Minimal changes to make multiple ardrone_autonomy instances run on th…

…e same computer

ardrone_lib.patch

@@ -11,6 +11,52 @@ index 0b96558..0c101a0 100644
  	$(SILENT_MAKE)echo "Done"
  endif
  endif
+diff --git a/ARDroneLib/Soft/Lib/ardrone_tool/AT/ardrone_at_mutex.c b/ARDroneLib/Soft/Lib/ardrone_tool/AT/ardrone_at_mutex.c
+index 67bfdfc..f96c262 100644
+--- a/ARDroneLib/Soft/Lib/ardrone_tool/AT/ardrone_at_mutex.c
++++ b/ARDroneLib/Soft/Lib/ardrone_tool/AT/ardrone_at_mutex.c
+@@ -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())))
+     {
+diff --git a/ARDroneLib/Soft/Lib/ardrone_tool/Navdata/ardrone_navdata_client.c b/ARDroneLib/Soft/Lib/ardrone_tool/Navdata/ardrone_navdata_client.c
+index fb35ded..278a72f 100644
+--- a/ARDroneLib/Soft/Lib/ardrone_tool/Navdata/ardrone_navdata_client.c
++++ b/ARDroneLib/Soft/Lib/ardrone_tool/Navdata/ardrone_navdata_client.c
+@@ -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);
+diff --git a/ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage.c b/ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage.c
+index 967808a..2368028 100644
+--- a/ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage.c
++++ b/ARDroneLib/Soft/Lib/ardrone_tool/Video/video_stage.c
+@@ -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;
 diff --git a/ARDroneLib/Soft/Lib/ardrone_tool/ardrone_tool.c b/ARDroneLib/Soft/Lib/ardrone_tool/ardrone_tool.c
 index 8466d4c..0b4f2e7 100644
 --- a/ARDroneLib/Soft/Lib/ardrone_tool/ardrone_tool.c