wellton/php-ar-drone
1
0
Fork 0
Código Issues Pull Requests Ações Pacotes Projetos Versões Wiki Atividade

Apply php-cs-fixer

Ver Código-Fonte 
* Apply php-cs-fixer
* Use short array syntax
Esse commit está contido em:
Baptiste Adrien
2016-04-06 09:23:59 +02:00
pai 7796cf73da
commit 8595d2342b
12 arquivos alterados com 350 adições e 343 exclusões
Baixar Arquivo de Patch Baixar Arquivo de Diff Expandir todos os arquivos Colapsar todos os arquivos
examples/control.php
+12 -11
Ver Arquivo
@@ -1,37 +1,38 @@
<?php <?php
$loader = require_once __DIR__ . '/../vendor/autoload.php';
$loader->add('Joli\ArDrone', __DIR__ . '/../src/'); $loader = require_once __DIR__.'/../vendor/autoload.php';
$loader->add('Joli\ArDrone', __DIR__.'/../src/');
$client = new \Joli\ArDrone\Client(); $client = new \Joli\ArDrone\Client();
$client->takeoff(); $client->takeoff();
$client $client
->after(3, function() use ($client) { ->after(3, function () use ($client) {
$client->up(0.6); $client->up(0.6);
}) })
->after(4, function() use ($client) { ->after(4, function () use ($client) {
$client->stop(); $client->stop();
}) })
->after(1, function() use ($client) { ->after(1, function () use ($client) {
$client->left(0.3); $client->left(0.3);
}) })
->after(1, function() use ($client) { ->after(1, function () use ($client) {
$client->stop(); $client->stop();
}) })
->after(1, function() use ($client) { ->after(1, function () use ($client) {
$client->down(0.5); $client->down(0.5);
}) })
->after(2, function() use ($client) { ->after(2, function () use ($client) {
$client->stop(); $client->stop();
}) })
->after(1, function() use ($client) { ->after(1, function () use ($client) {
$client->right(0.3); $client->right(0.3);
}) })
->after(1, function() use ($client) { ->after(1, function () use ($client) {
$client->stop(); $client->stop();
}) })
->after(3, function() use ($client) { ->after(3, function () use ($client) {
$client->land(); $client->land();
}); });
examples/repl.php
+3 -2
Ver Arquivo
@@ -1,6 +1,7 @@
<?php <?php
$loader = require_once __DIR__ . '/../vendor/autoload.php';
$loader->add('Joli\ArDrone', __DIR__ . '/../src/'); $loader = require_once __DIR__.'/../vendor/autoload.php';
$loader->add('Joli\ArDrone', __DIR__.'/../src/');
$client = new \Joli\ArDrone\Client(); $client = new \Joli\ArDrone\Client();
src/Joli/ArDrone/Buffer/Buffer.php
+22 -16
Ver Arquivo
@@ -1,7 +1,9 @@
<?php <?php
namespace Joli\ArDrone\Buffer; namespace Joli\ArDrone\Buffer;
class Buffer { class Buffer
{
/** /**
* @var string * @var string
*/ */
@@ -20,14 +22,15 @@ class Buffer {
public function getUint32LE() public function getUint32LE()
{ {
$value = unpack('V/', substr($this->data, $this->offset, ($this->offset + 4))); $value = unpack('V/', substr($this->data, $this->offset, ($this->offset + 4)));
$this->moveOffset(4); $this->moveOffset(4);
return dechex($value[1]); return dechex($value[1]);
} }
public function getUint16LE() public function getUint16LE()
{ {
$value = unpack('v/', substr($this->data, $this->offset, ($this->offset + 2))); $value = unpack('v/', substr($this->data, $this->offset, ($this->offset + 2)));
$this->moveOffset(2); $this->moveOffset(2);
return dechex($value[1]); return dechex($value[1]);
@@ -35,7 +38,7 @@ class Buffer {
public function getFloat32() public function getFloat32()
{ {
$value = unpack('f/', substr($this->data, $this->offset, ($this->offset + 4))); $value = unpack('f/', substr($this->data, $this->offset, ($this->offset + 4)));
$this->moveOffset(4); $this->moveOffset(4);
return dechex($value[1]); return dechex($value[1]);
@@ -43,7 +46,7 @@ class Buffer {
public function getUint8() public function getUint8()
{ {
$value = unpack('C/', substr($this->data, $this->offset, ($this->offset + 1))); $value = unpack('C/', substr($this->data, $this->offset, ($this->offset + 1)));
$this->moveOffset(1); $this->moveOffset(1);
return dechex($value[1]); return dechex($value[1]);
