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[ARDrone] Use libowlps-resultreader

This commit is contained in:
Matteo Cypriani 2011-12-01 17:53:37 +01:00
parent db5d2cd686
commit eb403319b0
3 changed files with 21 additions and 206 deletions
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14
owlps-ardrone/Makefile
View File

@ -27,8 +27,10 @@ DEPS = oc.o
# Flags
LIBOWLPS_DIR = ../libowlps
LIBOWLPSCLIENT_DIR = ../libowlps-client
LIBOWLPSRESULTREADER_DIR = ../libowlps-resultreader
CFLAGS = -O2 -Wall -Wextra -Wstrict-prototypes \
-I$(LIBOWLPS_DIR) -I$(LIBOWLPSCLIENT_DIR)
-I$(LIBOWLPS_DIR) -I$(LIBOWLPSCLIENT_DIR) \
-I$(LIBOWLPSRESULTREADER_DIR)
#CFLAGS += -g -O0
DEPFLAGS = -MMD
XCFLAGS = $(CFLAGS) $(DEPFLAGS) $(WARN) $(HEADERS)
@ -37,9 +39,17 @@ OWLPSFLAGS = -D OWLPS_VERSION=\"$(OWLPS_VERSION)\"
OWLPSFLAGS += -D DEBUG
LIBS = -L$(LIBOWLPS_DIR) -lowlps \
-L$(LIBOWLPSCLIENT_DIR) -lowlps-client \
-lrt -lm -pthread
-L$(LIBOWLPSRESULTREADER_DIR) -lowlps-resultreader \
-lm -pthread
OS := $(shell uname)
ifeq ("$(OS)", "Linux")
LIBS += -lrt
endif
STATIC_LIBS =
## Cibles de compilation standard ##
.PHONY : all dynamic static install uninstall clean purge help

202
owlps-ardrone/owlps-drone.c
View File

@ -5,6 +5,7 @@
#include "owlps-drone.h"
#include <owlps-client.h>
#include <owlps-resultreader.h>
#include <stdio.h>
#include <stdlib.h>
@ -785,209 +786,24 @@ void send_request()
void* receive_position(void* NULL_value)
{
// Position of the mobile as computed by the infrastructure:
char timestampXYZ[128] ;
char *data_cpy ;
while(run)
{
recvfrom(sockreceivefd, &timestampXYZ, 128, 0, NULL, NULL) ;
data_cpy = strdup(timestampXYZ) ;
string2data(data_cpy) ;
usleep(100000);
}
pthread_exit(NULL_value);
}
/* Split the string received from OwlPS Positioning and store the fields
* in a result structure.
*
* Handled CSV format:
* Mobile_MAC;Request_type;Request_timestamp;Algorithm;X;Y;Z;Error;Area
* The Request_timestamp format is: seconds.nanoseconds
*/
void string2data(char* string_data)
{
char *mac = NULL ;
char *ptr = NULL ;
const char delims[] = ";" ;
int type_req = 0 ;
int count_algo= 0 ;
int count_print = 0 ;
int onetime = 0 ;
owl_bool error_present = owl_false ;
while(onetime<1)
{
// Mobile MAC address
ptr = strtok(string_data, delims) ;
if(ptr==NULL)
{
print_error("mac") ;
break ;
}
mac = ptr ;
// Request type
ptr = strtok(NULL, delims) ;
if (ptr==NULL)
{
print_error("request") ;
break ;
}
type_req = atoi(ptr) ;
// Timestamp (seconds)
ptr = strtok(NULL, ".") ;
if (ptr==NULL)
{
print_error("timestamp") ;
break ;
}
sscanf(ptr, "%ld", &timestamp.tv_sec) ;
// Timestamp (nanoseconds)
ptr = strtok(NULL, ";") ;
if (ptr==NULL)
{
print_error("timestamp") ;
break ;
}
sscanf(ptr, "%ld", &timestamp.tv_nsec) ;
++onetime ;
}
result results[10];
owl_result *result ;
while(run)
{
// Algorithm name
ptr = strtok(NULL, delims) ;
if (ptr == NULL)
break ;
strncpy(results[count_algo].algo, ptr, ALGO_STRLEN) ;
if(!strcmp(results[count_algo].algo,"Real"))
error_present = owl_true ;
// X coordinate
ptr = strtok(NULL, delims) ;
if(ptr==NULL)
result = owl_receive_position(sockreceivefd) ;
if (result)
{
if(count_algo==0)
{
print_error ("trame");
break ;
}
else
{
print_error ("algo");
count_algo-- ;
break ;
}
owl_print_result(result) ;
owl_free_result(result) ;
}
results[count_algo].x = atof(ptr) ;
// Y coordinate
ptr = strtok(NULL, delims) ;
if(ptr==NULL)
{
if(count_algo==0)
{
print_error ("trame");
break ;
}
else
{
print_error ("algo");
count_algo--;
break ;
}
}
results[count_algo].y = atof(ptr) ;
// Z coordinate
ptr = strtok(NULL, delims) ;
if(ptr==NULL)
{
if(count_algo==0)
{
print_error ("trame");
break ;
}
else
{
print_error("algo") ;
count_algo--;
break ;
}
}
results[count_algo].z = atof(ptr) ;
// Distance error
if (error_present)
{
ptr = strtok(NULL, delims) ;
if(ptr==NULL)
{
if(count_algo==0)
{
print_error ("trame");
break ;
}
else
{
print_error ("algo");
count_algo--;
break ;
}
}
results[count_algo].error = atof(ptr) ;
}
++count_algo ;
// Area name
ptr = strtok(NULL, delims) ;
if (ptr == NULL)
{
if (count_algo == 0)
{
print_error("trame") ;
break ;
}
else
{
print_error("algo") ;
count_algo-- ;
break ;
}
}
strncpy(results[count_algo].area, ptr, AREA_STRLEN) ;
usleep(100000) ;
}
for (count_print = 0 ; count_print < count_algo ; ++count_print)
printf("\n----------------\n"
" Mobile's MAC address: %s\n"
" Request type: %d\n"
" Timestamp: %ld.%ld\n"
" Algorithm: %s\n"
" X: %f\n"
" Y: %f\n"
" Z: %f\n"
" Distance error: %f\n"
" Area: %s\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,
results[count_print].error,
results[count_print].area) ;
pthread_exit(NULL_value) ;
}
void print_error(char* merror)
{
if (! strcmp(merror,"trame"))

11
owlps-ardrone/owlps-drone.h
View File

@ -39,17 +39,6 @@
#define ERR_BAD_USAGE 1 // Bad program call (bad number of arguments)
/* Result from OwlPS Positioning (parsed string structure) */
typedef struct _result
{
char algo[ALGO_STRLEN];
float x;
float y;
float z;
float error ;
char area[AREA_STRLEN] ;
} result ;
typedef struct _gps
{
float time;