cfg->startRec = VIDEO_ENCODED_START_RECORD;
-        }
-        break;
-
-    case PIPELINE_MSG_STOP: // video stop
-        if (cfg->startRec==VIDEO_ENCODED_START_RECORD)
-        {
-            cfg->startRec=VIDEO_ENCODED_STOPPED;
-        }
-        else if (cfg->startRec==VIDEO_ENCODED_RECORDING)
-        {
-            cfg->startRec = VIDEO_ENCODED_WAITING_STREAM_END;
-#ifndef USE_ELINUX
-            startRetreiving ();
-#endif
-        }
-        break;
-
-    case PIPELINE_MSG_SUSPEND: // Force stop
-        if (cfg->startRec==VIDEO_ENCODED_START_RECORD)
-        {
-            cfg->startRec=VIDEO_ENCODED_STOPPED;
-        }
-        else if (cfg->startRec==VIDEO_ENCODED_RECORDING ||
-                 cfg->startRec==VIDEO_ENCODED_WAITING_STREAM_END)
-        {
-#ifdef USE_ELINUX
-            if (cfg->use_asynchronous_mode)
-            {
-                /* Send an empty slice to the asynchronous thread */
-                asyn_msg.sliceSize = 0;
-                asyn_msg.slice     = NULL;
-                write(cfg->com_pipe[1],&asyn_msg,sizeof(asyn_msg));
-            }
-            else
-            {
-#endif
-                video_stage_encoded_recorder_finish (cfg);
-
-#ifdef USE_ELINUX
-            }
-#endif
-
-        }
-        break;
-
-    default:
-        break;
-    }
-    if (recorder_callback!=NULL) {
-        recorder_callback(cfg);
-    }
-
-#ifndef USE_ELINUX
-    vp_os_mutex_unlock (&cfg->videoMutex);
-#endif
-
-    return (VP_SUCCESS);
-}
-
-bool_t video_stage_encoded_recorder_state(void)
-{
-    return (video_stage_encoded_recorder_config.startRec != VIDEO_ENCODED_STOPPED);
-}
-
-video_encoded_record_state video_stage_encoded_complete_recorder_state (void)
-{
-    return video_stage_encoded_recorder_config.startRec;
-}
-
-void video_stage_encoded_recorder_enable(bool_t enable, uint32_t timestamp)
-{
-    printf("Recording %s...\n", enable ? "started" : "stopped");
-    video_stage_encoded_recorder_handle (&video_stage_encoded_recorder_config, (enable ? PIPELINE_MSG_START : PIPELINE_MSG_STOP), NULL, &timestamp);
-}
-
-void video_stage_encoded_recorder_com_timeout (void)
-{
-    if (VIDEO_ENCODED_WAITING_STREAM_END == video_stage_encoded_recorder_config.startRec)
-    {
-        video_stage_encoded_recorder_force_stop ();
-    }
-}
-
-void video_stage_encoded_recorder_force_stop (void)
-{
-    printf ("Force recording stop\n");
-    video_stage_encoded_recorder_handle (&video_stage_encoded_recorder_config, PIPELINE_MSG_SUSPEND, NULL, NULL);
-}
-
-C_RESULT video_stage_encoded_recorder_open(video_stage_encoded_recorder_config_t *cfg)
-{
-
-    if (0 == cfg->fps)
-    {
-        cfg->fps = 30;
-    }
-    cfg->startRec=VIDEO_ENCODED_STOPPED;
-    cfg->lastStreamId = UINT16_MAX;
-    cfg->currentStreamId = UINT16_MAX;
-
-    cfg->video = NULL;
-
-#ifndef USE_ELINUX
-    vp_os_mutex_init (&cfg->videoMutex);
-    ardrone_video_remove_all (VIDEO_ENCODED_FILE_DEFAULT_PATH);
-#endif
-
-#ifdef USE_ELINUX
-    if (cfg->use_asynchronous_mode){
-        /* Create a pipe to send video slices to the recording thread */
-        pipe((int*)(&cfg->com_pipe));
-
-        /* Create the above-mentioned thread */
-        vp_os_thread_create(thread_video_stage_encoded_recorder,
-                            (void*)cfg,
-                            &cfg->thread_handle,
-                            cfg->thread_priority,
-	  						  "VideoFlashRec",
-                            (void*)stack_video_stage_encoded_recorder,
-                            sizeof(stack_video_stage_encoded_recorder),
-                            &cfg->thread );
-    }
-#endif
-
-    return C_OK;
-}
-
-int frameIsLastFrame (uint8_t *data)
-{
-    int retVal = 0;
-    if (PAVE_CHECK (data))
-    {
-        parrot_video_encapsulation_t *PaVE = (parrot_video_encapsulation_t *)data;
-        if (PAVE_CTRL_LAST_FRAME_IN_STREAM & PaVE->control)
-        {
-            retVal = 1;
-        }
-    }
-    return retVal;
-}
-
-#ifdef USE_ELINUX
-int ardrone_video_usb_key_get_free_space(void);
-#endif
-
-C_RESULT video_stage_encoded_recorder_transform(video_stage_encoded_recorder_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-#ifdef USE_ELINUX
-    /* Handling the asynchronous mode */
-    video_stage_encoded_recorder_msg_t asyn_msg;
-#endif
-
-    vp_os_mutex_lock (&out->lock);
-
-#ifndef USE_ELINUX
-    vp_os_mutex_lock (&cfg->videoMutex);
-#endif
-
-    // Copy in to out
-    if (NULL != in && NULL != out)
-    {
-        out->numBuffers   = in->numBuffers;
-        out->indexBuffer  = in->indexBuffer;
-        out->lineSize     = in->lineSize;
-        out->size         = in->size;
-        out->status       = in->status;
-        out->buffers      = in->buffers;
-        out->status       = VP_API_STATUS_PROCESSING;
-    }
-
-#ifdef USE_ELINUX
-    /* The drone pipeline may call the recorder with an empty input */
-
-    if (NULL==in || NULL==in->buffers || in->size<1) { vp_os_mutex_unlock (&out->lock); return C_OK; }
-#endif
-
-    uint8_t *slice = in->buffers[in->indexBuffer];
-    parrot_video_encapsulation_t *PaVE = (parrot_video_encapsulation_t *)slice;
-
-    if (cfg->lastStreamId == PaVE->stream_id)
-    {
-        VER_PRINT ("Got a video slice from an old stream, skipping\n");
-#ifndef USE_ELINUX
-        vp_os_mutex_unlock (&cfg->videoMutex);
-#endif
-        vp_os_mutex_unlock (&out->lock);
-        return C_OK;
-    }
-
-    if(cfg->startRec == VIDEO_ENCODED_START_RECORD)
-    {
-        ardrone_video_error_t vError = ARDRONE_VIDEO_NO_ERROR;
-
-#ifdef USE_ELINUX
-        /* Determine the amount of video data we can store */
-      cfg->quota = ardrone_video_usb_key_get_free_space() /* kbytes */ - ( 100 * 1024 ); /* Keep 100 megabytes free */
-        if(cfg->quota<0) { cfg->quota = 0; }
-        printf("Flash video recording : available space : %dkb (time est. %d\'%d\") - (keeping a 100Mb margin on %s)\n",
-               cfg->quota,(cfg->quota>>10)/60,(cfg->quota>>10)%60,
-               VIDEO_ENCODED_FILE_DEFAULT_PATH);
-
-        if (cfg->use_asynchronous_mode)
-        {
-            cfg->startRec=VIDEO_ENCODED_RECORDING;
-        }
-        else{
-#endif
-
-            cfg->video = ardrone_video_start (cfg->video_filename, cfg->fps, VIDEO_FORMAT, &vError);
-            if (ARDRONE_VIDEO_SUCCEEDED (vError) && NULL != cfg->video)
-            {
-                cfg->startRec=VIDEO_ENCODED_RECORDING;
-                cfg->currentStreamId = PaVE->stream_id;
-            }
-            else
-            {
-                VER_PRINT ("An error occured when creating video");
-                cfg->startRec=VIDEO_ENCODED_STOPPED;
-            }
-
-#ifdef USE_ELINUX
-        }
-#endif
-
-    }
-
-    if((cfg->startRec == VIDEO_ENCODED_RECORDING) ||
-       (cfg->startRec == VIDEO_ENCODED_WAITING_STREAM_END))
-    {
-
-#if USE_LINUX
-        /* Quick and dirty debugging inside AR.Drone Navigation */
-        if (PAVE_CHECK(slice))
-        {
-            parrot_video_encapsulation_t * pave = (parrot_video_encapsulation_t*) slice;
-            printf("Recording frame %dx%d num %d   \n\033[1A",pave->display_width,pave->display_height,pave->frame_number);
-            if (pave->control & PAVE_CTRL_LAST_FRAME_IN_STREAM) {
-                printf("\n\nEnd of stream PaVE received !\n\n");
-            }
-        }
-#endif
-
-#ifdef USE_ELINUX
-        if (( ( in->size /*bytes*/ ) >>10 ) > cfg->quota )
-        {
-            printf("Flash video recording : out of disk space.\n");
-            cfg->startRec=VIDEO_ENCODED_STOPPED;
-        }
-        else
-        {
-            cfg->quota /*kbytes*/ -=  ( ( in->size /*bytes*/ ) >>10 );
-    	  navdata_set_hdvideo_usbkey_freespace(cfg->quota);
-
-            if (cfg->use_asynchronous_mode)
-            {
-                /* Create a RAM buffer to hold a temporary copy of the slice to write */
-                asyn_msg.sliceSize = in->size;
-                asyn_msg.slice     = vp_os_malloc(asyn_msg.sliceSize);
-                if (asyn_msg.slice){
-                    vp_os_memcpy(asyn_msg.slice,slice,asyn_msg.sliceSize);
-                    /* Send the copy to thread which does the actual writing */
-                    //printf("----> Writing %p %d bytes\n",asyn_msg.slice,asyn_msg.sliceSize);
-                    write(cfg->com_pipe[1],&asyn_msg,sizeof(asyn_msg));
-                }
-    		  else
-    		  {
-    			  printf("Flash video recording : out of RAM - dropping frame.\n");
-    		  }
-            }
-            else
-            {
-#endif
-
-
-
-                ardrone_video_error_t vError = ardrone_video_addSlice (cfg->video, slice);
-                if (ARDRONE_VIDEO_FAILED (vError))
-                {
-                    char errBuf [50] = {0};
-                    ardrone_video_error_string (vError, errBuf, 50);
-                    VER_PRINT ("Error while recording frame : %s", errBuf);
-                    ardrone_video_cleanup (&(cfg->video));
-                    cfg->startRec = VIDEO_ENCODED_STOPPED;
-                }
-
-                if (1 == frameIsLastFrame (slice))
-                {
-                    VER_PRINT ("Received last frame for current stream, finishing video\n");
-                    video_stage_encoded_recorder_finish (cfg);
-                }
-
-#ifdef USE_ELINUX
-            }
-        }
-#endif
-    }
-#ifndef USE_ELINUX
-    vp_os_mutex_unlock (&cfg->videoMutex);
-#endif
-    vp_os_mutex_unlock (&out->lock);
-    return C_OK;
-}
-
-C_RESULT video_stage_encoded_recorder_close(video_stage_encoded_recorder_config_t *cfg)
-{
-    if (NULL != cfg->video)
-    {
-        ardrone_video_finish (&(cfg->video));
-    }
-    return C_OK;
-}

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_encoded_recorder.h

@@ -1,83 +0,0 @@
-#ifndef _VIDEO_STAGE_ENCODED_RECORDER_H_
-#define _VIDEO_STAGE_ENCODED_RECORDER_H_
-
-#include <stdio.h>
-#include <VP_Api/vp_api.h>
-#include <utils/ardrone_video_encapsuler.h>
-
-#define VIDEO_ENCODED_FILENAME_LENGTH 1024
-
-#ifndef _VIDEO_ENCODED_RECORD_STATE_ENUM_
-#define _VIDEO_ENCODED_RECORD_STATE_ENUM_
-typedef enum
-{
-  VIDEO_ENCODED_STOPPED = 0,
-  VIDEO_ENCODED_RECORDING,
-  VIDEO_ENCODED_START_RECORD,
-  VIDEO_ENCODED_WAITING_STREAM_END,
-} video_encoded_record_state;
-#endif
-
-typedef void (*video_stage_encoded_recorder_callback)(const char *mediaPath);
-
-typedef struct _video_stage_encoded_recorder_config_t
-{
-  char video_filename[VIDEO_ENCODED_FILENAME_LENGTH];
-  ardrone_video_t *video;
-  video_encoded_record_state startRec;
-  uint32_t fps;
-  vp_os_mutex_t videoMutex; 
-  int stage;
-  uint16_t lastStreamId;
-  uint16_t currentStreamId;
-  video_stage_encoded_recorder_callback finish_callback;
-#ifdef USE_ELINUX
-  /* Asynchronous recording thread */
-  bool_t use_asynchronous_mode;
-  THREAD_HANDLE thread_handle;
-  int thread_priority;
-  void * thread;
-  int32_t quota;   /*! Quantity of video data we can store */
-  int com_pipe[2];
-#endif
-} video_stage_encoded_recorder_config_t;
-
-/*
- * Message passed in the communication pipe in asynchronous mode.
- */
-#ifdef USE_ELINUX
-	typedef struct{
-		void * slice;
-		int sliceSize;
-	}video_stage_encoded_recorder_msg_t;
-#endif
-
-
-C_RESULT video_stage_encoded_recorder_handle (video_stage_encoded_recorder_config_t *cfg, PIPELINE_MSG msg_id, void *callback, void *param);
-C_RESULT video_stage_encoded_recorder_open(video_stage_encoded_recorder_config_t *cfg);
-C_RESULT video_stage_encoded_recorder_transform(video_stage_encoded_recorder_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT video_stage_encoded_recorder_close(video_stage_encoded_recorder_config_t *cfg);
-
-video_encoded_record_state
-video_stage_encoded_complete_recorder_state (void);
-void video_stage_encoded_recorder_enable (bool_t enable, uint32_t timestamp);
-void video_stage_encoded_recorder_force_stop (void);
-void video_stage_encoded_recorder_com_timeout (void);
-bool_t video_stage_encoded_recorder_state (void);
-
-C_RESULT video_stage_encoded_recorder_finish (video_stage_encoded_recorder_config_t *cfg);
-int frameIsLastFrame (uint8_t *data);
-
-extern const vp_api_stage_funcs_t video_encoded_recorder_funcs;
-
-extern video_stage_encoded_recorder_config_t video_stage_encoded_recorder_config;
-
-
-#ifdef USE_ELINUX
-#define VIDEO_STAGE_ENCODED_RECORDER_STACK_SIZE (8192)
-PROTO_THREAD_ROUTINE_STACK(video_stage_encoded_recorder,param,VIDEO_STAGE_ENCODED_RECORDER_STACK_SIZE);
-#endif
-
-
-
-#endif // _VIDEO_STAGE_ENCODED_RECORDER_H_