@@ -51,7 +54,7 @@ class Buffer {
public function getInt32() public function getInt32()
{ {
$value = unpack('I/', substr($this->data, $this->offset, ($this->offset + 4))); $value = unpack('I/', substr($this->data, $this->offset, ($this->offset + 4)));
$this->moveOffset(4); $this->moveOffset(4);
return dechex($value[1]); return dechex($value[1]);
@@ -62,16 +65,18 @@ class Buffer {
return $this->mask($masks, $this->getUint32LE()); return $this->mask($masks, $this->getUint32LE());
} }
public function getVector31() { public function getVector31()
return array( {
return [
'x' => $this->getFloat32(), 'x' => $this->getFloat32(),
'y' => $this->getFloat32(), 'y' => $this->getFloat32(),
'z' => $this->getFloat32(), 'z' => $this->getFloat32(),
); ];
} }
public function getMatrix33() { public function getMatrix33()
return array( {
return [
'm11' => $this->getFloat32(), 'm11' => $this->getFloat32(),
'm12' => $this->getFloat32(), 'm12' => $this->getFloat32(),
'm13' => $this->getFloat32(), 'm13' => $this->getFloat32(),
@@ -81,7 +86,7 @@ class Buffer {
'm31' => $this->getFloat32(), 'm31' => $this->getFloat32(),
'm32' => $this->getFloat32(), 'm32' => $this->getFloat32(),
'm33' => $this->getFloat32(), 'm33' => $this->getFloat32(),
); ];
} }
public function getBytes($nbBytes) public function getBytes($nbBytes)
@@ -100,13 +105,13 @@ class Buffer {
//todo: move this function ? //todo: move this function ?
private function mask($masks, $value) private function mask($masks, $value)
{ {
$flags = array(); $flags = [];
foreach($masks as $name => $mask) { foreach ($masks as $name => $mask) {
$flags[$name] = (hexdec($value) & ($mask)) ? 1 : 0; $flags[$name] = (hexdec($value) & ($mask)) ? 1 : 0;
} }
return $flags; return $flags;
} }
/** /**
@@ -117,7 +122,8 @@ class Buffer {
return $this->data; return $this->data;
} }
public function getLength() { public function getLength()
{
return strlen($this->data); return strlen($this->data);
} }
} }
src/Joli/ArDrone/Client.php
+22 -20
Ver Arquivo
@@ -1,15 +1,17 @@
<?php <?php
namespace Joli\ArDrone; namespace Joli\ArDrone;
use Evenement\EventEmitter; use Evenement\EventEmitter;
use Joli\ArDrone\Control\UdpControl; use Joli\ArDrone\Control\UdpControl;
use Joli\ArDrone\Navdata\Frame; use Joli\ArDrone\Navdata\Frame;
use Joli\ArDrone\Navdata\UdpNavdata; use Joli\ArDrone\Navdata\UdpNavdata;
use React\EventLoop\Factory AS LoopFactory; use React\EventLoop\Factory as LoopFactory;
use React\Datagram\Factory AS UdpFactory; use React\Datagram\Factory as UdpFactory;
use Joli\ArDrone\Config\Config; use Joli\ArDrone\Config\Config;
class Client extends EventEmitter { class Client extends EventEmitter
{
/** /**
* @var \Joli\ArDrone\Control\UdpControl * @var \Joli\ArDrone\Control\UdpControl
*/ */
@@ -26,7 +28,7 @@ class Client extends EventEmitter {
private $timerOffset; private $timerOffset;
/** /**
* @var boolean * @var bool
*/ */
public $disableEmergency; public $disableEmergency;
@@ -52,12 +54,12 @@ class Client extends EventEmitter {
public function __construct() public function __construct()
{ {
$this->loop = LoopFactory::create(); $this->loop = LoopFactory::create();
$this->udpFactory = new UdpFactory($this->loop); $this->udpFactory = new UdpFactory($this->loop);
$this->timerOffset = 0; $this->timerOffset = 0;
$this->lastState = 'CTRL_LANDED'; $this->lastState = 'CTRL_LANDED';
$this->lastBattery = 100; $this->lastBattery = 100;
$this->lastAltitude = 0; $this->lastAltitude = 0;
$this->disableEmergency = false; $this->disableEmergency = false;
@@ -70,7 +72,7 @@ class Client extends EventEmitter {
$this->udpNavdata = new UdpNavdata($this->loop); $this->udpNavdata = new UdpNavdata($this->loop);
$self = $this; $self = $this;
$this->udpNavdata->on('navdata', function(Frame $navdata) use (&$self) { $this->udpNavdata->on('navdata', function (Frame $navdata) use (&$self) {
if (count($navdata->getDroneState()) > 0) { if (count($navdata->getDroneState()) > 0) {
