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[ARDrone] A bit of beautifying/cleaning 

Long lines, trailing white spaces, unused variables, etc.
I left most of the commented code, but it certainly should be deleted
someday.
This commit is contained in:
Matteo Cypriani 2011-08-18 10:51:50 +02:00
parent c079ee14ca
commit 5284120632
1 changed files with 166 additions and 80 deletions
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246
owlps-ardrone/owlps-drone.c
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@ -70,14 +70,10 @@ owl_bool is_calibration_request = FALSE ;
int socksendfd ; // Sending socket descriptor (send positioning packets) int socksendfd ; // Sending socket descriptor (send positioning packets)
int sockreceivefd ; // Receiving socket descriptor (Receive position) int sockreceivefd ; // Receiving socket descriptor (Receive position)
int socksendlvfd ; // Sending labview socket descriptor (Send position to labview)
struct sockaddr_in server ; // Server info struct sockaddr_in server ; // Server info
uint8_t *packet = NULL ; // Packet to send uint8_t *packet = NULL ; // Packet to send
uint_fast16_t packet_size ; // Packet size uint_fast16_t packet_size ; // Packet size
// Shared variables for OwlSIG (Geo Information System)
//double share_x, share_y, share_z;
struct point share_gps; struct point share_gps;
struct point share_gps_retro; struct point share_gps_retro;
consigne* list_share_gps_cons = NULL; consigne* list_share_gps_cons = NULL;
@ -161,7 +157,10 @@ int main(int argc, char *argv[])
pthread_create(&drone_watchdog, NULL, drone_socket_watchdog, NULL) ; pthread_create(&drone_watchdog, NULL, drone_socket_watchdog, NULL) ;
log = fopen("vol.log", "w"); log = fopen("vol.log", "w");
fprintf(log, "Date;Heure;Latitude;Longitude;Latitude_cons;Longitude_cons;DistanceTotal;Distance;SpeedPitch;angle;x;y;x_retro;y_retro;x_cons;y_cons\n"); fprintf(log,
"Date;Heure;Latitude;Longitude;Latitude_cons;Longitude_cons;"
"DistanceTotal;Distance;SpeedPitch;angle;"
"x;y;x_retro;y_retro;x_cons;y_cons\n") ;
while(run) while(run)
{ {
i_consigne=0; i_consigne=0;
@ -175,10 +174,10 @@ int main(int argc, char *argv[])
/* - */ /* - */
printf("[GPS] GPS fix OK!\n"); printf("[GPS] GPS fix OK!\n");
speed_pitch=-1; speed_pitch=-1;
if(read_position(TYPE)<0) if(read_position(TYPE)<0)
drone_err(1); drone_err(1);
if(cmd_drone_take_off()<0) if(cmd_drone_take_off()<0)
drone_err(2); drone_err(2);
while(share_gps_cons.lat==-999.00||share_gps_cons.lon==-999.00); while(share_gps_cons.lat==-999.00||share_gps_cons.lon==-999.00);
@ -189,26 +188,45 @@ int main(int argc, char *argv[])
share_gps_cons.lon = array_cons[i_consigne].lon; share_gps_cons.lon = array_cons[i_consigne].lon;
share_gps_cons.alt = array_cons[i_consigne].alt; share_gps_cons.alt = array_cons[i_consigne].alt;
distance_total=fabs(oc_distance_between(share_gps, share_gps_cons)); distance_total =
fabs(oc_distance_between(share_gps, share_gps_cons)) ;
while(start==1&&!check_destination(share_gps, share_gps_cons)) while(start==1&&!check_destination(share_gps, share_gps_cons))
{ {
if(read_position(TYPE)<0) if(read_position(TYPE)<0)
drone_err(1); drone_err(1);
//calcul_trajectory(&angle, &distance_old); //calcul_trajectory(&angle, &distance_old);
