同意

尽快与主程序 合并

src/Djitellowhite/Djitellowhite.cpp

@@ -75,9 +75,49 @@ void* Tello::udp_response_receiver(void* arg){
 		}
 	}
 }
+void Tello::forward(sockaddr_in serveraddr){
+	char tmp[15] = {"forward 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "forward successfully!" <<endl;
+}
+void Tello::back(sockaddr_in serveraddr){
+	char tmp[15] = {"back 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "back successfully!" <<endl;
+}
+void Tello::left(sockaddr_in serveraddr){
+	char tmp[15] = {"left 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "left successfully!" <<endl;
+}
+void Tello::right(sockaddr_in serveraddr){
+	char tmp[15] = {"right 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "right successfully!" <<endl;
+}
+void Tello::up(sockaddr_in serveraddr){
+	char tmp[15] = {"up 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "up successfully!" <<endl;
+}
+void Tello::down(sockaddr_in serveraddr){
+	char tmp[15] = {"down 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "down successfully!" <<endl;
+}
+void Tello::cw(sockaddr_in serveraddr){
+	char tmp[15] = {"cw 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "cw successfully!" <<endl;
+}
+void Tello::ccw(sockaddr_in serveraddr){
+	char tmp[15] = {"ccw 20"};
+	send_message(tmp,serveraddr,0);// 0 -> timeout
+	cout << "ccw successfully!" <<endl;
+}
 void Tello::get_video(sockaddr_in serveraddr){
 	
-	char tmp[10] = {"streamon"};
+	char tmp[15] = {"streamon"};
 	send_message(tmp,serveraddr,0);
 	cout << "stream_on successfully!" <<endl;
 	this->stream_on = true;

src/Djitellowhite/Djitellowhite.h

@@ -61,6 +61,14 @@ public:
 	void get_connect(sockaddr_in serveraddr);
 	void takeoff(sockaddr_in serveraddr);
 	void land(sockaddr_in serveraddr);
+	void forward(sockaddr_in serveraddr);
+	void back(sockaddr_in serveraddr);
+	void left(sockaddr_in serveraddr);
+	void right(sockaddr_in serveraddr);
+	void up(sockaddr_in serveraddr);
+	void down(sockaddr_in serveraddr);
+	void cw(sockaddr_in serveraddr);
+	void ccw(sockaddr_in serveraddr);
 	bool send_message(char* msg,sockaddr_in server_addr,int timeout = RESPONSE_TIMEOUT);
 	static void *udp_response_receiver(void* arg);
 	void get_video(sockaddr_in serveraddr);

src/Djitellowhite/Hardwarelistener.h

@@ -1,6 +1,6 @@
 #ifndef _HARDWARELISTENER_H
 #define _HARDWARELISTENER_H
-
-int listenkeyboard();
+#include "Djitellowhite.h"
+int listenkeyboard(Tello T,sockaddr_in serveraddr);
 int scanKeyboard();
 #endif

src/Djitellowhite/Triplet.cpp

@@ -40,6 +40,6 @@ int main(void){
 	//T.land(serveraddr);
 	
 	pthread_join(thread_receive,NULL);
-	listenkeyboard();
+	listenkeyboard(T,serveraddr);
 	return 0;
 }

src/Djitellowhite/keyboard.cpp

@@ -2,6 +2,7 @@
 #include <stdio.h>
 #include "Hardwarelistener.h"
 #include <iostream>
+
 using namespace std;
 int scanKeyboard()
 {
@@ -26,21 +27,25 @@ int scanKeyboard()
 }
  
 //测试函数
-int listenkeyboard(){
+int listenkeyboard(Tello T, sockaddr_in serveraddr){
  	while(1){
 		switch(scanKeyboard())
 		{
 			case (int)'w':
 				cout << "forward"<< endl;
+				T.forward(serveraddr);
 				break;
 			case (int)'s':
 				cout << "back" << endl;
+				T.back(serveraddr);
 				break;
 			case (int)'a':
 				cout << "left" <<endl;
+				T.left(serveraddr);
 				break;
 			case (int)'d':
 				cout << "right"<<endl;
+				T.right(serveraddr);
 				break;
 		}
  	}