$stateData = $navdata->getDroneState(); $stateData = $navdata->getDroneState();
if ($stateData['emergencyLanding'] && $self->disableEmergency) { if ($stateData['emergencyLanding'] && $self->disableEmergency) {
@@ -102,11 +104,11 @@ class Client extends EventEmitter {
$stateData = $navdata->getDroneState(); $stateData = $navdata->getDroneState();
if ($stateData['lowBattery'] === 1) { if ($stateData['lowBattery'] === 1) {
$self->emit('lowBattery', array($battery)); $self->emit('lowBattery', [$battery]);
} }
if ($battery !== $self->lastBattery) { if ($battery !== $self->lastBattery) {
$self->emit('batteryChange', array($battery)); $self->emit('batteryChange', [$battery]);
$self->lastBattery = $battery; $self->lastBattery = $battery;
} }
@@ -114,19 +116,19 @@ class Client extends EventEmitter {
$altitude = $demoData['altitudeMeters']; $altitude = $demoData['altitudeMeters'];
if ($altitude !== $self->lastAltitude) { if ($altitude !== $self->lastAltitude) {
$self->emit('altitudeChange', array($altitude)); $self->emit('altitudeChange', [$altitude]);
$self->lastAltitude = $altitude; $self->lastAltitude = $altitude;
} }
} }
$self->emit('navdata', array($navdata)); $self->emit('navdata', [$navdata]);
}); });
} }
public function emitState($e, $state, $currentState) public function emitState($e, $state, $currentState)
{ {
if ($currentState === $state && $this->lastState !== $state) { if ($currentState === $state && $this->lastState !== $state) {
$this->emit($e, array()); $this->emit($e, []);
} }
} }
@@ -142,7 +144,7 @@ class Client extends EventEmitter {
$udpControl = $this->udpControl; $udpControl = $this->udpControl;
$repl->on('action', function($action) use (&$udpControl) { $repl->on('action', function ($action) use (&$udpControl) {
$udpControl->emit($action); $udpControl->emit($action);
}); });
} }
@@ -178,23 +180,23 @@ class Client extends EventEmitter {
public function __call($name, $arguments) public function __call($name, $arguments)
{ {
if(in_array($name, Config::$commands)) { if (in_array($name, Config::$commands)) {
if ($name === 'takeoff' || $name === 'land') { if ($name === 'takeoff' || $name === 'land') {
// process callback function // process callback function
$callback = (count($arguments) === 1) ? $arguments[0] : function() {}; $callback = (count($arguments) === 1) ? $arguments[0] : function () {};
$eventName = ($name === 'takeoff') ? 'hovering' : 'landed'; $eventName = ($name === 'takeoff') ? 'hovering' : 'landed';
$this->once($eventName, $callback); $this->once($eventName, $callback);
$this->udpControl->emit($name); $this->udpControl->emit($name);
} else if ($name === 'stop' || $name === 'ftrim' || $name === 'flip') { } elseif ($name === 'stop' || $name === 'ftrim' || $name === 'flip') {
$this->udpControl->emit($name); $this->udpControl->emit($name);
// Control commands // Control commands
} else { } else {
if (count($arguments) > 1) { if (count($arguments) > 1) {
new \Exception('There are too many arguments'); new \Exception('There are too many arguments');
} }
$this->udpControl->emit($name, array($arguments[0])); $this->udpControl->emit($name, [$arguments[0]]);
} }
} else { } else {
new \Exception('Invalid function'); new \Exception('Invalid function');
src/Joli/ArDrone/Config/Config.php
+6 -5
Ver Arquivo
@@ -1,13 +1,14 @@
<?php <?php
namespace Joli\ArDrone\Config; namespace Joli\ArDrone\Config;
class Config { class Config
{
const DRONE_IP = '192.168.1.1'; const DRONE_IP = '192.168.1.1';
const NAVDATA_PORT = 5554; const NAVDATA_PORT = 5554;
const CONTROL_PORT = 5556; const CONTROL_PORT = 5556;
static $commands = array( public static $commands = [
'takeoff', 'takeoff',
'land', 'land',
'clockwise', 'clockwise',
@@ -21,6 +22,6 @@ class Config {
'stop', 'stop',
'exit', 'exit',
'ftrim', 'ftrim',
'flip' 'flip',
); ];
} }
src/Joli/ArDrone/Control/AtCommand.php
+13 -13
Ver Arquivo
@@ -1,8 +1,9 @@
<?php <?php
namespace Joli\ArDrone\Control; namespace Joli\ArDrone\Control;