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_ffmpeg_decoder.c

@@ -1,515 +0,0 @@
-/*
- *  video_stage_ffmpeg_decoder.c
- *  ARDroneLib
- *
- *  Created by f.dhaeyer on 09/12/10.
- *  Copyright 2010 Parrot SA. All rights reserved.
- *
- */
-
-#ifdef FFMPEG_SUPPORT
-
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Os/vp_os_print.h>
-#include <ardrone_tool/Video/video_stage_ffmpeg_decoder.h>
-#include <Maths/time.h>
-#include <math.h>
-#include <sys/time.h>
-#include <video_encapsulation.h>
-
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-
-/* CONFIGURATION */
-
-/**
- * Enable (1) to display FPS
- */
-#define DISPLAY_FPS (0)
-/**
- * Display FPS after N frames
- * - default : 20
- */
-#define DISPLAY_FPS_FRAMES (60)
-
-/**
- * Enable (1) to display missed/dropped frames
- */
-#define DISPLAY_DROPPED_FRAMES (0)
-
-/**
- * Enable (1) to allow decoding of non-PaVE MPEG4/h264 frames
- * Disable (0) for compatibility with VLIB/P264 (won't try to decode if no PaVE is found)
- */
-#define FAKE_PaVE (1)
-/**
- * Default codec for non-PaVE frames :
- * (0) - h264
- * (1) - MPEG4
- */
-#define FAKE_PaVE_CODEC_ID (0)
-
-/**
- * Wait for I-Frame mode :
- * - (0) : display each received frame
- * - (1) : when a frame is lost, wait for next I-Frame
- */
-#define WAIT_FOR_I_FRAME (1)
-
-#define FFMPEG_DEBUG_ENABLE_ON_GLOBAL_DEBUG (0) ///< Auto enable debug while on debug mode
-#define FFMPEG_DEBUG_ENABLE (0)                 ///< Force enable of debug for this file
-
-/* END OF CONFIGURATION */
-
-#if DISPLAY_FPS
-#define NUM_SAMPLES DISPLAY_FPS_FRAMES
-#endif
-
-#if FAKE_PaVE_CODEC_ID == 0
-#define FAKE_PaVE_CODEC CODEC_MPEG4_AVC
-#elif FAKE_PaVE_CODEC_ID == 1
-#define FAKE_PaVE_CODEC CODEC_MPEG4_VISUAL
-#else
-#warning FAKE_PaVE_CODEC_ID : unknown value -> falling back to MPEG4
-#define FAKE_PaVE_CODEC CODEC_MPEG4_VISUAL
-#endif
-
-#if FFMPEG_DEBUG_ENABLE || (FFMPEG_DEBUG_ENABLE_ON_GLOBAL_DEBUG && defined (DEBUG))
-#define __FFMPEG_DEBUG_ENABLED (1)
-#define FFMPEG_LOG_LEVEL (AV_LOG_WARNING)
-#else
-#define __FFMPEG_DEBUG_ENABLED (0)
-#define FFMPEG_LOG_LEVEL (AV_LOG_QUIET)
-#endif
-
-#if __FFMPEG_DEBUG_ENABLED
-#define FFMPEG_DEBUG(...)                                             \
-  do                                                                  \
-    {                                                                 \
-      printf ("FFMPEG-DEBUG (%s @ %d) : ", __FUNCTION__, __LINE__);   \
-      printf (__VA_ARGS__);                                           \
-      printf ("\n");                                                  \
-    } while (0)
-#else
-#define FFMPEG_DEBUG(...)
-#endif
-
-#if DISPLAY_DROPPED_FRAMES
-int missed_frames = 0;
-int dropped_frames = 0;
-int previous_ok_frame = 0;
-#endif
-
-const vp_api_stage_funcs_t ffmpeg_decoding_funcs = {
-  (vp_api_stage_handle_msg_t) NULL,
-  (vp_api_stage_open_t) ffmpeg_stage_decoding_open,
-  (vp_api_stage_transform_t) ffmpeg_stage_decoding_transform,
-  (vp_api_stage_close_t) ffmpeg_stage_decoding_close
-};
-
-C_RESULT ffmpeg_stage_decoding_open(ffmpeg_stage_decoding_config_t *cfg)
-{
-  cfg->num_picture_decoded = 0;
-  
-  /* must be called before using avcodec lib */
-  avcodec_init();
-  
-  /* register all the codecs */
-  avcodec_register_all();
-  
-  av_log_set_level(FFMPEG_LOG_LEVEL);
-
-  cfg->pCodecMP4 = avcodec_find_decoder (CODEC_ID_MPEG4);
-  cfg->pCodecH264 = avcodec_find_decoder (CODEC_ID_H264);
-  if(NULL == cfg->pCodecMP4 || NULL == cfg->pCodecH264) 
-    {
-      fprintf(stderr, "Unsupported codec!\n");
-      return C_FAIL; // Codec not found
-    }
-
-  cfg->pCodecCtxMP4 = avcodec_alloc_context();
-  cfg->pCodecCtxH264 = avcodec_alloc_context();
-  if (NULL == cfg->pCodecCtxMP4 || NULL == cfg->pCodecCtxH264)
-    {
-      fprintf(stderr, "Impossible to allocate codec context\n");
-      return C_FAIL; // Allocation failure
-    }
-
-  cfg->pCodecCtxMP4->pix_fmt = PIX_FMT_YUV420P;
-  cfg->pCodecCtxMP4->skip_frame = AVDISCARD_DEFAULT;
-  cfg->pCodecCtxMP4->error_concealment = FF_EC_GUESS_MVS | FF_EC_DEBLOCK;
-  cfg->pCodecCtxMP4->error_recognition = FF_ER_CAREFUL;
-  cfg->pCodecCtxMP4->skip_loop_filter = AVDISCARD_DEFAULT;
-  cfg->pCodecCtxMP4->workaround_bugs = FF_BUG_AUTODETECT;
-  cfg->pCodecCtxMP4->codec_type = AVMEDIA_TYPE_VIDEO;
-  cfg->pCodecCtxMP4->codec_id = CODEC_ID_MPEG4;
-  cfg->pCodecCtxMP4->skip_idct = AVDISCARD_DEFAULT;
-  
-  cfg->pCodecCtxH264->pix_fmt = PIX_FMT_YUV420P;
-  cfg->pCodecCtxH264->skip_frame = AVDISCARD_DEFAULT;
-  cfg->pCodecCtxH264->error_concealment = FF_EC_GUESS_MVS | FF_EC_DEBLOCK;
-  cfg->pCodecCtxH264->error_recognition = FF_ER_CAREFUL;
-  cfg->pCodecCtxH264->skip_loop_filter = AVDISCARD_DEFAULT;
-  cfg->pCodecCtxH264->workaround_bugs = FF_BUG_AUTODETECT;
-  cfg->pCodecCtxH264->codec_type = AVMEDIA_TYPE_VIDEO;
-  cfg->pCodecCtxH264->codec_id = CODEC_ID_H264;
-  cfg->pCodecCtxH264->skip_idct = AVDISCARD_DEFAULT;
-  		
-  // Open codec
-  if(avcodec_open(cfg->pCodecCtxMP4, cfg->pCodecMP4) < 0)
-    {
-      fprintf (stderr, "Error opening MP4 codec\n");
-      return C_FAIL;
-    }
-  if(avcodec_open(cfg->pCodecCtxH264, cfg->pCodecH264) < 0)
-    {
-      fprintf (stderr, "Error opening h264 codec\n");
-      return C_FAIL;
-    }
-
-  cfg->pFrameOutput = avcodec_alloc_frame();
-  cfg->pFrame = avcodec_alloc_frame();
-  if (NULL == cfg->pFrameOutput || NULL == cfg->pFrame)
-    {
-      fprintf (stderr, "Unable to alloc frames");
-      return C_FAIL;
-    }
-
-  cfg->bufferArray = (uint8_t **)vp_os_malloc (sizeof (uint8_t *));
-  if (NULL == cfg->bufferArray)
-    {
-      fprintf (stderr, "Unable to alloc output buffer");
-      return C_FAIL;
-    }
-  cfg->buffer = NULL;
-  cfg->img_convert_ctx = NULL;
-  
-  return C_OK;
-}
-
-void empty_av_log_callback (void *ptr, int level, const char *fmt, va_list vl)
-{
-  // Empty callback so we can hide all ffmpeg av_log outputs
-}
-
-#if __FFMPEG_DEBUG_ENABLED
-void ffmpeg_decoder_dumpPave (parrot_video_encapsulation_t *PaVE)
-{
-  printf ("Signature : \"%c%c%c%c\" [0x%02x][0x%02x][0x%02x][0x%02x]\n", PaVE->signature[0], PaVE->signature[1],
-          PaVE->signature[2], PaVE->signature[3], PaVE->signature[0], PaVE->signature[1], PaVE->signature[2], PaVE->signature[3]);
-  printf ("Codec : %s\n", (PaVE->video_codec == CODEC_MPEG4_VISUAL) ? "MP4" : ((PaVE->video_codec == CODEC_MPEG4_AVC) ? "H264" : "Unknown"));
-  printf ("StreamID : %d \n", PaVE->stream_id);
-  printf ("Encoded dims : %d x %d\n", PaVE->encoded_stream_width, PaVE->encoded_stream_height);
-  printf ("Display dims : %d x %d\n", PaVE->display_width, PaVE->display_height);
-  printf ("Header size  : %d (PaVE size : %u)\n", PaVE->header_size, sizeof (parrot_video_encapsulation_t));
-  printf ("Payload size : %d\n", PaVE->payload_size);
-  printf ("Frame Type / Number : %s : %d : slide %d/%d\n",
-     (PaVE->frame_type == FRAME_TYPE_P_FRAME) ? "P-Frame" : ((PaVE->frame_type == FRAME_TYPE_I_FRAME) ? "I-Frame" : "IDR-Frame"), 
-     PaVE->frame_number,
-     PaVE->slice_index+1,
-     PaVE->total_slices);
-}
-#endif
-
-static inline bool_t check_and_copy_PaVE (parrot_video_encapsulation_t *PaVE, vp_api_io_data_t *data, parrot_video_encapsulation_t *prevPaVE, bool_t *dimChanged)
-{
-  parrot_video_encapsulation_t *localPaVE = (parrot_video_encapsulation_t *)data->buffers[data->indexBuffer];
-  if (localPaVE->signature[0] == 'P' &&
-      localPaVE->signature[1] == 'a' &&
-      localPaVE->signature[2] == 'V' &&
-      localPaVE->signature[3] == 'E')
-    {
-      //FFMPEG_DEBUG("Found a PaVE");
-      vp_os_memcpy (prevPaVE, PaVE, sizeof (parrot_video_encapsulation_t)); // Make a backup of previous PaVE so we can check if things have changed
-      
-      vp_os_memcpy (PaVE, localPaVE, sizeof (parrot_video_encapsulation_t)); // Copy PaVE to our local one
-      
-
-
-#if __FFMPEG_DEBUG_ENABLED
-      printf ("------------------------------------\n");
-      printf ("PREV : ");
-      ffmpeg_decoder_dumpPave (prevPaVE);
-      printf ("CURR : ");
-      ffmpeg_decoder_dumpPave (PaVE);
-      printf ("------------------------------------\n");
-      
-      
-      
-#endif
-      if (prevPaVE->encoded_stream_width  != PaVE->encoded_stream_width   ||
-          prevPaVE->encoded_stream_height != PaVE->encoded_stream_height  ||
-          prevPaVE->display_width         != PaVE->display_width          ||
-          prevPaVE->display_width         != PaVE->display_width          ||
-          prevPaVE->stream_id             != PaVE->stream_id                )
-        {
-          *dimChanged = TRUE;
-        }
-      else
-        {
-          *dimChanged = FALSE;
-        }
-      data->size = localPaVE->payload_size;
-      memmove(data->buffers[data->indexBuffer], &(data->buffers[data->indexBuffer])[localPaVE->header_size], data->size);
-#if DISPLAY_DROPPED_FRAMES
-      missed_frames += PaVE->frame_number - prevPaVE->frame_number - 1;
-#endif
-      return TRUE;
-    }
-  else
-    {    
-      FFMPEG_DEBUG("No PaVE, signature was [%c][%c][%c][%c]",
-                   localPaVE->signature[0],
-                   localPaVE->signature[1],
-                   localPaVE->signature[2],
-                   localPaVE->signature[3]);
-#if FAKE_PaVE
-      PaVE->encoded_stream_width = 640;
-      PaVE->encoded_stream_height = 368;
-      PaVE->display_width = 640;
-      PaVE->display_height = 360;
-      PaVE->video_codec = FAKE_PaVE_CODEC;
-      PaVE->frame_type = FRAME_TYPE_I_FRAME;
-      vp_os_memcpy (prevPaVE, PaVE, sizeof (parrot_video_encapsulation_t));
-      *dimChanged = FALSE;
-      return TRUE;
-#else
-      return FALSE;
-#endif
-    }
-}
-
-C_RESULT ffmpeg_stage_decoding_transform(ffmpeg_stage_decoding_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-  static const int        sws_flags = SWS_FAST_BILINEAR;
-  AVCodecContext  *pCodecCtxMP4 = cfg->pCodecCtxMP4;
-  AVCodecContext  *pCodecCtxH264 = cfg->pCodecCtxH264;
-  AVFrame         *pFrame = cfg->pFrame;
-  AVFrame	  *pFrameOutput = cfg->pFrameOutput;
-  static AVPacket packet;
-  int	frameFinished = 0;
-    
-  bool_t frameDimChanged = FALSE;
-  static parrot_video_encapsulation_t PaVE, prevPaVE;
-    
-#if WAIT_FOR_I_FRAME
-  static bool_t waitForIFrame = TRUE;
-#endif
-    
-#ifdef NUM_SAMPLES
-  static struct timeval start_time, start_time2;
-  static int numsamples = 0;
-#endif	
-    
-  if (0 == in->size) // No frame
-    {
-      FFMPEG_DEBUG ("in->size is zero, don't do anything");
-      return C_OK;
-    }
-  
-  vp_os_mutex_lock( &out->lock );
-  
-  if(out->status == VP_API_STATUS_INIT) // Init only code
-    {		
-      out->numBuffers   = 1;
-      out->buffers      = cfg->bufferArray;
-      out->buffers[0]   = NULL;
-      out->indexBuffer  = 0;
-      out->lineSize     = 0;
-        
-      av_init_packet(&packet);
- 
-        
-#if __FFMPEG_DEBUG_ENABLED
-#else
-      av_log_set_callback (&empty_av_log_callback);
-#endif
-    }
- 
-  if (! check_and_copy_PaVE(&PaVE, in, &prevPaVE, &frameDimChanged))
-    {
-      FFMPEG_DEBUG("Received a frame without PaVE informations");
-      vp_os_mutex_unlock( &out->lock );
-      return C_FAIL;
-    }
-    
-  if ((out->status == VP_API_STATUS_INIT) || frameDimChanged) // Init and "new frame dimensions" code
-    {
-      pCodecCtxMP4->width = PaVE.encoded_stream_width;
-      pCodecCtxMP4->height = PaVE.encoded_stream_height;
-      pCodecCtxH264->width = PaVE.encoded_stream_width;
-      pCodecCtxH264->height = PaVE.encoded_stream_height;
-		
-      cfg->src_picture.width = PaVE.display_width;
-      cfg->src_picture.height = PaVE.display_height;
-      cfg->src_picture.format = pCodecCtxH264->pix_fmt;
-      cfg->dst_picture.width = PaVE.display_width;
-      cfg->dst_picture.height = PaVE.display_height;
-		
-      out->size = avpicture_get_size(cfg->dst_picture.format, cfg->dst_picture.width, cfg->dst_picture.height);
-      cfg->buffer = (uint8_t *)av_realloc(cfg->buffer, out->size * sizeof(uint8_t));
-      out->buffers[0] = cfg->buffer;
-		
-      avpicture_fill((AVPicture *)pFrameOutput, (uint8_t*)out->buffers[out->indexBuffer], cfg->dst_picture.format,
-                     cfg->dst_picture.width, cfg->dst_picture.height);
-		
-        
-      cfg->img_convert_ctx = sws_getCachedContext(cfg->img_convert_ctx, PaVE.display_width, PaVE.display_height,
-                                             pCodecCtxH264->pix_fmt, PaVE.display_width, PaVE.display_height,
-                                             cfg->dst_picture.format, sws_flags, NULL, NULL, NULL);
-
-      if (out->status == VP_API_STATUS_INIT)
-        {
-#ifdef NUM_SAMPLES
-          gettimeofday(&start_time, NULL);
-#endif		
-          out->status = VP_API_STATUS_PROCESSING;
-          FFMPEG_DEBUG("End of init");
-        }
-    }
-
-#if	WAIT_FOR_I_FRAME
-  if ( (PaVE.frame_number != (prevPaVE.frame_number +1)) 
-        && 
-        ( PaVE.frame_number != prevPaVE.frame_number || PaVE.slice_index != (prevPaVE.slice_index+1) )   )
-    {
-      FFMPEG_DEBUG ("Missed a frame :\nPrevious was %d of type %d\nNew is %d of type %d", prevPaVE.frame_number, prevPaVE.frame_type,
-                    PaVE.frame_number, PaVE.frame_type);
-      waitForIFrame = TRUE;  
-    }
-    
-#if DISPLAY_DROPPED_FRAMES
-  if (waitForIFrame && PaVE.frame_type == FRAME_TYPE_P_FRAME)
-    {
-      FFMPEG_DEBUG ("Dropped a P frame\n");
-      dropped_frames++;
-    }
-#endif
-    
-  if(out->status == VP_API_STATUS_PROCESSING && (!waitForIFrame || (PaVE.frame_type == FRAME_TYPE_IDR_FRAME) || (PaVE.frame_type == FRAME_TYPE_I_FRAME))) // Processing code
-    {
-      waitForIFrame = FALSE;
-#else
-      if(out->status == VP_API_STATUS_PROCESSING) // Processing code  
-        {
-#endif
-          /* The 'check_and_copy_PaVE' function already removed the PaVE from the 'in' buffer */
-          packet.data = ((unsigned char*)in->buffers[in->indexBuffer]);
-          packet.size = in->size;
-          FFMPEG_DEBUG("Size : %d", packet.size);
-        
-#ifdef NUM_SAMPLES
-          struct timeval end_time;
-          static float32_t frame_decoded_time = 0;
-
-          gettimeofday(&start_time2, NULL);
-#endif
-          // Decode video frame
-          if (PaVE.video_codec == CODEC_MPEG4_VISUAL)
-            {
-              avcodec_decode_video2 (pCodecCtxMP4, pFrame, &frameFinished, &packet);
-            }
-          else if (PaVE.video_codec == CODEC_MPEG4_AVC)
-            {
-              avcodec_decode_video2 (pCodecCtxH264, pFrame, &frameFinished, &packet);
-            }
-        
-          // Did we get a video frame?
-          if(frameFinished)
-            {
-              pFrameOutput->data[0] = (uint8_t*)out->buffers[out->indexBuffer];
-              sws_scale(cfg->img_convert_ctx, (const uint8_t *const*)pFrame->data, 
-                        pFrame->linesize, 0, 
-                        PaVE.display_height,
-                        pFrameOutput->data, pFrameOutput->linesize);
-				
-              cfg->num_picture_decoded++;
-
-#ifdef NUM_SAMPLES
-              gettimeofday(&end_time, NULL);
-              frame_decoded_time += ((end_time.tv_sec * 1000.0 + end_time.tv_usec / 1000.0) - (start_time2.tv_sec * 1000.0 + start_time2.tv_usec / 1000.0));
-
-              if(numsamples++ > NUM_SAMPLES)
-                {
-                  float32_t value = ((end_time.tv_sec * 1000.0 + end_time.tv_usec / 1000.0) - (start_time.tv_sec * 1000.0 + start_time.tv_usec / 1000.0));
-					
-                  printf("Frames decoded in average %f fps, received and decoded in average %f fps\n", (1000.0 / (frame_decoded_time / (float32_t)NUM_SAMPLES)), 1000.0 / (value / (float32_t)NUM_SAMPLES));
-                  gettimeofday(&start_time, NULL);
-                  frame_decoded_time = 0;
-                  numsamples = 0;
-                }					
-#endif
-            }
-          else
-            {
-              printf ("Decoding failed for a %s\n", (PaVE.frame_type == FRAME_TYPE_P_FRAME) ? "P Frame" : "I Frame");
-            }
-        
-#if DISPLAY_DROPPED_FRAMES
-          if ((PaVE.frame_type == FRAME_TYPE_IDR_FRAME) || (PaVE.frame_type == FRAME_TYPE_I_FRAME))
-            {
-              if (previous_ok_frame != 0)
-                {
-                  static int globalMiss = 0, globalDrop = 0, globalFrames = 0;
-                  globalMiss += missed_frames;
-                  globalDrop += dropped_frames;
-                  int globalMissDrop = globalMiss + globalDrop;
-                  int total_miss = missed_frames + dropped_frames;
-                  int total_frames = PaVE.frame_number - previous_ok_frame;
-                  globalFrames += total_frames;
-                  float missPercent = (100.0 * missed_frames) / (1.0 * total_frames);
-                  float dropPercent = (100.0 * dropped_frames) / (1.0 * total_frames);
-                  float totalPercent = (100.0 * total_miss) / (1.0 * total_frames);
-                  float missMean = (100.0 * globalMiss) / (1.0 * globalFrames);
-                  float dropMean = (100.0 * globalDrop) / (1.0 * globalFrames);
-                  float totalMean = (100.0 * globalMissDrop) / (1.0 * globalFrames);
-                  printf ("LAST %4d F => M %4d (%4.1f%%) / D %4d (%4.1f%%) / T %4d (%4.1f%%) <=> ALL %4d F => M %4d (%4.1f%%) / D %4d (%4.1f%%) / T %4d (%4.1f%%)\n", total_frames, missed_frames, missPercent, dropped_frames, dropPercent, total_miss, totalPercent, globalFrames, globalMiss, missMean, globalDrop, dropMean, globalMissDrop, totalMean);
-                }
-              missed_frames = 0; dropped_frames = 0;
-              previous_ok_frame = PaVE.frame_number;
-            }
-#endif
-        
-	}
-	
-      vp_os_mutex_unlock( &out->lock );
-	
-      return C_OK;
-    }
-
-#define FFMPEG_CHECK_AND_FREE(pointer, freeFunc)        \
-  do                                                    \
-    {                                                   \
-      if (NULL != pointer)                              \
-        {                                               \
-          freeFunc (pointer);                           \
-          pointer = NULL;                               \
-        }                                               \
-    } while (0)
-
-#define FFMPEG_CHECK_AND_FREE_WITH_CALL(pointer, func, freeFunc)        \
-  do                                                                    \
-    {                                                                   \
-      if (NULL != pointer)                                              \
-        {                                                               \
-          func (pointer);                                               \
-          freeFunc (pointer);                                           \
-          pointer = NULL;                                               \
-        }                                                               \
-    } while (0)
-  
-
-  C_RESULT ffmpeg_stage_decoding_close(ffmpeg_stage_decoding_config_t *cfg)
-  {
-    FFMPEG_CHECK_AND_FREE_WITH_CALL(cfg->pCodecCtxMP4, avcodec_close, av_free);
-    FFMPEG_CHECK_AND_FREE_WITH_CALL(cfg->pCodecCtxH264, avcodec_close, av_free);
-    FFMPEG_CHECK_AND_FREE(cfg->pFrame, av_free);
-    FFMPEG_CHECK_AND_FREE(cfg->pFrameOutput, av_free);
-    FFMPEG_CHECK_AND_FREE(cfg->bufferArray, vp_os_free);
-    FFMPEG_CHECK_AND_FREE(cfg->buffer, av_free);
-    FFMPEG_CHECK_AND_FREE(cfg->img_convert_ctx, sws_freeContext);
-    return C_OK;
-  }
-
-#endif

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_ffmpeg_decoder.h

@@ -1,52 +0,0 @@
-/*
- *  video_stage_ffmpeg_decoder.h
- *  ARDroneLib
- *
- *  Created by f.dhaeyer on 09/12/10.
- *  Copyright 2010 Parrot SA. All rights reserved.
- *
- */
-#ifdef FFMPEG_SUPPORT
-
-#ifndef _VIDEO_STAGE_FFMPEG_DECODER_H_
-#define _VIDEO_STAGE_FFMPEG_DECODER_H_
-#include <VP_Api/vp_api.h>
-#include <libavcodec/avcodec.h>
-#include <libavformat/avformat.h>
-#include <libswscale/swscale.h>
-
-typedef struct _ffmpeg_picture_
-{
-  enum PixelFormat format;
-  uint32_t width;
-  uint32_t height;
-} ffmpeg_picture;
-
-typedef struct _ffmpeg_stage_decoding_config_t
-{
-  ffmpeg_picture dst_picture;
-  ffmpeg_picture src_picture;
-
-  uint32_t num_picture_decoded;
-
-  /* Alloced data pointers are saved into cfg to avoid memory leaks */  
-  AVCodec *pCodecMP4;
-  AVCodec *pCodecH264;
-  AVCodecContext *pCodecCtxMP4;
-  AVCodecContext *pCodecCtxH264;
-  AVFrame *pFrame;
-  AVFrame *pFrameOutput;
-  uint8_t **bufferArray; // out->buffers
-  uint8_t *buffer; // out->buffers[0]
-  struct SwsContext *img_convert_ctx;
-} ffmpeg_stage_decoding_config_t;
-
-C_RESULT ffmpeg_stage_decoding_open(ffmpeg_stage_decoding_config_t *cfg);
-C_RESULT ffmpeg_stage_decoding_transform(ffmpeg_stage_decoding_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT ffmpeg_stage_decoding_close(ffmpeg_stage_decoding_config_t *cfg);
-
-extern const vp_api_stage_funcs_t ffmpeg_decoding_funcs;
-
-#endif // _VIDEO_STAGE_FFMPEG_DECODER_H_
-
-#endif // FFMPEG_SUPPORT

