813 lines
22 KiB
C
813 lines
22 KiB
C
/*
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* This file is part of the rtap localisation project.
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*/
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#include "../libowlps-client/owlps-client.h"
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#include "owlps-drone.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <inttypes.h>
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#include <string.h>
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#include <net/if.h>
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#include <time.h>
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#include <pthread.h>
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#include <sys/ioctl.h>
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#include <sys/types.h>
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#include <fcntl.h>
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#define SEPARATOR ','
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#define EOL '$'
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#define TYPE "GPS"
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/* Options */
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gps datagps;
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struct timespec timestamp ;
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struct {
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char dest_ip[INET_ADDRSTRLEN] ; // Destination IP of the packets
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uint_fast16_t dest_port ;
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char iface[IFNAMSIZ + 1] ; // Source network interface
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int_fast32_t delay ; // Time between two packet transmissions
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uint_fast16_t nb_pkt ; // Number of packets to send
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uint_fast16_t listening_port ;
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// Calibration data:
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owl_direction direction ;
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float x ;
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float y ;
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float z ;
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} options = {
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"",
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LOC_REQUEST_DEFAULT_PORT,
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"",
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-1,
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0,
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0,
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0, 0, 0, 0
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} ;
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char *program_name = NULL ;
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// TRUE if the packet is a calibration request, FALSE if it is a simple
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// positioning request:
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owl_bool is_calibration_request = FALSE ;
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int socksendfd ; // Sending socket descriptor (send positioning packets)
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int sockreceivefd ; // Receiving socket descriptor (Receive position)
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int socksendlvfd ; // Sending labview socket descriptor (Send position to labview)
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struct sockaddr_in server ; // Server info
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uint8_t *packet = NULL ; // Packet to send
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uint_fast16_t packet_size ; // Packet size
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// Shared variables for OwlSIG (Geo Information System)
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double share_x, share_y, share_z;
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double share_lat, share_lon, share_alt=0;
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double share_lat_cons=-999.0, share_lon_cons=-999.00, share_alt_cons=-999.0;
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double share_x_cons=-999.0, share_y_cons=-999.00, share_z_cons=-999.0, share_t_cons=-999.0;
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int main(int argc, char *argv[])
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{
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program_name = argv[0] ;
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parse_command_line(argc, argv) ;
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// Thread communication TCP OwlSIG
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pthread_t control ;
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pthread_create(&control, NULL, thread_control, NULL) ;
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if(!strcmp(TYPE,"WIFI"))
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{
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pthread_t send ;
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pthread_t receive ;
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create_socket() ;
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pthread_create(&send, NULL, thread_send, NULL) ;
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if (options.listening_port > 0)
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pthread_create(&receive, NULL, receive_position, NULL) ;
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}
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else if(!strcmp(TYPE,"GPS"))
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{
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pthread_t gps ;
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pthread_create(&gps, NULL, thread_gps, NULL) ;
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}
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else
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{
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printf("TYPE is not correct, change value of TYPE\n");
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return -1;
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}
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(void) close(socksendfd) ;
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(void) close(sockreceivefd) ;
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return 0 ;
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}
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void parse_command_line(int argc, char **argv)
