Andreas
46 linhas
1.4 KiB
CoffeeScript
46 linhas
1.4 KiB
CoffeeScript
express = require "express"
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faye = require "faye"
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path = require "path"
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drone = require("ar-drone").createClient()
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drone.config('general:navdata_demo', 'TRUE');
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app = express()
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app.configure ->
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app.set('port', process.env.PORT || 3001)
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app.use(app.router)
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app.use(express.static(path.join(__dirname, 'public')))
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app.use("/components", express.static(path.join(__dirname, 'components')))
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server = require("http").createServer(app)
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new faye.NodeAdapter(mount: '/faye', timeout: 45).attach(server)
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socket = new faye.Client("http://localhost:#{app.get("port")}/faye")
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socket.subscribe "/drone/move", (cmd) ->
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console.log("move", cmd)
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drone[cmd.action]?(cmd.speed)
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socket.subscribe "/drone/animate", (cmd) ->
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console.log('animate', cmd)
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drone.animate(cmd.action, cmd.duration)
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socket.subscribe "/drone/drone", (cmd) ->
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console.log('drone command: ', cmd)
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drone[cmd.action]?()
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server.listen app.get("port"), ->
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console.log("Express server listening on port " + app.get("port"))
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currentImg = null
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drone.on 'navdata', (data) ->
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socket.publish "/drone/navdata", data
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imageSendingPaused = false
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drone.createPngStream().on "data", (frame) ->
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currentImg = frame
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return if imageSendingPaused
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socket.publish("/drone/image", "/image/#{Math.random()}")
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imageSendingPaused = true;
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setTimeout( ( -> imageSendingPaused = false ), 100)
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app.get "/image/:id", (req, res) ->
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res.writeHead(200, "Content-Type": "image/png")
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res.end(currentImg, "binary") |