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_ffmpeg_recorder.c

@@ -1,609 +0,0 @@
-/* CODE ADAPATED FOR ARDRONE NAVIGATION FROM :
- *
- * Libavformat API example: Output a media file in any supported
- * libavformat format. The default codecs are used.
- *
- * Copyright (c) 2003 Fabrice Bellard
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
- * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-#if defined (FFMPEG_SUPPORT) && defined (RECORD_FFMPEG_VIDEO)
-#include <generated_custom.h>
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#include <math.h>
-
-#include <libavformat/avformat.h>
-#include <libswscale/swscale.h>
-#include <libavfilter/avfilter.h>
-#include <libavutil/avutil.h>
-#include <libavcodec/avcodec.h>
-#include <libavcodec/opt.h>
-
-
-#include <unistd.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-
-#include <time.h>
-#ifndef _WIN32
-	#include <sys/time.h>
-#else
-  #include <sys/timeb.h>
- #include <Winsock2.h>  // for timeval structure
-
- int gettimeofday (struct timeval *tp, void *tz)
- {
-	 struct _timeb timebuffer;
-	 _ftime (&timebuffer);
-	 tp->tv_sec = (long)timebuffer.time;
-	 tp->tv_usec = (long)timebuffer.millitm * 1000;
-	 return 0;
- }
-#endif
-
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Api/vp_api_picture.h>
-
-#include <config.h>
-#include <ardrone_tool/Video/video_stage_ffmpeg_recorder.h>
-
-#define VIDEO_FILE_DEFAULT_PATH root_dir
-extern char root_dir[];
-
-/*- LibAVFormat variables */
-const char *filename;
-AVOutputFormat *fmt;
-AVFormatContext *oc;
-AVStream *video_st;
-double video_pts;
-int i;
-
-#define STREAM_BIT_RATE_KBITS 1600
-static const int sws_flags = SWS_BICUBIC;
-
-AVFrame *picture_to_encode=NULL, *tmp_picture=NULL;
-uint8_t *video_outbuf=NULL;
-int frame_count=0, video_outbuf_size=0;
-
-
-const vp_api_stage_funcs_t video_ffmpeg_recorder_funcs = {
-  (vp_api_stage_handle_msg_t) video_stage_ffmpeg_recorder_handle,
-  (vp_api_stage_open_t) video_stage_ffmpeg_recorder_open,
-  (vp_api_stage_transform_t) video_stage_ffmpeg_recorder_transform,
-  (vp_api_stage_close_t) video_stage_ffmpeg_recorder_close
-};
-
-struct
-{
-	int width,height;
-	char* buffer;
-	int frame_number;
-}previous_frame;
-
-
-/******************************************************************************************************************************************/
-
-void create_video_file(const char*filename,int width,int height,int frame_rate, enum PixelFormat pix_fmt)
-{
-	/* auto detect the output format from the name. default is mpeg. */
-	fmt = av_guess_format(NULL, filename, NULL);
-
-	if (!fmt) {
-        fprintf(stderr, "Could not deduce output format from file extension: using MPEG.\n");
-        fmt = av_guess_format("mpeg", NULL, NULL);
-    }
-    if (!fmt) {
-        fprintf(stderr, "Could not find suitable output format\n");
-        exit(1);
-    }
-
-    /* allocate the output media context */
-    oc = avformat_alloc_context();
-    if (!oc) {
-        fprintf(stderr, "Memory error\n");
-        exit(1);
-    }
-    oc->oformat = fmt;
-    snprintf(oc->filename, sizeof(oc->filename), "%s", filename);
-
-    /* add the audio and video streams using the default format codecs
-       and initialize the codecs */
-    video_st = NULL;
-
-    if (fmt->video_codec != CODEC_ID_NONE) {
-        video_st = add_video_stream(oc, fmt->video_codec,width,height,frame_rate, pix_fmt);
-    }
-
-    /* set the output parameters (must be done even if no
-       parameters). */
-    if (av_set_parameters(oc, NULL) < 0) {
-        fprintf(stderr, "Invalid output format parameters\n");
-        exit(1);
-    }
-
-    av_dump_format(oc, 0, filename, 1);
-
-    /* now that all the parameters are set, we can open the audio and
-       video codecs and allocate the necessary encode buffers */
-    if (video_st)
-        open_video(oc, video_st);
-
-    /* open the output file, if needed */
-    if (!(fmt->flags & AVFMT_NOFILE)) {
-        if (avio_open(&oc->pb, filename, URL_WRONLY) < 0) {
-            fprintf(stderr, "Could not open '%s'\n", filename);
-            exit(1);
-        }
-    }
-
-    /* write the stream header, if any */
-    av_write_header(oc);
- }
-
-
-void close_video_file()
-{
-/* write the trailer, if any.  the trailer must be written
-     * before you close the CodecContexts open when you wrote the
-     * header; otherwise write_trailer may try to use memory that
-     * was freed on av_codec_close() */
-    av_write_trailer(oc);
-
-    /* close each codec */
-    if (video_st)
-        close_video(oc, video_st);
-
-    /* free the streams */
-    for(i = 0; i < oc->nb_streams; i++) {
-        av_freep(&oc->streams[i]->codec);
-        av_freep(&oc->streams[i]);
-    }
-
-    if (!(fmt->flags & AVFMT_NOFILE)) {
-        /* close the output file */
-        avio_close(oc->pb);
-    }
-
-    /* free the stream */
-    av_free(oc);
-}
-
-/**************************************************************/
-/* video output */
-/* add a video output stream */
-AVStream *add_video_stream(AVFormatContext *oc, enum CodecID codec_id, int width, int height,int frame_rate, enum PixelFormat pix_fmt)
-{
-    AVCodecContext *c;
-    AVStream *st;
-
-    st = av_new_stream(oc, 0);
-    if (!st) {
-        fprintf(stderr, "Could not alloc stream\n");
-        exit(1);
-    }
-
-    c = st->codec;
-    c->codec_id = codec_id;
-    c->codec_type = AVMEDIA_TYPE_VIDEO;
-
-    /* put sample parameters */
-    c->bit_rate = (STREAM_BIT_RATE_KBITS)*1000;
-    /* resolution must be a multiple of two */
-    c->width = width;
-    c->height = height;
-    /* time base: this is the fundamental unit of time (in seconds) in terms
-       of which frame timestamps are represented. for fixed-fps content,
-       timebase should be 1/framerate and timestamp increments should be
-       identically 1. */
-    c->time_base.den = frame_rate;
-    c->time_base.num = 1;
-    c->gop_size = 12; /* emit one intra frame every twelve frames at most */
-    c->pix_fmt = pix_fmt;
-    if (c->codec_id == CODEC_ID_MPEG2VIDEO) {
-        /* just for testing, we also add B frames */
-        c->max_b_frames = 2;
-    }
-    if (c->codec_id == CODEC_ID_MPEG1VIDEO){
-        /* Needed to avoid using macroblocks in which some coeffs overflow.
-           This does not happen with normal video, it just happens here as
-           the motion of the chroma plane does not match the luma plane. */
-        c->mb_decision=2;
-    }
-    // some formats want stream headers to be separate
-    if(oc->oformat->flags & AVFMT_GLOBALHEADER)
-        c->flags |= CODEC_FLAG_GLOBAL_HEADER;
-
-    return st;
-}
-
- AVFrame *alloc_picture(enum PixelFormat pix_fmt, int width, int height)
-{
-    AVFrame *picture;
-    uint8_t *picture_buf;
-    int size;
-
-    picture = avcodec_alloc_frame();
-    if (!picture)
-        return NULL;
-    size = avpicture_get_size(pix_fmt, width, height);
-    picture_buf = av_malloc(size);
-    if (!picture_buf) {
-        av_free(picture);
-        return NULL;
-    }
-    avpicture_fill((AVPicture *)picture, picture_buf,
-                   pix_fmt, width, height);
-    return picture;
-}
-
- void open_video(AVFormatContext *oc, AVStream *st)
-{
-    AVCodec *codec;
-    AVCodecContext *c;
-
-    c = st->codec;
-
-    /* find the video encoder */
-    codec = avcodec_find_encoder(c->codec_id);
-    if (!codec) {
-        fprintf(stderr, "codec not found\n");
-        exit(1);
-    }
-
-    /* open the codec */
-    if (avcodec_open(c, codec) < 0) {
-        fprintf(stderr, "could not open codec\n");
-        exit(1);
-    }
-
-    video_outbuf = NULL;
-    if (!(oc->oformat->flags & AVFMT_RAWPICTURE)) {
-        /* allocate output buffer */
-        /* XXX: API change will be done */
-        /* buffers passed into lav* can be allocated any way you prefer,
-           as long as they're aligned enough for the architecture, and
-           they're freed appropriately (such as using av_free for buffers
-           allocated with av_malloc) */
-        video_outbuf_size = 200000;
-        video_outbuf = av_malloc(video_outbuf_size);
-    }
-
-    /* allocate the encoded raw picture */
-    picture_to_encode =  avcodec_alloc_frame();
-
-    /* if the output format is not YUV420P, then a temporary YUV420P
-       picture is needed too. It is then converted to the required
-       output format */
-    tmp_picture = NULL;
-    if (c->pix_fmt != PIX_FMT_YUV420P) {
-        tmp_picture = alloc_picture(PIX_FMT_YUV420P, c->width, c->height);
-        if (!tmp_picture) {
-            fprintf(stderr, "Could not allocate temporary picture\n");
-            exit(1);
-        }
-    }
-}
-
-
- void write_video_frame(AVFormatContext *oc, AVStream *st)
-{
-    int out_size, ret;
-    AVCodecContext *c;
-    static struct SwsContext *img_convert_ctx;
-
-    //printf("Here0 \n");
-
-    c = st->codec;
-
-        if (c->pix_fmt != PIX_FMT_YUV420P) {
-            /* as we only generate a YUV420P picture, we must convert it
-               to the codec pixel format if needed */
-            if (img_convert_ctx == NULL) {
-
-		#if (LIBSWSCALE_VERSION_INT<AV_VERSION_INT(0,12,0))
-            	img_convert_ctx = sws_getContext(c->width, c->height,
-                                                 PIX_FMT_YUV420P,
-                                                 c->width, c->height,
-                                                 c->pix_fmt,
-                                                 sws_flags, NULL, NULL, NULL);
-		#else
-            	img_convert_ctx = sws_alloc_context();
-
-                if (img_convert_ctx == NULL) {
-                    fprintf(stderr, "Cannot initialize the conversion context\n");
-                    exit(1);
-                }
-
-                /* see http://permalink.gmane.org/gmane.comp.video.ffmpeg.devel/118362 */
-                /* see http://ffmpeg-users.933282.n4.nabble.com/Documentation-for-sws-init-context-td2956723.html */
-
-                av_set_int(img_convert_ctx, "srcw", c->width);
-                av_set_int(img_convert_ctx, "srch", c->height);
-
-                av_set_int(img_convert_ctx, "dstw", c->width);
-                av_set_int(img_convert_ctx, "dsth", c->height);
-
-                av_set_int(img_convert_ctx, "src_format", PIX_FMT_YUV420P);
-                av_set_int(img_convert_ctx, "dst_format", c->pix_fmt);
-
-                av_set_int(img_convert_ctx, "param0", 0);
-                av_set_int(img_convert_ctx, "param1", 0);
-
-                av_set_int(img_convert_ctx, "flags", sws_flags);
-
-                sws_init_context(img_convert_ctx,NULL,NULL);
-		#endif
-
-            }
-            sws_scale(img_convert_ctx, (const uint8_t* const *)tmp_picture->data,
-            		  tmp_picture->linesize,
-                      0, c->height, picture_to_encode->data, picture_to_encode->linesize);
-        } else {
-
-        }
-
-
-    if (oc->oformat->flags & AVFMT_RAWPICTURE) {
-        /* raw video case. The API will change slightly in the near
-           futur for that */
-        AVPacket pkt;
-        av_init_packet(&pkt);
-
-        pkt.flags |= AV_PKT_FLAG_KEY;
-        pkt.stream_index= st->index;
-        pkt.data= (uint8_t *)picture_to_encode;
-        pkt.size= sizeof(AVPicture);
-
-        ret = av_interleaved_write_frame(oc, &pkt);
-    } else {
-        /* encode the image */
-        out_size = avcodec_encode_video(c, video_outbuf, video_outbuf_size, picture_to_encode);
-        /* if zero size, it means the image was buffered */
-        if (out_size > 0) {
-            AVPacket pkt;
-            av_init_packet(&pkt);
-
-            if (c->coded_frame->pts != AV_NOPTS_VALUE)
-                pkt.pts= av_rescale_q(c->coded_frame->pts, c->time_base, st->time_base);
-            if(c->coded_frame->key_frame)
-                pkt.flags |= AV_PKT_FLAG_KEY;
-            pkt.stream_index= st->index;
-            pkt.data= video_outbuf;
-            pkt.size= out_size;
-
-            /* write the compressed frame in the media file */
-            ret = av_interleaved_write_frame(oc, &pkt);
-        } else {
-            ret = 0;
-        }
-    }
-    if (ret != 0) {
-        fprintf(stderr, "Error while writing video frame\n");
-        exit(1);
-    }
-    frame_count++;
-}
-
- void close_video(AVFormatContext *oc, AVStream *st)
-{
-    avcodec_close(st->codec);
-    av_free(picture_to_encode);
-    picture_to_encode = NULL;
-    if (tmp_picture) {
-        av_free(tmp_picture->data[0]);
-        av_free(tmp_picture);
-        tmp_picture=NULL;
-    }
-    av_free(video_outbuf);
-}
-
-
-/******************************************************************************************************************************************/
-C_RESULT
-video_stage_ffmpeg_recorder_handle (video_stage_ffmpeg_recorder_config_t * cfg, PIPELINE_MSG msg_id, void *callback, void *param)
-{
-	printf("FFMPEG recorder message handler.\n");
-	switch (msg_id)
-	{
-		case PIPELINE_MSG_START:
-			if(cfg->startRec==VIDEO_RECORD_STOP)
-				cfg->startRec=VIDEO_RECORD_HOLD;
-			else
-				cfg->startRec=VIDEO_RECORD_STOP;
-			break;
-
-		default:
-			break;
-	}
-	return (VP_SUCCESS);
-}
-
-
-/******************************************************************************************************************************************/
-C_RESULT video_stage_ffmpeg_recorder_open(video_stage_ffmpeg_recorder_config_t *cfg)
-{
-	//return C_OK;
-
-	previous_frame.width = previous_frame.frame_number = previous_frame.height = 0;
-	previous_frame.buffer = NULL;
-	cfg->flag_video_file_open = 0;
-	cfg->startRec=VIDEO_RECORD_STOP;
-
-	/* initialize libavcodec, and register all codecs and formats */
-	av_register_all();
-
-	return C_OK;
-}
-
-
-/******************************************************************************************************************************************/
-C_RESULT video_stage_ffmpeg_recorder_transform(video_stage_ffmpeg_recorder_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-	time_t temptime;
-	struct timeval tv;
-	struct tm *atm;
-	int i;
-	int frame_size;
-	vp_os_mutex_lock( &out->lock );
-	vp_api_picture_t* picture = (vp_api_picture_t *) in->buffers;
-
-	gettimeofday(&tv,NULL);
-
-	temptime = (time_t)tv.tv_sec;
-	atm = localtime(&temptime);  //atm = localtime(&tv.tv_sec);
-
-	if( out->status == VP_API_STATUS_INIT )
-	{
-		out->numBuffers   = 1;
-		out->indexBuffer  = 0;
-		out->lineSize     = NULL;
-		out->status = VP_API_STATUS_PROCESSING;
-	}
-
-	if( in->status == VP_API_STATUS_ENDED )
-		out->status = in->status;
-
-	out->size     = in->size;
-	out->buffers  = in->buffers;
-
-	if( out->status == VP_API_STATUS_PROCESSING)
-	{
-		if(cfg->startRec==VIDEO_RECORD_HOLD)
-		{
-			/* Create a new video file */
-			if(strlen(cfg->video_filename) == 0)
-				sprintf(cfg->video_filename, "%s/video_%04d%02d%02d_%02d%02d%02d_w%i_h%i.mp4",
-					VIDEO_FILE_DEFAULT_PATH,
-					atm->tm_year+1900, atm->tm_mon+1, atm->tm_mday,
-					atm->tm_hour, atm->tm_min, atm->tm_sec,
-					picture->width,
-					picture->height);
-
-			create_video_file(cfg->video_filename, picture->width, picture->height, picture->framerate, picture->format);
-			cfg->flag_video_file_open = 1;
-			strcpy(cfg->video_filename, "");
-
-			if(cfg->numframes != NULL)
-				previous_frame.frame_number = *cfg->numframes;
-
-			cfg->startRec=VIDEO_RECORD_START;
-		}
-
-		if( out->size > 0 && cfg->startRec == VIDEO_RECORD_START)
-		{
-			frame_size = ( previous_frame.width * previous_frame.height ) * 3 / 2;
-
-			/* Send the previous frame to FFMPEG */
-			if (previous_frame.buffer != NULL)
-			{
-				/* Compute the number of frames to store to achieve 60 FPS
-				* This should be computed using the timestamp of the first frame
-				* to avoid error accumulation.
-				*/
-				int nb_frames_to_write = 1;
-
-				if(cfg->numframes != NULL)
-				{
-					nb_frames_to_write = *cfg->numframes - previous_frame.frame_number;
-					previous_frame.frame_number = *cfg->numframes;
-				}
-
-				if (picture_to_encode!=NULL)
-				{
-					picture_to_encode->data[0] = picture_to_encode->base[0] = picture->y_buf;
-					picture_to_encode->data[1] = picture_to_encode->base[1] = picture->cb_buf;
-					picture_to_encode->data[2] = picture_to_encode->base[2] = picture->cr_buf;
-
-					picture_to_encode->linesize[0] = picture->width;
-					picture_to_encode->linesize[1] = picture->width/2;
-					picture_to_encode->linesize[2] = picture->width/2;
-				}
-
-				printf("Storing %i frames\n",nb_frames_to_write);
-				for (i = 0 ; i < nb_frames_to_write ; i++)
-				{
-					write_video_frame(oc, video_st);
-				}
-			}
-
-			/* Create a buffer to hold the current frame */
-			if (previous_frame.buffer!=NULL && (previous_frame.width!=picture->width || previous_frame.height!=picture->height))
-			{
-				vp_os_free(previous_frame.buffer);
-				previous_frame.buffer=NULL;
-			}
-
-			if (previous_frame.buffer==NULL)
-			{
-				previous_frame.width = picture->width;
-				previous_frame.height = picture->height;
-				frame_size = ( previous_frame.width * previous_frame.height )*3/2;
-				printf("Allocating previous frame.\n");
-				previous_frame.buffer=vp_os_malloc( frame_size );
-			}
-
-			/* Copy the current frame in a buffer so it can be encoded at next stage call */
-			if (previous_frame.buffer!=NULL)
-			{
-				char * dest = previous_frame.buffer;
-				int size = picture->width*picture->height;
-				vp_os_memcpy(dest,picture->y_buf,size);
-
-				dest+=size;
-				size /= 4;
-				vp_os_memcpy(dest,picture->cb_buf,size);
-
-				dest+=size;
-				vp_os_memcpy(dest,picture->cr_buf,size);
-			}
-		}
-		else
-		{
-			if(cfg->flag_video_file_open && cfg->startRec == VIDEO_RECORD_STOP)
-			{
-				close_video_file();
-				cfg->flag_video_file_open=0;
-			}
-		}
-	}
-
-	vp_os_mutex_unlock( &out->lock );
-
-	return C_OK;
-}
-
-/******************************************************************************************************************************************/
-
-
-C_RESULT video_stage_ffmpeg_recorder_close(video_stage_ffmpeg_recorder_config_t *cfg)
-{
-	if(cfg->flag_video_file_open)
-	{
-		close_video_file();
-		cfg->flag_video_file_open=0;
-	}
-
-	return C_OK;
-}
-
-#endif

