jsenella / PFE-PilotageDrone

Commit 371a71e6a0d5e9dd74610a765320d4d85024a2cb

Authored by jsenella
1 parent 1540f85e

Ajout des modifications de BebopSample

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  1 +/*
  2 + Copyright (C) 2014 Parrot SA
  3 +
  4 + Redistribution and use in source and binary forms, with or without
  5 + modification, are permitted provided that the following conditions
  6 + are met:
  7 + * Redistributions of source code must retain the above copyright
  8 + notice, this list of conditions and the following disclaimer.
  9 + * Redistributions in binary form must reproduce the above copyright
  10 + notice, this list of conditions and the following disclaimer in
  11 + the documentation and/or other materials provided with the
  12 + distribution.
  13 + * Neither the name of Parrot nor the names
  14 + of its contributors may be used to endorse or promote products
  15 + derived from this software without specific prior written
  16 + permission.
  17 +
  18 + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  19 + "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  20 + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  21 + FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  22 + COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  23 + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  24 + BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
  25 + OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
  26 + AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  27 + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
  28 + OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  29 + SUCH DAMAGE.
  30 +*/
  31 +/**
  32 + * @file BebopSample.c
  33 + * @brief This file contains sources about basic arsdk example sending commands to a bebop drone to pilot it,
  34 + * receive its battery level and display the video stream.
  35 + * @date 15/01/2015
  36 + */
  37 +
  38 +/*****************************************
  39 + *
  40 + * include file :
  41 + *
  42 + *****************************************/
  43 +
  44 +#include <stdio.h>
  45 +#include <stdlib.h>
  46 +#include <curses.h>
  47 +#include <string.h>
  48 +#include <unistd.h>
  49 +#include <signal.h>
  50 +#include <errno.h>
  51 +
  52 +#include <libARSAL/ARSAL.h>
  53 +#include <libARController/ARController.h>
  54 +#include <libARDiscovery/ARDiscovery.h>
  55 +
  56 +#include "BebopSample.h"
  57 +#include "ihm.h"
  58 +
  59 +/*****************************************
  60 + *
  61 + * define :
  62 + *
  63 + *****************************************/
  64 +#define TAG "BebopSample"
  65 +
  66 +#define ERROR_STR_LENGTH 2048
  67 +
  68 +#define BEBOP_IP_ADDRESS "192.168.42.1"
  69 +#define BEBOP_DISCOVERY_PORT 44444
  70 +
  71 +#define DISPLAY_WITH_MPLAYER 1
  72 +
  73 +#define FIFO_DIR_PATTERN "/tmp/arsdk_XXXXXX"
  74 +#define FIFO_NAME "arsdk_fifo"
  75 +
  76 +#define IHM
  77 +/*****************************************
  78 + *
  79 + * private header:
  80 + *
  81 + ****************************************/
  82 +
  83 +
  84 +/*****************************************
  85 + *
  86 + * implementation :
  87 + *
  88 + *****************************************/
  89 +
  90 +static char fifo_dir[] = FIFO_DIR_PATTERN;
  91 +static char fifo_name[128] = "";
  92 +
  93 +int gIHMRun = 1;
  94 +char gErrorStr[ERROR_STR_LENGTH];
  95 +IHM_t *ihm = NULL;
  96 +
  97 +FILE *videoOut = NULL;
  98 +int frameNb = 0;
  99 +ARSAL_Sem_t stateSem;
  100 +int isBebop2 = 0;
  101 +
  102 +static void signal_handler(int signal)
  103 +{
  104 + gIHMRun = 0;
  105 +}
  106 +
  107 +int main (int argc, char *argv[])
  108 +{
  109 + // local declarations
  110 + int failed = 0;
  111 + ARDISCOVERY_Device_t *device = NULL;
  112 + ARCONTROLLER_Device_t *deviceController = NULL;
  113 + eARCONTROLLER_ERROR error = ARCONTROLLER_OK;
  114 + eARCONTROLLER_DEVICE_STATE deviceState = ARCONTROLLER_DEVICE_STATE_MAX;
  115 + pid_t child = 0;
  116 +
  117 +
  118 + /* Set signal handlers */
  119 + struct sigaction sig_action = {
  120 + .sa_handler = signal_handler,
  121 + };
  122 +
  123 + int ret = sigaction(SIGINT, &sig_action, NULL);
  124 + if (ret < 0)
  125 + {
  126 + ARSAL_PRINT(ARSAL_PRINT_ERROR, "ERROR", "Unable to set SIGINT handler : %d(%s)",
  127 + errno, strerror(errno));
  128 + return 1;