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{
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parse_main_options(argc, argv) ;
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if(!strcmp(TYPE,"WIFI"))
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{
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check_destination_ip() ;
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parse_calibration_data(argc, argv) ;
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check_configuration() ;
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#ifdef DEBUG
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print_configuration() ;
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#endif // DEBUG
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}
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}
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void traficGPS(int gps) {
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int offset=0, c=1, i=0;
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char buffer[4096];
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do
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{
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c=read(gps, buffer, 4096);
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printf("lecture intiale %d\n",c);
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}
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while (c>99);
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do
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{
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c=read(gps, buffer+offset, 1);
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offset=offset+c;
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}
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while (buffer[offset-c]!='$');
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//buffer[offset]='\0';
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//printf("phrase x%sx\n",buffer);
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// Debut de phrase GPS sans le dollar
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while (1) {
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i=0;
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offset=0;
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do
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{
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c=read(gps, buffer+offset, 1);
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offset=offset+c;
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}
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while (buffer[offset-c]!='$');
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//buffer[offset]='\0';
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//printf("phrase s x%sx\n",buffer);
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if (strncmp(buffer+i,"GPRMC",5)==0)
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{
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char data[15][20];
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int offset_line, length, ct_string, y;
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int z;
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ct_string = offset_line = y = z = 0 ;
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length = strlen(buffer+i) ;
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memset(data,0,200);
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while(y<=length)
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{
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if((buffer)[y+i]==EOL && z==0) z=1;
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else if((buffer)[y+i]==EOL && z==1)
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{
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length=y-1;
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break;
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}
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y++;
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}
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printf("\nTaille finale : %d\n", length);
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y=0;
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while(y<=length)
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{
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if ((buffer)[y+i]==SEPARATOR)
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{
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if((y-offset_line)==0)
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memcpy(data[ct_string], "\0", 1);
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else
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{
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memcpy(data[ct_string], buffer+i+offset_line, y-offset_line);
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data[ct_string][y-offset_line]=0;
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}
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ct_string++;
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offset_line=y+1;
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}
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y++;
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}
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if(!(ct_string==0 || offset_line==0))
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memcpy(data[ct_string], buffer+i+offset_line, length-offset_line);
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data[ct_string][length-offset_line]=0;
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datagps.time = atof(data[1]);
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datagps.state = data[2][0];
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datagps.latitude = atof(strndup(data[3],2))+atof(strndup(data[3]+2,strlen(data[3])-2))/60.0 ;
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datagps.orilat = data[4][0];
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datagps.longitude = atof(strndup(data[5],3))+atof(strndup(data[5]+3,strlen(data[5])-3))/60.0 ;
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datagps.orilon = data[6][0];
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datagps.speed = atof(data[7])*1.852;
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datagps.cap = atof(data[8]);
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datagps.date = atoi(data[9]);
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datagps.decmag = atof(data[10]);
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if (datagps.orilat=='S') datagps.latitude=-datagps.latitude;
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if (datagps.orilon=='W') datagps.longitude=-datagps.longitude;
