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Merge pull request #4 from abarbier/master

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Update with the react/datagram instead of clue/datagram
Esse commit está contido em:
Baptiste Adrien
2016-04-06 09:16:33 +02:00
pai 2957d36df5 ad38dc604f
commit 7796cf73da
4 arquivos alterados com 68 adições e 41 exclusões
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composer.json
+5 -2
Ver Arquivo
@@ -6,8 +6,11 @@
"homepage": "https://github.com/jolicode/php-ar-drone",
"keywords": ["ar-drone", "parrot", "react", "socket"],
"require": {
"clue/datagram": "0.3.*",
"react/socket-client": "0.3.*@dev"
"react/socket-client": "0.3.*@dev",
"react/socket" : "0.3.*",
"react/dns" : "0.3.*",
"react/datagram" : "v1.0.0"
},
"authors": [
{
src/Joli/ArDrone/Client.php
+1 -1
Ver Arquivo
@@ -6,7 +6,7 @@ use Joli\ArDrone\Control\UdpControl;
use Joli\ArDrone\Navdata\Frame;
use Joli\ArDrone\Navdata\UdpNavdata;
use React\EventLoop\Factory AS LoopFactory;
use Datagram\Factory AS UdpFactory;
use React\Datagram\Factory AS UdpFactory;
use Joli\ArDrone\Config\Config;
class Client extends EventEmitter {
src/Joli/ArDrone/Control/UdpControl.php
+47 -27
Ver Arquivo
@@ -1,12 +1,14 @@
<?php
namespace Joli\ArDrone\Control;
use Evenement\EventEmitter;
use Joli\ArDrone\Config\Config;
use Datagram\Factory AS UdpFactory;
use Datagram\Socket AS UdpSocket;
use React\Datagram\Factory AS UdpFactory;
use React\Datagram\Socket AS UdpSocket;
class UdpControl extends EventEmitter {
class UdpControl extends EventEmitter
{
/**
* @var \React\EventLoop\StreamSelectLoop
*/
@@ -42,7 +44,7 @@ class UdpControl extends EventEmitter {
$loop = $this->loop;
$udpControl = $this;
$udpFactory->createClient($this->ip, $this->port)->then(function (UdpSocket $client) use (&$loop, $udpControl) {
$udpFactory->createClient($this->ip.':'.$this->port)->then(function (UdpSocket $client) use (&$loop, $udpControl) {
$commandCreator = $udpControl->commandCreator;
$ref = $udpControl->ref;
$pcmd = $udpControl->pcmd;
@@ -52,10 +54,12 @@ class UdpControl extends EventEmitter {
$client->send('1');
$client->send('1');
for($j = 0; $j < 5; $j++) {
for ($j = 0; $j < 5; $j++) {
$cmds = array();
array_push($cmds, $commandCreator->createConfigCommand('general:navdata_demo', 'TRUE'));
array_push($cmds,
$commandCreator->createConfigCommand('general:navdata_demo',
'TRUE'));
array_push($cmds, $commandCreator->createPcmdCommand($pcmd));
array_push($cmds, $commandCreator->createRefCommand($ref));
@@ -66,16 +70,19 @@ class UdpControl extends EventEmitter {
// 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) {
$loop->addPeriodicTimer(0.03,
function() use ($client, $commandCreator, &$ref, &$pcmd, &$anim) {
$cmds = array();
array_push($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, $duration));
if (count($anim) > 0) {
for ($i = 0; $i <= 10; $i++) {
foreach ($anim as $name => $duration) {
array_push($cmds,
$commandCreator->createConfigCommand($name,
$duration));
}
}
@@ -87,67 +94,80 @@ class UdpControl extends EventEmitter {
});
$udpControl->on('land', function() use (&$ref, &$pcmd) {
$pcmd = array();
$udpControl->on('land',
function() use (&$ref, &$pcmd) {
$pcmd = array();
$ref['fly'] = false;
});
$udpControl->on('ftrim', function() use (&$client, &$commandCreator) {