class AtCommand { class AtCommand
{
/** /**
* @var string * @var string
*/ */
@@ -18,31 +19,30 @@ class AtCommand {
*/ */
private $sequence; private $sequence;
const TYPE_REF = 'REF'; const TYPE_REF = 'REF';
const TYPE_PCMD = 'PCMD'; const TYPE_PCMD = 'PCMD';
const TYPE_CALIB = 'CALIB'; const TYPE_CALIB = 'CALIB';
const TYPE_CONFIG = 'CONFIG'; const TYPE_CONFIG = 'CONFIG';
const TYPE_FTRIM = 'FTRIM'; const TYPE_FTRIM = 'FTRIM';
const TYPE_ANIM = 'ANIM'; const TYPE_ANIM = 'ANIM';
public function __construct($sequence, $type, $args) public function __construct($sequence, $type, $args)
{ {
$this->args = $args; $this->args = $args;
$this->type = $type; $this->type = $type;
$this->sequence = $sequence; $this->sequence = $sequence;
} }
function __toString() public function __toString()
{ {
$command = 'AT*' . $this->type . '=' . $this->sequence; $command = 'AT*'.$this->type.'='.$this->sequence;
if (count($this->args) > 0) { if (count($this->args) > 0) {
$command .= ','. implode(',', $this->args); $command .= ','.implode(',', $this->args);
} }
$command .= "\r"; $command .= "\r";
return $command; return $command;
} }
} }
src/Joli/ArDrone/Control/AtCommandCreator.php
+28 -28
Ver Arquivo
@@ -1,9 +1,9 @@
<?php <?php
namespace Joli\ArDrone\Control; namespace Joli\ArDrone\Control;
use Joli\ArDrone\Control\AtCommand; class AtCommandCreator
{
class AtCommandCreator {
/** /**
* @var int * @var int
*/ */
@@ -12,16 +12,16 @@ class AtCommandCreator {
/** /**
* @var array * @var array
*/ */
private $pcmdAlias = array( private $pcmdAlias = [
'left' => array('index' => 1, 'invert' => true), 'left' => ['index' => 1, 'invert' => true],
'right' => array('index' => 1, 'invert' => false), 'right' => ['index' => 1, 'invert' => false],
'front' => array('index' => 2, 'invert' => true), 'front' => ['index' => 2, 'invert' => true],
'back' => array('index' => 2, 'invert' => false), 'back' => ['index' => 2, 'invert' => false],
'up' => array('index' => 3, 'invert' => false), 'up' => ['index' => 3, 'invert' => false],
'down' => array('index' => 3, 'invert' => true), 'down' => ['index' => 3, 'invert' => true],
'clockwise' => array('index' => 4, 'invert' => false), 'clockwise' => ['index' => 4, 'invert' => false],
'counterClockwise' => array('index' => 4, 'invert' => true) 'counterClockwise' => ['index' => 4, 'invert' => true],
); ];
public function __construct() public function __construct()
{ {
@@ -30,11 +30,11 @@ class AtCommandCreator {
public function createConfigCommand($name, $value) public function createConfigCommand($name, $value)
{ {
$args = array(); $args = [];
$config = '"' . $name . '","' . $value . '"'; $config = '"'.$name.'","'.$value.'"';
array_push($args, $config); array_push($args, $config);
$this->sequence++; ++$this->sequence;
return new AtCommand($this->sequence, AtCommand::TYPE_CONFIG, $args); return new AtCommand($this->sequence, AtCommand::TYPE_CONFIG, $args);
} }
@@ -42,7 +42,7 @@ class AtCommandCreator {
public function createRefCommand($options) public function createRefCommand($options)
{ {
$config = 0; $config = 0;
$args = array(); $args = [];
if ($options['fly'] === true) { if ($options['fly'] === true) {
$config = $config | (1 << 9); $config = $config | (1 << 9);
@@ -54,16 +54,16 @@ class AtCommandCreator {
array_push($args, $config); array_push($args, $config);
$this->sequence++; ++$this->sequence;
return new AtCommand($this->sequence, AtCommand::TYPE_REF, $args); return new AtCommand($this->sequence, AtCommand::TYPE_REF, $args);
} }
public function createPcmdCommand($options) public function createPcmdCommand($options)
{ {
$args = array(0, 0, 0, 0, 0); $args = [0, 0, 0, 0, 0];
foreach($options as $key => $value) { foreach ($options as $key => $value) {
$alias = $this->pcmdAlias[$key]; $alias = $this->pcmdAlias[$key];
if ($alias['invert']) { if ($alias['invert']) {
@@ -73,23 +73,23 @@ class AtCommandCreator {