  129 + }
  130 + ret = sigaction(SIGPIPE, &sig_action, NULL);
  131 + if (ret < 0)
  132 + {
  133 + ARSAL_PRINT(ARSAL_PRINT_ERROR, "ERROR", "Unable to set SIGPIPE handler : %d(%s)",
  134 + errno, strerror(errno));
  135 + return 1;
  136 + }
  137 +
  138 +
  139 + if (mkdtemp(fifo_dir) == NULL)
  140 + {
  141 + ARSAL_PRINT(ARSAL_PRINT_ERROR, "ERROR", "Mkdtemp failed.");
  142 + return 1;
  143 + }
  144 + snprintf(fifo_name, sizeof(fifo_name), "%s/%s", fifo_dir, FIFO_NAME);
  145 +
  146 + if(mkfifo(fifo_name, 0666) < 0)
  147 + {
  148 + ARSAL_PRINT(ARSAL_PRINT_ERROR, "ERROR", "Mkfifo failed: %d, %s", errno, strerror(errno));
  149 + return 1;
  150 + }
  151 +
  152 + ARSAL_Sem_Init (&(stateSem), 0, 0);
  153 +
  154 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "Select your Bebop : Bebop (1) ; Bebop2 (2)");
  155 + char answer = '1';
  156 + scanf(" %c", &answer);
  157 + if (answer == '2')
  158 + {
  159 + isBebop2 = 1;
  160 + }
  161 +
  162 + if(isBebop2)
  163 + {
  164 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "-- Bebop 2 Sample --");
  165 + }
  166 + else
  167 + {
  168 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "-- Bebop Sample --");
  169 + }
  170 +
  171 + if (!failed)
  172 + {
  173 + if (DISPLAY_WITH_MPLAYER)
  174 + {
  175 + // fork the process to launch mplayer
  176 + if ((child = fork()) == 0)
  177 + {
  178 + execlp("xterm", "xterm", "-e", "mplayer", "-demuxer", "h264es", fifo_name, "-benchmark", "-really-quiet", NULL);
  179 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Missing mplayer, you will not see the video. Please install mplayer and xterm.");
  180 + return -1;
  181 + }
  182 + }
  183 +
  184 + if (DISPLAY_WITH_MPLAYER)
  185 + {
  186 + videoOut = fopen(fifo_name, "w");
  187 + }
  188 + }
  189 +
  190 +#ifdef IHM
  191 + ihm = IHM_New (&onInputEvent);
  192 + if (ihm != NULL)
  193 + {
  194 + gErrorStr[0] = '\0';
  195 + ARSAL_Print_SetCallback (customPrintCallback); //use a custom callback to print, for not disturb ncurses IHM
  196 +
  197 + if(isBebop2)
  198 + {
  199 + IHM_PrintHeader (ihm, "-- Bebop 2 Sample --");
  200 + }
  201 + else
  202 + {
  203 + IHM_PrintHeader (ihm, "-- Bebop Sample --");
  204 + }
  205 + }
  206 + else
  207 + {
  208 + ARSAL_PRINT (ARSAL_PRINT_ERROR, TAG, "Creation of IHM failed.");
  209 + failed = 1;
  210 + }
  211 +#endif
  212 +
  213 + // create a discovery device
  214 + if (!failed)
  215 + {
  216 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- init discovey device ... ");
  217 + eARDISCOVERY_ERROR errorDiscovery = ARDISCOVERY_OK;
  218 +
  219 + device = ARDISCOVERY_Device_New (&errorDiscovery);
  220 +
  221 + if (errorDiscovery == ARDISCOVERY_OK)
  222 + {
  223 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, " - ARDISCOVERY_Device_InitWifi ...");
  224 + // create a Bebop drone discovery device (ARDISCOVERY_PRODUCT_ARDRONE)
  225 +
  226 + if(isBebop2)
  227 + {
  228 + errorDiscovery = ARDISCOVERY_Device_InitWifi (device, ARDISCOVERY_PRODUCT_BEBOP_2, "bebop2", BEBOP_IP_ADDRESS, BEBOP_DISCOVERY_PORT);
  229 + }
  230 + else
  231 + {
  232 + errorDiscovery = ARDISCOVERY_Device_InitWifi (device, ARDISCOVERY_PRODUCT_ARDRONE, "bebop", BEBOP_IP_ADDRESS, BEBOP_DISCOVERY_PORT);
  233 + }
  234 +
  235 + if (errorDiscovery != ARDISCOVERY_OK)
  236 + {
  237 + failed = 1;
  238 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Discovery error :%s", ARDISCOVERY_Error_ToString(errorDiscovery));
  239 + }
  240 + }
  241 + else
  242 + {
  243 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Discovery error :%s", ARDISCOVERY_Error_ToString(errorDiscovery));
  244 + failed = 1;
  245 + }
  246 + }
  247 +
  248 + // create a device controller
  249 + if (!failed)
  250 + {
  251 + deviceController = ARCONTROLLER_Device_New (device, &error);
  252 +
  253 + if (error != ARCONTROLLER_OK)
  254 + {
  255 + ARSAL_PRINT (ARSAL_PRINT_ERROR, TAG, "Creation of deviceController failed.");
  256 + failed = 1;
  257 + }
  258 + else
  259 + {
  260 + IHM_setCustomData(ihm, deviceController);
  261 + }
  262 + }
  263 +
  264 + if (!failed)
  265 + {
  266 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- delete discovey device ... ");
  267 + ARDISCOVERY_Device_Delete (&device);
  268 + }
  269 +
  270 + // add the state change callback to be informed when the device controller starts, stops...