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share_lat=datagps.latitude;
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share_lon=datagps.longitude;
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printf("lat %s lon %s\n",data[3], data[5]);
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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);
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}
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}
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}
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void* thread_gps(void* NULL_value)
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{
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char buffer[1024];
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int gps_fd = open("/dev/ttyPA0",O_RDONLY);
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read(gps_fd, buffer, 80);
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traficGPS(gps_fd);
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pthread_exit(NULL_value);
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}
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void* thread_send(void* NULL_value)
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{
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while(1)
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{
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make_packet() ;
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send_request() ;
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sleep(1) ;
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}
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pthread_exit(NULL_value);
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}
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// TCP Server OwlSIG
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void* thread_control(void* NULL_value)
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{
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int sockfd, newsockfd, portno=8080;
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socklen_t clilen;
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char request[2048], response[2048], *c;
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struct sockaddr_in serv_addr, cli_addr;
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int n,i=4;
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char *cmd, *sx, *sy, *sz, *st;
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sockfd = socket(AF_INET, SOCK_STREAM, 0);
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if (sockfd < 0)
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perror("ERROR opening socket TCP");
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bzero((char *) &serv_addr, sizeof(serv_addr));
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serv_addr.sin_family = AF_INET;
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serv_addr.sin_addr.s_addr = INADDR_ANY;
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serv_addr.sin_port = htons(portno);
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if (bind(sockfd, (struct sockaddr *) &serv_addr, sizeof(serv_addr)) < 0)
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perror("ERROR on binding");
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listen(sockfd,1);
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clilen = sizeof(cli_addr);
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memset(request,0,1500);
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cmd=malloc(256);
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strcpy(cmd,"");
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while ( strcmp(cmd,"end")!=0) {
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newsockfd = accept(sockfd, (struct sockaddr *) &cli_addr, &clilen);
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if (newsockfd < 0)
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perror("ERROR on accept");
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// while ( strcmp(request,"end")!=0) {
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n = read(newsockfd,request,1500);
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printf("\ntaille %d\n", n);
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fflush(NULL);
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if (n < 0) perror("ERROR reading from socket");
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printf("%s", request);
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// Add command processing
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c=strtok(request,"=");
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printf("val 1 %s\n",c);
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c=strtok(NULL,"=");
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printf("val 2 %s\n",c);
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cmd=strtok(c,";");
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printf("val 3 %s\n",cmd);
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sx=strtok(NULL,";");
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sy=strtok(NULL,";");
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sz=strtok(NULL,";");
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st=strtok(NULL,";");
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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");
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if (strcmp(cmd, "ReadPosition")==0)
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sprintf(response,"%sPosition;OK;%d.0;5.0;6.1\n",response,i++);
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else if (strcmp(cmd, "ReadGeoPosition")==0)
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sprintf(response,"%sGeoPosition;OK;%f;%f;%f\n",response,share_lat,share_lon,share_alt);
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else if (strcmp(cmd, "SendGeoSetpoint")==0) {
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share_lat_cons=atof(sx);
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share_lon_cons=atof(sy);
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share_alt_cons=atof(sz);
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share_t_cons=atof(st);
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sprintf(response,"%sGeoSetpoint;OK;%.15f;%.15f;%f;%f\n",response,share_lat_cons,share_lon_cons,share_alt_cons,share_t_cons);
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}
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else if (strcmp(cmd, "SendSetpoint")==0) {
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share_x_cons=atof(sx);
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share_y_cons=atof(sy);
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share_z_cons=atof(sz);
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share_t_cons=atof(st);