$args[$alias['index']] = $this->floatToIEEE($value); $args[$alias['index']] = $this->floatToIEEE($value);
} }
if ($args[1] != 0 || $args[2] != 0 ) { if ($args[1] != 0 || $args[2] != 0) {
$args[0] = 1; $args[0] = 1;
} }
$this->sequence++; ++$this->sequence;
return new AtCommand($this->sequence, AtCommand::TYPE_PCMD, $args); return new AtCommand($this->sequence, AtCommand::TYPE_PCMD, $args);
} }
public function createFtrimCommand() public function createFtrimCommand()
{ {
return new AtCommand($this->sequence, AtCommand::TYPE_FTRIM, array()); return new AtCommand($this->sequence, AtCommand::TYPE_FTRIM, []);
} }
public function createAnimCommand() public function createAnimCommand()
{ {
$args = array(17, 1); $args = [17, 1];
return new AtCommand($this->sequence, AtCommand::TYPE_ANIM, $args); return new AtCommand($this->sequence, AtCommand::TYPE_ANIM, $args);
} }
@@ -99,17 +99,17 @@ class AtCommandCreator {
$floatInt = (float) $floatInt; $floatInt = (float) $floatInt;
$binInt = pack('f', $floatInt); $binInt = pack('f', $floatInt);
$hexInt = ""; $hexInt = '';
for($i = 0; $i < strlen($binInt); $i++) { for ($i = 0; $i < strlen($binInt); ++$i) {
$c = ord($binInt{$i}); $c = ord($binInt{$i});
$hexInt = sprintf("%02X", $c).$hexInt; $hexInt = sprintf('%02X', $c).$hexInt;
} }
if ($floatInt < 0) { if ($floatInt < 0) {
$binIntString = decbin(hexdec($hexInt)); $binIntString = decbin(hexdec($hexInt));
$twoComplement = ''; $twoComplement = '';
for($i=0; $i < strlen($binIntString); $i++) { for ($i = 0; $i < strlen($binIntString); ++$i) {
if ($binIntString[$i] == '0') { if ($binIntString[$i] == '0') {
$twoComplement .= '1'; $twoComplement .= '1';
} else { } else {
src/Joli/ArDrone/Control/UdpControl.php
+36 -37
Ver Arquivo
@@ -4,8 +4,8 @@ namespace Joli\ArDrone\Control;
use Evenement\EventEmitter; use Evenement\EventEmitter;
use Joli\ArDrone\Config\Config; use Joli\ArDrone\Config\Config;
use React\Datagram\Factory AS UdpFactory; use React\Datagram\Factory as UdpFactory;
use React\Datagram\Socket AS UdpSocket; use React\Datagram\Socket as UdpSocket;
class UdpControl extends EventEmitter class UdpControl extends EventEmitter
{ {
@@ -26,14 +26,14 @@ class UdpControl extends EventEmitter
public function __construct($loop) public function __construct($loop)
{ {
$this->loop = $loop; $this->loop = $loop;
$this->port = Config::CONTROL_PORT; $this->port = Config::CONTROL_PORT;
$this->ip = Config::DRONE_IP; $this->ip = Config::DRONE_IP;
$this->commandCreator = new AtCommandCreator(); $this->commandCreator = new AtCommandCreator();
$this->speed = 0.3; $this->speed = 0.3;
$this->ref = array('fly' => false, 'emergency' => false); $this->ref = ['fly' => false, 'emergency' => false];
$this->pcmd = array(); $this->pcmd = [];
$this->anim = array(); $this->anim = [];
$this->start(); $this->start();
} }
@@ -41,21 +41,21 @@ class UdpControl extends EventEmitter
private function start() private function start()
{ {
$udpFactory = new UdpFactory($this->loop); $udpFactory = new UdpFactory($this->loop);
$loop = $this->loop; $loop = $this->loop;
$udpControl = $this; $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; $commandCreator = $udpControl->commandCreator;
$ref = $udpControl->ref; $ref = $udpControl->ref;
$pcmd = $udpControl->pcmd; $pcmd = $udpControl->pcmd;
$anim = $udpControl->anim; $anim = $udpControl->anim;
// Start dialog // Start dialog
$client->send('1'); $client->send('1');
$client->send('1'); $client->send('1');
for ($j = 0; $j < 5; $j++) { for ($j = 0; $j < 5; ++$j) {
$cmds = array(); $cmds = [];
array_push($cmds, array_push($cmds,
$commandCreator->createConfigCommand('general:navdata_demo', $commandCreator->createConfigCommand('general:navdata_demo',
@@ -71,14 +71,14 @@ class UdpControl extends EventEmitter
// According to tests, a satisfying control of the AR.Drone 2.0 is reached // 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. // by sending the AT-commands every 30 ms for smooth drone movements.
