Ejemplo n.º 1
0
 /**
  * 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]);
         });
     });
 }
Ejemplo n.º 2
0
 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]);
         });
     });
 }
Ejemplo n.º 3
0
 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';
         });
     });
 }