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_ffmpeg_recorder.h

@@ -1,57 +0,0 @@
-#ifdef FFMPEG_SUPPORT
-
-#ifndef _VIDEO_STAGE_FFMPEG_RECORDER_H_
-#define _VIDEO_STAGE_FFMPEG_RECORDER_H_
-
-/* From FFMPEG example */
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#include <math.h>
-
-#include <libavformat/avformat.h>
-#include <libswscale/swscale.h>
-#include <libavfilter/avfilter.h>
-#include <libavutil/avutil.h>
-#include <libavcodec/avcodec.h>
-
-#include <stdio.h>
-#include <VP_Api/vp_api.h>
-
-#include <ardrone_tool/Video/video_stage_recorder.h>
-
-
-#ifndef _VIDEO_RECORD_STATE_ENUM_
-#define _VIDEO_RECORD_STATE_ENUM_
-#endif
-
-typedef struct _video_stage_ffmpeg_recorder_config_t
-{
-	// Public
-	char video_filename[1024];
-	uint32_t *numframes;
-	int stage;
-
-	// Private
-	video_record_state startRec;
-	int flag_video_file_open;
-} video_stage_ffmpeg_recorder_config_t;
-
-C_RESULT video_stage_ffmpeg_recorder_handle (video_stage_ffmpeg_recorder_config_t * cfg, PIPELINE_MSG msg_id, void *callback, void *param);
-C_RESULT video_stage_ffmpeg_recorder_open(video_stage_ffmpeg_recorder_config_t *cfg);
-C_RESULT video_stage_ffmpeg_recorder_transform(video_stage_ffmpeg_recorder_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT video_stage_ffmpeg_recorder_close(video_stage_ffmpeg_recorder_config_t *cfg);
-
-void create_video_file(const char*filename,int width,int height,int frame_rate, enum PixelFormat pix_fmt);
-void close_video_file();
-AVStream *add_video_stream(AVFormatContext *oc, enum CodecID codec_id,int width, int height, int frame_rate, enum PixelFormat pix_fmt);
-AVFrame *alloc_picture(enum PixelFormat pix_fmt, int width, int height);
-void open_video(AVFormatContext *oc, AVStream *st);
-void write_video_frame(AVFormatContext *oc, AVStream *st);
-void close_video(AVFormatContext *oc, AVStream *st);
-
-extern const vp_api_stage_funcs_t video_ffmpeg_recorder_funcs;
-
-#endif // _VIDEO_STAGE_RECORDER_H_
-
-#endif // FFMPEG_SUPPORT