$loop->addPeriodicTimer(0.03, $loop->addPeriodicTimer(0.03,
function() use ($client, $commandCreator, &$ref, &$pcmd, &$anim) { function () use ($client, $commandCreator, &$ref, &$pcmd, &$anim) {
$cmds = array(); $cmds = [];
array_push($cmds, $commandCreator->createRefCommand($ref)); array_push($cmds, $commandCreator->createRefCommand($ref));
array_push($cmds, $commandCreator->createPcmdCommand($pcmd)); array_push($cmds, $commandCreator->createPcmdCommand($pcmd));
if (count($anim) > 0) { if (count($anim) > 0) {
for ($i = 0; $i <= 10; $i++) { for ($i = 0; $i <= 10; ++$i) {
foreach ($anim as $name => $duration) { foreach ($anim as $name => $duration) {
array_push($cmds, array_push($cmds,
$commandCreator->createConfigCommand($name, $commandCreator->createConfigCommand($name,
@@ -86,88 +86,87 @@ class UdpControl extends EventEmitter
} }
} }
$anim = array(); $anim = [];
} }
$cmds = implode('', $cmds); $cmds = implode('', $cmds);
$client->send($cmds); $client->send($cmds);
}); });
$udpControl->on('land', $udpControl->on('land',
function() use (&$ref, &$pcmd) { function () use (&$ref, &$pcmd) {
$pcmd = array(); $pcmd = [];
$ref['fly'] = false; $ref['fly'] = false;
}); });
$udpControl->on('ftrim', $udpControl->on('ftrim',
function() use (&$client, &$commandCreator) { function () use (&$client, &$commandCreator) {
$client->send($commandCreator->createFtrimCommand()); $client->send($commandCreator->createFtrimCommand());
}); });
$udpControl->on('takeoff', $udpControl->on('takeoff',
function() use (&$ref, &$pcmd) { function () use (&$ref, &$pcmd) {
$pcmd = array(); $pcmd = [];
$ref['fly'] = true; $ref['fly'] = true;
}); });
$udpControl->on('clockwise', $udpControl->on('clockwise',
function($speed = 0.5) use (&$pcmd) { function ($speed = 0.5) use (&$pcmd) {
$pcmd['clockwise'] = $speed; $pcmd['clockwise'] = $speed;
unset($pcmd['counterClockwise']); unset($pcmd['counterClockwise']);
}); });
$udpControl->on('counterClockwise', $udpControl->on('counterClockwise',
function($speed = 0.5) use (&$pcmd) { function ($speed = 0.5) use (&$pcmd) {
$pcmd['counterClockwise'] = $speed; $pcmd['counterClockwise'] = $speed;
unset($pcmd['clockwise']); unset($pcmd['clockwise']);
}); });
$udpControl->on('stop', $udpControl->on('stop',
function() use (&$pcmd) { function () use (&$pcmd) {
$pcmd = array(); $pcmd = [];
}); });
$udpControl->on('front', $udpControl->on('front',
function($speed = 0.3) use (&$pcmd) { function ($speed = 0.3) use (&$pcmd) {
$pcmd['front'] = $speed; $pcmd['front'] = $speed;
unset($pcmd['back']); unset($pcmd['back']);
}); });
$udpControl->on('back', $udpControl->on('back',
function($speed = 0.3) use (&$pcmd) { function ($speed = 0.3) use (&$pcmd) {
$pcmd['back'] = $speed; $pcmd['back'] = $speed;
unset($pcmd['front']); unset($pcmd['front']);
}); });
$udpControl->on('right', $udpControl->on('right',
function($speed = 0.3) use (&$pcmd) { function ($speed = 0.3) use (&$pcmd) {
$pcmd['right'] = $speed; $pcmd['right'] = $speed;
unset($pcmd['left']); unset($pcmd['left']);
}); });
$udpControl->on('left', $udpControl->on('left',
function($speed = 0.3) use (&$pcmd) { function ($speed = 0.3) use (&$pcmd) {
$pcmd['left'] = $speed; $pcmd['left'] = $speed;
unset($pcmd['right']); unset($pcmd['right']);
}); });
$udpControl->on('up', $udpControl->on('up',
function($speed = 0.6) use (&$pcmd) { function ($speed = 0.6) use (&$pcmd) {
$pcmd['up'] = $speed; $pcmd['up'] = $speed;
unset($pcmd['down']); unset($pcmd['down']);
}); });
$udpControl->on('down', $udpControl->on('down',
function($speed = 0.6) use (&$pcmd) { function ($speed = 0.6) use (&$pcmd) {
$pcmd['down'] = $speed; $pcmd['down'] = $speed;
unset($pcmd['up']); unset($pcmd['up']);
}); });
$udpControl->on('flip', $udpControl->on('flip',
function() use (&$anim) { function () use (&$anim) {
$anim['control:flight_anim'] = '16,5'; $anim['control:flight_anim'] = '16,5';
}); });
}); });
} }
} }
src/Joli/ArDrone/Navdata/Frame.php