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sprintf(response,"%sSetpoint;OK;%f;%f;%f;%f\n",response,share_x_cons,share_y_cons,share_z_cons,share_t_cons);
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}
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else
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strcat(response,"Not understand\n");
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n = write(newsockfd,response,strlen(response));
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if (n < 0) perror("ERROR writing to socket");
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printf ("Write : %d %d\n", n, (int) strlen(response));
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close(newsockfd);
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// }
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}
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close(sockfd);
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pthread_exit(NULL_value);
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}
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void parse_main_options(int argc, char **argv)
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{
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int opt ;
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while ((opt = getopt(argc, argv, OPTIONS)) != -1)
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{
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switch (opt)
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{
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case 'd' :
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strncpy(options.dest_ip, optarg, INET_ADDRSTRLEN) ;
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break ;
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case 'h' :
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print_usage() ;
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exit(0) ;
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case 'i' :
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strncpy(options.iface, optarg, IFNAMSIZ + 1) ;
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break ;
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case 'l' :
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/* Facultative getopt options does not handle separated
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* values (like -l <port>) */
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if (optarg == 0)
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{
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/* If we are at the end of the string, or the next optind
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* is an option, we have -l without a port number */
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if (argv[optind] == NULL || argv[optind][0] == '-')
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// Take the default value:
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options.listening_port = MOBILE_DEFAULT_PORT ;
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else
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{
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// Take the optind value:
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options.listening_port =
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strtoul(argv[optind], NULL, 0) ;
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optind++ ;
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}
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}
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else // We got an option like -l<port>, it's OK
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options.listening_port = strtoul(optarg, NULL, 0) ;
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break ;
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case 'n' :
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options.nb_pkt = strtoul(optarg, NULL, 0) ;
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break ;
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case 'p' :
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options.dest_port = strtoul(optarg, NULL, 0) ;
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break ;
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case 't' :
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options.delay = strtol(optarg, NULL, 0) ;
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break ;
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case 'V' :
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print_version() ;
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exit(0) ;
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default :
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print_usage() ;
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exit(ERR_BAD_USAGE) ;
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}
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}
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}
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void check_destination_ip()
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{
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/* Check if we got a destination IP address */
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if (options.dest_ip[0] == '\0')
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{
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fprintf(stderr, "Error! You must specify a destination IP address"
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" (-d).\n") ;
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print_usage() ;
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exit(ERR_BAD_USAGE) ;
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}
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}
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void parse_calibration_data(int argc, char **argv)
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{
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/* Parse remaining arguments (possible calibration data) */
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if (argc - optind != 0)
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{
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if (argc - optind == 4)
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{
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is_calibration_request = TRUE ;
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options.direction = strtoul(argv[optind++], NULL, 0) ;
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options.x = strtod(argv[optind++], NULL) ;
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options.y = strtod(argv[optind++], NULL) ;