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_ittiam_decoder.c

@@ -1,830 +0,0 @@
-//
-//  ittiam_stage_decode.c
-//  ARDroneEngine
-//
-//  Created by Mykonos on 08/07/11.
-//  Copyright 2011 PARROT SA. All rights reserved.
-//
-
-#ifdef ITTIAM_SUPPORT
-
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Os/vp_os_print.h>
-#include <ardrone_tool/Video/video_stage_ittiam_decoder.h>
-#include <Maths/time.h>
-#include <math.h>
-#include <sys/time.h>
-#include <video_encapsulation.h>
-#include <unistd.h>
-#include <fcntl.h>
-
-#define H264_DEC
-#define MPEG4_DEC
-
-static parrot_video_encapsulation_t current_PaVE, previous_PaVE;
-static uint32_t old_num_frame = 0;
-
-#ifdef H264_DEC
-/* H264 CONFIGURATION */
-
-#define H264_MAX_LEVEL_SUPPORTED 			42
-#define H264_MAX_FRAME_WIDTH				1920
-#define H264_MAX_FRAME_HEIGHT				1088
-#define H264_MAX_REF_FRAMES                 2
-#define H264_MAX_REORDER_FRAMES				0
-
-#define H264_MIN_FRAME_WIDTH				64
-#define H264_MIN_FRAME_HEIGHT				64
-
-
-
-iv_obj_t * H264_DECHDL = NULL;
-it_mem_t * h264_ps_it_mem;
-iv_mem_rec_t * h264_mem_rec;
-ivd_video_decode_ip_t h264_video_decode_ip;
-ivd_video_decode_op_t h264_video_decode_op;
-
-ivd_get_display_frame_ip_t h264_get_display_frame_ip;
-ivd_get_display_frame_op_t h264_get_display_frame_op;
-
-#endif
-
-#ifdef MPEG4_DEC
-/* MPEG4 CONFIGURATION */
-
-iv_obj_t * MPEG4_DECHDL = NULL;
-it_mem_t * mpeg4_ps_it_mem;
-iv_mem_rec_t * mpeg4_mem_rec;
-ivd_video_decode_ip_t mpeg4_video_decode_ip;
-ivd_video_decode_op_t mpeg4_video_decode_op;
-
-ivd_get_display_frame_ip_t mpeg4_get_display_frame_ip;
-ivd_get_display_frame_op_t mpeg4_get_display_frame_op;
-#endif
-
-
-/**
- * Enable (1) to display FPS
- */
-#define DISPLAY_FPS (0)
-/**
- * Display FPS after N frames
- * - default : 20
- */
-#define DISPLAY_FPS_FRAMES (20)
-
-/**
- * Enable (1) to display missed/dropped frames
- */
-#define DISPLAY_DROPPED_FRAMES (0)
-
-/**
- * Enable (1) to allow decoding of non-PaVE MPEG4/h264 frames
- * Disable (0) for compatibility with VLIB/P264 (won't try to decode if no PaVE is found)
- */
-#define FAKE_PaVE (0)
-/**
- * Default codec for non-PaVE frames :
- * (0) - h264
- * (1) - MPEG4
- */
-#define FAKE_PaVE_CODEC_ID (0)
-
-/**
- * Wait for I-Frame mode :
- * - (0) : display each received frame
- * - (1) : when a frame is lost, wait for next I-Frame
- */
-#define WAIT_FOR_I_FRAME (1)
-
-/**
- * Use UDP/TCP connexion :
- * - (0) UDP : we get one frame per buffer
- * - (1) TCP : we get each frame in multiple buffers
- */
-//#define VIDEO_USES_TCP (0) // NOT FUNCTIONNAL !
-
-/* END OF CONFIGURATION */
-
-
-#if DISPLAY_FPS
-#define NUM_SAMPLES DISPLAY_FPS_FRAMES
-#endif
-
-#if FAKE_PaVE_CODEC_ID == 0
-#define FAKE_PaVE_CODEC CODEC_MPEG4_AVC
-#elif FAKE_PaVE_CODEC_ID == 1
-#define FAKE_PaVE_CODEC CODEC_MPEG4_VISUAL
-#else
-#warning FAKE_PaVE_CODEC_ID : unknown value -> falling back to MPEG4
-#define FAKE_PaVE_CODEC CODEC_MPEG4_VISUAL
-#endif
-
-
-#define ITTIAM_DEBUG_ENABLED (0)
-#if ITTIAM_DEBUG_ENABLED
-#define ITTIAM_DEBUG_PRINT(...)       \
-    do{                           \
-        printf ("ITTIAM-DEBUG (%s @ %d) : ", __FUNCTION__, __LINE__); \
-        printf (__VA_ARGS__);   \
-        printf ("\n");          \
-    } while (0)
-#else
-#define ITTIAM_DEBUG_PRINT(...)
-#endif
-
-
-
-#if DISPLAY_DROPPED_FRAMES
-int missed_frames = 0;
-int dropped_frames = 0;
-int previous_ok_frame = 0;
-#endif
-
-const vp_api_stage_funcs_t ittiam_decoding_funcs = {
-    (vp_api_stage_handle_msg_t) NULL,
-    (vp_api_stage_open_t) ittiam_stage_decoding_open,
-    (vp_api_stage_transform_t) ittiam_stage_decoding_transform,
-    (vp_api_stage_close_t) ittiam_stage_decoding_close
-};
-
-void ITTIAM_dumpPave(parrot_video_encapsulation_t *PaVE) {
-    printf("Codec : %s\n", (PaVE->video_codec == CODEC_MPEG4_VISUAL) ? "MP4" : ((PaVE->video_codec == CODEC_MPEG4_AVC) ? "H264" : "Unknown"));
-    printf("Header 1 : %d\n",PaVE->header1_size);
-    printf("Header 2 : %d\n",PaVE->header2_size);
-    printf("Encoded dims : %d x %d\n", PaVE->encoded_stream_width, PaVE->encoded_stream_height);
-    printf("Display dims : %d x %d\n", PaVE->display_width, PaVE->display_height);
-    printf("Header size  : %d (PaVE size : %lu)\n", PaVE->header_size, sizeof (parrot_video_encapsulation_t));
-    printf("Payload size : %d\n", PaVE->payload_size);
-    printf("Frame Type / Number : %s : %d\n", (PaVE->frame_type == FRAME_TYPE_P_FRAME) ? "P-Frame" : ((PaVE->frame_type == FRAME_TYPE_I_FRAME) ? "I-Frame" : "IDR-Frame"), PaVE->frame_number);
-}
-
-static inline bool_t check_and_copy_PaVE(parrot_video_encapsulation_t *PaVE, vp_api_io_data_t *data, parrot_video_encapsulation_t *prevPaVE, bool_t *dimChanged) {
-    parrot_video_encapsulation_t *localPaVE = (parrot_video_encapsulation_t *) data->buffers[data->indexBuffer];
-    if (localPaVE->signature[0] == 'P' &&
-            localPaVE->signature[1] == 'a' &&
-            localPaVE->signature[2] == 'V' &&
-            localPaVE->signature[3] == 'E') {
-        //ITTIAM_DEBUG_PRINT("Found a PaVE");
-        vp_os_memcpy(prevPaVE, PaVE, sizeof (parrot_video_encapsulation_t)); // Make a backup of previous PaVE so we can check if things have changed
-        vp_os_memcpy(PaVE, localPaVE, sizeof (parrot_video_encapsulation_t)); // Copy PaVE to our local one
-
-#if ITTIAM_DEBUG_ENABLED
-        //printf ("PREV : ");
-        //ITTIAM_dumpPave (prevPaVE);
-        printf("CURR : ");
-        ITTIAM_dumpPave(PaVE);
-#endif
-
-        if (prevPaVE->encoded_stream_width != PaVE->encoded_stream_width ||
-                prevPaVE->encoded_stream_height != PaVE->encoded_stream_height ||
-                prevPaVE->display_width != PaVE->display_width ||
-                prevPaVE->display_width != PaVE->display_width) {
-            *dimChanged = TRUE;
-        } else {
-            *dimChanged = FALSE;
-        }
-
-        data->size = localPaVE->payload_size;
-        memmove(data->buffers[data->indexBuffer], &(data->buffers[data->indexBuffer])[localPaVE->header_size], data->size);
-
-#if DISPLAY_DROPPED_FRAMES
-        missed_frames += PaVE->frame_number - prevPaVE->frame_number - 1;
-#endif
-
-        return TRUE;
-    } else {
-        ITTIAM_DEBUG_PRINT("No PaVE, signature was [%c][%c][%c][%c]", localPaVE->signature[0]
-                , localPaVE->signature[1]
-                , localPaVE->signature[2]
-                , localPaVE->signature[3]);
-#if FAKE_PaVE
-        PaVE->encoded_stream_width = 1280; //640;
-        PaVE->encoded_stream_height = 720; //368;
-        PaVE->display_width = 1280; //640;
-        PaVE->display_height = 720; //360;
-        PaVE->video_codec = FAKE_PaVE_CODEC;
-        PaVE->frame_type = FRAME_TYPE_I_FRAME;
-        vp_os_memcpy(prevPaVE, PaVE, sizeof (parrot_video_encapsulation_t));
-        *dimChanged = FALSE;
-        return TRUE;
-#else
-        return FALSE;
-#endif
-    }
-}
-
-C_RESULT ittiam_stage_decoding_open(ittiam_stage_decoding_config_t *cfg) {
-    ITTIAM_DEBUG_PRINT("ITTIAM OPEN");
-    return C_OK;
-}
-
-C_RESULT ittiam_stage_decoding_transform(ittiam_stage_decoding_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out) {
-    bool_t is_frame_dim_changed = FALSE;
-    UWORD32 i;
-
-#if WAIT_FOR_I_FRAME
-    static bool_t waitForIFrame = TRUE;
-#endif
-
-#ifdef NUM_SAMPLES
-    static struct timeval start_time, start_time2;
-    static int numsamples = 0;
-#endif	
-
-    check_and_copy_PaVE(&current_PaVE, in, &previous_PaVE, &is_frame_dim_changed);
-
-    if (out->status == VP_API_STATUS_INIT && (current_PaVE.video_codec == CODEC_MPEG4_AVC || current_PaVE.video_codec == CODEC_MPEG4_VISUAL)) {
-        if (current_PaVE.video_codec == CODEC_MPEG4_AVC) {
-#ifdef H264_DEC
-            //////////////////// H264 INIT SECTION //////////////////////////////////////////////////////////////////////////////////////
-
-            /****************************************************************************/
-            /* H264 ====== Initialize the memory records
-             *****************************************************************************/
-            cfg->num_picture_decoded = old_num_frame;
-            ITTIAM_DEBUG_PRINT("ITTIAM INIT");
-
-            iv_num_mem_rec_ip_t h264_num_mem_rec_ip;
-            iv_num_mem_rec_op_t h264_num_mem_rec_op;
-
-            h264_num_mem_rec_ip.e_cmd = IV_CMD_GET_NUM_MEM_REC;
-            h264_num_mem_rec_ip.u4_size = sizeof (iv_num_mem_rec_ip_t);
-            h264_num_mem_rec_op.u4_size = sizeof (iv_num_mem_rec_op_t);
-
-            if (ih264d_cxa8_api_function(H264_DECHDL, (void*) (&h264_num_mem_rec_ip), (void*) (&h264_num_mem_rec_op)) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IV_CMD_GET_NUM_MEM_REC    [ OK ]");
-            } else {
-                ITTIAM_DEBUG_PRINT("IV_CMD_GET_NUM_MEM_REC    [ NOK ] with error %d", (UWORD32) h264_num_mem_rec_op.u4_error_code);
-            }
-
-            ITTIAM_DEBUG_PRINT("Number of records : %d", h264_num_mem_rec_op.u4_num_mem_rec);
-
-
-            /****************************************************************************/
-            /* H264 ====== Allocate the pointers
-             *****************************************************************************/
-            h264_ps_it_mem = (it_mem_t *) vp_os_malloc(sizeof (it_mem_t));
-            if (h264_ps_it_mem == NULL) {
-                ITTIAM_DEBUG_PRINT("\nAllocation failure\n");
-                return 0;
-            }
-            it_mem_init(h264_ps_it_mem);
-
-            h264_mem_rec = h264_ps_it_mem->alloc(h264_ps_it_mem, (h264_num_mem_rec_op.u4_num_mem_rec) * sizeof (iv_mem_rec_t));
-            if (h264_mem_rec == NULL) {
-                ITTIAM_DEBUG_PRINT("\nAllocation failure\n");
-                return 0;
-            }
-
-            /****************************************************************************/
-            /* H264 ====== Fill the memory with some information
-             *****************************************************************************/
-
-            printf("current_PaVE.encoded_stream_width = %d, current_PaVE.encoded_stream_height = %d\n", current_PaVE.encoded_stream_width, current_PaVE.encoded_stream_height);
-
-            ih264d_cxa8_fill_mem_rec_ip_t h264_fill_mem_rec_ip;
-            ih264d_cxa8_fill_mem_rec_op_t h264_fill_mem_rec_op;
-
-            h264_fill_mem_rec_ip.s_ivd_fill_mem_rec_ip_t.e_cmd = IV_CMD_FILL_NUM_MEM_REC;
-            h264_fill_mem_rec_ip.s_ivd_fill_mem_rec_ip_t.pv_mem_rec_location = h264_mem_rec;
-            h264_fill_mem_rec_ip.s_ivd_fill_mem_rec_ip_t.u4_max_frm_wd = current_PaVE.encoded_stream_width; //for example  640;
-            h264_fill_mem_rec_ip.s_ivd_fill_mem_rec_ip_t.u4_max_frm_ht = current_PaVE.encoded_stream_height; //for example 368;
-            h264_fill_mem_rec_ip.s_level = H264_MAX_LEVEL_SUPPORTED;
-            h264_fill_mem_rec_ip.s_num_ref_frames = H264_MAX_REF_FRAMES;
-            h264_fill_mem_rec_ip.s_num_reorder_frames = H264_MAX_REORDER_FRAMES;
-            h264_fill_mem_rec_ip.s_ivd_fill_mem_rec_ip_t.u4_size = sizeof (ih264d_cxa8_fill_mem_rec_ip_t);
-            h264_fill_mem_rec_op.s_ivd_fill_mem_rec_op_t.u4_size = sizeof (ih264d_cxa8_fill_mem_rec_op_t);
-
-            for (i = 0; i < h264_num_mem_rec_op.u4_num_mem_rec; i++)
-                h264_mem_rec[i].u4_size = sizeof (iv_mem_rec_t);
-
-            if (ih264d_cxa8_api_function(H264_DECHDL, (void*) (&h264_fill_mem_rec_ip), (void*) (&h264_fill_mem_rec_op)) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IV_CMD_FILL_NUM_MEM_REC    [ OK ]");
-            } else {
-                ITTIAM_DEBUG_PRINT("IV_CMD_FILL_NUM_MEM_REC    [ NOK ]");
-            }
-
-            //Do some allocation on the mem_rec pointer
-            iv_mem_rec_t * h264_temp_mem_rec = h264_mem_rec;
-            for (i = 0; i < h264_num_mem_rec_op.u4_num_mem_rec; i++) {
-                h264_temp_mem_rec->pv_base = h264_ps_it_mem->align_alloc(h264_ps_it_mem, h264_temp_mem_rec->u4_mem_size, h264_temp_mem_rec->u4_mem_alignment);
-                if (h264_temp_mem_rec->pv_base == NULL) {
-                    ITTIAM_DEBUG_PRINT("\nAllocation failure\n");
-                }
-                h264_temp_mem_rec++;
-            }
-
-
-            /****************************************************************************/
-            /* H264 ====== Init the DECHDL
-             *****************************************************************************/
-            ih264d_cxa8_init_ip_t h264_init_ip;
-            ih264d_cxa8_init_op_t h264_init_op;
-
-            void *h264_fxns = &ih264d_cxa8_api_function;
-
-            iv_mem_rec_t *h264_mem_tab = (iv_mem_rec_t*) h264_mem_rec;
-
-            h264_init_ip.s_ivd_init_ip_t.e_cmd = IV_CMD_INIT;
-            h264_init_ip.s_ivd_init_ip_t.pv_mem_rec_location = h264_mem_tab;
-            h264_init_ip.s_ivd_init_ip_t.u4_frm_max_wd = current_PaVE.encoded_stream_width; //for example 640;
-            h264_init_ip.s_ivd_init_ip_t.u4_frm_max_ht = current_PaVE.encoded_stream_height; //for example 368;
-            h264_init_ip.s_level = H264_MAX_LEVEL_SUPPORTED;
-            h264_init_ip.s_num_ref_frames = H264_MAX_REF_FRAMES;
-            h264_init_ip.s_num_reorder_frames = H264_MAX_REORDER_FRAMES;
-            h264_init_ip.s_ivd_init_ip_t.u4_num_mem_rec = h264_num_mem_rec_op.u4_num_mem_rec;
-            h264_init_ip.s_ivd_init_ip_t.e_output_format = IV_RGB_565; //IV_YUV_420P;
-            h264_init_ip.s_ivd_init_ip_t.u4_size = sizeof (ih264d_cxa8_init_ip_t);
-            h264_init_op.s_ivd_init_op_t.u4_size = sizeof (ih264d_cxa8_init_op_t);
-
-            H264_DECHDL = (iv_obj_t*) h264_mem_tab[0].pv_base;
-            H264_DECHDL->pv_fxns = h264_fxns;
-            H264_DECHDL->u4_size = sizeof (iv_obj_t);
-
-            if (ih264d_cxa8_api_function(H264_DECHDL, (void *) &h264_init_ip, (void *) &h264_init_op) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IV_CMD_INIT    [ OK ]");
-            } else {
-                ITTIAM_DEBUG_PRINT("IV_CMD_INIT    [ NOK ]");
-            }
-
-            /****************************************************************************/
-            /* H264 ====== Set decoder config
-             *****************************************************************************/
-            ivd_ctl_set_config_ip_t h264_ctl_set_config_ip;
-            ivd_ctl_set_config_op_t h264_ctl_set_config_op;
-            h264_ctl_set_config_ip.u4_disp_wd = current_PaVE.encoded_stream_width; //for example 640;
-            h264_ctl_set_config_ip.e_frm_skip_mode = IVD_NO_SKIP;
-            h264_ctl_set_config_ip.e_frm_out_mode = IVD_DISPLAY_FRAME_OUT;
-            h264_ctl_set_config_ip.e_vid_dec_mode = IVD_DECODE_FRAME;
-            h264_ctl_set_config_ip.e_cmd = IVD_CMD_VIDEO_CTL;
-            h264_ctl_set_config_ip.e_sub_cmd = IVD_CMD_CTL_SETPARAMS;
-            h264_ctl_set_config_ip.u4_size = sizeof (ivd_ctl_set_config_ip_t);
-            h264_ctl_set_config_op.u4_size = sizeof (ivd_ctl_set_config_op_t);
-
-            if (ih264d_cxa8_api_function(H264_DECHDL, (void *) &h264_ctl_set_config_ip, (void *) &h264_ctl_set_config_op) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_VIDEO_CTL => IVD_CMD_CTL_SETPARAMS   [ OK ]");
-            } else {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_VIDEO_CTL => IVD_CMD_CTL_SETPARAMS   [ NOK ]");
-            }
-
-            /****************************************************************************/
-            /* H264 ====== Decode the in buffer INIT PART
-             *****************************************************************************/
-            h264_video_decode_ip.e_cmd = IVD_CMD_VIDEO_DECODE;
-            h264_video_decode_ip.u4_size = sizeof (ivd_video_decode_ip_t);
-            h264_video_decode_op.u4_size = sizeof (ivd_video_decode_op_t);
-
-            /****************************************************************************/
-            /* H264 ====== Display the buffer INIT PART
-             *****************************************************************************/
-            h264_get_display_frame_ip.e_cmd = IVD_CMD_GET_DISPLAY_FRAME;
-            h264_get_display_frame_ip.u4_size = sizeof (ivd_get_display_frame_ip_t);
-            h264_get_display_frame_op.u4_size = sizeof (ivd_get_display_frame_op_t);
-
-            /****************************************************************************/
-            /* H264 ====== Get the buffers information to re-use them
-             *****************************************************************************/
-            ivd_ctl_getbufinfo_ip_t h264_ctl_dec_ip;
-            ivd_ctl_getbufinfo_op_t h264_ctl_dec_op;
-
-            h264_ctl_dec_ip.e_cmd = IVD_CMD_VIDEO_CTL;
-            h264_ctl_dec_ip.e_sub_cmd = IVD_CMD_CTL_GETBUFINFO;
-            h264_ctl_dec_ip.u4_size = sizeof (ivd_ctl_getbufinfo_ip_t);
-            h264_ctl_dec_op.u4_size = sizeof (ivd_ctl_getbufinfo_op_t);
-
-            if (ih264d_cxa8_api_function(H264_DECHDL, (void *) &h264_ctl_dec_ip, (void *) &h264_ctl_dec_op) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_VIDEO_CTL => IVD_CMD_CTL_GETBUFINFO   [ OK ]");
-            } else {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_VIDEO_CTL => IVD_CMD_CTL_GETBUFINFO   [ NOK ]");
-            }
-
-            //Allocate the output buffer used to store decoded frame (RGB 565)
-
-            h264_get_display_frame_ip.s_out_buffer.u4_min_out_buf_size[0] = h264_ctl_dec_op.u4_min_out_buf_size[0];
-            h264_get_display_frame_ip.s_out_buffer.pu1_bufs[0] = h264_ps_it_mem->alloc(h264_ps_it_mem, h264_ctl_dec_op.u4_min_out_buf_size[0]);
-            h264_get_display_frame_ip.s_out_buffer.u4_num_bufs = h264_ctl_dec_op.u4_min_num_out_bufs;
-
-            ITTIAM_DEBUG_PRINT("min buf size = %d", h264_get_display_frame_ip.s_out_buffer.u4_min_out_buf_size[0]);
-            ITTIAM_DEBUG_PRINT("num out buf  = %d", h264_get_display_frame_ip.s_out_buffer.u4_num_bufs);
-            ITTIAM_DEBUG_PRINT("@buffer      = %p", h264_get_display_frame_ip.s_out_buffer.pu1_bufs[0]);
-            
-            puts("******************************** ITTIAM H264 decoding init *********************************");
-#endif
-            ///////////////////////////// END H264 INIT SECTION /////////////////////////////////////////////////////////////////////////
-            //================================================================================================================================
-        } else if (current_PaVE.video_codec == CODEC_MPEG4_VISUAL) {
-            //////////////////// MPEG4 INIT SECTION //////////////////////////////////////////////////////////////////////////////////////
-#ifdef MPEG4_DEC
-            /****************************************************************************/
-            /* MPEG4 ====== Initialize the memory records
-             *****************************************************************************/
-            cfg->num_picture_decoded = old_num_frame;
-            ITTIAM_DEBUG_PRINT("ITTIAM INIT");
-
-            iv_num_mem_rec_ip_t mpeg4_num_mem_rec_ip;
-            iv_num_mem_rec_op_t mpeg4_num_mem_rec_op;
-
-            mpeg4_num_mem_rec_ip.e_cmd = IV_CMD_GET_NUM_MEM_REC;
-            mpeg4_num_mem_rec_ip.u4_size = sizeof (iv_num_mem_rec_ip_t);
-            mpeg4_num_mem_rec_op.u4_size = sizeof (iv_num_mem_rec_op_t);
-
-            if (imp4d_cxa8_api_function(MPEG4_DECHDL, (void*) (&mpeg4_num_mem_rec_ip), (void*) (&mpeg4_num_mem_rec_op)) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IV_CMD_GET_NUM_MEM_REC    [ OK ]");
-            } else {
-                ITTIAM_DEBUG_PRINT("IV_CMD_GET_NUM_MEM_REC    [ NOK ] with error %d", (UWORD32) mpeg4_num_mem_rec_op.u4_error_code);
-            }
-
-            ITTIAM_DEBUG_PRINT("Number of records : %d", mpeg4_num_mem_rec_op.u4_num_mem_rec);
-
-
-            /****************************************************************************/
-            /* MPEG4 ====== Allocate the pointers
-             *****************************************************************************/
-            mpeg4_ps_it_mem = (it_mem_t *) vp_os_malloc(sizeof (it_mem_t));
-            if (mpeg4_ps_it_mem == NULL) {
-                ITTIAM_DEBUG_PRINT("\nAllocation failure\n");
-                return 0;
-            }
-            it_mem_init(mpeg4_ps_it_mem);
-
-            mpeg4_mem_rec = mpeg4_ps_it_mem->alloc(mpeg4_ps_it_mem, (mpeg4_num_mem_rec_op.u4_num_mem_rec) * sizeof (iv_mem_rec_t));
-            if (mpeg4_mem_rec == NULL) {
-                ITTIAM_DEBUG_PRINT("\nAllocation failure\n");
-                return 0;
-            }
-
-            /****************************************************************************/
-            /* MPEG4 ====== Fill the memory with some information
-             *****************************************************************************/
-
-            printf("current_PaVE.encoded_stream_width = %d, current_PaVE.encoded_stream_height = %d\n", current_PaVE.encoded_stream_width, current_PaVE.encoded_stream_height);
-
-            imp4d_cxa8_fill_mem_rec_ip_t mpeg4_fill_mem_rec_ip;
-            imp4d_cxa8_fill_mem_rec_op_t mpeg4_fill_mem_rec_op;
-
-            mpeg4_fill_mem_rec_ip.s_ivd_fill_mem_rec_ip_t.e_cmd = IV_CMD_FILL_NUM_MEM_REC;
-            mpeg4_fill_mem_rec_ip.s_ivd_fill_mem_rec_ip_t.pv_mem_rec_location = mpeg4_mem_rec;
-            mpeg4_fill_mem_rec_ip.s_ivd_fill_mem_rec_ip_t.u4_max_frm_wd = current_PaVE.encoded_stream_width; //for example  640;
-            mpeg4_fill_mem_rec_ip.s_ivd_fill_mem_rec_ip_t.u4_max_frm_ht = current_PaVE.encoded_stream_height; //for example 360;
-            mpeg4_fill_mem_rec_ip.s_ivd_fill_mem_rec_ip_t.u4_size = sizeof (imp4d_cxa8_fill_mem_rec_ip_t);
-            mpeg4_fill_mem_rec_op.s_ivd_fill_mem_rec_op_t.u4_size = sizeof (imp4d_cxa8_fill_mem_rec_op_t);
-
-            for (i = 0; i < mpeg4_num_mem_rec_op.u4_num_mem_rec; i++)
-                mpeg4_mem_rec[i].u4_size = sizeof (iv_mem_rec_t);
-
-            if (imp4d_cxa8_api_function(MPEG4_DECHDL, (void*) (&mpeg4_fill_mem_rec_ip), (void*) (&mpeg4_fill_mem_rec_op)) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IV_CMD_FILL_NUM_MEM_REC    [ OK ]");
-            } else {
-                ITTIAM_DEBUG_PRINT("IV_CMD_FILL_NUM_MEM_REC    [ NOK ]");
-            }
-
-            //Do some allocation on the mem_rec pointer
-            iv_mem_rec_t * mpeg4_temp_mem_rec = mpeg4_mem_rec;
-            for (i = 0; i < mpeg4_num_mem_rec_op.u4_num_mem_rec; i++) {
-                mpeg4_temp_mem_rec->pv_base = mpeg4_ps_it_mem->align_alloc(mpeg4_ps_it_mem, mpeg4_temp_mem_rec->u4_mem_size, mpeg4_temp_mem_rec->u4_mem_alignment);
-                if (mpeg4_temp_mem_rec->pv_base == NULL) {
-                    ITTIAM_DEBUG_PRINT("\nAllocation failure\n");
-                }
-                mpeg4_temp_mem_rec++;
-            }
-
-            /****************************************************************************/
-            /* MPEG4 ====== Init the DECHDL
-             *****************************************************************************/
-            imp4d_cxa8_init_ip_t mpeg4_init_ip;
-            imp4d_cxa8_init_op_t mpeg4_init_op;
-
-            void *mpeg4_fxns = &imp4d_cxa8_api_function;
-
-            iv_mem_rec_t *mpeg4_mem_tab = (iv_mem_rec_t*) mpeg4_mem_rec;
-
-            mpeg4_init_ip.s_ivd_init_ip_t.e_cmd = IV_CMD_INIT;
-            mpeg4_init_ip.s_ivd_init_ip_t.pv_mem_rec_location = mpeg4_mem_tab;
-            mpeg4_init_ip.s_ivd_init_ip_t.u4_frm_max_wd = current_PaVE.encoded_stream_width; //for example 640;
-            mpeg4_init_ip.s_ivd_init_ip_t.u4_frm_max_ht = current_PaVE.encoded_stream_height; //for example 360;
-            mpeg4_init_ip.s_ivd_init_ip_t.u4_num_mem_rec = mpeg4_num_mem_rec_op.u4_num_mem_rec;
-            mpeg4_init_ip.s_ivd_init_ip_t.e_output_format = IV_RGB_565; //IV_YUV_420P;
-            mpeg4_init_ip.s_ivd_init_ip_t.u4_size = sizeof (imp4d_cxa8_init_ip_t);
-            mpeg4_init_op.s_ivd_init_op_t.u4_size = sizeof (imp4d_cxa8_init_op_t);
-
-            MPEG4_DECHDL = (iv_obj_t*) mpeg4_mem_tab[0].pv_base;
-            MPEG4_DECHDL->pv_fxns = mpeg4_fxns;
-            MPEG4_DECHDL->u4_size = sizeof (iv_obj_t);
-
-            if (imp4d_cxa8_api_function(MPEG4_DECHDL, (void *) &mpeg4_init_ip, (void *) &mpeg4_init_op) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IV_CMD_INIT    [ OK ]");
-            } else {
-                ITTIAM_DEBUG_PRINT("IV_CMD_INIT    [ NOK ]");
-            }
-
-            /****************************************************************************/
-            /* MPEG4 ====== Set decoder config
-             *****************************************************************************/
-            ivd_ctl_set_config_ip_t mpeg4_ctl_set_config_ip;
-            ivd_ctl_set_config_op_t mpeg4_ctl_set_config_op;
-            mpeg4_ctl_set_config_ip.u4_disp_wd = current_PaVE.encoded_stream_width; //for example 640;
-            mpeg4_ctl_set_config_ip.e_frm_skip_mode = IVD_NO_SKIP;
-            mpeg4_ctl_set_config_ip.e_frm_out_mode = IVD_DISPLAY_FRAME_OUT;
-            mpeg4_ctl_set_config_ip.e_vid_dec_mode = IVD_DECODE_FRAME;
-            mpeg4_ctl_set_config_ip.e_cmd = IVD_CMD_VIDEO_CTL;
-            mpeg4_ctl_set_config_ip.e_sub_cmd = IVD_CMD_CTL_SETPARAMS;
-            mpeg4_ctl_set_config_ip.u4_size = sizeof (ivd_ctl_set_config_ip_t);
-            mpeg4_ctl_set_config_op.u4_size = sizeof (ivd_ctl_set_config_op_t);
-
-            if (imp4d_cxa8_api_function(MPEG4_DECHDL, (void *) &mpeg4_ctl_set_config_ip, (void *) &mpeg4_ctl_set_config_op) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_VIDEO_CTL => IVD_CMD_CTL_SETPARAMS   [ OK ]");
-            } else {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_VIDEO_CTL => IVD_CMD_CTL_SETPARAMS   [ NOK ]");
-            }
-
-            /****************************************************************************/
-            /* MPEG4 ====== Decode the in buffer INIT PART
-             *****************************************************************************/
-            mpeg4_video_decode_ip.e_cmd = IVD_CMD_VIDEO_DECODE;
-            mpeg4_video_decode_ip.u4_size = sizeof (ivd_video_decode_ip_t);
-            mpeg4_video_decode_op.u4_size = sizeof (ivd_video_decode_op_t);
-
-            /****************************************************************************/
-            /* Display the buffer INIT PART
-             *****************************************************************************/
-            mpeg4_get_display_frame_ip.e_cmd = IVD_CMD_GET_DISPLAY_FRAME;
-            mpeg4_get_display_frame_ip.u4_size = sizeof (ivd_get_display_frame_ip_t);
-            mpeg4_get_display_frame_op.u4_size = sizeof (ivd_get_display_frame_op_t);
-
-            /****************************************************************************/
-            /* MPEG4 ====== Get the buffers information to re-use them
-             *****************************************************************************/
-            ivd_ctl_getbufinfo_ip_t mpeg4_ctl_dec_ip;
-            ivd_ctl_getbufinfo_op_t mpeg4_ctl_dec_op;
-
-            mpeg4_ctl_dec_ip.e_cmd = IVD_CMD_VIDEO_CTL;
-            mpeg4_ctl_dec_ip.e_sub_cmd = IVD_CMD_CTL_GETBUFINFO;
-            mpeg4_ctl_dec_ip.u4_size = sizeof (ivd_ctl_getbufinfo_ip_t);
-            mpeg4_ctl_dec_op.u4_size = sizeof (ivd_ctl_getbufinfo_op_t);
-
-            if (imp4d_cxa8_api_function(MPEG4_DECHDL, (void *) &mpeg4_ctl_dec_ip, (void *) &mpeg4_ctl_dec_op) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_VIDEO_CTL => IVD_CMD_CTL_GETBUFINFO   [ OK ]");
-            } else {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_VIDEO_CTL => IVD_CMD_CTL_GETBUFINFO   [ NOK ]");
-            }
-
-            //Allocate the output buffer used to store decoded frame (RGB 565)
-
-            mpeg4_get_display_frame_ip.s_out_buffer.u4_min_out_buf_size[0] = mpeg4_ctl_dec_op.u4_min_out_buf_size[0];
-            mpeg4_get_display_frame_ip.s_out_buffer.pu1_bufs[0] = mpeg4_ps_it_mem->alloc(mpeg4_ps_it_mem, mpeg4_ctl_dec_op.u4_min_out_buf_size[0]);
-            mpeg4_get_display_frame_ip.s_out_buffer.u4_num_bufs = mpeg4_ctl_dec_op.u4_min_num_out_bufs;
-
-            ITTIAM_DEBUG_PRINT("min buf size = %d", mpeg4_get_display_frame_ip.s_out_buffer.u4_min_out_buf_size[0]);
-            ITTIAM_DEBUG_PRINT("num out buf  = %d", mpeg4_get_display_frame_ip.s_out_buffer.u4_num_bufs);
-            ITTIAM_DEBUG_PRINT("@buffer      = %p", mpeg4_get_display_frame_ip.s_out_buffer.pu1_bufs[0]);
-            
-            puts("******************************** ITTIAM MPEG4 decoding init ********************************");
-
-#endif
-        }
-
-        ///////////////////////////// END MPEG4 INIT SECTION /////////////////////////////////////////////////////////////////////////
-
-        vp_os_mutex_lock(&out->lock);
-
-        out->numBuffers = 1;
-        if(out->buffers == NULL)
-            out->buffers = (uint8_t **) vp_os_malloc(sizeof (uint8_t*));
-        out->buffers[0] = NULL;
-        out->indexBuffer = 0;
-        out->lineSize = 0;
-
-        cfg->src_picture.width = current_PaVE.display_width; //for example 640;
-        cfg->src_picture.height = current_PaVE.display_height; //for example 360;
-        cfg->dst_picture.format = PIX_FMT_RGB565;
-        cfg->dst_picture.width = current_PaVE.display_width; //for example 640;
-        cfg->dst_picture.height = current_PaVE.display_height; //for example 360;
-
-
-        //Adress of output ittiam pointer
-        if (current_PaVE.video_codec == CODEC_MPEG4_AVC) {
-            out->buffers[0] = (uint8_t*) h264_get_display_frame_ip.s_out_buffer.pu1_bufs[0];
-            out->size = h264_get_display_frame_ip.s_out_buffer.u4_min_out_buf_size[0];
-        } else if (current_PaVE.video_codec == CODEC_MPEG4_VISUAL) {
-            out->buffers[0] = (uint8_t*) mpeg4_get_display_frame_ip.s_out_buffer.pu1_bufs[0];
-            out->size = mpeg4_get_display_frame_ip.s_out_buffer.u4_min_out_buf_size[0];
-        }
-        
-        out->status = VP_API_STATUS_PROCESSING;
-
-        vp_os_mutex_unlock(&out->lock);
-
-
-#ifdef NUM_SAMPLES
-        gettimeofday(&start_time, NULL);
-#endif
-
-
-    }
-
-
-    ///////////////////////////////////// PROCESS SECTION //////////////////////////////////////////////////////////////////
-#if	WAIT_FOR_I_FRAME
-    if (current_PaVE.frame_number != (previous_PaVE.frame_number + 1)) {
-        waitForIFrame = TRUE;
-    }
-#endif
-
-    if (waitForIFrame == FALSE || current_PaVE.frame_type == FRAME_TYPE_IDR_FRAME || current_PaVE.frame_type == FRAME_TYPE_I_FRAME) {
-
-#ifdef NUM_SAMPLES
-        struct timeval end_time;
-        static float32_t frame_decoded_time = 0;
-
-        gettimeofday(&start_time2, NULL);
-#endif
-
-        waitForIFrame = FALSE;
-
-        if (current_PaVE.video_codec == CODEC_MPEG4_AVC) {
-
-#ifdef H264_DEC
-            /****************************************************************************/
-            /* Decode the in buffer EXEC PART
-             *****************************************************************************/
-
-            h264_video_decode_ip.u4_ts = cfg->num_picture_decoded;
-            h264_video_decode_ip.pv_stream_buffer = ((unsigned char*) in->buffers[in->indexBuffer]);
-            h264_video_decode_ip.u4_num_Bytes = in->size;
-
-            ITTIAM_DEBUG_PRINT("In size = %d", in->size);
-
-            if (ih264d_cxa8_api_function(H264_DECHDL, (void *) &h264_video_decode_ip, (void *) &h264_video_decode_op) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_VIDEO_DECODE   [ OK ]");
-            } else {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_VIDEO_DECODE   [ NOK ]");
-            }
-
-            /****************************************************************************/
-            /* Display the buffer EXEC PART
-             *****************************************************************************/
-
-            if (ih264d_cxa8_api_function(H264_DECHDL, (void *) &h264_get_display_frame_ip, (void *) &h264_get_display_frame_op) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_GET_DISPLAY_FRAME   [ OK ]");
-
-                if (h264_video_decode_op.u4_frame_decoded_flag == 1) {
-
-                    cfg->num_picture_decoded++;
-
-                    //Display the FPS
-#ifdef NUM_SAMPLES
-                    gettimeofday(&end_time, NULL);
-                    frame_decoded_time += ((end_time.tv_sec * 1000.0 + end_time.tv_usec / 1000.0)
-                            - (start_time2.tv_sec * 1000.0 + start_time2.tv_usec / 1000.0));
-
-                    if (numsamples++ > NUM_SAMPLES) {
-                        float32_t value = ((end_time.tv_sec * 1000.0 + end_time.tv_usec / 1000.0)
-                                - (start_time.tv_sec * 1000.0 + start_time.tv_usec / 1000.0));
-
-                        printf("Frames decoded in average %f fps, received and decoded in average %f fps\n",
-                                (1000.0 / (frame_decoded_time / (float32_t) NUM_SAMPLES)),
-                                1000.0 / (value / (float32_t) NUM_SAMPLES)
-                                );
-                        //printf("%f\n", (1000.0 / (frame_decoded_time / (float32_t)NUM_SAMPLES)));
-                        gettimeofday(&start_time, NULL);
-                        frame_decoded_time = 0;
-                        numsamples = 0;
-                    }
-#endif
-
-                }
-            } else {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_GET_DISPLAY_FRAME   [ NOK ]");
-            }
-#endif
-        } else if (current_PaVE.video_codec == CODEC_MPEG4_VISUAL) {
-
-#ifdef MPEG4_DEC
-            /****************************************************************************/
-            /* Decode the in buffer EXEC PART
-             *****************************************************************************/
-
-            mpeg4_video_decode_ip.u4_ts = cfg->num_picture_decoded;
-            if(current_PaVE.frame_type == FRAME_TYPE_P_FRAME){
-                mpeg4_video_decode_ip.pv_stream_buffer = ((unsigned char*) in->buffers[in->indexBuffer]);
-                mpeg4_video_decode_ip.u4_num_Bytes = in->size;
-            } else {
-                mpeg4_video_decode_ip.pv_stream_buffer = ((unsigned char*) in->buffers[in->indexBuffer]);
-                mpeg4_video_decode_ip.u4_num_Bytes = in->size;               
-            }
-            
-
-            ITTIAM_DEBUG_PRINT("In size = %d", in->size);
-
-            if (imp4d_cxa8_api_function(MPEG4_DECHDL, (void *) &mpeg4_video_decode_ip, (void *) &mpeg4_video_decode_op) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_VIDEO_DECODE   [ OK ]");
-            } else {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_VIDEO_DECODE   [ NOK ] with error 0x%04X ==> %d", mpeg4_video_decode_op.u4_error_code, mpeg4_video_decode_op.u4_error_code);
-            }
-
-            /****************************************************************************/
-            /* Display the buffer EXEC PART
-             *****************************************************************************/
-
-            if (imp4d_cxa8_api_function(MPEG4_DECHDL, (void *) &mpeg4_get_display_frame_ip, (void *) &mpeg4_get_display_frame_op) == IV_SUCCESS) {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_GET_DISPLAY_FRAME   [ OK ]");
-
-                if (mpeg4_video_decode_op.u4_frame_decoded_flag == 1) {
-
-                    cfg->num_picture_decoded++;
-
-                    //Display the FPS
-#ifdef NUM_SAMPLES
-                    gettimeofday(&end_time, NULL);
-                    frame_decoded_time += ((end_time.tv_sec * 1000.0 + end_time.tv_usec / 1000.0)
-                            - (start_time2.tv_sec * 1000.0 + start_time2.tv_usec / 1000.0));
-
-                    if (numsamples++ > NUM_SAMPLES) {
-                        float32_t value = ((end_time.tv_sec * 1000.0 + end_time.tv_usec / 1000.0)
-                                - (start_time.tv_sec * 1000.0 + start_time.tv_usec / 1000.0));
-
-                        printf("Frames decoded in average %f fps, received and decoded in average %f fps\n",
-                                (1000.0 / (frame_decoded_time / (float32_t) NUM_SAMPLES)),
-                                1000.0 / (value / (float32_t) NUM_SAMPLES)
-                                );
-                        //printf("%f\n", (1000.0 / (frame_decoded_time / (float32_t)NUM_SAMPLES)));
-                        gettimeofday(&start_time, NULL);
-                        frame_decoded_time = 0;
-                        numsamples = 0;
-                    }
-#endif
-
-                }
-            } else {
-                ITTIAM_DEBUG_PRINT("IVD_CMD_GET_DISPLAY_FRAME   [ NOK ]");
-            }
-#endif
-        }
-    } else {
-        return C_OK;
-    }
-
-    ///////////////////////////////////// END PROCESS SECTION //////////////////////////////////////////////////////////////    
-
-    ITTIAM_DEBUG_PRINT("ITTIAM DECODE");
-    return C_OK;
-}
-
-C_RESULT ittiam_stage_decoding_close(ittiam_stage_decoding_config_t *cfg) {
-    if (current_PaVE.video_codec == CODEC_MPEG4_AVC) {
-        //H264
-        /****************************************************************************/
-        /* H264 ====== Reset the memory records
-         *****************************************************************************/
-        ITTIAM_DEBUG_PRINT("ITTIAM RESET");
-
-        ivd_ctl_reset_ip_t h264_ctl_reset_ip;
-        ivd_ctl_reset_op_t h264_ctl_reset_op;
-
-        h264_ctl_reset_ip.e_cmd = IVD_CMD_VIDEO_CTL;
-        h264_ctl_reset_ip.e_sub_cmd = IVD_CMD_CTL_RESET;
-        h264_ctl_reset_ip.u4_size = sizeof (ivd_ctl_reset_ip_t);
-        h264_ctl_reset_op.u4_size = sizeof (ivd_ctl_reset_op_t);
-
-        if (ih264d_cxa8_api_function(H264_DECHDL, (void*) (&h264_ctl_reset_ip), (void*) (&h264_ctl_reset_op)) == IV_SUCCESS) {
-            ITTIAM_DEBUG_PRINT("IVD_CMD_CTL_RESET    [ OK ]");
-        } else {
-            ITTIAM_DEBUG_PRINT("IVD_CMD_CTL_RESET    [ NOK ] with error %d", (UWORD32) h264_ctl_reset_op.u4_error_code);
-
-        }
-
-        vp_os_free(h264_mem_rec);
-        vp_os_free(h264_ps_it_mem);
-
-    } else if (current_PaVE.video_codec == CODEC_MPEG4_VISUAL) {
-        //MPEG4
-        /****************************************************************************/
-        /* H264 ====== Reset the memory records
-         *****************************************************************************/
-        ITTIAM_DEBUG_PRINT("ITTIAM RESET");
-
-        ivd_ctl_reset_ip_t mpeg4_ctl_reset_ip;
-        ivd_ctl_reset_op_t mpeg4_ctl_reset_op;
-
-        mpeg4_ctl_reset_ip.e_cmd = IVD_CMD_VIDEO_CTL;
-        mpeg4_ctl_reset_ip.e_sub_cmd = IVD_CMD_CTL_RESET;
-        mpeg4_ctl_reset_ip.u4_size = sizeof (ivd_ctl_reset_ip_t);
-        mpeg4_ctl_reset_op.u4_size = sizeof (ivd_ctl_reset_op_t);
-
-        if (imp4d_cxa8_api_function(MPEG4_DECHDL, (void*) (&mpeg4_ctl_reset_ip), (void*) (&mpeg4_ctl_reset_op)) == IV_SUCCESS) {
-            ITTIAM_DEBUG_PRINT("IVD_CMD_CTL_RESET    [ OK ]");
-        } else {
-            ITTIAM_DEBUG_PRINT("IVD_CMD_CTL_RESET    [ NOK ] with error %d", (UWORD32) mpeg4_ctl_reset_op.u4_error_code);
-
-        }
-
-        vp_os_free(mpeg4_mem_rec);
-        vp_os_free(mpeg4_ps_it_mem);
-    }
-    old_num_frame = cfg->num_picture_decoded;
-    ITTIAM_DEBUG_PRINT("ITTIAM CLEAN");
-    return C_OK;
-}
-
-#endif

