From 0e7846f5e81e891f7d0941bf410b5c4bb06e3c35 Mon Sep 17 00:00:00 2001
From: hackii <1512161085@qq.com>
Date: Sat, 2 Jul 2022 19:11:13 -0700
Subject: [PATCH] add

---
 src/include/Djitellowhite.h |  3 +-
 src/main/Djitellowhite.cpp  |  2 ++
 src/main/Triplet.cpp        | 11 ++++---
 src/main/mainwindow.cpp     | 60 +++++++++++++++++++++++++++++++++++--
 src/main/server.cpp         |  6 ++++
 5 files changed, 74 insertions(+), 8 deletions(-)

diff --git a/src/include/Djitellowhite.h b/src/include/Djitellowhite.h
index bfaa936..62a27a6 100644
--- a/src/include/Djitellowhite.h
+++ b/src/include/Djitellowhite.h
@@ -72,8 +72,9 @@ public:
 	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);
-};
 
+};
+// int Telloconnect1(void);
 
 
 
diff --git a/src/main/Djitellowhite.cpp b/src/main/Djitellowhite.cpp
index 432eef8..e14b657 100644
--- a/src/main/Djitellowhite.cpp
+++ b/src/main/Djitellowhite.cpp
@@ -12,6 +12,7 @@
 
 using namespace cv;
 using namespace std;
+
 Tello::Tello(const char* IP) {
 	this->stream_on=false;
 	this->host = inet_addr(IP);
@@ -50,6 +51,7 @@ bool Tello::send_message(char* msg,sockaddr_in server_addr,int timeout){
 	return true;
 }
 void* Tello::udp_response_receiver(void* arg){
+
 	//int m_SockServer;            //创建socket对象           
 	//sockaddr_in serveraddr;         //创建sockaddr_in对象储存自身信息(当有多个端口，可以多个绑定)
 	//sockaddr_in serveraddrfrom;
diff --git a/src/main/Triplet.cpp b/src/main/Triplet.cpp
index 0343058..f7e319b 100644
--- a/src/main/Triplet.cpp
+++ b/src/main/Triplet.cpp
@@ -1,9 +1,11 @@
 #include "../include/Djitellowhite.h"
 #include "../include/Hardwarelistener.h"
 #include <iostream>
-/*
+
+// This a mod of create a Tello
+
 using namespace std;
-int main(void){
+void* Telloconnect1(void){
 	Tello T("192.168.10.1");
 	int socket_fd, err;
 
@@ -11,14 +13,16 @@ int main(void){
 	{
 		cout << "initialized error" << endl;
 		cout << 0;
-		return -1;
+
 	}
 	
 	//cout << 1 << socket_fd;
 	T.set_conf(socket_fd);
 	
 	pthread_t thread_receive;
+
 	err = pthread_create(&thread_receive,nullptr,T.udp_response_receiver,&socket_fd);
+
 	sleep(3);
 	struct sockaddr_in serveraddr;
 	memset(&serveraddr,0,sizeof(serveraddr));
@@ -44,4 +48,3 @@ int main(void){
 	listenkeyboard(T,serveraddr);
 	return 0;
 }
-*/
diff --git a/src/main/mainwindow.cpp b/src/main/mainwindow.cpp
index 8f9175d..f58703b 100644
--- a/src/main/mainwindow.cpp
+++ b/src/main/mainwindow.cpp
@@ -2,7 +2,8 @@
 #include "../include/Air_Ground_CEC/mainwindow.hpp"
 #include <QtConcurrent/QtConcurrent>
 #include <iostream>
-
+#include "../include/Djitellowhite.h"
+#include "../include/Hardwarelistener.h"
 MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
     QMainWindow(parent), qnode(argc, argv),
     ui(new Ui::MainWindow)
@@ -399,8 +400,8 @@ void MainWindow::importFrame()
 
 void MainWindow::on_Open_receive_clicked()
 {
-  capture.open(0);
-  //capture.open("udp://@0.0.0.0:11111");
+  //capture.open(0);//video test
+  capture.open("udp://@0.0.0.0:11111");
   timer->start(30);
 }
 
@@ -410,6 +411,53 @@ void MainWindow::on_Stop_receive_clicked()
   capture.release();
 }
 
+
+
+
+static void* Telloconnect(void *pt){
+  Tello T("192.168.10.1");
+  int socket_fd, err;
+
+  if((socket_fd = socket(PF_INET,SOCK_DGRAM,IPPROTO_UDP))==-1)
+  {
+    cout << "initialized error" << endl;
+    cout << 0;
+
+  }
+
+  //cout << 1 << socket_fd;
+  T.set_conf(socket_fd);
+
+  pthread_t thread_receive;
+
+  err = pthread_create(&thread_receive,nullptr,T.udp_response_receiver,&socket_fd);
+
+  sleep(3);
+  struct sockaddr_in serveraddr;
+  memset(&serveraddr,0,sizeof(serveraddr));
+  serveraddr.sin_family=AF_INET;
+  serveraddr.sin_addr.s_addr=T.gethost();
+  serveraddr.sin_port=htons(CONTROL_UDP_PORT);
+
+
+
+  if(err!=0)
+  {
+    cout << err << " " << "can't create thread";
+  }
+
+  T.get_connect(serveraddr);
+  //sleep(1);
+  //T.takeoff(serveraddr);
+  T.get_video(serveraddr);
+  sleep(5);
+  //T.land(serveraddr);
+
+  pthread_join(thread_receive,NULL);
+  listenkeyboard(T,serveraddr);
+  return 0;
+}
+\
 void MainWindow::on_ConnectTello_clicked()
 {
   /*
@@ -421,8 +469,14 @@ void MainWindow::on_ConnectTello_clicked()
     cout << "initialized error" << endl;
     cout << 0;
     exit(TELLODISCONNECTION);
+
   }
   */
+
+  pthread_t thread_connect;
+  int con = pthread_create(&thread_connect,NULL,Telloconnect,NULL);
+
 }
 
 
+
diff --git a/src/main/server.cpp b/src/main/server.cpp
index 6d4cffc..3b9f934 100644
--- a/src/main/server.cpp
+++ b/src/main/server.cpp
@@ -8,6 +8,8 @@
 #include <string.h>
 #define PORT 8890
 
+
+//This is for the test of connection with tello
 void udp_server(int sockfd)
 {
 
@@ -40,6 +42,8 @@ void udp_server(int sockfd)
 
     close(sockfd);
 }
+
+
 /*
 int main(int argc, char **argv)
 {
@@ -57,3 +61,5 @@ int main(int argc, char **argv)
 */
 
 
+
+