+51 -55
Ver Arquivo
@@ -1,11 +1,10 @@
<?php <?php
namespace Joli\ArDrone\Navdata; namespace Joli\ArDrone\Navdata;
use Joli\ArDrone\Buffer\Buffer; use Joli\ArDrone\Buffer\Buffer;
use Joli\ArDrone\Navdata\Util; class Frame
use Joli\ArDrone\Navdata\Option; {
class Frame {
/** /**
* @var \Joli\ArDrone\Buffer * @var \Joli\ArDrone\Buffer
*/ */
@@ -44,43 +43,43 @@ class Frame {
public function __construct($binaryFrame) public function __construct($binaryFrame)
{ {
// from ARDrone_SDK_2_0/ARDroneLib/Soft/Common/config.h // from ARDrone_SDK_2_0/ARDroneLib/Soft/Common/config.h
$this->droneStateMasks = array( $this->droneStateMasks = [
'flying' => (1 << 0), /*!< FLY MASK => (0) ardrone is landed, (1) ardrone is flying */ 'flying' => (1 << 0), /*!< FLY MASK => (0) ardrone is landed, (1) ardrone is flying */
'videoEnabled' => (1 << 1), /*!< VIDEO MASK => (0) video disable, (1) video enable */ 'videoEnabled' => (1 << 1), /*!< VIDEO MASK => (0) video disable, (1) video enable */
'visionEnabled' => (1 << 2), /*!< VISION MASK => (0) vision disable, (1) vision enable */ 'visionEnabled' => (1 << 2), /*!< VISION MASK => (0) vision disable, (1) vision enable */
'controlAlgorithm' => (1 << 3), /*!< CONTROL ALGO => (0) euler angles control, (1) angular speed control */ 'controlAlgorithm' => (1 << 3), /*!< CONTROL ALGO => (0) euler angles control, (1) angular speed control */
'altitudeControlAlgorithm' => (1 << 4), /*!< ALTITUDE CONTROL ALGO => (0) altitude control inactive (1) altitude control active */ 'altitudeControlAlgorithm' => (1 << 4), /*!< ALTITUDE CONTROL ALGO => (0) altitude control inactive (1) altitude control active */
'startButtonState' => (1 << 5), /*!< USER feedback => Start button state */ 'startButtonState' => (1 << 5), /*!< USER feedback => Start button state */
'controlCommandAck' => (1 << 6), /*!< Control command ACK => (0) None, (1) one received */ 'controlCommandAck' => (1 << 6), /*!< Control command ACK => (0) None, (1) one received */
'cameraReady' => (1 << 7), /*!< CAMERA MASK => (0) camera not ready, (1) Camera ready */ 'cameraReady' => (1 << 7), /*!< CAMERA MASK => (0) camera not ready, (1) Camera ready */
'travellingEnabled' => (1 << 8), /*!< Travelling mask => (0) disable, (1) enable */ 'travellingEnabled' => (1 << 8), /*!< Travelling mask => (0) disable, (1) enable */
'usbReady' => (1 << 9), /*!< USB key => (0) usb key not ready, (1) usb key ready */ 'usbReady' => (1 << 9), /*!< USB key => (0) usb key not ready, (1) usb key ready */
'navdataDemo' => (1 << 10), /*!< Navdata demo => (0) All navdata, (1) only navdata demo */ 'navdataDemo' => (1 << 10), /*!< Navdata demo => (0) All navdata, (1) only navdata demo */
'navdataBootstrap' => (1 << 11), /*!< Navdata bootstrap => (0) options sent in all or demo mode, (1) no navdata options sent */ 'navdataBootstrap' => (1 << 11), /*!< Navdata bootstrap => (0) options sent in all or demo mode, (1) no navdata options sent */
'motorProblem' => (1 << 12), /*!< Motors status => (0) Ok, (1) Motors problem */ 'motorProblem' => (1 << 12), /*!< Motors status => (0) Ok, (1) Motors problem */
'communicationLost' => (1 << 13), /*!< Communication Lost => (1) com problem, (0) Com is ok */ 'communicationLost' => (1 << 13), /*!< Communication Lost => (1) com problem, (0) Com is ok */
'softwareFault' => (1 << 14), /*!< Software fault detected - user should land as quick as possible (1) */ 'softwareFault' => (1 << 14), /*!< Software fault detected - user should land as quick as possible (1) */
'lowBattery' => (1 << 15), /*!< VBat low => (1) too low, (0) Ok */ 'lowBattery' => (1 << 15), /*!< VBat low => (1) too low, (0) Ok */
'userEmergencyLanding' => (1 << 16), /*!< User Emergency Landing => (1) User EL is ON, (0) User EL is OFF*/ 'userEmergencyLanding' => (1 << 16), /*!< User Emergency Landing => (1) User EL is ON, (0) User EL is OFF*/