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_ittiam_decoder.h

@@ -1,52 +0,0 @@
-//
-//  ittiam_stage_decode.h
-//  ARDroneEngine
-//
-//  Created by Mykonos on 08/07/11.
-//  Copyright 2011 PARROT SA. All rights reserved.
-//
-
-#ifdef ITTIAM_SUPPORT
-
-#ifndef ITTIAM_STAGE_DECODE_H_
-#define ITTIAM_STAGE_DECODE_H_
-
-#include <VP_Api/vp_api.h>
-
-//ITTIAM Common inlcudes
-#include <datatypedef.h>
-#include <it_mem.h>
-#include <it_memory.h>
-
-// H264 include
-#include <ih264d_cxa8.h>
-
-//MPEG4 include
-#include <imp4d_cxa8.h>
-
-
-#include <VP_Api/vp_api_picture.h>
-
-typedef struct _ittiam_picture_ {
-    enum PixelFormat format;
-    uint32_t width;
-    uint32_t height;
-} ittiam_picture;
-
-typedef struct _ittiam_stage_decoding_config_t {
-    ittiam_picture dst_picture;
-    ittiam_picture src_picture;
-
-    uint32_t num_picture_decoded;
-} ittiam_stage_decoding_config_t;
-
-
-C_RESULT ittiam_stage_decoding_open(ittiam_stage_decoding_config_t *cfg);
-C_RESULT ittiam_stage_decoding_transform(ittiam_stage_decoding_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT ittiam_stage_decoding_close(ittiam_stage_decoding_config_t *cfg);
-
-extern const vp_api_stage_funcs_t ittiam_decoding_funcs;
-
-#endif // _ITTIAM_STAGE_DECODE_H_
-
-#endif

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_latency_estimation.c

@@ -1,301 +0,0 @@
-#include <ardrone_tool/Video/video_stage_latency_estimation.h>
-#include <ardrone_tool/Video/video_stage_decoder.h>
-#include <VP_Os/vp_os_malloc.h>
-#include <sys/time.h>
-#include <inttypes.h>
-#include <stdio.h>
-
-/**
- * IPHONE DEBUG AREA
- */
-float DEBUG_latency = 0.0;
-
-C_RESULT latency_estimation_stage_handle_message(void *cfg, PIPELINE_MSG msg_id, void *callback, void *param)
-{
-  printf("Latency estimator message handler.\n");
-  return (C_OK);
-}
-
-
-C_RESULT
-latency_estimation_stage_open( vp_stages_latency_estimation_config_t *cfg )
-{
-  cfg->state = 0;
-  cfg->w = cfg->h = 0;
-  return C_OK;
-}
-
-#define N (10)
-typedef struct __stat { float min; float avg; } stat_t;
-static stat_t average(float f)
-{
-  static float p[N] = {0};
-  static int idx =0;
-  int i;
-  float avg;
-  float fmin;
-  stat_t stat;
-
-  p[idx] = f;
-  idx = (idx+1)%N;
-  avg = 0.0f;
-  fmin = p[0];
-  for (i=0;i<N;i++) { avg+=p[i]; fmin = (p[i]<fmin) ? p[i]:fmin; }
-  avg = avg / (float)N;
-  stat.min=fmin;
-  stat.avg=avg;
-  return stat;
-}
-
-C_RESULT
-latency_estimation_stage_transform( vp_stages_latency_estimation_config_t *cfg , vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-  video_decoder_config_t * vec;
-  static int previous_state = 0;
-  static long int timestamp1 = 0 , timestamp2 = 0;
-  struct timeval time;
-
-  long int delta;
-  stat_t stat;
-
-
-  static char * red_buffer   = NULL;
-  static char * green_buffer = NULL;
-  static char * blue_buffer  = NULL;
-
-  int i,j;
-  int bufsize;
-  int m;
-  float n;
-  float r=0.0f,g=0.0f,b=0.0f;
-
-  vec = (video_decoder_config_t *)cfg->last_decoded_frame_info;
-
-  if(out->status == VP_API_STATUS_INIT) // Init only code
-    {
-      out->status      = VP_API_STATUS_PROCESSING;
-    }
-      out->numBuffers  = in->numBuffers;
-      out->buffers     = in->buffers;
-      out->indexBuffer = in->indexBuffer;
-      out->size        = in->size;
-      out->lineSize    = in->lineSize;
-
-  if(out->status == VP_API_STATUS_PROCESSING)
-    {
-      /* Build three RGB buffers whose dimensions are the same than the decoded video stream */
-      if ( cfg->w != vec->dst_picture->width || cfg->h != vec->dst_picture->height)
-        {
-          cfg->w = vec->dst_picture->width;
-          cfg->h = vec->dst_picture->height;
-
-          if (red_buffer)  { vp_os_sfree((void**)&red_buffer);   }
-          if (green_buffer){ vp_os_sfree((void**)&green_buffer); }
-          if (blue_buffer) { vp_os_sfree((void**)&blue_buffer);  }
-
-          switch (vec->dst_picture->format)
-            {
-            case PIX_FMT_RGB24:
-              bufsize = cfg->w * cfg->h * 3;
-              break;
-            case PIX_FMT_RGB565:
-            default:
-              bufsize = cfg->w * cfg->h * 2;
-              break;
-            }
-
-          red_buffer   = vp_os_malloc( bufsize );
-          green_buffer = vp_os_malloc( bufsize );
-          blue_buffer  = vp_os_malloc( bufsize );
-
-          if (red_buffer)   { vp_os_memset( red_buffer   , 0 , bufsize ); }
-          if (green_buffer) { vp_os_memset( green_buffer , 0 , bufsize ); }
-          if (blue_buffer)  { vp_os_memset( blue_buffer  , 0 , bufsize ); }
-
-          switch (vec->dst_picture->format)
-            {
-            case PIX_FMT_RGB24:
-              {
-                for (i=0;i<bufsize;i+= 3)
-                  {
-                    red_buffer[i]     = 255;
-                    green_buffer[i+1] = 255;
-                    blue_buffer[i+2]  = 255;
-                  }              
-                break;
-              }
-            case PIX_FMT_RGB565:
-            default:
-              {
-                for (i=0; i < bufsize; i+=2)
-                  {
-                    red_buffer[i+1] = 0xf8;
-                    green_buffer[i+1] = 0x07;
-                    green_buffer[i] = 0xe0;
-                    blue_buffer[i] = 0x1f;
-                  }
-                break;
-              }
-            }
-        }
-
-
-
-      if (cfg->state == LE_WAITING)
-	{
-          out->numBuffers = in->numBuffers;
-          out->indexBuffer = in->indexBuffer;
-	}
-      else
-	{
-          out->numBuffers = 1;
-          out->indexBuffer = 0;
-	}
-
-      /* Switch state depending on what is seen in the decoded video stream */
-
-#define L (3)
-      /* Coordinates of the center pixel */
-
-      r=0.0f;
-      g=0.0f;
-      b=0.0f;
-
-      uint8_t redVal, greenVal, blueVal;
-      for (i=-L;i<=L;i++)	
-	{
-          for (j=-L;j<=L;j++)	
-            {
-              
-              m = ( cfg->w / 2 +i) + ( cfg->w * (cfg->h/2 +j) );
-              
-              switch (vec->dst_picture->format)
-                {
-                case PIX_FMT_RGB24:
-                  redVal = in->buffers[in->indexBuffer][3*m];
-                  greenVal = in->buffers[in->indexBuffer][3*m+1];
-                  blueVal = in->buffers[in->indexBuffer][3*m+2];
-                  r += (float)(redVal);
-                  g += (float)(greenVal);
-                  b += (float)(blueVal);
-                  break;
-                case PIX_FMT_RGB565:
-                  redVal = (in->buffers[in->indexBuffer][2*m+1] >> 3);
-                  greenVal = ((in->buffers[in->indexBuffer][2*m+1] & 0x07) << 3) + (in->buffers[in->indexBuffer][2*m] >> 5);
-                  blueVal = (in->buffers[in->indexBuffer][2*m] & 0x1f);
-                  r += (float)(redVal);
-                  g += (float)(greenVal >> 1);
-                  b += (float)(blueVal);
-                  break;
-                default:
-                  r = g = b = 0.0;
-                  break;
-                }
-            }
-        }
-      
-      n=(float)((2*L+1)*(2*L+1));
-      r/=n;
-      g/=n;
-      b/=n;
-
-#if 0
-      printf ("R %3.1f | G %3.1f | B %3.1f --- State : %d\n", r, g, b, cfg->state);
-#endif
-
-
-#define K (1.0f)
-
-      switch (cfg->state)
-        {
-        default:
-        case LE_DISABLED:
-          /* Nothing to do */
-          break;
-        case LE_WAITING: /* waiting to see GREEN */
-          if ( (g>(K*r)) && (g>(K*b)) ) { cfg->state = LE_START; }
-          break;
-        case LE_START: /* waiting to see red */
-          if      ( (g>(K*r)) && (g>(K*b)) ) { cfg->state = LE_START; }
-          else if ( (r>(K*b)) && (r>(K*g)) ) { cfg->state = LE_COLOR2; }
-          else    { cfg->state = LE_WAITING; printf("================> %f %f %f \n",r,g,b);}
-          break;
-        case LE_COLOR1: /* GREEN requested */
-          if      ( (r>(K*b)) && (r>(K*g)) ) { cfg->state = LE_COLOR2; }
-          else if ( (b>(K*g)) && (b>(K*r)) ) { cfg->state = LE_COLOR1; }
-          else    { cfg->state = LE_WAITING; printf("================> %f %f %f \n",r,g,b);}
-          break;
-        case LE_COLOR2: /* BLUE requested */
-          /* Display a blue picture */
-          if       ( (b>(K*g)) && (b>(K*r)) ) { cfg->state = LE_COLOR1; }
-          else if  ( (r>(K*b)) && (r>(K*g)) ) { cfg->state = LE_COLOR2; }
-          else     { cfg->state = LE_WAITING; printf("================> %f %f %f \n",r,g,b);}
-          
-          break;
-        }
-      
-      switch (cfg->state)
-	{
-        default:
-        case LE_DISABLED:
-          /* Forward the video stream */
-          out->buffers = in->buffers;
-          break;
-        case LE_WAITING:
-          /* Display a gren picture announcing we are waiting for the user to
-           * put the drone camera in front of the displayed picture.
-           */
-          out->buffers = (uint8_t**)&(green_buffer);
-          break;
-        case LE_START:
-        case LE_COLOR1:
-          /* Display a red picture */
-          out->buffers = (uint8_t**)&(red_buffer);
-          break;
-        case LE_COLOR2:
-          /* Display a blue picture */
-          out->buffers = (uint8_t**)&(blue_buffer);
-          break;
-	}
-    }
-  
-  if (previous_state!=cfg->state && cfg->state>=LE_COLOR1 && previous_state>=LE_COLOR1)
-    {
-      gettimeofday(&time,NULL);
-      timestamp2 = time.tv_sec*1000 + time.tv_usec/1000;
-      delta = timestamp2 - timestamp1;
-      stat = average(delta);
-    
-      if (timestamp1!=0 && delta>30 && delta<1000)  /* test on delta to remove false measures */
-        {
-          printf("State : %d - Middle pixel value : %3.0f %3.0f %3.0f -- Time since last change : %d milliseconds ",
-                 cfg->state,
-                 r,g,b,
-                 (int)delta);
-        
-          printf("- avg : %4.1f ms - min : %4.f ms\n",stat.avg,stat.min );
-          DEBUG_latency = stat.avg;
-        }
-    
-      timestamp1 = timestamp2;
-    }
-  
-  previous_state = cfg->state;
-  
-  return C_OK;
-}
-
-C_RESULT
-latency_estimation_stage_close( vp_stages_latency_estimation_config_t *cfg )
-{
-  return C_OK;
-}
-
-
-const vp_api_stage_funcs_t vp_stages_latency_estimation_funcs =
-  {
-    (vp_api_stage_handle_msg_t) latency_estimation_stage_handle_message,
-    (vp_api_stage_open_t)latency_estimation_stage_open,
-    (vp_api_stage_transform_t)latency_estimation_stage_transform,
-    (vp_api_stage_close_t)latency_estimation_stage_close
-  };

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_latency_estimation.h

@@ -1,37 +0,0 @@
-/*
- * video_stage_latency_estimation.h
- *
- *  Created on: Sep 14, 2011
- *      Author: s_piskorsko
- */
-
-#ifndef VIDEO_STAGE_LATENCY_ESTIMATION_H_
-#define VIDEO_STAGE_LATENCY_ESTIMATION_H_
-
-#include <ardrone_tool/Video/vlib_stage_decode.h>
-
-typedef enum{
-	LE_DISABLED=0,
-	LE_WAITING,
-	LE_START,
-	LE_COLOR1,
-	LE_COLOR2,
-}vp_stages_latency_estimation_state;
-
-
-
-typedef struct {
-	vp_stages_latency_estimation_state state;
-	vp_stages_latency_estimation_state previous_state;
-	int w,h;
-	vlib_stage_decoding_config_t * last_decoded_frame_info;
-}vp_stages_latency_estimation_config_t;
-
-C_RESULT latency_estimation_stage_handle_message(void *cfg, PIPELINE_MSG msg_id, void *callback, void *param);
-C_RESULT latency_estimation_stage_open( vp_stages_latency_estimation_config_t *cfg );
-C_RESULT latency_estimation_stage_transform( vp_stages_latency_estimation_config_t *cfg , vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT latency_estimation_stage_close( vp_stages_latency_estimation_config_t *cfg );
-
-extern const vp_api_stage_funcs_t vp_stages_latency_estimation_funcs;
-
-#endif /* VIDEO_STAGE_LATENCY_ESTIMATION_H_ */