angle = calcul_angle(); angle = calcul_angle();
distance = fabs(oc_distance_between(share_gps, share_gps_cons)); distance =
fabs(oc_distance_between(share_gps, share_gps_cons)) ;
if(speed_pitch<-(distance/distance_total)) if(speed_pitch<-(distance/distance_total))
speed_pitch=-(distance/distance_total)-0.2; speed_pitch=-(distance/distance_total)-0.2;
if(speed_pitch < -1) speed_pitch = -1; if(speed_pitch < -1) speed_pitch = -1;
else if(speed_pitch > 1) speed_pitch = 1; else if(speed_pitch > 1) speed_pitch = 1;
cmd_drone_move((speed_pitch), (angle)); cmd_drone_move((speed_pitch), (angle));
usleep(10000); usleep(10000);
printf("Vitesse : %f Angle : %f\n", speed_pitch, angle); printf("Vitesse : %f Angle : %f\n", speed_pitch, angle);
fprintf(log,"%d;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f\n",share_gps.date, share_gps.time, share_gps.lat, share_gps.lon, share_gps_cons.lat, share_gps_cons.lon, distance_total, distance, speed_pitch, angle, share_relatif.x, share_relatif.y, share_relatif_retro.x, share_relatif_retro.y, share_relatif_cons.x, share_relatif_cons.y); fprintf(log,
"%d;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f;%f\n",
share_gps.date,
share_gps.time,
share_gps.lat,
share_gps.lon,
share_gps_cons.lat,
share_gps_cons.lon,
distance_total,
distance,
speed_pitch,
angle,
share_relatif.x,
share_relatif.y,
share_relatif_retro.x,
share_relatif_retro.y,
share_relatif_cons.x,
share_relatif_cons.y) ;
//printf("[DEBUG] Vitesse %f Angle %f state %d\n",speed_pitch, angle,state_flying); //printf("[DEBUG] Vitesse %f Angle %f state %d\n",speed_pitch, angle,state_flying);
} }
i_consigne++; i_consigne++;
@ -217,9 +235,9 @@ int main(int argc, char *argv[])
cmd_drone_landing(); cmd_drone_landing();
} }
sem_destroy(&lock); sem_destroy(&lock);
(void) close(socksendfd) ; close(socksendfd) ;
(void) close(sockreceivefd) ; close(sockreceivefd) ;
return 0 ; return 0 ;
} }
@ -245,18 +263,18 @@ void parse_command_line(int argc, char **argv)
void traficGPS(int gps) { void traficGPS(int gps) {
int offset=0, c=1, i=0; int offset=0, c=1, i=0;
char buffer[4096]; char buffer[4096];
do do
{ {
c=read(gps, buffer, 4096); c=read(gps, buffer, 4096);
//printf("lecture intiale %d\n",c); //printf("lecture intiale %d\n",c);
} }
while (c>99); while (c>99);
do do
{ {
c=read(gps, buffer+offset, 1); c=read(gps, buffer+offset, 1);
offset=offset+c; offset=offset+c;
} }
while (buffer[offset-c]!='$'); while (buffer[offset-c]!='$');
//buffer[offset]='\0'; //buffer[offset]='\0';
//printf("phrase x%sx\n",buffer); //printf("phrase x%sx\n",buffer);
@ -264,11 +282,11 @@ void traficGPS(int gps) {
while (run) { while (run) {
i=0; i=0;
offset=0; offset=0;
do do
{ {
c=read(gps, buffer+offset, 1); c=read(gps, buffer+offset, 1);
offset=offset+c; offset=offset+c;
} }
while (buffer[offset-c]!='$'); while (buffer[offset-c]!='$');
//buffer[offset]='\0'; //buffer[offset]='\0';
//printf("phrase s x%sx\n",buffer); //printf("phrase s x%sx\n",buffer);
@ -304,7 +322,8 @@ void traficGPS(int gps) {
else else
{ {
memcpy(data[ct_string], buffer+i+offset_line, y-offset_line); memcpy(data[ct_string], buffer + i + offset_line,
y - offset_line) ;
data[ct_string][y-offset_line]=0; data[ct_string][y-offset_line]=0;
} }
ct_string++; ct_string++;
