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