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_merge_slices.c

@@ -1,292 +0,0 @@
-#include "video_stage_merge_slices.h"
-#include <video_encapsulation.h>
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Os/vp_os_assert.h>
-#include <stdio.h>
-
-const vp_api_stage_funcs_t video_stage_merge_slices_funcs = {
-  (vp_api_stage_handle_msg_t) video_stage_merge_slices_handle,
-  (vp_api_stage_open_t) video_stage_merge_slices_open,
-  (vp_api_stage_transform_t) video_stage_merge_slices_transform,
-  (vp_api_stage_close_t) video_stage_merge_slices_close
-};
-
-/**
- * IPHONE DEBUG AREA
- */
-float DEBUG_nbSlices = 0.0;
-float DEBUG_totalSlices = 0.0;
-int DEBUG_missed = 0;
-int DEBUG_prevNumber = 0;
-
-/* CONFIGURATION */
-
-#define VIDEO_SLICE_DEBUG_ENABLE_ON_GLOBAL_DEBUG (0) ///< Auto enable debug while on debug mode
-#define VIDEO_SLICE_DEBUG_ENABLE (0)                 ///< Force enable of debug for this file
-
-/* END OF CONFIGURATION */
-
-
-#if VIDEO_SLICE_DEBUG_ENABLE || (VIDEO_SLICE_DEBUG_ENABLE_ON_GLOBAL_DEBUG && defined (DEBUG))
-#define __VIDEO_SLICE_DEBUG_ENABLED (1)
-#else
-#define __VIDEO_SLICE_DEBUG_ENABLED (0)
-#endif
-
-#if __VIDEO_SLICE_DEBUG_ENABLED
-#define VIDEO_SLICE_DEBUG(...)                                          \
-  do                                                                    \
-    {                                                                   \
-      printf ("VIDEO_SLICE-DEBUG (%s @ %d) : ", __FUNCTION__, __LINE__); \
-      printf (__VA_ARGS__);                                             \
-      printf ("\n");                                                    \
-    } while (0)
-
-#else
-#define VIDEO_SLICE_DEBUG(...)
-#endif
-
-
-
-C_RESULT video_stage_merge_slices_handle (video_stage_merge_slices_config_t * cfg, PIPELINE_MSG msg_id, void *callback, void *param)
-{
-  return C_OK;
-}
-
-C_RESULT video_stage_merge_slices_open(video_stage_merge_slices_config_t *cfg)
-{
-  int idx;
-  
-  for (idx=0;idx<2;idx++)
-    {
-      cfg->bufs[idx].bufferPointer = vp_os_malloc (sizeof (int8_t *));
-    
-      if (NULL == cfg->bufs[idx].bufferPointer)
-        {
-          printf ("Unable to allocate output buffer pointer\n");
-          return C_FAIL;
-        }
-    
-      cfg->bufs[idx].accumulated_size =0;
-      cfg->bufs[idx].buffer = NULL;
-      cfg->bufs[idx].buffer_size = 0;
-    }
-  
-  cfg->mergingBuffer = 0;
-  cfg->readyBuffer   = 0;
-  
-  return C_OK;
-}
-
-C_RESULT video_stage_merge_slices_reset(video_stage_merge_slices_config_t *cfg)
-{
-  int idx;
-  
-  for (idx=0;idx<2;idx++)
-    {
-      if (cfg->bufs[idx].buffer) { vp_os_sfree((void**)&(cfg->bufs[idx].buffer)); }
-      cfg->bufs[idx].accumulated_size =0;
-      cfg->bufs[idx].buffer_size = 0;
-      cfg->bufs[idx].nb_slices = 0;
-    }
-  
-  cfg->mergingBuffer = 0;
-  cfg->readyBuffer   = 0;
-  
-  return C_OK;
-}
-
-
-C_RESULT video_stage_merge_slices_transform(video_stage_merge_slices_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-  bool_t switchBuffers;
-  bool_t dataReady = 0;
-  video_stage_merge_slices_buffer_t *buf;
-  int dataSize;
-  
-  out->size = 0;
-
-  if(out->status == VP_API_STATUS_INIT)
-    {
-      /* By default, feed the next stage with our local output */
-      out->numBuffers   = 1;
-      out->buffers      = cfg->bufs[0].bufferPointer;
-      out->buffers[0]   = cfg->bufs[0].buffer;
-      out->indexBuffer  = 0;
-      out->lineSize     = 0;
-      out->status       = VP_API_STATUS_PROCESSING;
-    }
-
-  // check input
-  parrot_video_encapsulation_t *PaVE         = (parrot_video_encapsulation_t *) in->buffers[in->indexBuffer];
-  parrot_video_encapsulation_t *mergingPaVE  = (parrot_video_encapsulation_t *) cfg->bufs[cfg->mergingBuffer].buffer;
-  
-
-  VIDEO_SLICE_DEBUG("PAVE frm %d  sl %d/%d  %s\n ",
-                    PaVE->frame_number,
-                    PaVE->slice_index+1,
-                    PaVE->total_slices,
-                    (PaVE->frame_type == FRAME_TYPE_I_FRAME || PaVE->frame_type == FRAME_TYPE_IDR_FRAME) ? "I-frm":"p-frm" );
-
-  if ( (PaVE==NULL) || (!PAVE_CHECK(PaVE)) || (PaVE->total_slices == 1) )
-    {
-      // No slices, just send the data to the next stage
-
-      /* Feed the next stage with the previous stage's output */
-      out->buffers     = in->buffers;
-      out->indexBuffer = in->indexBuffer;
-      out->lineSize    = in->lineSize;
-      out->numBuffers  = in->numBuffers;
-      out->status      = in->status;
-      out->size        = in->size;
-      out->status      = VP_API_STATUS_PROCESSING;
-    
-      /* Get rid of previously accumulated data */
-      video_stage_merge_slices_reset(cfg);
-
-      /* IPHONE DEBUG : set slices miss to 0/1 (to avoid keeping old/fake slice datas) */
-      DEBUG_totalSlices = 1;
-      DEBUG_nbSlices = 0;
-    
-      return C_OK;
-    }
-  
-  /*
-   * Check if the incoming PaVE belongs to the same frame.
-   */
-  switchBuffers = (mergingPaVE)  /* At program startup this buffer is empty and switching makes no sense */
-    && ( !(pave_is_same_frame(PaVE,mergingPaVE)) );
-  
-  /* If not the same frame, start building a new one */
-  if (switchBuffers)
-    {
-
-      if (0 != DEBUG_prevNumber)
-        {
-          int DEBUG_tempMiss = (PaVE->frame_number - (DEBUG_prevNumber + 1));
-          if (0 < DEBUG_tempMiss)
-            {
-              DEBUG_missed += DEBUG_tempMiss;
-            }
-        }
-      DEBUG_prevNumber = PaVE->frame_number;
-
-      cfg->readyBuffer   = cfg->mergingBuffer;
-      cfg->mergingBuffer = (cfg->mergingBuffer+1)%2;
-
-      cfg->bufs[cfg->mergingBuffer].accumulated_size = 0;
-      cfg->bufs[cfg->mergingBuffer].nb_slices = 0;
-    }
-
-  /* Get a pointer to the buffer to store data to */
-  buf = &cfg->bufs[cfg->mergingBuffer];
-
-  // Check destination buffer size
-  if (buf->buffer_size < (buf->accumulated_size + in->size))
-    {
-      buf->buffer_size = buf->accumulated_size + in->size;
-      buf->buffer = vp_os_realloc(buf->buffer, buf->buffer_size );
-      if(!buf->buffer) { return C_FAIL; }
-    }
-
-  /* Copy data */
-  if (PaVE->slice_index == 0 || buf->accumulated_size==0)
-    {
-      /* Copy the entire packet */
-      if (buf->buffer) { vp_os_memcpy(buf->buffer, PaVE, in->size); }
-      buf->accumulated_size = in->size;
-      buf->nb_slices++;
-    }
-  else
-    {
-#define mymin(x,y) ( ((x)<(y))?(x):(y) )
-      /* Copy only the payload */
-      dataSize = mymin(PaVE->payload_size,in->size); /* safety if the PaVE is corrupted */
-
-      if (buf->buffer) { vp_os_memcpy(buf->buffer + buf->accumulated_size, in->buffers[in->indexBuffer] + PaVE->header_size, dataSize); }
-      buf->accumulated_size += dataSize;
-      buf->nb_slices++;
-    }
-
-  /* Select the buffer to send to the next stage */
-  
-  if (PaVE->slice_index == PaVE->total_slices - 1)
-    {
-      /* The buffer we just used for merging is ready to be sent */
-      cfg->readyBuffer   = cfg->mergingBuffer;
-      cfg->mergingBuffer = (cfg->mergingBuffer+1)%2;
-      cfg->bufs[cfg->mergingBuffer].accumulated_size = 0;
-      cfg->bufs[cfg->mergingBuffer].nb_slices = 0;
-      dataReady = 1;
-    }
-  else if (switchBuffers)
-    {
-      /* Send the previous buffer if it contains something */
-      dataReady = 1;
-    }
-
-  // If slice was the last one, continue to next stage
-  if (dataReady)
-    {
-      buf = &cfg->bufs[cfg->readyBuffer];
-
-      if (buf->buffer && buf->accumulated_size)
-        {
-          int totalSlices;
-          parrot_video_encapsulation_t *newPaVE = (parrot_video_encapsulation_t *) buf->buffer;
-
-          /* Save the old value of total slices */
-          totalSlices = newPaVE->total_slices;
-
-          newPaVE->payload_size = buf->accumulated_size - PaVE->header_size;
-          newPaVE->slice_index  = 0;
-          newPaVE->total_slices = 1;
-
-          /* Feed the next stage with our local output */
-          out->size         = buf->accumulated_size;
-          out->buffers      = buf->bufferPointer;
-          out->buffers[0]   = buf->buffer;
-          out->indexBuffer  = 0;
-          out->numBuffers   = 1;
-          out->lineSize     = 0;
-          out->status       = VP_API_STATUS_PROCESSING;
-
-          if(!PAVE_CHECK(buf->buffer)) { printf("%s:%d - No PaVE !\n",__FUNCTION__,__LINE__);  assert(0==1); }
-
-          if (buf->nb_slices != totalSlices) { printf("Missing slices (%d)\n",totalSlices-buf->nb_slices); }
-          
-          DEBUG_nbSlices = 0.9*DEBUG_nbSlices + 0.1*(totalSlices-buf->nb_slices);
-          DEBUG_totalSlices = 0.9*DEBUG_totalSlices + 0.1*totalSlices;
-        }
-    }
-  else
-    {
-      out->size = 0;
-    }
-
-  if (out->size)
-    {
-      PaVE = (parrot_video_encapsulation_t*) out->buffers[0];
-      VIDEO_SLICE_DEBUG("Switch %d - Sending - PAVE frm %d  sl %d/%d\n ",
-                        switchBuffers,
-                        PaVE->frame_number,
-                        PaVE->slice_index+1,
-                        PaVE->total_slices );}
-
-  return C_OK;
-}
-
-C_RESULT video_stage_merge_slices_close(video_stage_merge_slices_config_t *cfg)
-{
-  int idx;
-  video_stage_merge_slices_buffer_t *buf;
-    
-  for (idx=0;idx<2;idx++)
-    {
-      buf = &cfg->bufs[idx];
-      if (buf->buffer)        { vp_os_sfree((void**)&buf->buffer);        }
-      if (buf->bufferPointer) { vp_os_sfree((void**)&buf->bufferPointer); }
-    }
-  return C_OK;
-}
-

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_merge_slices.h

@@ -1,30 +0,0 @@
-#ifndef _VIDEO_STAGE_MERGE_SLICES_H_
-#define _VIDEO_STAGE_MERGE_SLICES_H_
-
-#include <VP_Api/vp_api.h>
-
-
-typedef struct {
-  uint32_t accumulated_size;
-  uint32_t buffer_size;
-  uint8_t  *buffer;
-  uint8_t  **bufferPointer;
-  int nb_slices;
- }video_stage_merge_slices_buffer_t;
- 
-typedef struct _video_stage_merge_slices_config_t
-{
- int mergingBuffer;
- int readyBuffer;
- video_stage_merge_slices_buffer_t bufs[2];
-}
-video_stage_merge_slices_config_t;
-
-C_RESULT video_stage_merge_slices_handle (video_stage_merge_slices_config_t * cfg, PIPELINE_MSG msg_id, void *callback, void *param);
-C_RESULT video_stage_merge_slices_open(video_stage_merge_slices_config_t *cfg);
-C_RESULT video_stage_merge_slices_transform(video_stage_merge_slices_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT video_stage_merge_slices_close(video_stage_merge_slices_config_t *cfg);
-
-extern const vp_api_stage_funcs_t video_stage_merge_slices_funcs;
-
-#endif

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_recorder.c

@@ -1,251 +0,0 @@
-#include <time.h>
-#ifndef _WIN32
-	#include <sys/time.h>
-#else
- 
- #include <sys/timeb.h>
- #include <Winsock2.h>  // for timeval structure
-
- int gettimeofday (struct timeval *tp, void *tz)
- {
-	 struct _timeb timebuffer;
-	 _ftime (&timebuffer);
-	 tp->tv_sec = (long)timebuffer.time;
-	 tp->tv_usec = (long)timebuffer.millitm * 1000;
-	 return 0;
- }
-#endif
-
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Api/vp_api_picture.h>
-
-#include <config.h>
-#include <ardrone_tool/Video/video_stage_recorder.h>
-
-//#define USE_FIXED_60FPS
-
-#ifdef USE_VIDEO_YUV
-#define VIDEO_FILE_EXTENSION "yuv"
-#else
-#define VIDEO_FILE_EXTENSION "y"
-#endif
-
-#ifndef VIDEO_FILE_DEFAULT_PATH
-#ifdef USE_ELINUX
-#define VIDEO_FILE_DEFAULT_PATH "/data/video/usb/"
-#else
-#define VIDEO_FILE_DEFAULT_PATH root_dir
-extern char root_dir[];
-#endif
-#endif
-
-#if defined (NAVDATA_VISION_INCLUDED) && defined (USE_ELINUX)
-static int32_t picture_captured = 0;
-extern void navdata_set_raw_picture(int32_t new_raw_picture);
-#endif
-
-const vp_api_stage_funcs_t video_recorder_funcs = {
-  (vp_api_stage_handle_msg_t) video_stage_recorder_handle,
-  (vp_api_stage_open_t) video_stage_recorder_open,
-  (vp_api_stage_transform_t) video_stage_recorder_transform,
-  (vp_api_stage_close_t) video_stage_recorder_close
-};
-
-C_RESULT
-video_stage_recorder_handle (video_stage_recorder_config_t * cfg, PIPELINE_MSG msg_id, void *callback, void *param)
-{
-   void (*recorder_callback)(video_stage_recorder_config_t*) = callback;
-
-	switch (msg_id)
-	{
-		case PIPELINE_MSG_START: //video
-			{
-				if(cfg->startRec==VIDEO_RECORD_STOP)
-				{
-					cfg->startRec=VIDEO_RECORD_HOLD;
-				}
-				else
-				{
-					cfg->startRec=VIDEO_RECORD_STOP;
-				}
-			}
-			break;
-  
-		case PIPELINE_MSG_COMMAND: //picture
-			{
-				if(cfg->startRec==VIDEO_RECORD_STOP)
-				{
-					cfg->startRec=VIDEO_PICTURE_HOLD;
-				}
-				else
-				{
-					cfg->startRec=VIDEO_RECORD_STOP;
-				}
-			}	
-		default:
-			{
-				break;
-			}
-	}
-	if (recorder_callback!=NULL) { recorder_callback(cfg); }
-
-	return (VP_SUCCESS);
-}
-
-C_RESULT video_stage_recorder_open(video_stage_recorder_config_t *cfg)
-{
-	cfg->startRec=VIDEO_RECORD_STOP;
-  return C_OK;
-}
-
-C_RESULT video_stage_recorder_transform(video_stage_recorder_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-#ifndef _WIN32
-
-	time_t temptime;
-	struct timeval tv;
-#ifdef USE_FIXED_60FPS
-	static struct timeval old_tv;
-	static uint8_t* old_pic=NULL;
-	unsigned long delta_us=0;
-	int ratio=0;
-	int i=0;
-#endif
-	vp_os_mutex_lock( &out->lock );
-
-	if( out->status == VP_API_STATUS_INIT )
-	{
-		out->numBuffers   = 1;
-		out->indexBuffer  = 0;
-		out->lineSize     = NULL;
-		//out->buffers      = (int8_t **) vp_os_malloc( sizeof(int8_t *) );
-	}
-
-	out->size     = in->size;
-	out->status   = in->status;
-	out->buffers  = in->buffers;
-
-	if( in->status == VP_API_STATUS_ENDED ) {
-		out->status = in->status;
-	}
-	else if(in->status == VP_API_STATUS_STILL_RUNNING) {
-		out->status = VP_API_STATUS_PROCESSING;
-	}
-	else {
-		out->status = in->status;
-	}
-
-	gettimeofday(&tv,NULL);
-	vp_api_picture_t* picture = (vp_api_picture_t *) in->buffers;
-
-	if(cfg->startRec==VIDEO_RECORD_HOLD)
-	{
-		struct tm *atm;
-
-		temptime = (time_t)tv.tv_sec;
-		atm = localtime(&temptime);  //atm = localtime(&tv.tv_sec);
-		printf("recording video\n");
-		if(strlen(cfg->video_filename) == 0)
-			sprintf(cfg->video_filename, "%s/video_%04d%02d%02d_%02d%02d%02d_w%i_h%i.%s",
-				VIDEO_FILE_DEFAULT_PATH,
-				atm->tm_year+1900, atm->tm_mon+1, atm->tm_mday,
-				atm->tm_hour, atm->tm_min, atm->tm_sec,
-				picture->width,picture->height,
-				VIDEO_FILE_EXTENSION);
-
-		cfg->fp = fopen(cfg->video_filename, "wb");
-		if (cfg->fp == NULL)
-			printf ("error open file %s\n", cfg->video_filename);
-		cfg->startRec=VIDEO_RECORD_START;
-	}
-
-	if(cfg->startRec==VIDEO_PICTURE_HOLD)
-	{
-		struct tm *atm;
-
-
-		temptime = (time_t)tv.tv_sec;
-		atm = localtime(&temptime);  //atm = localtime(&tv.tv_sec);
-
-		printf("recording picture\n"); 
-		sprintf(cfg->video_filename, "%s/picture_%04d%02d%02d_%02d%02d%02d_w%i_h%i.%s",
-				VIDEO_FILE_DEFAULT_PATH,
-				atm->tm_year+1900, atm->tm_mon+1, atm->tm_mday,
-				atm->tm_hour, atm->tm_min, atm->tm_sec,
-				picture->width,picture->height,
-				VIDEO_FILE_EXTENSION);
-
-		cfg->fp = fopen(cfg->video_filename, "wb");
-		if (cfg->fp == NULL)
-			printf ("error open file %s\n", cfg->video_filename);
-		cfg->startRec=VIDEO_PICTURE_START;
-	}
-	if( cfg->fp != NULL && out->size > 0 && out->status == VP_API_STATUS_PROCESSING && (cfg->startRec==VIDEO_RECORD_START||cfg->startRec==VIDEO_PICTURE_START ))
-	{
-
-
-#if defined (NAVDATA_VISION_INCLUDED) && defined (USE_ELINUX)
-		navdata_set_raw_picture(picture_captured++);
-#endif
-
-#ifdef USE_FIXED_60FPS
-		delta_us=(tv.tv_sec*1000000+tv.tv_usec)-(old_tv.tv_sec*1000000+old_tv.tv_usec);
-		ratio=delta_us/16666;
-		old_tv=tv;
-
-		for(i=0; i<ratio && old_pic; i++)
-		{
-			fwrite(old_pic, picture->width * picture->height, 1, cfg->fp);
-#ifdef USE_VIDEO_YUV
-			fwrite(old_pic+(picture->width * picture->height), picture->width * picture->height >> 1, 1, cfg->fp);
-#endif
-		}
-
-		if(old_pic==NULL)
-		{
-			old_pic=vp_os_malloc(picture->width * picture->height*3/2);
-		}
-
-		memcpy(old_pic, picture->y_buf, picture->width * picture->height);
-		memcpy(old_pic + picture->width * picture->height, picture->cb_buf, picture->width * picture->height >> 2);
-		memcpy(old_pic + picture->width * picture->height*5/4, picture->cr_buf, picture->width * picture->height >> 2);
-#endif //USE_FIXED_60FPS
-
-		fwrite(picture->y_buf, picture->width * picture->height, 1, cfg->fp);
-#ifdef USE_VIDEO_YUV
-		fwrite(picture->cb_buf, picture->width * picture->height >> 2, 1, cfg->fp);
-		fwrite(picture->cr_buf, picture->width * picture->height >> 2, 1, cfg->fp);
-#endif
-		if(cfg->startRec==VIDEO_PICTURE_START )//if picture, we stop after one picture (	and if video we continue )
-		{
-			cfg->startRec=VIDEO_RECORD_STOP;
-		}
-	}
-	else
-	{
-		if(cfg->startRec==VIDEO_RECORD_STOP && cfg->fp !=NULL)
-		{
-#ifdef USE_FIXED_60FPS
-			if(old_pic)
-			{
-				vp_os_free(old_pic);
-				old_pic=NULL;
-			}
-#endif
-			fclose(cfg->fp);
-			cfg->fp=NULL;
-		}
-	}
-
-	vp_os_mutex_unlock( &out->lock );
-#endif
-	return C_OK;
-}
-
-C_RESULT video_stage_recorder_close(video_stage_recorder_config_t *cfg)
-{
-  if( cfg->fp != NULL )
-    fclose( cfg->fp );
-
-  return C_OK;
-}

