Mutual area

In order to actually get the sample application to compile there is a lot of work to be done after following the developer’s guide (on pages 77-81) provided by the guys at Parrot. In order to download the guide from the link provided above you will first need to head over to the developers section and register. This tutorial, however, will avoid the developer’s guide instructions all together so the only reason you really need to register is to download the SDK 1.5 Source. So lets get to it!

*please note these instructions are for Windows 7 only with Visual Studios 2010 Ultimate (they may or may not work with previous versions).

* sorry about the formatting issue toward the bottom of the page. I will fix that tomorrow.

Needed Files:

• ArDrone SDK 1.5 Source (available here)
• Microsoft Windows SDK (available here)
• Microsoft DirectX SDK (available here)
• SDL Library (available here)

Install Dependencies:

• Untar SDK 1.5 Source (I like to use 7Zip to do this)
• Install Microsoft Windows SDK
• Install Microsoft DirectX SDK
• Unzip SDL Library

Setup:

• Open Visual Studio project file located
  • <ardrone sdk root>\Ar Drone\ARDrone_SDK_1_5_Version_20101004\Examples\Win32\VCProjects\ARDrone\ARDrone.sln
• Follow wizard to covert from VS2008 to VS2010
• Close Visual Studios (important)
• Edit Files (I like to use notepad++):
  • ArDrone_properties.props
    • update reference of d:\Parrot\Examples\Win32\sdk_demo\ to C:\<path to sdk 1.5 source>\Ar Drone\ARDrone_SDK_1_5_Version_20101004\Examples\Win32\sdk_demo\Sources
    • update reference of d:\Parrot\ARDroneLib to C:\<path to sdk 1.5 source>\Ar Drone\ARDrone_SDK_1_5_Version_20101004\ARDroneLib
  • ArDrone_properties.vsprops
    • do the same as you did to the previous file
• Now re-open ARDrone.sln
  • you should see along the bottom VS2010 is parsing all the new files you just refrenced

Make VS2010 Aware Of New Code:

• In “Solution Explore” right click “ArDroneAPI” ->properties

• Go to Configuration Properties -> VC++ Directories -> Click Include Directories -> Edit -> then add the following lines to match your system
  • C:\<Path To Unziped File>\Ar Drone\SDL-1.2.14\include
  • C:\Program Files %28×86%29\Microsoft SDKs\Windows\v7.0A\Include
  • C:\Program Files %28×86%29\Microsoft DirectX SDK %28June 2010%29\Include
• Click Ok
• In the same properties box -> click Library Directories -> then add the following lines to match your system
  • C:\<Path To Unziped File>\Ar Drone\SDL-1.2.14\lib
  • C:\Program Files %28×86%29\Microsoft SDKs\Windows\v7.0A\Lib
  • C:\Program Files %28×86%29\Microsoft DirectX SDK %28June 2010%29\Lib\x86
• Click Ok
• Click Ok on the properties box
• Do the same procedure on the “Win32Client”
• Build your solution
  • if you get the following error you need to include the red part in the above Library Directory line: C:\Program Files %28×86%29\Microsoft DirectX SDK %28June 2010%29\Lib\x86 :

  Error    2    error C1083: Cannot open include file: 'd3dx9.h': No such file or directory    c:\users\justin\documents\ar drone\ardrone_sdk_1_5_version_20101004\examples\win32\sdk_demo\sources\ui\directx_rendering.h    32    1    Win32Clien

• You should have the following error:

Error    1    error C1083: Cannot open include file: 'SDL/SDL.h': No such file or directory    c:\users\justin\documents\ar drone\ardrone_sdk_1_5_version_20101004\ardronelib\vp_sdk\vp_stages\vp_stages_o_sdl.h    33    1    ArDroneAPI

Fixing Compile Issues:

• To fix the error double click the line in the error list and it should open a file called “vp_stages_o_sdl.h” if not dig around in the solutions explore (I promise it’s there somewhere)
  • change line 33
    • from: #include <SDL/SDL.h>
    • to: #include <SDL.h>
  • rebuild the solution (it is important that you rebuild and not just build)
• Assuming that you are viewing warning as well as errors you should see the following messages in the error list window
  

