[ARDrone] Fix compilation warning

Add pthread_exit(NULL_value).
Delete variable inused and labview socket.

owlps-ardrone/owlps-drone.c

@@ -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) ;
+
+  if(!strcmp(TYPE,"WIFI"))
+    {
+      pthread_t send ;
+      pthread_t receive ;
+      create_socket() ;
+      pthread_create(&send, NULL, thread_send, NULL) ;
+      if (options.listening_port > 0)
+        pthread_create(&receive, NULL, receive_position, NULL) ;
+    }
+  else if(!strcmp(TYPE,"GPS"))
+    {
       pthread_t gps ;
       pthread_create(&gps, NULL, thread_gps, NULL) ;
-  while(1)
-    {
-      if (options.listening_port > 0)
-        receive_position() ;
-      else usleep(1000);
     }
+  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 ;
 }
 
@@ -99,21 +115,23 @@ int main(int argc, char *argv[])
 void parse_command_line(int argc, char **argv)
 {
   parse_main_options(argc, argv) ;
+  if(!strcmp(TYPE,"WIFI"))
+    {
       check_destination_ip() ;
       parse_calibration_data(argc, argv) ;
       check_configuration() ;
 
+
 #ifdef DEBUG
       print_configuration() ;
 #endif // DEBUG
     }
+}
 
-void traficGPS(int gps) 
+
-{
+void traficGPS(int gps) {
-  int offset=0, c=1, i=0, l;
+  int offset=0, c=1, i=0;
-  char buffer[4096], chtime[1024];
+  char buffer[4096];
-  char *utc, *latitude, *longitude, *chv, *cmd, *ch;
-  float vitesse;
   
   do 
     {
@@ -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 ;
+  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") ;

owlps-ardrone/owlps-drone.h

@@ -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*) ;