$udpControl->on('ftrim',
function() use (&$client, &$commandCreator) {
$client->send($commandCreator->createFtrimCommand());
});
$udpControl->on('takeoff', function() use (&$ref, &$pcmd) {
$pcmd = array();
$udpControl->on('takeoff',
function() use (&$ref, &$pcmd) {
$pcmd = array();
$ref['fly'] = true;
});
$udpControl->on('clockwise', function($speed = 0.5) use (&$pcmd) {
$udpControl->on('clockwise',
function($speed = 0.5) use (&$pcmd) {
$pcmd['clockwise'] = $speed;
unset($pcmd['counterClockwise']);
});
$udpControl->on('counterClockwise', function($speed = 0.5) use (&$pcmd) {
$udpControl->on('counterClockwise',
function($speed = 0.5) use (&$pcmd) {
$pcmd['counterClockwise'] = $speed;
unset($pcmd['clockwise']);
});
$udpControl->on('stop', function() use (&$pcmd) {
$udpControl->on('stop',
function() use (&$pcmd) {
$pcmd = array();
});
$udpControl->on('front', function($speed = 0.3) use (&$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) {
$udpControl->on('back',
function($speed = 0.3) use (&$pcmd) {
$pcmd['back'] = $speed;
unset($pcmd['front']);
});
$udpControl->on('right', function($speed = 0.3) use (&$pcmd) {
$udpControl->on('right',
function($speed = 0.3) use (&$pcmd) {
$pcmd['right'] = $speed;
unset($pcmd['left']);
});
$udpControl->on('left', function($speed = 0.3) use (&$pcmd) {
$udpControl->on('left',
function($speed = 0.3) use (&$pcmd) {
$pcmd['left'] = $speed;
unset($pcmd['right']);
});
$udpControl->on('up', function($speed = 0.6) use (&$pcmd) {
$udpControl->on('up',
function($speed = 0.6) use (&$pcmd) {
$pcmd['up'] = $speed;
unset($pcmd['down']);
});
$udpControl->on('down', function($speed = 0.6) use (&$pcmd) {
$udpControl->on('down',
function($speed = 0.6) use (&$pcmd) {
$pcmd['down'] = $speed;
unset($pcmd['up']);
});
$udpControl->on('flip', function() use (&$anim) {
$udpControl->on('flip',
function() use (&$anim) {
$anim['control:flight_anim'] = '16,5';
});
});
}
}
}
src/Joli/ArDrone/Navdata/UdpNavdata.php
+15 -11
Ver Arquivo
@@ -1,13 +1,15 @@
<?php
namespace Joli\ArDrone\Navdata;
use Evenement\EventEmitter;
use Joli\ArDrone\Config\Config;
use Datagram\Factory AS UdpFactory;
use Datagram\Socket AS UdpSocket;
use React\Datagram\Factory AS UdpFactory;
use React\Datagram\Socket AS UdpSocket;
use Joli\ArDrone\Navdata\Frame;
class UdpNavdata extends EventEmitter {
class UdpNavdata extends EventEmitter
{
/**
* @var \React\EventLoop\StreamSelectLoop
*/
@@ -25,29 +27,31 @@ class UdpNavdata extends EventEmitter {
public function __construct($loop)
{
$this->port = Config::CONTROL_PORT;
$this->ip = Config::DRONE_IP;
$this->loop = $loop;
$this->port = Config::CONTROL_PORT;
$this->ip = Config::DRONE_IP;
$this->loop = $loop;
$this->start();
}
private function start()
{
$socket = $this->socket;
// $socket = $this->socket;
$udpFactory = new UdpFactory($this->loop);
$udpNavdata = $this;
//var_dump(Config::DRONE_IP); var_dump(Config::NAVDATA_PORT);die();
// Navdata stream
$udpFactory->createClient(Config::DRONE_IP, Config::NAVDATA_PORT)->then(function (UdpSocket $client) use (&$udpNavdata) {
$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) {
$client->on('message',
function($message) use (&$udpNavdata) {
$frame = new Frame($message);
$udpNavdata->emit('navdata', array($frame));
});
});
}
}
}