@ -314,14 +333,19 @@ void traficGPS(int gps) {
} }
if(!(ct_string==0 || offset_line==0)) if(!(ct_string==0 || offset_line==0))
memcpy(data[ct_string], buffer+i+offset_line, length-offset_line); memcpy(data[ct_string], buffer + i + offset_line,
length - offset_line) ;
data[ct_string][length-offset_line]=0; data[ct_string][length-offset_line]=0;
datagps.time = atof(data[1]); datagps.time = atof(data[1]);
datagps.state = data[2][0]; datagps.state = data[2][0];
datagps.latitude = atof(strndup(data[3],2))+atof(strndup(data[3]+2,strlen(data[3])-2))/60.0 ; datagps.latitude =
atof(strndup(data[3], 2)) +
atof(strndup(data[3] + 2, strlen(data[3]) - 2)) / 60.0 ;
datagps.orilat = data[4][0]; datagps.orilat = data[4][0];
datagps.longitude = atof(strndup(data[5],3))+atof(strndup(data[5]+3,strlen(data[5])-3))/60.0 ; datagps.longitude =
atof(strndup(data[5], 3)) +
atof(strndup(data[5] + 3, strlen(data[5]) - 3)) / 60.0 ;
datagps.orilon = data[6][0]; datagps.orilon = data[6][0];
datagps.speed = atof(data[7])*1.852; datagps.speed = atof(data[7])*1.852;
datagps.cap = atof(data[8]); datagps.cap = atof(data[8]);
@ -348,6 +372,7 @@ void traficGPS(int gps) {
} }
} }
void* thread_gps(void* NULL_value) void* thread_gps(void* NULL_value)
{ {
char buffer[1024]; char buffer[1024];
@ -358,6 +383,7 @@ void* thread_gps(void* NULL_value)
pthread_exit(NULL_value); pthread_exit(NULL_value);
} }
void* thread_send(void* NULL_value) void* thread_send(void* NULL_value)
{ {
while(run) while(run)
@ -369,6 +395,7 @@ void* thread_send(void* NULL_value)
pthread_exit(NULL_value); pthread_exit(NULL_value);
} }
// TCP Server OwlSIG // TCP Server OwlSIG
void* thread_control(void* NULL_value) void* thread_control(void* NULL_value)
{ {
@ -415,18 +442,30 @@ void* thread_control(void* NULL_value)
sz=strtok(NULL,";"); sz=strtok(NULL,";");
st=strtok(NULL,";"); st=strtok(NULL,";");
strcpy(response,"HTTP/1.1 200 OK\nDate: Mon, 18 Apr 2011 19:51:52 GMT\nServer: Apache/ProXad [Aug 5 2010 16:17:11]\nAccess-Control-Allow-Origin: *\nX-Powered-By: PHP/4.4.3-dev\nConnection: close\nContent-Type: text/html\n\n"); strcpy(response,
"HTTP/1.1 200 OK\n"
"Date: Mon, 18 Apr 2011 19:51:52 GMT\n"
"Server: Apache/ProXad [Aug 5 2010 16:17:11]\n"
"Access-Control-Allow-Origin: *\n"
"X-Powered-By: PHP/4.4.3-dev\n"
"Connection: close\n"
"Content-Type: text/html\n"
"\n") ;
if (strcmp(cmd, "ReadPosition")==0) if (strcmp(cmd, "ReadPosition")==0)
sprintf(response,"%sPosition;OK;%d.0;5.0;6.1\n",response,i++); sprintf(response,"%sPosition;OK;%d.0;5.0;6.1\n",response,i++);
else if (strcmp(cmd, "ReadGeoPosition")==0) else if (strcmp(cmd, "ReadGeoPosition")==0)
sprintf(response,"%sGeoPosition;OK;%f;%f;%f\n",response,share_gps.lat,share_gps.lon,share_gps.alt); sprintf(response, "%sGeoPosition;OK;%f;%f;%f\n",
response, share_gps.lat, share_gps. lon,share_gps.alt) ;
else if (strcmp(cmd, "SendGeoSetpoint")==0) { else if (strcmp(cmd, "SendGeoSetpoint")==0) {
share_gps_cons.lat=atof(sx); share_gps_cons.lat=atof(sx);
share_gps_cons.lon=atof(sy); share_gps_cons.lon=atof(sy);
share_gps_cons.alt=atof(sz); share_gps_cons.alt=atof(sz);
share_t_cons=atof(st); share_t_cons=atof(st);
