add bt test

Examples/Linux/Makefile

@@ -5,17 +5,19 @@ all:
 	@$(MAKE) -C ../../ARDroneLib/Soft/Build USE_LINUX=yes
 	@$(MAKE) -C Navigation/Build USE_LINUX=yes 
 	@$(MAKE) -C custom_test/Build USE_LINUX=yes
+	@$(MAKE) -C bt_test/Build USE_LINUX=yes
 	@$(MAKE) -C sdk_demo/Build USE_LINUX=yes
 	@$(MAKE) -C video_demo/Build USE_LINUX=yes
 #	@$(MAKE) -C Testbenches/multiconfiguration/Build USE_LINUX=yes
-	@$(MAKE) -C Testbenches/ftp_test/Build USE_LINUX=yes
+#	@$(MAKE) -C Testbenches/ftp_test/Build USE_LINUX=yes
 
 $(MAKECMDGOALS):
 	@$(MAKE) -C ../../ARDroneLib/Soft/Build USE_LINUX=yes $(MAKECMDGOALS)
 	@$(MAKE) -C Navigation/Build USE_LINUX=yes $(MAKECMDGOALS)
 	@$(MAKE) -C custom_test/Build USE_LINUX=yes $(MAKECMDGOALS)
+	@$(MAKE) -C bt_test/Build USE_LINUX=yes $(MAKECMDGOALS)
 	@$(MAKE) -C sdk_demo/Build USE_LINUX=yes $(MAKECMDGOALS)
 	@$(MAKE) -C video_demo/Build USE_LINUX=yes $(MAKECMDGOALS)
 #	@$(MAKE) -C Testbenches/multiconfiguration/Build USE_LINUX=yes $(MAKECMDGOALS)
-	@$(MAKE) -C Testbenches/ftp_test/Build USE_LINUX=yes $(MAKECMDGOALS)
+#	@$(MAKE) -C Testbenches/ftp_test/Build USE_LINUX=yes $(MAKECMDGOALS)
 

Examples/Linux/bt_test/Build/Makefile

+SDK_PATH:=$(shell pwd)/../../../../ARDroneLib
+PC_TARGET=yes
+USE_LINUX=yes
+
+ifdef MYKONOS
+   include $(ARDRONE_CUSTOM_CONFIG)
+   include $(ARDRONE_BUILD_CONFIG)
+else
+   include $(SDK_PATH)/Soft/Build/custom.makefile
+   include $(SDK_PATH)/Soft/Build/config.makefile
+endif
+
+ifeq "$(RELEASE_BUILD)" "yes"
+   ARDRONE_TARGET_DIR=$(shell pwd)/../../Build/Release
+else
+   ARDRONE_TARGET_DIR=$(shell pwd)/../../Build/Debug
+endif
+
+TARGET=bt_test
+
+SRC_DIR:=$(shell pwd)/../Sources
+
+# Define application source files
+GENERIC_BINARIES_SOURCE_DIR:=$(SRC_DIR)
+
+#GENERIC_BINARIES_COMMON_SOURCE_FILES+=			\
+   Navdata/navdata.c    \
+   Video/video_stage.c	\
+   Control/control.c
+
+GENERIC_INCLUDES+=					\
+	$(SRC_DIR) \
+	$(LIB_DIR) \
+	$(SDK_PATH)/Soft/Common \
+	$(SDK_PATH)/Soft/Lib
+
+GENERIC_TARGET_BINARIES_PREFIX=
+
+GENERIC_TARGET_BINARIES_DIR=$(ARDRONE_TARGET_DIR)
+
+GENERIC_BINARIES_SOURCE_ENTRYPOINTS+=			\
+   main.c
+
+GENERIC_INCLUDES:=$(addprefix -I,$(GENERIC_INCLUDES))
+
+GENERIC_LIB_PATHS=-L$(GENERIC_TARGET_BINARIES_DIR)
+GENERIC_LIBS=-lpc_ardrone -lgtk-x11-2.0 -lrt -lbluetooth
+
+SDK_FLAGS+="USE_APP=yes"
+SDK_FLAGS+="APP_ID=bt_test"
+
+export GENERIC_CFLAGS
+export GENERIC_LIBS
+export GENERIC_LIB_PATHS
+export GENERIC_INCLUDES
+export GENERIC_BINARIES_SOURCE_DIR
+export GENERIC_BINARIES_COMMON_SOURCE_FILES
+export GENERIC_TARGET_BINARIES_PREFIX
+export GENERIC_TARGET_BINARIES_DIR
+export GENERIC_BINARIES_SOURCE_ENTRYPOINTS
+
+# Bug fix ...
+export GENERIC_LIBRARY_SOURCE_DIR=$(GENERIC_BINARIES_SOURCE_DIR)
+
+
+.PHONY: $(TARGET) build_libs
+
+all: build_libs $(TARGET)
+
+$(TARGET):
+	@$(MAKE) -C $(SDK_PATH)/VP_SDK/Build $(TMP_SDK_FLAGS) $(SDK_FLAGS) $(MAKECMDGOALS) USE_LINUX=yes
+	mv $(ARDRONE_TARGET_DIR)/main $(TARGET)
+	mv $(TARGET) $(ARDRONE_TARGET_DIR)/
+
+$(MAKECMDGOALS): build_libs
+	@$(MAKE) -C $(SDK_PATH)/VP_SDK/Build $(TMP_SDK_FLAGS) $(SDK_FLAGS) $(MAKECMDGOALS) USE_LINUX=yes
+
+build_libs:
+	@$(MAKE) -C $(SDK_PATH)/Soft/Build $(TMP_SDK_FLAGS) $(SDK_FLAGS) $(MAKECMDGOALS) USE_LINUX=yes
+

