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Fuerte: Allow multiple instances of ardrone_autonomy on the same machine #99

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Fuerte: Allow multiple instances of ardrone_autonomy on the same machine #99

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a186c63
Apply commit 2ff57fa7862bc65d753fb616cffa54042b54dd47 to the fuerte code
Mar 26, 2014
db4ac3f
Merge branch 'master' of https://github.com/AutonomyLab/ardrone_autonomy
Mar 26, 2014
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3 changes: 2 additions & 1 deletion ARDroneLib/Soft/Lib/ardrone_tool/AT/ardrone_at_mutex.c
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Original file line number Diff line number Diff line change
Expand Up @@ -138,8 +138,9 @@ AT_CODEC_ERROR_CODE host_open( void )

if( !init_ok )
{
COM_CONFIG_SOCKET_AT(&at_socket, VP_COM_CLIENT, AT_PORT, wifi_ardrone_ip);
COM_CONFIG_SOCKET_AT(&at_socket, VP_COM_CLIENT, 0, wifi_ardrone_ip);
at_socket.protocol = VP_COM_UDP;
at_socket.remotePort = AT_PORT;

if(VP_FAILED(vp_com_init(COM_AT())))
{
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3 changes: 2 additions & 1 deletion ARDroneLib/Soft/Lib/ardrone_tool/Navdata/ardrone_navdata_client.c
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Expand Up @@ -36,10 +36,11 @@ C_RESULT ardrone_navdata_client_init(void)
{
C_RESULT res;

COM_CONFIG_SOCKET_NAVDATA(&navdata_socket, VP_COM_CLIENT, NAVDATA_PORT, wifi_ardrone_ip);
COM_CONFIG_SOCKET_NAVDATA(&navdata_socket, VP_COM_CLIENT, 0, wifi_ardrone_ip);
navdata_socket.protocol = VP_COM_UDP;
navdata_socket.is_multicast = 0; // disable multicast for Navdata
navdata_socket.multicast_base_addr = MULTICAST_BASE_ADDR;
navdata_socket.remotePort = NAVDATA_PORT;

vp_os_mutex_init(&navdata_client_mutex);
vp_os_cond_init(&navdata_client_condition, &navdata_client_mutex);
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3 changes: 2 additions & 1 deletion ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage.c
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Expand Up @@ -96,7 +96,8 @@ DEFINE_THREAD_ROUTINE(video_stage, data) {
icc_udp.com = COM_VIDEO();
icc_udp.buffer_size = (1024*1024);
icc_udp.protocol = VP_COM_UDP;
COM_CONFIG_SOCKET_VIDEO(&icc_udp.socket, VP_COM_CLIENT, VIDEO_PORT, wifi_ardrone_ip);
COM_CONFIG_SOCKET_VIDEO(&icc_udp.socket, VP_COM_CLIENT, 0, wifi_ardrone_ip);
icc_udp.socket.remotePort = VIDEO_PORT;

icc.nb_sockets = 2;
icc.configs = icc_tab;
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