sprintf(response,"%sGeoSetpoint;OK;%.15f;%.15f;%f;%f\n",response,share_gps_cons.lat,share_gps_cons.lon,share_gps_cons.alt,share_t_cons); sprintf(response, "%sGeoSetpoint;OK;%.15f;%.15f;%f;%f\n",
printf("[Consigne] Latitude %f Lontitude %f défini!\n",share_gps_cons.lat, share_gps_cons.lon); response, share_gps_cons.lat, share_gps_cons.lon,
share_gps_cons.alt, share_t_cons) ;
printf("[Consigne] Latitude %f Lontitude %f défini!\n",
share_gps_cons.lat, share_gps_cons.lon) ;
array_cons[num_point].lat = share_gps_cons.lat; array_cons[num_point].lat = share_gps_cons.lat;
array_cons[num_point].lon = share_gps_cons.lon; array_cons[num_point].lon = share_gps_cons.lon;
array_cons[num_point].alt = share_gps_cons.alt; array_cons[num_point].alt = share_gps_cons.alt;
@ -438,7 +477,9 @@ void* thread_control(void* NULL_value)
share_relatif_cons.y=atof(sy); share_relatif_cons.y=atof(sy);
share_relatif_cons.z=atof(sz); share_relatif_cons.z=atof(sz);
share_t_cons=atof(st); share_t_cons=atof(st);
sprintf(response,"%sSetpoint;OK;%f;%f;%f;%f\n",response,share_relatif_cons.x,share_relatif_cons.y,share_relatif_cons.z,share_t_cons); sprintf(response, "%sSetpoint;OK;%f;%f;%f;%f\n",
response, share_relatif_cons.x, share_relatif_cons.y,
share_relatif_cons.z, share_t_cons) ;
} }
else if(strcmp(cmd, "SendStart")==0) else if(strcmp(cmd, "SendStart")==0)
{ {
@ -469,6 +510,7 @@ void* thread_control(void* NULL_value)
pthread_exit(NULL_value); pthread_exit(NULL_value);
} }
void parse_main_options(int argc, char **argv) void parse_main_options(int argc, char **argv)
{ {
int opt ; int opt ;
@ -755,6 +797,7 @@ void* receive_position(void* NULL_value)
pthread_exit(NULL_value); pthread_exit(NULL_value);
} }
void string2data(char* string_data) void string2data(char* string_data)
{ {
/*Découpage de la chaine de caractère reçu du serveur de positionnement /*Découpage de la chaine de caractère reçu du serveur de positionnement
@ -923,27 +966,38 @@ void string2data(char* string_data)
count_algo++; count_algo++;
} }
for(count_print=0;count_print<count_algo;count_print++) for (count_print = 0 ; count_print < count_algo ; ++count_print)
{ printf("\n----------------\n"
printf("\n----------------\n" " Adresse Mac : %s\n"
" Adresse Mac : %s\n" " Type de requete : %d\n"
" Type de requete : %d\n" " Timestamp : %ld.%ld\n"
" Timestamp : %ld.%ld\n" " Algo : %s\n"
" Algo : %s\n" " X : %f\n "
" X : %f\n " " Y : %f\n"
" Y : %f\n" " Z : %f\n"
" Z : %f\n" "------------------\n",
"------------------\n", mac, type_req, timestamp.tv_sec, timestamp.tv_nsec, results[count_print].algo, results[count_print].x, results[count_print].y, results[count_print].z); mac,
} type_req,
timestamp.tv_sec,
timestamp.tv_nsec,
results[count_print].algo,
results[count_print].x,
results[count_print].y,
results[count_print].z) ;
} }
void print_error(char* merror) void print_error(char* merror)
{ {
if(!strcmp(merror,"trame")) printf("Impossible à lire la trame : Abandon") ; if (! strcmp(merror,"trame"))
else if (!strcmp(merror,"algo")) printf("Impossible à lire les coordonnées de l'algo : Abandon") ; printf("Impossible de lire la trame : Abandon") ;
else printf("Erreur inconnu : Abandon") ; else if (! strcmp(merror,"algo"))
printf("Impossible de lire les coordonnées de l'algo : Abandon") ;
else
printf("Erreur inconnue : Abandon") ;
} }
void print_usage() void print_usage()