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options.z = strtod(argv[optind], NULL) ;
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}
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else // Bad number of arguments
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{
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print_usage() ;
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exit(ERR_BAD_USAGE) ;
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}
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}
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}
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void check_configuration()
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{
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// Delay not specified (or bad delay):
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if (options.delay < 0)
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{
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#ifdef DEBUG
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fprintf(stderr,
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"Warning! delay: failing back to default value.\n") ;
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#endif // DEBUG
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if (is_calibration_request)
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options.delay = DEFAULT_DELAY_CALIB ;
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else
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options.delay = DEFAULT_DELAY_NORMAL ;
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}
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// Number of packet not specified (or bad number)
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if (options.nb_pkt < 1)
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{
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#ifdef DEBUG
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fprintf(stderr,
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"Warning! nb_pkt: failing back to default value.\n") ;
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#endif // DEBUG
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if (is_calibration_request)
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options.nb_pkt = DEFAULT_NBPKT_CALIB ;
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else
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options.nb_pkt = DEFAULT_NBPKT_NORMAL ;
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}
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// Calibration request but bad direction
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if (is_calibration_request)
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if (options.direction < OWL_DIRECTION_MIN ||
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options.direction > OWL_DIRECTION_MAX)
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{
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fprintf(stderr, "Error! « %"PRIu8" » is not a valid"
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" direction.\n", options.direction) ;
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exit(ERR_BAD_USAGE) ;
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}
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// Check port numbers
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if (options.dest_port < 1 || options.dest_port > 65535)
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{
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#ifdef DEBUG
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fprintf(stderr, "Warning! Bad dest_port:"
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" failing back to default value.\n") ;
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options.dest_port = LOC_REQUEST_DEFAULT_PORT ;
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#endif // DEBUG
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}
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if (options.listening_port > 65535)
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{
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#ifdef DEBUG
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fprintf(stderr, "Warning! listening_port too high: ignored.\n") ;
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options.listening_port = 0 ;
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#endif // DEBUG
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}
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// We want to send a calibration request AND to be located, which is
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// not allowed:
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if (is_calibration_request && options.listening_port > 0)
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{
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#ifdef DEBUG
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fprintf(stderr, "Warning! You cannot wait for a server answer when"
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" you calibrate. Option -l ignored…\n") ;
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#endif // DEBUG
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options.listening_port = 0 ;
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}
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}
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#ifdef DEBUG
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void print_configuration()
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{
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fprintf(stderr, "Options:\n"
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"\tDestination IP: %s\n"
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"\tDestination port: %"PRIuFAST16"\n"
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"\tInterface: %s\n"
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"\tDelay: %"PRIuFAST32"\n"
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"\tNumber of packets: %"PRIuFAST16"\n"
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"\tListening port: %"PRIuFAST16"\n"
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"\tDirection: %"PRIu8"\n"
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"\tX: %f\n"
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"\tY: %f\n"
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"\tZ: %f\n"
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,
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options.dest_ip,
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options.dest_port,
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options.iface,
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options.delay,
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options.nb_pkt,