  271 + if (!failed)
  272 + {
  273 + error = ARCONTROLLER_Device_AddStateChangedCallback (deviceController, stateChanged, deviceController);
  274 +
  275 + if (error != ARCONTROLLER_OK)
  276 + {
  277 + ARSAL_PRINT (ARSAL_PRINT_ERROR, TAG, "add State callback failed.");
  278 + failed = 1;
  279 + }
  280 + }
  281 +
  282 + // add the command received callback to be informed when a command has been received from the device
  283 + if (!failed)
  284 + {
  285 + error = ARCONTROLLER_Device_AddCommandReceivedCallback (deviceController, commandReceived, deviceController);
  286 +
  287 + if (error != ARCONTROLLER_OK)
  288 + {
  289 + ARSAL_PRINT (ARSAL_PRINT_ERROR, TAG, "add callback failed.");
  290 + failed = 1;
  291 + }
  292 + }
  293 +
  294 + // add the frame received callback to be informed when a streaming frame has been received from the device
  295 + if (!failed)
  296 + {
  297 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- set Video callback ... ");
  298 + error = ARCONTROLLER_Device_SetVideoStreamCallbacks (deviceController, decoderConfigCallback, didReceiveFrameCallback, NULL , NULL);
  299 +
  300 + if (error != ARCONTROLLER_OK)
  301 + {
  302 + failed = 1;
  303 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error: %s", ARCONTROLLER_Error_ToString(error));
  304 + }
  305 + }
  306 +
  307 + if (!failed)
  308 + {
  309 + IHM_PrintInfo(ihm, "Connecting ...");
  310 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "Connecting ...");
  311 + error = ARCONTROLLER_Device_Start (deviceController);
  312 +
  313 + if (error != ARCONTROLLER_OK)
  314 + {
  315 + failed = 1;
  316 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error :%s", ARCONTROLLER_Error_ToString(error));
  317 + }
  318 + }
  319 +
  320 + if (!failed)
  321 + {
  322 + // wait state update update
  323 + ARSAL_Sem_Wait (&(stateSem));
  324 +
  325 + deviceState = ARCONTROLLER_Device_GetState (deviceController, &error);
  326 +
  327 + if ((error != ARCONTROLLER_OK) || (deviceState != ARCONTROLLER_DEVICE_STATE_RUNNING))
  328 + {
  329 + failed = 1;
  330 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- deviceState :%d", deviceState);
  331 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error :%s", ARCONTROLLER_Error_ToString(error));
  332 + }
  333 + }
  334 +
  335 + // send the command that tells to the Bebop to begin its streaming
  336 + if (!failed)
  337 + {
  338 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- send StreamingVideoEnable ... ");
  339 + error = deviceController->aRDrone3->sendMediaStreamingVideoEnable (deviceController->aRDrone3, 1);
  340 + if (error != ARCONTROLLER_OK)
  341 + {
  342 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "- error :%s", ARCONTROLLER_Error_ToString(error));
  343 + failed = 1;
  344 + }
  345 + }
  346 +
  347 + if (!failed)
  348 + {
  349 + IHM_PrintInfo(ihm, "Running ... ('t' to takeoff ; Spacebar to land ; 'e' for emergency ; Arrow keys and ('r','f','d','g') to move ; 'q' to quit)");
  350 +
  351 +#ifdef IHM
  352 + while (gIHMRun)
  353 + {
  354 + usleep(50);
  355 + }
  356 +#else
  357 + int i = 20;
  358 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- sleep 20 ... ");
  359 + while (gIHMRun && i--)
  360 + sleep(1);
  361 +#endif
  362 + }
  363 +
  364 +#ifdef IHM
  365 + IHM_Delete (&ihm);
  366 +#endif
  367 +
  368 + // we are here because of a disconnection or user has quit IHM, so safely delete everything
  369 + if (deviceController != NULL)
  370 + {
  371 +
  372 +
  373 + deviceState = ARCONTROLLER_Device_GetState (deviceController, &error);
  374 + if ((error == ARCONTROLLER_OK) && (deviceState != ARCONTROLLER_DEVICE_STATE_STOPPED))
  375 + {
  376 + IHM_PrintInfo(ihm, "Disconnecting ...");
  377 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "Disconnecting ...");
  378 +
  379 + error = ARCONTROLLER_Device_Stop (deviceController);
  380 +
  381 + if (error == ARCONTROLLER_OK)
  382 + {
  383 + // wait state update update
  384 + ARSAL_Sem_Wait (&(stateSem));
  385 + }
  386 + }
  387 +
  388 + IHM_PrintInfo(ihm, "");
  389 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "ARCONTROLLER_Device_Delete ...");
  390 + ARCONTROLLER_Device_Delete (&deviceController);
  391 +
  392 + if (DISPLAY_WITH_MPLAYER)
  393 + {
  394 + fflush (videoOut);
  395 + fclose (videoOut);
  396 +
  397 + if (child > 0)
  398 + {
  399 + kill(child, SIGKILL);
  400 + }
  401 + }
  402 + }
  403 +
  404 + ARSAL_Sem_Destroy (&(stateSem));
  405 +
  406 + unlink(fifo_name);
  407 + rmdir(fifo_dir);
  408 +
  409 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "-- END --");
  410 +
  411 + return EXIT_SUCCESS;
  412 +}
  413 +
  414 +/*****************************************
  415 + *
  416 + * private implementation:
  417 + *
  418 + ****************************************/
  419 +
  420 +// called when the state of the device controller has changed
  421 +void stateChanged (eARCONTROLLER_DEVICE_STATE newState, eARCONTROLLER_ERROR error, void *customData)
  422 +{
  423 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, " - stateChanged newState: %d .....", newState);
  424 +
  425 + switch (newState)
  426 + {
  427 + case ARCONTROLLER_DEVICE_STATE_STOPPED:
  428 + ARSAL_Sem_Post (&(stateSem));
  429 + //stop
  430 + gIHMRun = 0;
  431 +
