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// test client for AR Drone Server
// Copyright (C) 2015 Florian Jung
// All rights reserved. Licensed under the 3-clause-BSD-license as follows:
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice, this
// list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// 3. Neither the name of the copyright holder nor the names of its contributors
// may be used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/socket.h>
#include <string.h>
#include <sys/un.h>
#include <GL/glut.h> // Header File For The GLUT Library
#include <GL/gl.h> // Header File For The OpenGL32 Library
#include <GL/glu.h> // Header File For The GLu32 Library
#define SOCKETPATH "/home/flo/uds_socket"
void die(const char* msg){perror(msg); exit(1);}
void suicide(const char* msg){ fprintf(stderr, "%s\n", msg); exit(1); }
int DrawGLScene(GLvoid);
unsigned char buffer[67108864]; // must be unsigned. because reasons -_-
/* ascii code for the escape key */
#define ESCAPE 27
/* The number of our GLUT window */
int window;
/* A general OpenGL initialization function. Sets all of the initial parameters. */
void InitGL(int Width, int Height) // We call this right after our OpenGL window is created.
{
glClearColor(0.0f, 0.0f, 0.0f, 0.0f); // This Will Clear The Background Color To Black
glClearDepth(1.0); // Enables Clearing Of The Depth Buffer
glDepthFunc(GL_LESS); // The Type Of Depth Test To Do
glEnable(GL_DEPTH_TEST); // Enables Depth Testing
glShadeModel(GL_SMOOTH); // Enables Smooth Color Shading
glMatrixMode(GL_PROJECTION);
glLoadIdentity(); // Reset The Projection Matrix
gluPerspective(45.0f,(GLfloat)Width/(GLfloat)Height,0.1f,100.0f); // Calculate The Aspect Ratio Of The Window
glMatrixMode(GL_MODELVIEW);
}
/* The function called when our window is resized (which shouldn't happen, because we're fullscreen) */
void ReSizeGLScene(int Width, int Height)
{
if (Height==0) // Prevent A Divide By Zero If The Window Is Too Small
Height=1;
glViewport(0, 0, Width, Height); // Reset The Current Viewport And Perspective Transformation
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(45.0f,(GLfloat)Width/(GLfloat)Height,0.1f,100.0f);
glMatrixMode(GL_MODELVIEW);
}
/* The function called whenever a key is pressed. */
void keyPressed(unsigned char key, int x, int y)
{
/* avoid thrashing this procedure */
usleep(100);
/* If escape is pressed, kill everything. */
if (key == ESCAPE)
{
/* shut down our window */
glutDestroyWindow(window);
/* exit the program...normal termination. */
exit(0);
}
}
int init_all_teh_shitz(int argc, char **argv)
{
/* Initialize GLUT state - glut will take any command line arguments that pertain to it or
X Windows - look at its documentation at http://reality.sgi.com/mjk/spec3/spec3.html */
glutInit(&argc, argv);
/* Select type of Display mode:
Double buffer
RGBA color
Alpha components supported
Depth buffer */
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_ALPHA | GLUT_DEPTH);
/* get a 640 x 480 window */
glutInitWindowSize(640, 480);
/* the window starts at the upper left corner of the screen */
glutInitWindowPosition(0, 0);
/* Open a window */
window = glutCreateWindow("Jeff Molofee's GL Code Tutorial ... NeHe '99");
/* Register the function to do all our OpenGL drawing. */
glutDisplayFunc(&DrawGLScene);
/* Go fullscreen. This is as soon as possible. */
glutFullScreen();
/* Even if there are no events, redraw our gl scene. */
glutIdleFunc(&DrawGLScene);
/* Register the function called when our window is resized. */
glutReshapeFunc(&ReSizeGLScene);
/* Register the function called when the keyboard is pressed. */
glutKeyboardFunc(&keyPressed);
/* Initialize our window. */
InitGL(640, 480);
/* Start Event Processing Engine */
glutMainLoop();
return 1;
}
int DrawGLScene(GLvoid) // Here's Where We Do All The Drawing
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Clear The Screen And The Depth Buffer
glLoadIdentity();
glTranslatef(-1.5f,0.0f,-6.0f);
glBegin(GL_QUADS);
glVertex3f(-1.0f,-1.0f, 0.0f);
glVertex3f(-1.0f, 1.0f, 0.0f);
glVertex3f( 1.0f, 1.0f, 0.0f);
glVertex3f( 1.0f,-1.0f, 0.0f);
glEnd();
glutSwapBuffers();
}
int main(int argc, const char** argv)
{
init_all_teh_shitz(argc, argv);
struct sockaddr_un my_sockaddr;
my_sockaddr.sun_family=AF_UNIX;
strcpy(my_sockaddr.sun_path, SOCKETPATH);
int sockaddrlen = strlen(my_sockaddr.sun_path) + sizeof(my_sockaddr.sun_family);
int sockfd = socket(AF_UNIX, SOCK_STREAM, 0);
if (sockfd == -1) die("socket");
if (connect(sockfd, (struct sockaddr*) &my_sockaddr, sockaddrlen) == -1)
die("connect");
write(sockfd,"get\n",4);
printf("%i\n",read(sockfd, buffer, 4));
printf("%x%x%x%x\n",buffer[0],buffer[1],buffer[2],buffer[3]);
int framelen = ((buffer[0]*256+buffer[1])*256+buffer[2])*256+buffer[3];
printf("framelen is %i\n", framelen);
if (framelen > sizeof(buffer)) suicide("buffer too small");
read(sockfd, buffer, framelen);
printf("done reading\n");
read(sockfd, buffer, 123);
close(sockfd);
return 0;
}
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