  Warning    5    warning LNK4221: This object file does not define any previously undefined public symbols, so it will not be used by any link operation that consumes this library    C:\Users\Justin\Documents\Ar Drone\ARDrone_SDK_1_5_Version_20101004\Examples\Win32\VCProjects\ARDrone\ArDroneAPI\uvlc_codec.obj    ArDroneAPI
  Warning    4    warning LNK4042: object specified more than once; extras ignored    C:\Users\Justin\Documents\Ar Drone\ARDrone_SDK_1_5_Version_20101004\Examples\Win32\VCProjects\ARDrone\ArDroneAPI\Debug\uvlc_codec.obj    1    1    ArDroneAPI
  Warning    6    warning LNK4006: _gettimeofday already defined in video_stage_recorder.obj; second definition ignored    C:\Users\Justin\Documents\Ar Drone\ARDrone_SDK_1_5_Version_20101004\Examples\Win32\VCProjects\ARDrone\ArDroneAPI\time.obj    ArDroneAPI
  Warning    7    warning LNK4006: _gettimeofday already defined in video_stage_recorder.obj; second definition ignored    C:\Users\Justin\Documents\Ar Drone\ARDrone_SDK_1_5_Version_20101004\Examples\Win32\VCProjects\ARDrone\ArDroneAPI\ardrone_navdata_file.obj    ArDroneAPI
  Warning    2    warning C4013: 'clz' undefined; assuming extern returning int    c:\users\justin\documents\ar drone\ardrone_sdk_1_5_version_20101004\ardronelib\vlib\uvlc\uvlc_codec.c    269    1    ArDroneAPI
  Warning    3    warning C4013: 'clz' undefined; assuming extern returning int    c:\users\justin\documents\ar drone\ardrone_sdk_1_5_version_20101004\ardronelib\vlib\uvlc\uvlc.c    29    1    ArDroneAPI
  Warning    1    warning C4013: 'bswap' undefined; assuming extern returning int    c:\users\justin\documents\ar drone\ardrone_sdk_1_5_version_20101004\ardronelib\vlib\video_mem32.c    39    1    ArDroneAPI
  Error    9    error LNK2019: unresolved external symbol _uvlc_codec_free referenced in function _video_codec_close    C:\Users\Justin\Documents\Ar Drone\ARDrone_SDK_1_5_Version_20101004\Examples\Win32\VCProjects\ARDrone\Win32Client\ArDroneAPI.lib(video_codec.obj)    Win32Client
  Error    8    error LNK2019: unresolved external symbol _uvlc_codec_alloc referenced in function _video_codec_open    C:\Users\Justin\Documents\Ar Drone\ARDrone_SDK_1_5_Version_20101004\Examples\Win32\VCProjects\ARDrone\Win32Client\ArDroneAPI.lib(video_codec.obj)    Win32Client
  Error    10    error LNK1120: 2 unresolved externals    C:\Users\Justin\Documents\Ar Drone\ARDrone_SDK_1_5_Version_20101004\Examples\Win32\VCProjects\ARDrone\Debug\Win32Client.exe    Win32Client

• In the solutions explore “right click -> remove” (delete) one of the duplicate uvlc_codec.c files  located in ArDroneAPI -> Fichiers sources
• In the solutions explore open the following files and do the following:
  • ArDroneAPI -> Fichiers sources -> uvlc.c
    • Paste this line above the line: void uvlc_encode( video_stream_t* const stream, int32_t level, int32_t run, int32_t not_last )
      

   int clz2(unsigned long x)
  {
   /* Barbarian counting method if no instrinsic is available */
   int i; const int L=sizeof(x)*8-1;
   const unsigned long mask = ( 1 << L );
   if (x==0) { return L+1; }
   for (i=0;i<L;i++) { if (x&mask) return i; x<<=1; }
   return i;
  }

• • • change all references from “clz” to “clz2” in the remainder of the file (ctrl-f may come in handy, just make sure your searching only the “current document”)

• ArDroneAPI -> Fichiers sources -> uvlc_codec.c (there should only be 1 now as you deleted the duplicate)
  • Paste this above the line: void uvlc_codec_alloc( video_controller_t* controller )

int clz3(unsigned long x)
{
/* Barbarian counting method if no instrinsic is available */
int i; const int L=sizeof(x)*8-1;
const unsigned long mask = ( 1 << L );
if (x==0) { return L+1; }
for (i=0;i<L;i++) { if (x&mask) return i; x<<=1; }
return i;
}

• change all references from “clz” to “clz3” in the remainder of the file (ctrl-f may come in handy, just make sure your searching only the “current document”)

• ArDroneAPI -> Fichiers sources -> video_mem32.c
  • Paste this line bellow the last #include:
    

 unsigned long bswap2(unsigned long x) { return _byteswap_ulong(x); }

• Change all references from “bswap” to “bswap2” in the remainder of the file (ctrl-f may come in handy, just make sure your searching only the “current document”)

• Save Changes and Rebuild Solution
• You should now have the following errors:
  

Warning    1    warning LNK4006: _gettimeofday already defined in video_stage_recorder.obj; second definition ignored    C:\Users\Justin\Documents\Ar Drone\ARDrone_SDK_1_5_Version_20101004\Examples\Win32\VCProjects\ARDrone\ArDroneAPI\time.obj    ArDroneAPI
Warning    2    warning LNK4006: _gettimeofday already defined in video_stage_recorder.obj; second definition ignored    C:\Users\Justin\Documents\Ar Drone\ARDrone_SDK_1_5_Version_20101004\Examples\Win32\VCProjects\ARDrone\ArDroneAPI\ardrone_navdata_file.obj    ArDroneAPI
 3    IntelliSense: a value of type "void *" cannot be assigned to an entity of type "uint32_t *"    c:\users\justin\documents\ar drone\ardrone_sdk_1_5_version_20101004\ardronelib\vlib\uvlc\uvlc_codec.c    281    19    ArDroneAPI

The Final Few Bug Fixes:

• In ArDroneAPI -> Fichiers sources -> time.c change the method “gettimeofday” to “gettimeofday2” and update any calls to said function in time.c to call gettimeofday2 (this is a very similar procured to what you just did except it requires no copy and pasting)
• In ArDroneAPI -> Fichiers sources ->ardrone_navdata_file.c change the method “gettimeofday” to “gettimeofday3” and update any calls to said function in ardrone_navdata_file.c to call gettimeofday3 (this is a very similar procured to what you just did except it requires no copy and pasting)
• Rebuild Solution

Success!
<출처>
http://www.sparticusthegrand.com/ardrone/ardrone-compile-windows-sdk-1-5-in-visual-studios-2010/