{ {
printf("Usage:\n" printf("Usage:\n"
@ -999,8 +1053,8 @@ void print_version()
} }
/* Commands for drone */
/* *** Commands for drone *** */
void calcul_trajectory(float *distance, float *angle) void calcul_trajectory(float *distance, float *angle)
@ -1009,11 +1063,15 @@ void calcul_trajectory(float *distance, float *angle)
float dist_av, dist_ar, dep ; float dist_av, dist_ar, dep ;
(*distance) = dist_av = dist_ar = dep = (*angle) = 0 ; (*distance) = dist_av = dist_ar = dep = (*angle) = 0 ;
dist_av = sqrt(pow(share_relatif_cons.x-share_relatif.x,2)+pow(share_relatif_cons.y-share_relatif.y,2)); dist_av = sqrt(pow(share_relatif_cons.x - share_relatif.x, 2) +
dist_ar = sqrt(pow(share_relatif_cons.x-share_relatif_retro.x,2)+pow(share_relatif_cons.x-share_relatif_retro.y,2)); pow(share_relatif_cons.y - share_relatif.y, 2)) ;
dep = sqrt(pow(share_relatif.x-share_relatif_retro.x,2)+pow(share_relatif.y-share_relatif_retro.y,2)); dist_ar = sqrt(pow(share_relatif_cons.x - share_relatif_retro.x, 2) +
pow(share_relatif_cons.x - share_relatif_retro.y, 2)) ;
dep = sqrt(pow(share_relatif.x - share_relatif_retro.x, 2) +
pow(share_relatif.y - share_relatif_retro.y, 2)) ;
*angle = acos((pow(dist_ar,2)+pow(dep,2)-pow(dist_av,2))/(2*dist_ar*dep)); *angle = acos((pow(dist_ar, 2) + pow(dep, 2) - pow(dist_av, 2)) /
(2 * dist_ar * dep)) ;
*angle = (*angle)*180/M_PI; *angle = (*angle)*180/M_PI;
*distance = dist_av; *distance = dist_av;
@ -1032,6 +1090,7 @@ void calcul_trajectory(float *distance, float *angle)
} }
int check_destination(struct point drone, struct point target) int check_destination(struct point drone, struct point target)
{ {
if(oc_distance_between(drone, target)<3) if(oc_distance_between(drone, target)<3)
@ -1039,6 +1098,7 @@ int check_destination(struct point drone, struct point target)
else return 0; else return 0;
} }
float calcul_angle() float calcul_angle()
{ {
float captarget = oc_cap(share_gps, share_gps_cons); float captarget = oc_cap(share_gps, share_gps_cons);
@ -1050,13 +1110,15 @@ float calcul_angle()
return ((int)(360 - share_gps.cap + (180 - captarget))%360)-180; return ((int)(360 - share_gps.cap + (180 - captarget))%360)-180;
} }
int read_position(char *type) int read_position(char *type)
{ {
if(!strcmp(type,"WIFI")) printf("Localisation by WIFI\n"); if(!strcmp(type,"WIFI")) printf("Localisation by WIFI\n");
else if (!strcmp(type,"GPS")) else if (!strcmp(type,"GPS"))
{ {
printf("Localisation by GPS\n"); printf("Localisation by GPS\n");
while((share_gps.lat==0||share_gps.lon==0)&&(share_gps_origin.lat==0||share_gps_origin.lon==0)) while((share_gps.lat == 0 || share_gps.lon == 0) &&
(share_gps_origin.lat == 0 || share_gps_origin.lon == 0))
{ {
if(share_gps.lat!=0 && share_gps.lon!=0) if(share_gps.lat!=0 && share_gps.lon!=0)
{ {
@ -1068,7 +1130,8 @@ int read_position(char *type)
share_relatif = oc_convert(share_gps_origin, share_gps); share_relatif = oc_convert(share_gps_origin, share_gps);
if(share_gps_retro.lat!=-999.00&&share_gps_retro.lon!=-999.00) if(share_gps_retro.lat!=-999.00&&share_gps_retro.lon!=-999.00)
share_relatif_retro = oc_convert(share_gps_origin, share_gps_retro); share_relatif_retro =
oc_convert(share_gps_origin, share_gps_retro) ;
