From 67f288898defc6974ec58b4837371554f43f9d8b Mon Sep 17 00:00:00 2001 From: 13195980010 <1512161085@qq.com> Date: Mon, 9 May 2022 20:24:59 -0700 Subject: [PATCH 1/3] flip --- src/Djitellowhite/Djitellowhite.cpp | 42 +++++++++++++++++++++++++++- src/Djitellowhite/Djitellowhite.h | 8 ++++++ src/Djitellowhite/Djitellowhite.o | Bin 6400 -> 15992 bytes src/Djitellowhite/test | Bin 19128 -> 29592 bytes 4 files changed, 49 insertions(+), 1 deletion(-) diff --git a/src/Djitellowhite/Djitellowhite.cpp b/src/Djitellowhite/Djitellowhite.cpp index 9ebb3b5..c8a8f52 100644 --- a/src/Djitellowhite/Djitellowhite.cpp +++ b/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!" < timeout + cout << "back successfully!" < timeout + cout << "left successfully!" < timeout + cout << "right successfully!" < timeout + cout << "up successfully!" < timeout + cout << "down successfully!" < timeout + cout << "cw successfully!" < timeout + cout << "ccw successfully!" <stream_on = true; diff --git a/src/Djitellowhite/Djitellowhite.h b/src/Djitellowhite/Djitellowhite.h index b311e46..bfaa936 100644 --- a/src/Djitellowhite/Djitellowhite.h +++ b/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); diff 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zZlLsRU-9bsrJ{RfIkKOcqU@J2OG#XnSI;>WRqq?9`c-+={x8b%%cMf}{(_?I(w|hG zo>AD#KLU(=qVzL27)oybizjN{9Rp5g?cAfQQEiB%d6+GiYhs! zLh*|3wUys8M@TB_RgRSkR5?W-x0N57D+Coid9EyIE3Z)c=2o{~J^xj7suGmc?!RYc zdDBd<6qNK=q+Cnt{3+-^aX=!fyn3FjsQUlil)SzE-`L8l=gx|b+X~q0f5TQ@J)c%| zg{oLmTXWdE!0B19?55^(Z1w-hxn(&;RQ-w;K_TrytMcl3cWsj>q2!#(m!UlMeN|pP z7gzr;pz6Ogekmz^s{ecw7_~{2SI^J4uOw;4`fUwX Date: Mon, 9 May 2022 20:40:49 -0700 Subject: [PATCH 3/3] keyboardupdate --- src/Djitellowhite/Hardwarelistener.h | 4 ++-- src/Djitellowhite/Triplet.cpp | 2 +- src/Djitellowhite/keyboard.cpp | 7 ++++++- src/Djitellowhite/test | Bin 0 -> 29608 bytes 4 files changed, 9 insertions(+), 4 deletions(-) create mode 100755 src/Djitellowhite/test diff --git a/src/Djitellowhite/Hardwarelistener.h b/src/Djitellowhite/Hardwarelistener.h index 176cde8..599fa82 100644 --- a/src/Djitellowhite/Hardwarelistener.h +++ b/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 diff --git a/src/Djitellowhite/Triplet.cpp b/src/Djitellowhite/Triplet.cpp index 1456006..9c0ef65 100644 --- a/src/Djitellowhite/Triplet.cpp +++ b/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; } diff --git a/src/Djitellowhite/keyboard.cpp b/src/Djitellowhite/keyboard.cpp index 3006537..dcf3ade 100644 --- a/src/Djitellowhite/keyboard.cpp +++ b/src/Djitellowhite/keyboard.cpp @@ -2,6 +2,7 @@ #include #include "Hardwarelistener.h" #include + 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 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