waypoint.cxx
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#include <string>
#include <thread>
#include "uav_core.h"
#include "uav_logger.h"
#include "uav_platform.h"
#include "uav_data_type.h"
#include "uav_waypoint.h"
#include "uav_sdk_app_info.h"
static void waypoint_routine(const std::string &kmz_file)
{
//wait register success
if(false == wait_register_ready(100)){
LOG_ERROR("waitHandShakeRegister failed");
return;
}
UAV_Waypoint_Init();
std::this_thread::sleep_for(std::chrono::seconds(3));
if(0 != UAV_Waypoint_UploadFile_kmz(kmz_file.c_str()))
{
LOG_ERROR("upload kmz file failed!");
return;
}
std::this_thread::sleep_for(std::chrono::seconds(3)); ///< wait a while for kmz file upload success
if(0 != UAV_Waypoint_Action(UAV_WAYPOINT_ACTION_START, 3000))
{
LOG_ERROR("start waypoint failed!");
return;
}
while(1)
{
std::this_thread::sleep_for(std::chrono::seconds(1));
}
}
int main(int argc, char *argv[])
{
T_AUserInfo usrInfo;
logger_init(std::string(argv[1]));
if(false == uav_sdk_app_info_init(&usrInfo)) {
LOG_ERROR("uav_sdk_app_info_init failed");
return -1;
}
UAV_Core_Init(&usrInfo);
UAV_Core_SetAlias("waypoint");
UAV_Network_Init(LOCALHOST_ETHERNET);
std::string kmz_file = std::string(argv[3]);
std::thread waypoint(waypoint_routine, kmz_file);
waypoint.detach();
return UAV_Core_ApplicationStart();
}