  432 + break;
  433 +
  434 + case ARCONTROLLER_DEVICE_STATE_RUNNING:
  435 + ARSAL_Sem_Post (&(stateSem));
  436 + break;
  437 +
  438 + default:
  439 + break;
  440 + }
  441 +}
  442 +
  443 +static void cmdBatteryStateChangedRcv(ARCONTROLLER_Device_t *deviceController, ARCONTROLLER_DICTIONARY_ELEMENT_t *elementDictionary)
  444 +{
  445 + ARCONTROLLER_DICTIONARY_ARG_t *arg = NULL;
  446 + ARCONTROLLER_DICTIONARY_ELEMENT_t *singleElement = NULL;
  447 +
  448 + if (elementDictionary == NULL) {
  449 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "elements is NULL");
  450 + return;
  451 + }
  452 +
  453 + // get the command received in the device controller
  454 + HASH_FIND_STR (elementDictionary, ARCONTROLLER_DICTIONARY_SINGLE_KEY, singleElement);
  455 +
  456 + if (singleElement == NULL) {
  457 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "singleElement is NULL");
  458 + return;
  459 + }
  460 +
  461 + // get the value
  462 + HASH_FIND_STR (singleElement->arguments, ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_BATTERYSTATECHANGED_PERCENT, arg);
  463 +
  464 + if (arg == NULL) {
  465 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "arg is NULL");
  466 + return;
  467 + }
  468 +
  469 + // update UI
  470 + batteryStateChanged(arg->value.U8);
  471 +}
  472 +
  473 +static void cmdSensorStateListChangedRcv(ARCONTROLLER_Device_t *deviceController, ARCONTROLLER_DICTIONARY_ELEMENT_t *elementDictionary)
  474 +{
  475 + FILE* fichier = NULL;
  476 +
  477 +
  478 + fichier = fopen("test.txt", "a");
  479 + ARCONTROLLER_DICTIONARY_ARG_t *arg = NULL;
  480 + ARCONTROLLER_DICTIONARY_ELEMENT_t *dictElement = NULL;
  481 + ARCONTROLLER_DICTIONARY_ELEMENT_t *dictTmp = NULL;
  482 +
  483 + eARCOMMANDS_COMMON_COMMONSTATE_SENSORSSTATESLISTCHANGED_SENSORNAME sensorName = ARCOMMANDS_COMMON_COMMONSTATE_SENSORSSTATESLISTCHANGED_SENSORNAME_MAX;
  484 + int sensorState = 0;
  485 +
  486 + if (elementDictionary == NULL) {
  487 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "elements is NULL");
  488 + return;
  489 + }
  490 +
  491 + // get the command received in the device controller
  492 + HASH_ITER(hh, elementDictionary, dictElement, dictTmp) {
  493 + // get the Name
  494 + HASH_FIND_STR (dictElement->arguments, ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_SENSORSSTATESLISTCHANGED_SENSORNAME, arg);
  495 + if (arg != NULL) {
  496 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "arg sensorName is NULL");
  497 + continue;
  498 + }
  499 +
  500 + sensorName = arg->value.I32;
  501 +
  502 + // get the state
  503 + HASH_FIND_STR (dictElement->arguments, ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_SENSORSSTATESLISTCHANGED_SENSORSTATE, arg);
  504 + if (arg == NULL) {
  505 + ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "arg sensorState is NULL");
  506 + continue;
  507 + }
  508 +
  509 + sensorState = arg->value.U8;
  510 + ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "sensorName %d ; sensorState: %d", sensorName, sensorState);
  511 + fprintf(fichier, "sensorName %d ; sensorState: %d", sensorName, sensorState);
  512 + printf("sensorName %d ; sensorState: %d", sensorName, sensorState);
  513 + //sensorStateChanged(arg->value.I32, arg->value.U8);
  514 + }
  515 + sensorStateChanged(arg->value.I32, arg->value.U8);
  516 +}
  517 +
  518 +// called when a command has been received from the drone
  519 +void commandReceived (eARCONTROLLER_DICTIONARY_KEY commandKey, ARCONTROLLER_DICTIONARY_ELEMENT_t *elementDictionary, void *customData)
  520 +{
  521 + ARCONTROLLER_Device_t *deviceController = customData;
  522 +
  523 + if (deviceController == NULL)
  524 + return;
  525 +
  526 + // if the command received is a battery state changed
  527 + switch(commandKey) {
  528 + case ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_BATTERYSTATECHANGED:
  529 + cmdBatteryStateChangedRcv(deviceController, elementDictionary);
  530 + break;
  531 + case ARCONTROLLER_DICTIONARY_KEY_COMMON_COMMONSTATE_SENSORSSTATESLISTCHANGED:
  532 + cmdSensorStateListChangedRcv(deviceController, elementDictionary);
  533 + break;
  534 + default:
  535 + break;
  536 + }
  537 +}
  538 +
  539 +void batteryStateChanged (uint8_t percent)
  540 +{
  541 + // callback of changing of battery level
  542 +
  543 + if (ihm != NULL)
  544 + {
  545 + IHM_PrintBattery (ihm, percent);
  546 + }
  547 +}
  548 +
  549 +void sensorStateChanged (uint8_t sensorName, uint8_t sensorValue)
  550 +{
  551 + // callback of changing of battery level
  552 +
  553 + if (ihm != NULL)
  554 + {
  555 + IHM_PrintSensors(ihm, sensorName, sensorValue);
  556 + }
  557 +}
  558 +
  559 +
  560 +eARCONTROLLER_ERROR decoderConfigCallback (ARCONTROLLER_Stream_Codec_t codec, void *customData)
  561 +{
  562 + if (videoOut != NULL)
  563 + {
  564 + if (codec.type == ARCONTROLLER_STREAM_CODEC_TYPE_H264)
  565 + {
  566 + if (DISPLAY_WITH_MPLAYER)
  567 + {
  568 + fwrite(codec.parameters.h264parameters.spsBuffer, codec.parameters.h264parameters.spsSize, 1, videoOut);
  569 + fwrite(codec.parameters.h264parameters.ppsBuffer, codec.parameters.h264parameters.ppsSize, 1, videoOut);
  570 +
  571 + fflush (videoOut);
  572 + }
  573 + }
  574 +
  575 + }
  576 + else
  577 + {
  578 + ARSAL_PRINT(ARSAL_PRINT_WARNING, TAG, "videoOut is NULL.");
