Mani Monajjemi
71 linhas
1.8 KiB
C
71 linhas
1.8 KiB
C
#ifndef _ARDRONE_VERSION_H_
|
|
#define _ARDRONE_VERSION_H_
|
|
|
|
#include <VP_Os/vp_os_types.h>
|
|
|
|
typedef struct _ardrone_version_t
|
|
{
|
|
uint32_t majorVersion;
|
|
uint32_t minorVersion;
|
|
uint32_t revision;
|
|
} ardrone_version_t;
|
|
|
|
|
|
#ifndef USE_ELINUX
|
|
extern ardrone_version_t ardroneVersion;
|
|
|
|
/**
|
|
* @brief Get the AR.Drone model from its version
|
|
* @param version pointer to the ardrone_version_t structure
|
|
* @return the model number of the AR.Drone
|
|
*/
|
|
static inline uint32_t ardroneModelFromVersion (ardrone_version_t *version)
|
|
{
|
|
if (NULL == version)
|
|
{
|
|
return 0;
|
|
}
|
|
return version->majorVersion;
|
|
}
|
|
|
|
/*
|
|
* Macros for easier use of ardroneModelFromVersion
|
|
*/
|
|
#define ARDRONE_VERSION() ardroneModelFromVersion(&ardroneVersion)
|
|
|
|
/**
|
|
* @brief Compare two ardrone_versions
|
|
* @param v1 first version to compare
|
|
* @param v2 second version to compare
|
|
* @return negative if v1<v2, zero if v1=v2, positive if v1>v2
|
|
* @return (return zero if any version pointer is NULL)
|
|
*/
|
|
int compareVersions (ardrone_version_t *v1, ardrone_version_t *v2);
|
|
|
|
/**
|
|
* @brief Get current drone version
|
|
* @param tempPath a valid path to store a temporary file (typically : root_dir)
|
|
* @param droneIp IP address of the AR.Drone as a string (e.g. "192.168.1.1")
|
|
* @param version pointer to the return version
|
|
* @return 0 when no error occured, -1 otherwise. version is NOT changed on error
|
|
*/
|
|
int getDroneVersion (const char *tempPath, const char *droneIp, ardrone_version_t *version);
|
|
|
|
#else
|
|
|
|
# if CARD_VERSION >= 0x20
|
|
# define ARDRONE_VERSION() 2
|
|
# else
|
|
# define ARDRONE_VERSION() 1
|
|
# endif
|
|
|
|
#define getDroneVersion(...) ARDRONE_VERSION()
|
|
|
|
#endif
|
|
|
|
#define IS_ARDRONE1 (1 == ARDRONE_VERSION()) // Drone 1
|
|
#define IS_ARDRONE2 (2 == ARDRONE_VERSION()) // Drone 2
|
|
#define IS_LEAST_ARDRONE2 (2 <= ARDRONE_VERSION()) // Drone 2 and laters
|
|
|
|
#endif //_ARDRONE_VERSION_H_
|