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