  579 + }
  580 +
  581 + return ARCONTROLLER_OK;
  582 +}
  583 +
  584 +
  585 +eARCONTROLLER_ERROR didReceiveFrameCallback (ARCONTROLLER_Frame_t *frame, void *customData)
  586 +{
  587 + if (videoOut != NULL)
  588 + {
  589 + if (frame != NULL)
  590 + {
  591 + if (DISPLAY_WITH_MPLAYER)
  592 + {
  593 + fwrite(frame->data, frame->used, 1, videoOut);
  594 +
  595 + fflush (videoOut);
  596 + }
  597 + }
  598 + else
  599 + {
  600 + ARSAL_PRINT(ARSAL_PRINT_WARNING, TAG, "frame is NULL.");
  601 + }
  602 + }
  603 + else
  604 + {
  605 + ARSAL_PRINT(ARSAL_PRINT_WARNING, TAG, "videoOut is NULL.");
  606 + }
  607 +
  608 + return ARCONTROLLER_OK;
  609 +}
  610 +
  611 +
  612 +// IHM callbacks:
  613 +
  614 +void onInputEvent (eIHM_INPUT_EVENT event, void *customData)
  615 +{
  616 + // Manage IHM input events
  617 + ARCONTROLLER_Device_t *deviceController = (ARCONTROLLER_Device_t *)customData;
  618 + eARCONTROLLER_ERROR error = ARCONTROLLER_OK;
  619 +
  620 + switch (event)
  621 + {
  622 + case IHM_INPUT_EVENT_EXIT:
  623 + IHM_PrintInfo(ihm, "IHM_INPUT_EVENT_EXIT ...");
  624 + gIHMRun = 0;
  625 + break;
  626 + case IHM_INPUT_EVENT_EMERGENCY:
  627 + if(deviceController != NULL)
  628 + {
  629 + // send a Emergency command to the drone
  630 + error = deviceController->aRDrone3->sendPilotingEmergency(deviceController->aRDrone3);
  631 + }
  632 + break;
  633 + case IHM_INPUT_EVENT_LAND:
  634 + if(deviceController != NULL)
  635 + {
  636 + // send a takeoff command to the drone
  637 + error = deviceController->aRDrone3->sendPilotingLanding(deviceController->aRDrone3);
  638 + }
  639 + break;
  640 + case IHM_INPUT_EVENT_TAKEOFF:
  641 + if(deviceController != NULL)
  642 + {
  643 + // send a landing command to the drone
  644 + error = deviceController->aRDrone3->sendPilotingTakeOff(deviceController->aRDrone3);
  645 + }
  646 + break;
  647 + case IHM_INPUT_EVENT_UP:
  648 + if(deviceController != NULL)
  649 + {
  650 + // set the flag and speed value of the piloting command
  651 + error = deviceController->aRDrone3->setPilotingPCMDGaz(deviceController->aRDrone3, 50);
  652 + }
  653 + break;
  654 + case IHM_INPUT_EVENT_DOWN:
  655 + if(deviceController != NULL)
  656 + {
  657 + error = deviceController->aRDrone3->setPilotingPCMDGaz(deviceController->aRDrone3, -50);
  658 + }
  659 + break;
  660 + case IHM_INPUT_EVENT_RIGHT:
  661 + if(deviceController != NULL)
  662 + {
  663 + error = deviceController->aRDrone3->setPilotingPCMDYaw(deviceController->aRDrone3, 50);
  664 + }
  665 + break;
  666 + case IHM_INPUT_EVENT_LEFT:
  667 + if(deviceController != NULL)
  668 + {
  669 + error = deviceController->aRDrone3->setPilotingPCMDYaw(deviceController->aRDrone3, -50);
  670 + }
  671 + break;
  672 + case IHM_INPUT_EVENT_FORWARD:
  673 + if(deviceController != NULL)
  674 + {
  675 + error = deviceController->aRDrone3->setPilotingPCMDPitch(deviceController->aRDrone3, 50);
  676 + error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1);
  677 + }
  678 + break;
  679 + case IHM_INPUT_EVENT_BACK:
  680 + if(deviceController != NULL)
  681 + {
  682 + error = deviceController->aRDrone3->setPilotingPCMDPitch(deviceController->aRDrone3, -50);
  683 + error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1);
  684 + }
  685 + break;
  686 + case IHM_INPUT_EVENT_ROLL_LEFT:
  687 + if(deviceController != NULL)
  688 + {
  689 + error = deviceController->aRDrone3->setPilotingPCMDRoll(deviceController->aRDrone3, -50);
  690 + error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1);
  691 + }
  692 + break;
  693 + case IHM_INPUT_EVENT_ROLL_RIGHT:
  694 + if(deviceController != NULL)
  695 + {
  696 + error = deviceController->aRDrone3->setPilotingPCMDRoll(deviceController->aRDrone3, 50);
  697 + error = deviceController->aRDrone3->setPilotingPCMDFlag(deviceController->aRDrone3, 1);
  698 + }
  699 + break;
  700 + case IHM_INPUT_EVENT_NONE:
  701 + if(deviceController != NULL)
  702 + {
  703 + error = deviceController->aRDrone3->setPilotingPCMD(deviceController->aRDrone3, 0, 0, 0, 0, 0, 0);
  704 + }
  705 + break;
  706 + default:
  707 + break;
  708 + }
  709 +
  710 + // This should be improved, here it just displays that one error occured
  711 + if (error != ARCONTROLLER_OK)
  712 + {
  713 + IHM_PrintInfo(ihm, "Error sending an event");
  714 + }
  715 +}
  716 +
  717 +int customPrintCallback (eARSAL_PRINT_LEVEL level, const char *tag, const char *format, va_list va)
  718 +{
  719 + // Custom callback used when ncurses is runing for not disturb the IHM
  720 +
  721 + if ((level == ARSAL_PRINT_ERROR) && (strcmp(TAG, tag) == 0))
  722 + {
  723 + // Save the last Error
  724 + vsnprintf(gErrorStr, (ERROR_STR_LENGTH - 1), format, va);
  725 + gErrorStr[ERROR_STR_LENGTH - 1] = '\0';
  726 + }
  727 +
  728 + return 1;
  729 +}
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SDK/BebopSample.h 0 → 100755
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  1 +/*
  2 + Copyright (C) 2014 Parrot SA
  3 +
  4 + Redistribution and use in source and binary forms, with or without
  5 + modification, are permitted provided that the following conditions
  6 + are met:
  7 + * Redistributions of source code must retain the above copyright
  8 + notice, this list of conditions and the following disclaimer.