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options.listening_port,
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options.direction,
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options.x,
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options.y,
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options.z
|
|
) ;
|
|
}
|
|
#endif // DEBUG
|
|
|
|
|
|
|
|
void create_socket()
|
|
{
|
|
socksendfd =
|
|
owlclient_create_trx_socket(options.dest_ip, options.dest_port,
|
|
&server, options.iface) ;
|
|
sockreceivefd =
|
|
owl_create_udp_listening_socket(options.listening_port) ;
|
|
}
|
|
|
|
|
|
|
|
/* Creates the packet to send. */
|
|
void make_packet()
|
|
{
|
|
uint_fast16_t offset ; // Index used to create the packet
|
|
owl_timestamp request_time ;
|
|
char request_time_str[OWL_TIMESTAMP_STR_LEN] ;
|
|
|
|
// Get the current time and copy it as a string before to switch it to
|
|
// network endianess:
|
|
owl_timestamp_now(&request_time) ;
|
|
owl_timestamp_to_string(request_time_str, request_time) ;
|
|
request_time = owl_hton_timestamp(request_time) ;
|
|
|
|
if (is_calibration_request) // Calibration packet
|
|
{
|
|
printf("Preparing calibration request packet…\n") ;
|
|
|
|
offset = 0 ;
|
|
packet_size =
|
|
sizeof(uint8_t) * 2 + sizeof(owl_timestamp) + sizeof(float) * 3 ;
|
|
packet = malloc(packet_size) ;
|
|
|
|
memset(&packet[offset], OWL_REQUEST_CALIBRATION, 1) ; // Packet type
|
|
++offset ;
|
|
memcpy(&packet[offset], &request_time, sizeof(request_time)) ;
|
|
offset += sizeof(request_time) ;
|
|
packet[offset++] = options.direction ; // Direction
|
|
#ifdef DEBUG
|
|
printf("Direction = %d, X = %f, Y = %f, Z = %f\n",
|
|
packet[offset - 1], options.x, options.y, options.z) ;
|
|
#endif // DEBUG
|
|
options.x = owl_htonf(options.x) ;
|
|
options.y = owl_htonf(options.y) ;
|
|
options.z = owl_htonf(options.z) ;
|
|
memcpy(&packet[offset], &options.x, sizeof(float)) ;
|
|
offset += sizeof(float) ;
|
|
memcpy(&packet[offset], &options.y, sizeof(float)) ;
|
|
offset += sizeof(float) ;
|
|
memcpy(&packet[offset], &options.z, sizeof(float)) ;
|
|
}
|
|
|
|
else // Standard packet
|
|
{
|
|
printf("Preparing request packet…\n") ;
|
|
packet_size = sizeof(uint8_t) + sizeof(owl_timestamp) ;
|
|
packet = malloc(packet_size) ;
|
|
memset(&packet[0], OWL_REQUEST_NORMAL, 1) ; // Packet type
|
|
memcpy(&packet[1], &request_time, sizeof(request_time)) ;
|
|
}
|
|
|
|
printf("Packet timestamp: %s\n", request_time_str) ;
|
|
}
|
|
|
|
|
|
|
|
void send_request()
|
|
{
|
|
owlclient_send_request(socksendfd, &server, packet, packet_size,
|
|
options.nb_pkt, options.delay) ;
|
|
}
|
|
|
|
|
|
|
|
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, ×tampXYZ, 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)
|
|
{
|
|
/*Découpage de la chaine de caractère reçu du serveur de positionnement
|
|
sous forme de addrMAC;TypeRequete;Timestamp1.Timestamp2;Algo;X;Y;Z
|
|
en variables séparées
|
|
*/
|
|
|
|
char *mac = NULL ;
|
|
char *ptr = NULL ;
|
|
|
|
char *delims = ";" ;
|
|
|
|
int type_req = 0 ;
|
|
int count_algo= 0 ;
|
|
int count_print = 0 ;
|
|
int onetime = 0 ;
|
|
|
|
|
|
while(onetime<1)
|
|
{
|
|
|
|
//Lecture Adresse Mac
|
|
ptr = strtok(string_data, delims) ;
|
|
if(ptr==NULL)
|
|
{
|
|
print_error("mac") ;
|
|
break ;
|
|
}
|
|
mac = ptr ;
|
|
|
|
//Lecture Type Request
|
|
ptr = strtok(NULL, delims) ;
|
|
if (ptr==NULL)
|
|
{
|
|
print_error("request") ;
|
|
break ;
|
|
}
|
|
type_req = atoi(ptr) ;
|
|
|
|
//Lecture TimeStamp1
|
|
ptr = strtok(NULL, ".") ;
|
|
if (ptr==NULL)
|
|
{
|
|
print_error("timestamp") ;
|
|
break ;
|
|
}
|
|
sscanf(ptr, "%ld", ×tamp.tv_sec) ;
|
|
|
|
//Lecture TimeStamp2
|
|
ptr = strtok(NULL, ";") ;
|
|
if (ptr==NULL)
|
|
{
|
|
print_error("timestamp") ;
|
|
break ;
|
|
}
|
|
sscanf(ptr, "%ld", ×tamp.tv_nsec) ;
|
|
onetime++;
|
|
}
|
|
result results[10];
|
|
|
|
while(1)
|
|
{
|
|
//Lecture de l'algorythme utilisé
|
|
ptr = strtok(NULL, delims) ;
|
|
if(ptr==NULL) break ;
|
|
sscanf(ptr, "%s", results[count_algo].algo) ;
|
|
|
|
//Lecture du point X
|
|
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].x = atof(ptr) ;
|
|
|
|
//Lecture du point Y
|
|
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) ;
|
|
|
|
//Lecture du point Z
|
|
ptr = strtok(NULL, delims) ;
|
|
if(ptr==NULL)
|
|
{
|
|
if(count_algo==0)
|
|
{
|
|
print_error ("trame");
|
|
break ;
|
|
}
|
|
else
|
|
{
|
|
perror ("algo");
|
|
count_algo--;
|
|
break ;
|
|
}
|
|
}
|
|
results[count_algo].z = atof(ptr) ;
|
|
|
|
count_algo++;
|
|
|
|
}
|
|
|
|
for(count_print=0;count_print<count_algo;count_print++)
|
|
{
|
|
printf("\n----------------\n"
|
|
" Adresse Mac : %s\n"
|
|
" Type de requete : %d\n"
|
|
" Timestamp : %ld.%ld\n"
|
|
" Algo : %s\n"
|
|
" X : %f\n "
|
|
" Y : %f\n"
|
|
" Z : %f\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);
|
|
}
|
|
}
|
|
|
|
void print_error(char* merror)
|
|
{
|
|
if(!strcmp(merror,"trame")) printf("Impossible à lire la trame : Abandon") ;
|
|
else if (!strcmp(merror,"algo")) printf("Impossible à lire les coordonnées de l'algo : Abandon") ;
|
|
else printf("Erreur inconnu : Abandon") ;
|
|
}
|
|
|
|
void print_usage()
|
|
{
|
|
printf("Usage:\n"
|
|
"Localisation request:\n"
|
|
"\t%s -d dest_ip [-p dest_port] [-i iface] [-t delay]"
|
|
" [-n nb_packets] [-l [port]]\n"
|
|
"Calibration request:\n"
|
|
"\t%s -d dest_ip [-p dest_port] [-i iface] [-t delay]"
|
|
" [-n nb_packets] direction x y z\n"
|
|
"\n"
|
|
"Options:\n"
|
|
"\t-h\t\tPrint this help.\n"
|
|
"\t-V\t\tPrint version information.\n"
|
|
"\t-d dest_ip\tDestination IP address of the localisation request.\n"
|
|
"\t-p dest_port\tDestination port of the localisation request"
|
|
" (default: %d).\n"
|
|
"\t-t delay\tTime between each packet transmission (default: %d"
|
|
" µs for a normal request, %d µs for a calibration request).\n"
|
|
"\t-n nb_packets\tNumber of packet transmitted for the request"
|
|
" (default: %d for a normal request, %d for a calibration"
|
|
" request).\n"
|
|
"\t-i iface\tName of the network interface used to transmit the"
|
|
" request (e.g. \"eth2\"). If this option is absent, interface"
|
|
" is selected automatically. You must be root to use this"
|
|
" option.\n"
|
|
"\t-l [port]\tWait for the computed position and display it."
|
|
" Optional argument 'port' allows to specify the listening"
|
|
" port (default: %d).\n"
|
|
,
|
|
program_name,
|
|
program_name,
|
|
LOC_REQUEST_DEFAULT_PORT,
|
|
DEFAULT_DELAY_NORMAL,
|
|
DEFAULT_DELAY_CALIB,
|
|
DEFAULT_NBPKT_NORMAL,
|
|
DEFAULT_NBPKT_CALIB,
|
|
MOBILE_DEFAULT_PORT
|
|
) ;
|
|
}
|
|
|
|
|
|
void print_version()
|
|
{
|
|
printf("This is OwlPS Client for AR.Drone, part of the Open Wireless"
|
|
" Positioning System project.\n"
|
|
"Version: %s.\n",
|
|
#ifdef OWLPS_VERSION
|
|
OWLPS_VERSION
|
|
#else // OWLPS_VERSION
|
|
"unknown version"
|
|
#endif // OWLPS_VERSION:w
|
|
) ;
|
|
}
|