ardrone_autonomy: ardrone_sdk.h Source File

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00001 
00025 #ifndef ARDRONE_AUTONOMY_ARDRONE_SDK_H
00026 #define ARDRONE_AUTONOMY_ARDRONE_SDK_H
00027 
00028 // TODO(mani-monaj): Move these two defines to CMake
00029 #ifndef FFMPEG_SUPPORT
00030 #define FFMPEG_SUPPORT
00031 #endif
00032 
00033 #ifndef USE_LINUX
00034 #define USE_LINUX
00035 #endif
00036 
00037 // TODO(mani-monaj): Research more on this issue, move the flag to CMake
00038 // The FFMPEG library INT macros fix
00039 #if defined __cplusplus
00040 #    define __STDC_CONSTANT_MACROS
00041 #endif
00042 
00043 #include <stdint.h>
00044 
00045 #ifndef UINT64_C
00046 #define UINT64_C(c) (c ## ULL)
00047 #endif
00048 
00049 extern "C"
00050 {
00051 #include <config.h>
00052 
00053 #include <utils/ardrone_gen_ids.h>
00054 #include <ardrone_tool/ardrone_version.h>
00055 #include <ardrone_tool/ardrone_tool.h>
00056 #include <ardrone_tool/ardrone_tool_configuration.h>
00057 #include <ardrone_tool/Com/config_com.h>
00058 #include <ardrone_tool/UI/ardrone_input.h>
00059 #include <ardrone_tool/Video/video_com_stage.h>
00060 #include <ardrone_tool/Control/ardrone_control.h>
00061 #include <ardrone_tool/Navdata/ardrone_navdata_client.h>
00062 
00063 #include <ardrone_tool/Video/video_stage.h>
00064 #include <ardrone_tool/Video/video_recorder_pipeline.h>
00065 #include <ardrone_tool/Video/video_stage_latency_estimation.h>
00066 
00067   extern video_decoder_config_t vec;
00068 }
00069 
00070 #include <ardrone_autonomy/ardrone_driver.h>
00071 
00072 #define NB_DRIVER_POST_STAGES   10
00073 
00074 extern ARDroneDriver *ros_driver;
00075 
00076 extern const navdata_unpacked_t* shared_raw_navdata_ptr;
00077 extern ros::Time shared_navdata_receive_time;
00078 
00079 extern vp_os_mutex_t navdata_lock;
00080 extern vp_os_mutex_t video_lock;
00081 extern vp_os_mutex_t twist_lock;
00082 
00083 extern int32_t looprate;
00084 extern bool realtime_navdata;
00085 extern bool realtime_video;
00086 
00087 extern int32_t should_exit;
00088 
00089 #endif  // ARDRONE_AUTONOMY_ARDRONE_SDK_H