  9 + * Redistributions in binary form must reproduce the above copyright
  10 + notice, this list of conditions and the following disclaimer in
  11 + the documentation and/or other materials provided with the
  12 + distribution.
  13 + * Neither the name of Parrot nor the names
  14 + of its contributors may be used to endorse or promote products
  15 + derived from this software without specific prior written
  16 + permission.
  17 +
  18 + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  19 + "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  20 + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  21 + FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  22 + COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  23 + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  24 + BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
  25 + OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
  26 + AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  27 + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
  28 + OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  29 + SUCH DAMAGE.
  30 +*/
  31 +
  32 +#ifndef _BEBOP_SAMPLE_H_
  33 +#define _BEBOP_SAMPLE_H_
  34 +
  35 +#include <ihm.h>
  36 +
  37 +// called when the state of the device controller has changed
  38 +void stateChanged (eARCONTROLLER_DEVICE_STATE newState, eARCONTROLLER_ERROR error, void *customData);
  39 +
  40 +// called when a command has been received from the drone
  41 +void commandReceived (eARCONTROLLER_DICTIONARY_KEY commandKey, ARCONTROLLER_DICTIONARY_ELEMENT_t *elementDictionary, void *customData);
  42 +
  43 +// IHM updates from commands
  44 +void batteryStateChanged (uint8_t percent);
  45 +void sensorStateChanged (uint8_t sensorName, uint8_t sensorValue);
  46 +
  47 +// called when a streaming frame has been received
  48 +eARCONTROLLER_ERROR didReceiveFrameCallback (ARCONTROLLER_Frame_t *frame, void *customData);
  49 +
  50 +eARCONTROLLER_ERROR decoderConfigCallback (ARCONTROLLER_Stream_Codec_t codec, void *customData);
  51 +
  52 +/* IHM callbacks: */
  53 +void onInputEvent (eIHM_INPUT_EVENT event, void *customData);
  54 +
  55 +int customPrintCallback (eARSAL_PRINT_LEVEL level, const char *tag, const char *format, va_list va);
  56 +
  57 +#endif /* BEBOP_SAMPLE_H */
... ...
SDK/ihm.c 0 → 100755
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  1 +/*
  2 + Copyright (C) 2014 Parrot SA
  3 +
  4 + Redistribution and use in source and binary forms, with or without
  5 + modification, are permitted provided that the following conditions
  6 + are met:
  7 + * Redistributions of source code must retain the above copyright
  8 + notice, this list of conditions and the following disclaimer.
  9 + * Redistributions in binary form must reproduce the above copyright
  10 + notice, this list of conditions and the following disclaimer in
  11 + the documentation and/or other materials provided with the
  12 + distribution.
  13 + * Neither the name of Parrot nor the names
  14 + of its contributors may be used to endorse or promote products
  15 + derived from this software without specific prior written
  16 + permission.
  17 +
  18 + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  19 + "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  20 + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  21 + FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  22 + COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  23 + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  24 + BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
  25 + OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
  26 + AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  27 + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
  28 + OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  29 + SUCH DAMAGE.
  30 +*/
  31 +/**
  32 + * @file ihm.c
  33 + * @brief This file contains sources about ncurses IHM used by arsdk example "BebopSample"
  34 + * @date 15/01/2015
  35 + */
  36 +
  37 +/*****************************************
  38 + *
  39 + * include file :
  40 + *
  41 + *****************************************/
  42 +
  43 +#include <stdlib.h>
  44 +#include <curses.h>
  45 +#include <string.h>
  46 +
  47 +#include <libARSAL/ARSAL.h>
  48 +
  49 +#include "ihm.h"
  50 +
  51 +/*****************************************
  52 + *
  53 + * define :
  54 + *
  55 + *****************************************/
  56 +
  57 +#define HEADER_X 0
  58 +#define HEADER_Y 0
  59 +
  60 +#define INFO_X 0
  61 +#define INFO_Y 2
  62 +
  63 +#define BATTERY_X 0
  64 +#define BATTERY_Y 4
  65 +
  66 +#define SENSOR_X 0
  67 +#define SENSOR_Y 6