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_recorder.h

@@ -1,36 +0,0 @@
-#ifndef _VIDEO_STAGE_RECORDER_H_
-#define _VIDEO_STAGE_RECORDER_H_
-
-#include <stdio.h>
-#include <VP_Api/vp_api.h>
-
-#define VIDEO_FILENAME_LENGTH 1024
-
-#ifndef _VIDEO_RECORD_STATE_ENUM_
-#define _VIDEO_RECORD_STATE_ENUM_
-typedef enum
-{
-	VIDEO_RECORD_HOLD, // Video recording is on hold, waiting for the start command. This is the default state.
-	VIDEO_RECORD_START, // Video recording has started.
-	VIDEO_PICTURE_START,
-	VIDEO_PICTURE_HOLD,
-	VIDEO_RECORD_STOP		// Video recording has been stopped. Stage will end and restart.
-} video_record_state;
-#endif
-
-typedef struct _video_stage_recorder_config_t
-{
-	char video_filename[VIDEO_FILENAME_LENGTH];
-  FILE* fp;
-	video_record_state startRec;
-	int stage;
-} video_stage_recorder_config_t;
-
-C_RESULT video_stage_recorder_handle (video_stage_recorder_config_t * cfg, PIPELINE_MSG msg_id, void *callback, void *param);
-C_RESULT video_stage_recorder_open(video_stage_recorder_config_t *cfg);
-C_RESULT video_stage_recorder_transform(video_stage_recorder_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out);
-C_RESULT video_stage_recorder_close(video_stage_recorder_config_t *cfg);
-
-extern const vp_api_stage_funcs_t video_recorder_funcs;
-
-#endif // _VIDEO_STAGE_RECORDER_H_

ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage_tcp.c

@@ -1,410 +0,0 @@
-//
-//  video_stage_tcp.c
-//  ARDroneEngine
-//
-//  Created by nicolas on 15/07/11.
-//  Copyright 2011 Parrot. All rights reserved.
-//
-
-#include "video_stage_tcp.h"
-#include <VP_Os/vp_os_malloc.h>
-#include <VP_Os/vp_os_print.h>
-#include <video_encapsulation.h>
-#include <VP_Os/vp_os_assert.h>
-
-/* CONFIGURATION */
-
-#define VIDEO_TCP_DEBUG_ENABLE_ON_GLOBAL_DEBUG (0) ///< Auto enable debug while on debug mode
-#define VIDEO_TCP_DEBUG_ENABLE (0)                 ///< Force enable of debug for this file
-
-/* END OF CONFIGURATION */
-
-
-
-#if VIDEO_TCP_DEBUG_ENABLE || (VIDEO_TCP_DEBUG_ENABLE_ON_GLOBAL_DEBUG && defined (DEBUG))
-#define __VIDEO_TCP_DEBUG_ENABLED (1)
-#else
-#define __VIDEO_TCP_DEBUG_ENABLED (0)
-#endif
-
-#if __VIDEO_TCP_DEBUG_ENABLED
-#define VIDEO_TCP_DEBUG(...)                                            \
-  do                                                                    \
-    {                                                                   \
-      printf ("VIDEO_TCP-DEBUG (%s @ %d) : ", __FUNCTION__, __LINE__);  \
-      printf (__VA_ARGS__);                                             \
-      printf ("\n");                                                    \
-    } while (0)
-#else
-#define VIDEO_TCP_DEBUG(...)
-#endif
-
-
-void video_stage_tcp_dumpPave (parrot_video_encapsulation_t *PaVE)
-{
-  printf ("Signature : \"%c%c%c%c\" [0x%02x][0x%02x][0x%02x][0x%02x]\n", PaVE->signature[0], PaVE->signature[1],
-          PaVE->signature[2], PaVE->signature[3], PaVE->signature[0], PaVE->signature[1], PaVE->signature[2], PaVE->signature[3]);
-  printf ("Frame Type / Number : %s : %d : slice %d/%d\n",
-          (PaVE->frame_type == FRAME_TYPE_P_FRAME) ? "P-Frame" : ((PaVE->frame_type == FRAME_TYPE_I_FRAME) ? "I-Frame" : "IDR-Frame"),
-          PaVE->frame_number,
-          PaVE->slice_index+1,
-          PaVE->total_slices);
-  printf ("Codec : %s\n", (PaVE->video_codec == CODEC_MPEG4_VISUAL) ? "MP4" : ((PaVE->video_codec == CODEC_MPEG4_AVC) ? "H264" : "Unknown"));
-  printf ("StreamID : %d \n", PaVE->stream_id);
-  printf ("Encoded dims : %d x %d\n", PaVE->encoded_stream_width, PaVE->encoded_stream_height);
-  printf ("Display dims : %d x %d\n", PaVE->display_width, PaVE->display_height);
-  printf ("Header size  : %d\n", PaVE->header_size);
-  printf ("Payload size : %d\n", PaVE->payload_size);
-}
-
-
-
-#define BUFFER_MAX_SIZE (cfg->maxPFramesPerIFrame * cfg->frameMeanSize)
-
-const vp_api_stage_funcs_t video_stage_tcp_funcs = {
-  (vp_api_stage_handle_msg_t) NULL,
-  (vp_api_stage_open_t) video_stage_tcp_open,
-  (vp_api_stage_transform_t) video_stage_tcp_transform,
-  (vp_api_stage_close_t) video_stage_tcp_close
-};
-
-static inline bool_t frameIsIFrame (uint8_t *framePointer)
-{
-  parrot_video_encapsulation_t *PaVE = (parrot_video_encapsulation_t *)framePointer;
-  if ( (PaVE->frame_type == FRAME_TYPE_I_FRAME ||
-        PaVE->frame_type == FRAME_TYPE_IDR_FRAME) && (PaVE->slice_index == 0) )
-    {
-      return TRUE;
-    }
-  return FALSE;
-}
-
-static inline bool_t frameHasPaVE (uint8_t *framePointer)
-{
-  parrot_video_encapsulation_t *PaVE = (parrot_video_encapsulation_t *)framePointer;
-  if (NULL != PaVE &&
-      PaVE->signature[0] == 'P' &&
-      PaVE->signature[1] == 'a' &&
-      PaVE->signature[2] == 'V' &&
-      PaVE->signature[3] == 'E')
-    {
-      return TRUE;
-    }
-  return FALSE;
-}
-
-#if __VIDEO_TCP_DEBUG_ENABLED
-static void printBuffer(uint8_t * buf,int size)
-{
-  const int columns=100;
-  int i;
-  char c;
-  if ( (!buf) || (size<0)) { return; }
-  printf("\n"); for (i=0;i<columns;i++) printf("="); printf("\n");
-  for (i=0;i<size;i++)
-    {
-      c=buf[i];
-      switch(c)
-        {
-        case 'P':
-        case 'a':  /* ifrm */
-        case 'V':
-        case 'E':	putchar(c);	break;
-#if 0
-        case 0  :   putchar('0');	break;  /* nal start */
-        case 1  :   putchar('1');	break;  /* nal start */
-        case 0x67 :   putchar('S');	break;  /* sps */
-        case 0x68 :   putchar('P');	break;  /* pps */
-        case 0x65 :   putchar('p');	break;  /* pfrm */
-#endif
-        default  : putchar('.');
-        }
-
-      if ((i%columns)==(columns-1)) { printf("\n"); }
-    }
-  printf("\n"); for (i=0;i<columns;i++) printf("="); printf("\n");
-}
-#endif
-
-C_RESULT video_stage_tcp_open(video_stage_tcp_config_t *cfg)
-{
-  cfg->globalBuffer = vp_os_malloc (BUFFER_MAX_SIZE * sizeof (int8_t));
-  if (NULL == cfg->globalBuffer)
-    {
-      printf ("Unable to allocate TCP Buffer for frame reconstitution\n");
-      return C_FAIL;
-    }
-    
-  cfg->frameBuffer = vp_os_malloc (BUFFER_MAX_SIZE * sizeof (int8_t)); //(2 * cfg->frameMeanSize * sizeof (int8_t));
-  if (NULL == cfg->frameBuffer)
-    {
-      printf ("Unable to allocate output frame buffer\n");
-      return C_FAIL;
-    }
-    
-  cfg->bufferPointer = vp_os_malloc (sizeof (int8_t *));
-  if (NULL == cfg->bufferPointer)
-    {
-      printf ("Unable to allocate output buffer pointer\n");
-      return C_FAIL;
-    }
-  cfg->currentSize = 0;
-  return C_OK;
-}
-
-C_RESULT video_stage_tcp_transform(video_stage_tcp_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
-{
-  uint8_t * buf = NULL;
-  bool_t directForward = FALSE;
-
-
-#if __VIDEO_TCP_DEBUG_ENABLED
-  printBuffer(in->buffers[in->indexBuffer],in->size);
-#endif
-
-  if(out->status == VP_API_STATUS_INIT) // Init only code
-    {
-      out->numBuffers   = 1;
-      out->buffers      = cfg->bufferPointer;
-      out->buffers[0]   = cfg->frameBuffer;
-      out->indexBuffer  = 0;
-      out->lineSize     = 0;
-      out->status = VP_API_STATUS_PROCESSING;
-    }
-
-  out->size = 0;
-
-  /* Should not happen, but ... */
-  if(in->size < -1 )
-    {
-      printf ("Bad size ...\n");
-      VP_OS_ASSERT(0==1);
-      return C_OK;
-    }
-
-  if (out->status == VP_API_STATUS_PROCESSING)
-    {
-      cfg->tcpStageHasMoreData = FALSE;
-    }
-
-  if (in->size > 0 && out->status == VP_API_STATUS_PROCESSING)
-    {
-      /* Directly forward the packet if it exactly contains a whole frame
-       * This happens when this stage is used with a UDP stream and one frame per packet.
-       */
-
-      if (cfg->currentSize == 0)
-        {
-          buf = (uint8_t*)(in->buffers[in->indexBuffer]);
-
-          if ( frameHasPaVE(buf)  )
-            {
-              parrot_video_encapsulation_t *PaVE = (parrot_video_encapsulation_t *)(in->buffers[in->indexBuffer]);
-              if ( in->size == (PaVE->header_size + PaVE->payload_size ))
-                {
-                  directForward = TRUE;
-                  VIDEO_TCP_DEBUG("No luck UDP ! ");
-                }
-            }
-          /* true if a UVLC or P264 header is present */
-          else if ( ((*(uint32_t*)buf) & 0xFFFe7c00 )== 0 )
-            {
-              /* Checks if the first encountered packet looks like a UVLC/P.264 packet */
-              directForward = TRUE;
-            }
-        }
-
-      if (TRUE == directForward)
-        {
-          out->numBuffers   = in->numBuffers;
-          out->buffers      = in->buffers;
-          out->indexBuffer  = in->indexBuffer;
-          out->lineSize     = in->lineSize;
-          out->status       = VP_API_STATUS_PROCESSING;
-          out->size         = in->size;
-          return C_OK;
-        }
-
-
-
-      if (in->size + cfg->currentSize >= BUFFER_MAX_SIZE)
-        {
-          printf ("Got a too big buffer for mine : got %d, had %d, max %d\n", in->size, cfg->currentSize, BUFFER_MAX_SIZE);
-          cfg->currentSize = 0;
-          return C_OK;
-        }
-
-      // Copy input buffer
-      vp_os_memcpy(&(cfg->globalBuffer[cfg->currentSize]), in->buffers[in->indexBuffer], in->size);
-      cfg->currentSize += in->size;
-    }
-
-
-  if (out->status == VP_API_STATUS_PROCESSING ||
-      out->status == VP_API_STATUS_STILL_RUNNING ||
-      (cfg->tcpStageHasMoreData==TRUE)
-      )
-    {
-      int lastIFrameStart = -1;  /* Index of the last complete I-frame inside the 'globalBuffer' */
-
-      // Align buffer to first complete PaVE
-      int index = 0;
-      int maxIndex = cfg->currentSize - sizeof (parrot_video_encapsulation_t);
-      // Find first
-      for (index = 0; index <= maxIndex; index ++)
-        {
-          if (cfg->globalBuffer[index]   == 'P' &&
-              cfg->globalBuffer[index+1] == 'a' &&
-              cfg->globalBuffer[index+2] == 'V' &&
-              cfg->globalBuffer[index+3] == 'E')
-            {
-              break;
-            }
-        }
-
-      if ( (maxIndex+1) == index || 0 > maxIndex )
-        {
-          /* Keep data in the buffer in case a piece of PaVE is at the end */
-          VIDEO_TCP_DEBUG ("Not enough picture data (PaVE not present or incomplete) ...");
-          return C_OK; // No picture, let out->size to zero
-        }
-
-      // If needed, dump all datas before this PaVE (so we're sure that we have a PaVE at index 0)
-      if (index != 0)
-        {
-          VIDEO_TCP_DEBUG ("First PaVE was not a index 0 (was at index %d)", index);
-          maxIndex -= index;
-          cfg->currentSize -= index;
-          memmove (cfg->globalBuffer, &(cfg->globalBuffer[index]), cfg->currentSize);
-        }
-
-      if (1 == cfg->latencyDrop)
-        {
-          // Iterate through all frames to find last available I Frame
-          int fIndex = 0;
-          
-#if __VIDEO_TCP_DEBUG_ENABLED
-          int fDropped = 0;
-          int fTested = 0;
-          static int totalDrop = 0;
-#endif
-          while (fIndex < maxIndex)
-            {
-              // Check that the frame has a correct pave
-              if (FALSE == frameHasPaVE(&cfg->globalBuffer[fIndex]))
-                {
-                  /* Should not happen, but ... */
-#if __VIDEO_TCP_DEBUG_ENABLED
-                  printf ("No pave found at index %d (current size = %d) on next frame ...\n",fIndex,cfg->currentSize);
-                  printf("Should not happen. Happy debugging !!!\n");
-                  video_stage_tcp_dumpPave ((parrot_video_encapsulation_t*)&cfg->globalBuffer[fIndex]);
-                  VP_OS_ASSERT(0==1);
-#endif
-                  break;
-                }
-
-              // Check if the frame is complete
-              parrot_video_encapsulation_t *PaVE = (parrot_video_encapsulation_t *)&cfg->globalBuffer[fIndex];
-#if __VIDEO_TCP_DEBUG_ENABLED
-              printf(" -- PaVE %d at index %d of accumulation buffer ---\n",fTested,fIndex);
-              video_stage_tcp_dumpPave (PaVE);
-#endif
-              int packetSize = PaVE->header_size + PaVE->payload_size;
-              if ((cfg->currentSize-fIndex) >= packetSize && frameIsIFrame(&cfg->globalBuffer[fIndex]))
-                {
-                  VIDEO_TCP_DEBUG ("Jumping to I-frame\n");
-                  lastIFrameStart = fIndex;
-#if __VIDEO_TCP_DEBUG_ENABLED
-                  fDropped = fTested;
-#endif
-                }
-              fIndex += packetSize;
-#if __VIDEO_TCP_DEBUG_ENABLED
-              fTested++;
-#endif
-            }
-          
-          if (0 < lastIFrameStart)
-            {
-#if __VIDEO_TCP_DEBUG_ENABLED
-              totalDrop += fDropped;
-              VIDEO_TCP_DEBUG ("I-frame found - dumping %3d frames --> total : %5d\n", fDropped, totalDrop);
-#endif
-              // Dump all frames before last I frame
-              cfg->currentSize -= lastIFrameStart;
-              memmove (cfg->globalBuffer, &(cfg->globalBuffer[lastIFrameStart]), cfg->currentSize);
-            }
-        }
-
-      // Copy frame to decoder if complete
-      bool_t frameIsComplete = FALSE;
-      parrot_video_encapsulation_t *framePaVE = (parrot_video_encapsulation_t *)cfg->globalBuffer;
-
-      int framePacketSize = framePaVE->header_size + framePaVE->payload_size;
-
-      if (cfg->currentSize >= framePacketSize)
-        {
-          frameIsComplete = TRUE;
-          /* Copy the frame from the accumulation buffer to the output buffer */
-          vp_os_memcpy (cfg->frameBuffer, cfg->globalBuffer, framePacketSize);
-          cfg->currentSize -= framePacketSize;
-          /* Delete the sent frame from the accumulation buffer */
-          memmove (cfg->globalBuffer, &(cfg->globalBuffer[framePacketSize]), cfg->currentSize);
-          out->size = framePacketSize;
-        }
-
-
-      /* Fill the output structure */
-      if (frameIsComplete)
-        {
-          out->numBuffers   = 1;
-          out->buffers      = cfg->bufferPointer;
-          out->buffers[0]   = cfg->frameBuffer;
-          out->indexBuffer  = 0;
-          out->lineSize     = 0;
-          out->status       = VP_API_STATUS_PROCESSING;
-
-          /* Check the next available frame .. */
-          parrot_video_encapsulation_t *framePaVE = (parrot_video_encapsulation_t *)cfg->globalBuffer;
-          if (frameHasPaVE(cfg->globalBuffer) && cfg->currentSize>=sizeof(*framePaVE))
-            {
-              framePacketSize = framePaVE->header_size + framePaVE->payload_size;
-              if (cfg->currentSize >= framePacketSize)
-                {
-                  /* Do this to inform the socket stage that more frames are available for decoding.
-                   * In this case, the socket should be run in a non-blocking mode.
-                   * This way, the next decoded frame is either an old frame already present in
-                   * the TCP stage buffer, or a newer I-frame which just arrived through the socket.
-                   */
-                  out->status = VP_API_STATUS_PROCESSING;
-                  cfg->tcpStageHasMoreData = TRUE;
-                }
-            }
-        }
-
-      /*
-       * Here, the accumulation buffer must have a PaVE, but might not contain a complete frame.
-       */
-      if(frameIsComplete && FALSE == frameHasPaVE(out->buffers[out->indexBuffer]))
-        {
-          /* Don't decode frame if it has no PaVE */
-          VIDEO_TCP_DEBUG ("Frame don't have PaVE");
-          printf("Should not happen. Happy debugging !!!\n");
-          video_stage_tcp_dumpPave ((parrot_video_encapsulation_t*)out->buffers[out->indexBuffer]);
-          VP_OS_ASSERT(0==1);
-          out->size = 0;
-        }
-      
-    }
-    
-    
-  return C_OK;
-}
-
-C_RESULT video_stage_tcp_close(video_stage_tcp_config_t *cfg)
-{
-  vp_os_free (cfg->bufferPointer);
-  vp_os_free (cfg->globalBuffer);
-  vp_os_free (cfg->frameBuffer);
-  return C_OK;
-}