share_relatif_cons = oc_convert(share_gps_origin, share_gps_cons); share_relatif_cons = oc_convert(share_gps_origin, share_gps_cons);
//printf("X current : %f Y current : %f X old : %f Y old : %f X target : %f Y target : %f\n",share_relatif.x, share_relatif.y, -share_relatif_retro.x, share_relatif_retro.y, share_relatif_cons.x, share_relatif_cons.y); //printf("X current : %f Y current : %f X old : %f Y old : %f X target : %f Y target : %f\n",share_relatif.x, share_relatif.y, -share_relatif_retro.x, share_relatif_retro.y, share_relatif_cons.x, share_relatif_cons.y);
@ -1078,20 +1141,24 @@ int read_position(char *type)
return 0; return 0;
} }
int cmd_drone_take_off(void)
int cmd_drone_take_off()
{ {
printf("Take-off...\n"); printf("Take-off...\n");
state_flying=1; state_flying=1;
return 0; return 0;
} }
int cmd_drone_landing(void)
int cmd_drone_landing()
{ {
printf("Landing....\n"); printf("Landing....\n");
state_flying=0; state_flying=0;
return 0; return 0;
} }
int cmd_drone_init_direction(void)
int cmd_drone_init_direction()
{ {
//int boucle; //int boucle;
float speed; float speed;
@ -1104,7 +1171,7 @@ int cmd_drone_init_direction(void)
speed=-0.5; speed=-0.5;
sem_wait(&lock); sem_wait(&lock);
//for(boucle=0;boucle<3;boucle++) //for(boucle=0;boucle<3;boucle++)
while(share_gps_retro.lat==-999.00||share_gps_retro.lon==-999.00) while(share_gps_retro.lat == -999.00 || share_gps_retro.lon == -999.00)
{ {
int *floatint_speed = (int32_t*) &speed ; int *floatint_speed = (int32_t*) &speed ;
sprintf(sendline,"AT*PCMD=%d,1,0,%d,0,0\r", i, *floatint_speed); sprintf(sendline,"AT*PCMD=%d,1,0,%d,0,0\r", i, *floatint_speed);
@ -1119,6 +1186,7 @@ int cmd_drone_init_direction(void)
return 1; return 1;
} }
int cmd_drone_move(float speed_pitch, int angle) int cmd_drone_move(float speed_pitch, int angle)
{ {
float speed_yaw; float speed_yaw;
@ -1130,7 +1198,8 @@ int cmd_drone_move(float speed_pitch, int angle)
sem_wait(&lock); sem_wait(&lock);
int *floatint_speed_pitch = (int32_t*) &speed_pitch; int *floatint_speed_pitch = (int32_t*) &speed_pitch;
int *floatint_speed_yaw = (int32_t*) &speed_yaw; int *floatint_speed_yaw = (int32_t*) &speed_yaw;
sprintf(sendline,"AT*PCMD=%d,1,0,%d,0,%d\r",i,*floatint_speed_pitch,*floatint_speed_yaw); sprintf(sendline, "AT*PCMD=%d,1,0,%d,0,%d\r",
i, *floatint_speed_pitch, *floatint_speed_yaw) ;
//printf("%s\n", sendline); //printf("%s\n", sendline);
i++; i++;
sendto(sockcmdfd,sendline,strlen(sendline),0, sendto(sockcmdfd,sendline,strlen(sendline),0,
@ -1141,6 +1210,7 @@ int cmd_drone_move(float speed_pitch, int angle)
return 0; return 0;
} }
void drone_err(int err) void drone_err(int err)
{ {
char msg[100]; char msg[100];
@ -1148,7 +1218,9 @@ void drone_err(int err)
switch(err) switch(err)
{ {
case 1 : case 1 :
strcpy(msg,"Position is not determined or type of localisation is invalid, canceled\n"); strcpy(msg,
"Undetermined position or invalid localisation type,"
" canceled\n") ;
break; break;
case 2 : case 2 :
strcpy(msg,"Taking-off failed, canceled\n"); strcpy(msg,"Taking-off failed, canceled\n");
@ -1165,6 +1237,7 @@ void drone_err(int err)
//drone_handler_sigint(SIGINT); //drone_handler_sigint(SIGINT);
} }
int drone_socket_create(void) int drone_socket_create(void)
{ {
