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[ARDrone] Fix compilation warning 

Add pthread_exit(NULL_value).
Delete variable inused and labview socket.
This commit is contained in:
Florian Taillard 2011-05-03 14:34:35 +02:00
parent 46292cfe8c
commit c18209545c
2 changed files with 54 additions and 65 deletions
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115
owlps-ardrone/owlps-drone.c
View File

@ -22,6 +22,8 @@
#define SEPARATOR ','
#define EOL '$'
#define TYPE "GPS"
/* Options */
@ -74,23 +76,37 @@ int main(int argc, char *argv[])
program_name = argv[0] ;
parse_command_line(argc, argv) ;
create_socket() ;
pthread_t send ;
pthread_create(&send, NULL, thread_send, NULL) ;
// Thread communication TCP OwlSIG
pthread_t control ;
pthread_create(&control, NULL, thread_control, NULL) ;
pthread_t gps ;
pthread_create(&gps, NULL, thread_gps, NULL) ;
while(1)
if(!strcmp(TYPE,"WIFI"))
{
pthread_t send ;
pthread_t receive ;
create_socket() ;
pthread_create(&send, NULL, thread_send, NULL) ;
if (options.listening_port > 0)
receive_position() ;
else usleep(1000);
pthread_create(&receive, NULL, receive_position, NULL) ;
}
else if(!strcmp(TYPE,"GPS"))
{
pthread_t gps ;
pthread_create(&gps, NULL, thread_gps, NULL) ;
}
else
{
printf("TYPE is not correct, change value of TYPE\n");
return -1;
}
(void) close(socksendfd) ;
(void) close(sockreceivefd) ;
//(void) close(socksendlvfd) ; //Use for close labview socket ; for next use
return 0 ;
}
@ -99,22 +115,24 @@ int main(int argc, char *argv[])
void parse_command_line(int argc, char **argv)
{
parse_main_options(argc, argv) ;
check_destination_ip() ;
parse_calibration_data(argc, argv) ;
check_configuration() ;
if(!strcmp(TYPE,"WIFI"))
{
check_destination_ip() ;
parse_calibration_data(argc, argv) ;
check_configuration() ;
#ifdef DEBUG
print_configuration() ;
print_configuration() ;
#endif // DEBUG
}
}
void traficGPS(int gps)
{
int offset=0, c=1, i=0, l;
char buffer[4096], chtime[1024];
char *utc, *latitude, *longitude, *chv, *cmd, *ch;
float vitesse;
void traficGPS(int gps) {
int offset=0, c=1, i=0;
char buffer[4096];
do
{
c=read(gps, buffer, 4096);
@ -203,40 +221,22 @@ void traficGPS(int gps)
share_lon=datagps.longitude;
printf("lat %s lon %s\n",data[3], data[5]);
printf("Time : %f | State : %c | Latitude : %.10f%c | Longitude %.10f%c | Speed : %f km/h | Cap : %f° | Date : %d | DecMagn : %f maps %.10f %.10f\n",datagps.time, datagps.state, datagps.latitude, datagps.orilat, datagps.longitude, datagps.orilon, datagps.speed, datagps.cap, datagps.date, datagps.decmag, share_lat, share_lon);
/* printf("Taille : %d | Message : %s\n",strlen(buffer+i),buffer+i);
cmd=strtok(buffer+i,",");
utc=strtok(NULL,",");
ch=strtok(NULL,",");
latitude=strtok(NULL,",");
ch=strtok(NULL,",");
longitude=strtok(NULL,",");
ch=strtok(NULL,",");
chv=strtok(NULL,",");
//printf("h %s lt %s lg %s v %s\n",utc, latitude, longitude,chv);
vitesse=atof(chv)*1.852;
share_lat=atof(strndup(latitude,2))+atof(strndup(latitude+2,strlen(latitude)-2))/60.0;
share_lon=atof(strndup(longitude,3))+atof(strndup(longitude+3,strlen(longitude)-3))/60.0;
printf("h %s lt %s lg %s v %f km/h share lat lon %f %f\n",utc, latitude, longitude,vitesse, share_lat, share_lon);
*/
}
}
}
void* thread_gps(void* data)
void* thread_gps(void* NULL_value)
{
int c=0;
char buffer[1024];
int gps_fd = open("/dev/ttyPA0",O_RDONLY);
read(gps_fd, buffer, 80);
//printf("%sxxx\n",buffer);
traficGPS(gps_fd);
pthread_exit(NULL_value);
}
void* thread_send(void* data)
void* thread_send(void* NULL_value)
{
while(1)
{
@ -244,11 +244,11 @@ void* thread_send(void* data)
send_request() ;
sleep(1) ;
}
return NULL;
pthread_exit(NULL_value);
}
// TCP Server OwlSIG
void* thread_control(void* data)
void* thread_control(void* NULL_value)
{
int sockfd, newsockfd, portno=8080;
socklen_t clilen;
@ -322,7 +322,7 @@ void* thread_control(void* data)
// }
}
close(sockfd);
return NULL;
pthread_exit(NULL_value);
}
void parse_main_options(int argc, char **argv)
@ -523,16 +523,9 @@ void print_configuration()
void create_socket()
{
char *ip_labview = "192.168.3.2" ;
int port_labview = 50000 ;
socksendfd =
owlclient_create_trx_socket(options.dest_ip, options.dest_port,
&server, options.iface) ;
//socksendlvfd =
//owlclient_create_trx_socket(ip_labview, port_labview,
// &server, options.iface) ;
sockreceivefd =
owl_create_udp_listening_socket(options.listening_port) ;
}
@ -602,15 +595,20 @@ void send_request()
void receive_position()
void* receive_position(void* NULL_value)
{
// Position of the mobile as computed by the infrastructure:
char timestampXYZ[128] ;
char *data_cpy ;
recvfrom(sockreceivefd, &timestampXYZ, 128, 0, NULL, NULL) ;
//send_labview(timestampXYZ) ; // Use for future
data_cpy = strdup(timestampXYZ) ;
string2data(data_cpy) ;
while(1)
{
recvfrom(sockreceivefd, &timestampXYZ, 128, 0, NULL, NULL) ;
//send_labview(timestampXYZ) ; // Use for future
data_cpy = strdup(timestampXYZ) ;
string2data(data_cpy) ;
usleep(100000);
}
pthread_exit(NULL_value);
}
void string2data(char* string_data)
@ -752,13 +750,6 @@ void string2data(char* string_data)
}
}
void send_labview(char* string_data)
{
//owlclient_send_request(socksendlvfd, &server, string_data, strlen(string_data),
//1, 0) ;
//printf("Send to labView : %s", string_data) ;
}
void print_error(char* merror)
{
if(!strcmp(merror,"trame")) printf("Impossible à lire la trame : Abandon") ;

4
owlps-ardrone/owlps-drone.h
View File

@ -31,12 +31,10 @@ void print_configuration(void) ;
void create_socket(void) ;
void make_packet(void) ;
void send_request(void) ;
void receive_position(void) ;
void* receive_position(void*) ;
void print_usage(void) ;
void send_labview(char*) ;
void string2data(char*) ;
void traficGPS(int);
static int isWaiting(int);
void* thread_gps(void*) ;
void* thread_send(void*) ;
void* thread_control(void*) ;