  68 +
  69 +#define TEST_X 0
  70 +#define TEST_Y 8
  71 +/*****************************************
  72 + *
  73 + * private header:
  74 + *
  75 + ****************************************/
  76 +void *IHM_InputProcessing(void *data);
  77 +
  78 +/*****************************************
  79 + *
  80 + * implementation :
  81 + *
  82 + *****************************************/
  83 +
  84 +IHM_t *IHM_New (IHM_onInputEvent_t onInputEventCallback)
  85 +{
  86 + int failed = 0;
  87 + IHM_t *newIHM = NULL;
  88 +
  89 + // check parameters
  90 + if (onInputEventCallback == NULL)
  91 + {
  92 + failed = 1;
  93 + }
  94 +
  95 + if (!failed)
  96 + {
  97 + // Initialize IHM
  98 + newIHM = malloc(sizeof(IHM_t));
  99 + if (newIHM != NULL)
  100 + {
  101 + // Initialize ncurses
  102 + newIHM->mainWindow = initscr();
  103 + newIHM->inputThread = NULL;
  104 + newIHM->run = 1;
  105 + newIHM->onInputEventCallback = onInputEventCallback;
  106 + newIHM->customData = NULL;
  107 + }
  108 + else
  109 + {
  110 + failed = 1;
  111 + }
  112 + }
  113 +
  114 + if (!failed)
  115 + {
  116 + raw(); // Line buffering disabled
  117 + keypad(stdscr, TRUE);
  118 + noecho(); // Don't echo() while we do getch
  119 + timeout(100);
  120 +
  121 + refresh();
  122 + }
  123 +
  124 + if (!failed)
  125 + {
  126 + //start input thread
  127 + if(ARSAL_Thread_Create(&(newIHM->inputThread), IHM_InputProcessing, newIHM) != 0)
  128 + {
  129 + failed = 1;
  130 + }
  131 + }
  132 +
  133 + if (failed)
  134 + {
  135 + IHM_Delete (&newIHM);
  136 + }
  137 +
  138 + return newIHM;
  139 +}
  140 +
  141 +void IHM_Delete (IHM_t **ihm)
  142 +{
  143 + // Clean up
  144 +
  145 + if (ihm != NULL)
  146 + {
  147 + if ((*ihm) != NULL)
  148 + {
  149 + (*ihm)->run = 0;
  150 +
  151 + if ((*ihm)->inputThread != NULL)
  152 + {
  153 + ARSAL_Thread_Join((*ihm)->inputThread, NULL);
  154 + ARSAL_Thread_Destroy(&((*ihm)->inputThread));
  155 + (*ihm)->inputThread = NULL;
  156 + }
  157 +
  158 + delwin((*ihm)->mainWindow);
  159 + (*ihm)->mainWindow = NULL;
  160 + endwin();
  161 + refresh();
  162 +
  163 + free (*ihm);
  164 + (*ihm) = NULL;
  165 + }
  166 + }
  167 +}
  168 +
  169 +void IHM_setCustomData(IHM_t *ihm, void *customData)
  170 +{
  171 + if (ihm != NULL)
  172 + {
  173 + ihm->customData = customData;
  174 + }
  175 +}
  176 +
  177 +void *IHM_InputProcessing(void *data)
  178 +{
  179 + IHM_t *ihm = (IHM_t *) data;
  180 + int key = 0;
  181 +
  182 + if (ihm != NULL)
  183 + {
  184 + while (ihm->run)
  185 + {
  186 + key = getch();
  187 +
  188 + if ((key == 27) || (key =='q'))
  189 + {
  190 + if(ihm->onInputEventCallback != NULL)
  191 + {
  192 + ihm->onInputEventCallback (IHM_INPUT_EVENT_EXIT, ihm->customData);
  193 + }
  194 + }
  195 + else if(key == KEY_UP)
  196 + {
  197 + if(ihm->onInputEventCallback != NULL)
  198 + {
  199 + ihm->onInputEventCallback (IHM_INPUT_EVENT_UP, ihm->customData);
  200 + }
  201 + }
  202 + else if(key == KEY_DOWN)
  203 + {
  204 + if(ihm->onInputEventCallback != NULL)
  205 + {
  206 + ihm->onInputEventCallback (IHM_INPUT_EVENT_DOWN, ihm->customData);
  207 + }
  208 + }
  209 + else if(key == KEY_LEFT)
  210 + {
  211 + if(ihm->onInputEventCallback != NULL)
  212 + {
  213 + ihm->onInputEventCallback (IHM_INPUT_EVENT_LEFT, ihm->customData);
  214 + }
  215 + }
  216 + else if(key == KEY_RIGHT)
  217 + {
  218 + if(ihm->onInputEventCallback != NULL)
  219 + {
  220 + ihm->onInputEventCallback (IHM_INPUT_EVENT_RIGHT, ihm->customData);
  221 + }
  222 + }
  223 + else if(key == 'e')
  224 + {
  225 + if(ihm->onInputEventCallback != NULL)
  226 + {
  227 + ihm->onInputEventCallback (IHM_INPUT_EVENT_EMERGENCY, ihm->customData);
  228 + }
  229 + }
  230 + else if(key == 't')
  231 + {
  232 + if(ihm->onInputEventCallback != NULL)
  233 + {
  234 + ihm->onInputEventCallback (IHM_INPUT_EVENT_TAKEOFF, ihm->customData);
  235 + }
  236 + }
  237 + else if(key == ' ')
  238 + {
  239 + if(ihm->onInputEventCallback != NULL)
  240 + {
  241 + ihm->onInputEventCallback (IHM_INPUT_EVENT_LAND, ihm->customData);
  242 + }
  243 + }
  244 + else if(key == 'r')
  245 + {
  246 + if(ihm->onInputEventCallback != NULL)
  247 + {
  248 + ihm->onInputEventCallback (IHM_INPUT_EVENT_FORWARD, ihm->customData);
  249 + }
  250 + }
  251 + else if(key == 'f')
  252 + {
  253 + if(ihm->onInputEventCallback != NULL)
  254 + {
  255 + ihm->onInputEventCallback (IHM_INPUT_EVENT_BACK, ihm->customData);
  256 + }
  257 + }
  258 + else if(key == 'd')
  259 + {
  260 + if(ihm->onInputEventCallback != NULL)
  261 + {
  262 + ihm->onInputEventCallback (IHM_INPUT_EVENT_ROLL_LEFT, ihm->customData);
  263 + }
  264 + }