Examples/Linux/bt_test/Sources/main.c

+#include <stdio.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/socket.h>
+#include <bluetooth/bluetooth.h>
+#include <bluetooth/hci.h>
+#include <bluetooth/hci_lib.h>
+#include <bluetooth/rfcomm.h>
+
+bdaddr_t find_client(char *target) {
+    inquiry_info *ii = NULL;
+    int max_rsp, num_rsp;
+    int dev_id, sock, len, flags;
+    int i;
+    char addr[19] = { 0 };
+    char name[248] = { 0 };
+    bdaddr_t target_channel = {0};
+
+    dev_id = hci_get_route(NULL);
+    sock = hci_open_dev( dev_id );
+    if (dev_id < 0 || sock < 0) {
+        perror("opening socket");
+        exit(1);
+    }
+
+    len  = 8;
+    max_rsp = 255;
+    flags = IREQ_CACHE_FLUSH;
+    ii = (inquiry_info*)malloc(max_rsp * sizeof(inquiry_info));
+    
+    num_rsp = hci_inquiry(dev_id, len, max_rsp, NULL, &ii, flags);
+    if( num_rsp < 0 ) perror("hci_inquiry");
+
+    for (i = 0; i < num_rsp; i++) {
+        target_channel = (ii+i)->bdaddr;
+        ba2str(&target_channel, addr);
+        memset(name, 0, sizeof(name));
+        if (hci_read_remote_name(sock, &(ii+i)->bdaddr, sizeof(name), 
+                                 name, 0) < 0)
+            strcpy(name, "[unknown]");
+        int j = strlen(name);
+        while (name[j-1] == ' ' || name[j-1] == '\n' || name[j-1] == '\r')
+            name[--j] = '\0';
+        if (strcmp(name, target))
+            printf("skipped:  %s  %s\n", addr, name);
+        else {
+            printf("find:     %s  %s\n", addr, name);
+            break;
+        }
+    }
+
+    free( ii );
+    close( sock );
+    return target_channel;
+}
+
+int main(int argc, char **argv)
+{
+    struct sockaddr_rc addr = {
+        AF_BLUETOOTH, // rc_family
+        find_client("dronermctrl"), // rc_bdaddr
+        (uint8_t) 1 // rc_channel
+    };
+    int s, status, bytes_read, buf_end = 0, i;
+    char buf[2048] = {0}, bak[2048] = {0};
+
+    // allocate a socket
+    s = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
+
+    // connect to server
+    status = connect(s, (struct sockaddr *)&addr, sizeof(addr));
+    if( status < 0 )
+        perror("connect failed");
+    
+    while (1) {
+        bytes_read = read(s, buf + buf_end, sizeof(buf));
+        buf_end += bytes_read;
+        for (i = buf_end - bytes_read; i < buf_end; ++i)
+            if (buf[i] == '\n') {
+                buf[i-1] = '\0';
+                printf("received: [[%s]]\n", buf);
+                memcpy(bak, buf, sizeof(buf));
+                memset(buf, 0, sizeof(buf));
+                memcpy(buf, bak + i + 1, sizeof(buf) - i - 1);
+                buf_end -= i + 1;
+            }
+    }
+
+    close(s);
+    return 0;
+}
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