Martin Schuhfuss
75 linhas
1.9 KiB
JavaScript
75 linhas
1.9 KiB
JavaScript
exports.init = function(drone) {
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var express = require('express'),
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http = require('http'),
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path = require('path');
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var app = express(),
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srv = http.createServer(app),
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io = require('socket.io').listen(srv);
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drone.config('general:navdata_demo', 'TRUE');
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app.configure(function(){
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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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});
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io.set('log level', 0);
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io.sockets.on('connection', function (socket) {
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console.log('socket.io connected');
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socket.on("move", function (cmd) {
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if(!drone[cmd.action]) { return; }
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console.log('move', cmd);
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drone[cmd.action](cmd.speed);
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});
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socket.on("animate", function (cmd) {
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console.log('animate', cmd);
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drone.animate(cmd.action, cmd.duration);
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});
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socket.on("drone", function (cmd) {
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if(!drone[cmd.action]) { return; }
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console.log('drone command: ', cmd);
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drone[cmd.action]();
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});
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});
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drone.on('navdata', function(data) {
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io.sockets.emit('navdata', data);
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});
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srv.listen(app.get('port'), function(){
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console.log("Express server listening on port " + app.get('port'));
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});
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var fs = require("fs"),
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pngstream = drone.createPngStream(),
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currentImg,
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i = 0;
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var imageSendingPaused = false;
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pngstream.on("data", function (frame) {
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currentImg = frame;
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//if(imageSendingPaused) { return; }
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io.sockets.emit("image", "/image/" + i++);
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//imageSendingPaused = true;
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//setTimeout(function() { imageSendingPaused = false; }, 100); // limit to 10fps
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});
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app.get('/image/:id', function (req, res) {
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res.writeHead(200, { "Content-Type": "image/png" });
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res.end(currentImg, "binary");
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});
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return app;
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};
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