  265 + else if(key == 'g')
  266 + {
  267 + if(ihm->onInputEventCallback != NULL)
  268 + {
  269 + ihm->onInputEventCallback (IHM_INPUT_EVENT_ROLL_RIGHT, ihm->customData);
  270 + }
  271 + }
  272 + else
  273 + {
  274 + if(ihm->onInputEventCallback != NULL)
  275 + {
  276 + ihm->onInputEventCallback (IHM_INPUT_EVENT_NONE, ihm->customData);
  277 + }
  278 + }
  279 +
  280 + usleep(10);
  281 + }
  282 + }
  283 +
  284 + return NULL;
  285 +}
  286 +
  287 +void IHM_PrintHeader(IHM_t *ihm, char *headerStr)
  288 +{
  289 + if (ihm != NULL)
  290 + {
  291 + move(HEADER_Y, 0); // move to begining of line
  292 + clrtoeol(); // clear line
  293 + mvprintw(HEADER_Y, HEADER_X, headerStr);
  294 + }
  295 +}
  296 +
  297 +void IHM_PrintInfo(IHM_t *ihm, char *infoStr)
  298 +{
  299 + if (ihm != NULL)
  300 + {
  301 + move(INFO_Y, 0); // move to begining of line
  302 + clrtoeol(); // clear line
  303 + mvprintw(INFO_Y, INFO_X, infoStr);
  304 + }
  305 +}
  306 +
  307 +void IHM_PrintBattery(IHM_t *ihm, uint8_t percent)
  308 +{
  309 + if (ihm != NULL)
  310 + {
  311 + move(BATTERY_Y, 0); // move to begining of line
  312 + clrtoeol(); // clear line
  313 + mvprintw(BATTERY_Y, BATTERY_X, "Battery: %d", percent);
  314 +
  315 + }
  316 +}
  317 +
  318 +void IHM_PrintSensors(IHM_t *ihm, uint8_t sensorName, uint8_t sensorValue){
  319 + if (ihm != NULL)
  320 + {
  321 + move(TEST_Y, 0);
  322 + clrtoeol();
  323 + mvprintw(TEST_Y, TEST_X, "Test");
  324 + move(SENSOR_Y, 0); // move to begining of line
  325 + clrtoeol(); // clear line
  326 + mvprintw(SENSOR_Y, SENSOR_X, "Sensor: %d, Value: %d", sensorName, sensorValue);
  327 + }
  328 +}
  329 +
  330 +
  331 +
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SDK/ihm.h 0 → 100755
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  1 +/*
  2 + Copyright (C) 2014 Parrot SA
  3 +
  4 + Redistribution and use in source and binary forms, with or without
  5 + modification, are permitted provided that the following conditions
  6 + are met:
  7 + * Redistributions of source code must retain the above copyright
  8 + notice, this list of conditions and the following disclaimer.
  9 + * Redistributions in binary form must reproduce the above copyright
  10 + notice, this list of conditions and the following disclaimer in
  11 + the documentation and/or other materials provided with the
  12 + distribution.
  13 + * Neither the name of Parrot nor the names
  14 + of its contributors may be used to endorse or promote products
  15 + derived from this software without specific prior written
  16 + permission.
  17 +
  18 + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  19 + "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  20 + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  21 + FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  22 + COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  23 + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
  24 + BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
  25 + OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
  26 + AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  27 + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
  28 + OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  29 + SUCH DAMAGE.
  30 +*/
  31 +
  32 +#ifndef _BEBOP_SAMPLE_IHM_H_
  33 +#define _BEBOP_SAMPLE_IHM_H_
  34 +
  35 +#include <curses.h>
  36 +#include <libARSAL/ARSAL.h>
  37 +
  38 +typedef enum
  39 +{
  40 + IHM_INPUT_EVENT_NONE,
  41 + IHM_INPUT_EVENT_EXIT,
  42 + IHM_INPUT_EVENT_EMERGENCY,
  43 + IHM_INPUT_EVENT_TAKEOFF,
  44 + IHM_INPUT_EVENT_LAND,
  45 + IHM_INPUT_EVENT_UP,
  46 + IHM_INPUT_EVENT_DOWN,
  47 + IHM_INPUT_EVENT_RIGHT,
  48 + IHM_INPUT_EVENT_LEFT,
  49 + IHM_INPUT_EVENT_FORWARD,
  50 + IHM_INPUT_EVENT_BACK,
  51 + IHM_INPUT_EVENT_ROLL_LEFT,
  52 + IHM_INPUT_EVENT_ROLL_RIGHT,
  53 +}eIHM_INPUT_EVENT;
  54 +
  55 +typedef void (*IHM_onInputEvent_t) (eIHM_INPUT_EVENT event, void *customData);
  56 +
  57 +typedef struct
  58 +{
  59 + WINDOW *mainWindow;
  60 + ARSAL_Thread_t inputThread;
  61 + int run;
  62 + IHM_onInputEvent_t onInputEventCallback;
  63 + void *customData;
  64 +}IHM_t;
  65 +
  66 +IHM_t *IHM_New (IHM_onInputEvent_t onInputEventCallback);
  67 +void IHM_Delete (IHM_t **ihm);
  68 +
  69 +void IHM_setCustomData(IHM_t *ihm, void *customData);
  70 +
  71 +void IHM_PrintHeader(IHM_t *ihm, char *headerStr);
  72 +void IHM_PrintInfo(IHM_t *ihm, char *infoStr);
  73 +void IHM_PrintBattery(IHM_t *ihm, uint8_t percent);
  74 +void IHM_PrintSensors(IHM_t *ihm, uint8_t sensorName, uint8_t sensorValue);
  75 +
  76 +#endif /* _BEBOP_SAMPLE_IHM_H_ */
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