/**
* Start the server by listening on a specified port and address.
* @param int $port
* @param string $host
* @throws ConnectionException
*/
public function listen($port, $host = '0.0.0.0')
{
$factory = new Factory($this->loop);
$factory->createServer($host . ':' . $port)->then(function (Socket $server) {
$this->socket = $server;
$server->on('message', function ($message) {
$this->emit('data', [$message]);
});
});
}
private function start()
{
$udpFactory = new UdpFactory($this->loop);
$udpNavdata = $this;
// Navdata stream
$udpFactory->createClient(Config::DRONE_IP . ':' . Config::NAVDATA_PORT)->then(function (UdpSocket $client) use(&$udpNavdata) {
// Start dialog
$client->send('1');
$client->send('1');
$client->on('message', function ($message) use(&$udpNavdata) {
$frame = new Frame($message);
$udpNavdata->emit('navdata', [$frame]);
});
});
}
private function start()
{
$udpFactory = new UdpFactory($this->loop);
$loop = $this->loop;
$udpControl = $this;
$udpFactory->createClient($this->ip . ':' . $this->port)->then(function (UdpSocket $client) use(&$loop, $udpControl) {
$commandCreator = $udpControl->commandCreator;
$ref = $udpControl->ref;
$pcmd = $udpControl->pcmd;
$anim = $udpControl->anim;
// Start dialog
$client->send('1');
$client->send('1');
for ($j = 0; $j < 5; ++$j) {
$cmds = [];
array_push($cmds, $commandCreator->createConfigCommand('general:navdata_demo', 'TRUE'));
array_push($cmds, $commandCreator->createPcmdCommand($pcmd));
array_push($cmds, $commandCreator->createRefCommand($ref));
$cmds = implode('', $cmds);
$client->send($cmds);
sleep(0.03);
}
// According to tests, a satisfying control of the AR.Drone 2.0 is reached
// by sending the AT-commands every 30 ms for smooth drone movements.
$loop->addPeriodicTimer(0.03, function () use($client, $commandCreator, &$ref, &$pcmd, &$anim) {
$cmds = [];
array_push($cmds, $commandCreator->createRefCommand($ref));
array_push($cmds, $commandCreator->createPcmdCommand($pcmd));
if (count($anim) > 0) {
for ($i = 0; $i <= 10; ++$i) {
foreach ($anim as $name => $duration) {
array_push($cmds, $commandCreator->createConfigCommand($name, $duration));
}
}
$anim = [];
}
$cmds = implode('', $cmds);
$client->send($cmds);
});
$udpControl->on('land', function () use(&$ref, &$pcmd) {
$pcmd = [];
$ref['fly'] = false;
});
$udpControl->on('ftrim', function () use(&$client, &$commandCreator) {
$client->send($commandCreator->createFtrimCommand());
});
$udpControl->on('takeoff', function () use(&$ref, &$pcmd) {
$pcmd = [];
$ref['fly'] = true;
});
$udpControl->on('clockwise', function ($speed = 0.5) use(&$pcmd) {
$pcmd['clockwise'] = $speed;
unset($pcmd['counterClockwise']);
});
$udpControl->on('counterClockwise', function ($speed = 0.5) use(&$pcmd) {
$pcmd['counterClockwise'] = $speed;
unset($pcmd['clockwise']);
});
$udpControl->on('stop', function () use(&$pcmd) {
$pcmd = [];
});
$udpControl->on('front', function ($speed = 0.3) use(&$pcmd) {
$pcmd['front'] = $speed;
unset($pcmd['back']);
});
$udpControl->on('back', function ($speed = 0.3) use(&$pcmd) {
$pcmd['back'] = $speed;
unset($pcmd['front']);
});
$udpControl->on('right', function ($speed = 0.3) use(&$pcmd) {
$pcmd['right'] = $speed;
unset($pcmd['left']);
});
$udpControl->on('left', function ($speed = 0.3) use(&$pcmd) {
$pcmd['left'] = $speed;
unset($pcmd['right']);
});
$udpControl->on('up', function ($speed = 0.6) use(&$pcmd) {
$pcmd['up'] = $speed;
unset($pcmd['down']);
});
$udpControl->on('down', function ($speed = 0.6) use(&$pcmd) {
$pcmd['down'] = $speed;
unset($pcmd['up']);
});
$udpControl->on('flip', function () use(&$anim) {
$anim['control:flight_anim'] = '16,5';
});
});
}