sockcmdfd=socket(AF_INET,SOCK_DGRAM,0); sockcmdfd=socket(AF_INET,SOCK_DGRAM,0);
@ -1177,16 +1250,17 @@ int drone_socket_create(void)
return sockcmdfd; return sockcmdfd;
} }
int drone_socket_close(void) int drone_socket_close(void)
{ {
return close(sockcmdfd); return close(sockcmdfd);
} }
void* drone_socket_watchdog(void* NULL_value) void* drone_socket_watchdog(void* NULL_value)
{ {
struct timeval start, end; struct timeval start, end;
long max, calc;
max = 0;
while(run) while(run)
{ {
gettimeofday(&start, NULL); gettimeofday(&start, NULL);
@ -1194,7 +1268,12 @@ void* drone_socket_watchdog(void* NULL_value)
memset(sendline, 0, sizeof(sendline)); memset(sendline, 0, sizeof(sendline));
if(i==-1) if(i==-1)
{ {
strncpy(sendline,"AT*CONFIG=1,\"control:outdoor\",\"TRUE\"\rAT*CONFIG=2,\"general:navdata_demo\",\"TRUE\"\rAT*CONFIG=3,\"control:control_yaw\",\"2.5\"\rAT*PMODE=4,2\rAT*MISC=5,2,20,2000,3000\r", LENSTR); strncpy(sendline,
"AT*CONFIG=1,\"control:outdoor\",\"TRUE\"\r"
"AT*CONFIG=2,\"general:navdata_demo\",\"TRUE\"\r"
"AT*CONFIG=3,\"control:control_yaw\",\"2.5\"\r"
"AT*PMODE=4,2\rAT*MISC=5,2,20,2000,3000\r",
LENSTR) ;
i=6; i=6;
} }
else else
@ -1226,56 +1305,63 @@ void* drone_socket_watchdog(void* NULL_value)
sem_post(&lock); sem_post(&lock);
gettimeofday(&end, NULL); gettimeofday(&end, NULL);
calc = ((end.tv_sec * 1000000 + end.tv_usec) - (start.tv_sec * 1000000 + start.tv_usec)); //long calc =
// (end.tv_sec * 1000000 + end.tv_usec) -
// (start.tv_sec * 1000000 + start.tv_usec) ;
//printf("[WATCHDOG] Time usec : %ld\n", calc); //printf("[WATCHDOG] Time usec : %ld\n", calc);
} }
pthread_exit(NULL_value); pthread_exit(NULL_value);
} }
void drone_handler_sigint(const int num) void drone_handler_sigint(const int num)
{ {
if(num==SIGINT) if(num==SIGINT)
{ {
(void)cmd_drone_landing(); cmd_drone_landing();
sleep(2); sleep(2);
run=0; run=0;
(void) close(socksendfd) ; close(socksendfd) ;
(void) close(sockreceivefd) ; close(sockreceivefd) ;
(void) drone_socket_close ; drone_socket_close() ;
exit(0); exit(0);
} }
} }
/* Liste chaine */
consigne* list_add_front(consigne* list, double latitude, double longitude, double altitude)
/* *** Linked list functions *** */
consigne* list_add_front(consigne* list, double latitude,
double longitude, double altitude)
{ {
consigne* new_consigne = malloc(sizeof(consigne)); consigne* new_consigne = malloc(sizeof(consigne));
new_consigne->lat = latitude; new_consigne->lat = latitude;
new_consigne->lon = longitude; new_consigne->lon = longitude;
new_consigne->alt = altitude; new_consigne->alt = altitude;
new_consigne->next = list; new_consigne->next = list;
return new_consigne; return new_consigne;
} }
consigne* list_add_back(consigne* list, double lat, double lon, double alt)
consigne* list_add_back(consigne* list, double lat,
double lon, double alt)
{ {
consigne* new_consigne = malloc(sizeof(consigne)); consigne* new_consigne = malloc(sizeof(consigne));
new_consigne->lat = lat; new_consigne->lat = lat;
new_consigne->lon = lon; new_consigne->lon = lon;
new_consigne->alt = alt; new_consigne->alt = alt;
new_consigne->next = NULL; new_consigne->next = NULL;
if(list == NULL) if(list == NULL)
{ return new_consigne ;
return new_consigne;
}
else else
{ {
consigne* tmp=list; consigne* tmp=list;