'timerElapsed' => (1 << 17), /*!< Timer elapsed => (1) elapsed, (0) not elapsed */ 'timerElapsed' => (1 << 17), /*!< Timer elapsed => (1) elapsed, (0) not elapsed */
'MagnometerNeedsCalibration' => (1 << 18), /*!< Magnetometer calibration state => (0) Ok, no calibration needed, (1) not ok, calibration needed */ 'MagnometerNeedsCalibration' => (1 << 18), /*!< Magnetometer calibration state => (0) Ok, no calibration needed, (1) not ok, calibration needed */
'anglesOutOfRange' => (1 << 19), /*!< Angles => (0) Ok, (1) out of range */ 'anglesOutOfRange' => (1 << 19), /*!< Angles => (0) Ok, (1) out of range */
'tooMuchWind' => (1 << 20), /*!< WIND MASK=> (0) ok, (1) Too much wind */ 'tooMuchWind' => (1 << 20), /*!< WIND MASK=> (0) ok, (1) Too much wind */
'ultrasonicSensorDeaf' => (1 << 21), /*!< Ultrasonic sensor => (0) Ok, (1) deaf */ 'ultrasonicSensorDeaf' => (1 << 21), /*!< Ultrasonic sensor => (0) Ok, (1) deaf */
'cutoutDetected' => (1 << 22), /*!< Cutout system detection => (0) Not detected, (1) detected */ 'cutoutDetected' => (1 << 22), /*!< Cutout system detection => (0) Not detected, (1) detected */
'picVersionNumberOk' => (1 << 23), /*!< PIC Version number OK => (0) a bad version number, (1) version number is OK */ 'picVersionNumberOk' => (1 << 23), /*!< PIC Version number OK => (0) a bad version number, (1) version number is OK */
'atCodecThreadOn' => (1 << 24), /*!< ATCodec thread ON => (0) thread OFF (1) thread ON */ 'atCodecThreadOn' => (1 << 24), /*!< ATCodec thread ON => (0) thread OFF (1) thread ON */
'navdataThreadOn' => (1 << 25), /*!< Navdata thread ON => (0) thread OFF (1) thread ON */ 'navdataThreadOn' => (1 << 25), /*!< Navdata thread ON => (0) thread OFF (1) thread ON */
'videoThreadOn' => (1 << 26), /*!< Video thread ON => (0) thread OFF (1) thread ON */ 'videoThreadOn' => (1 << 26), /*!< Video thread ON => (0) thread OFF (1) thread ON */
'acquisitionThreadOn' => (1 << 27), /*!< Acquisition thread ON => (0) thread OFF (1) thread ON */ 'acquisitionThreadOn' => (1 << 27), /*!< Acquisition thread ON => (0) thread OFF (1) thread ON */
'controlWatchdogDelay' => (1 << 28), /*!< CTRL watchdog => (1) delay in control execution (> 5ms), (0) control is well scheduled */ 'controlWatchdogDelay' => (1 << 28), /*!< CTRL watchdog => (1) delay in control execution (> 5ms), (0) control is well scheduled */
'adcWatchdogDelay' => (1 << 29), /*!< ADC Watchdog => (1) delay in uart2 dsr (> 5ms), (0) uart2 is good */ 'adcWatchdogDelay' => (1 << 29), /*!< ADC Watchdog => (1) delay in uart2 dsr (> 5ms), (0) uart2 is good */
'comWatchdogProblem' => (1 << 30), /*!< Communication Watchdog => (1) com problem, (0) Com is ok */ 'comWatchdogProblem' => (1 << 30), /*!< Communication Watchdog => (1) com problem, (0) Com is ok */
'emergencyLanding' => (1 << 31) /*!< Emergency landing : (0) no emergency, (1) emergency */ 'emergencyLanding' => (1 << 31), /*!< Emergency landing : (0) no emergency, (1) emergency */
); ];
$this->buffer = new Buffer($binaryFrame); $this->buffer = new Buffer($binaryFrame);
$this->options = array(); $this->options = [];
$this->header = $this->buffer->getUint32LE(); $this->header = $this->buffer->getUint32LE();
@@ -109,8 +108,8 @@ class Frame {
{ {
$isChecksum = false; $isChecksum = false;
while(!$isChecksum) { while (!$isChecksum) {
$idOption = hexdec($this->buffer->getUint16LE()); $idOption = hexdec($this->buffer->getUint16LE());
$nameOption = Option::$optionIds[$idOption]; $nameOption = Option::$optionIds[$idOption];
$sizeOption = $this->buffer->getUint16LE(); $sizeOption = $this->buffer->getUint16LE();
@@ -119,19 +118,16 @@ class Frame {
$expectedChecksum = 0; $expectedChecksum = 0;
$checksum = $this->buffer->getUint32LE(); $checksum = $this->buffer->getUint32LE();
$data = $this->buffer->getData(); $data = $this->buffer->getData();
for ($i = 0; $i < $this->buffer->getLength() - $sizeOption; $i++) { for ($i = 0; $i < $this->buffer->getLength() - $sizeOption; ++$i) {
$expectedChecksum = $expectedChecksum + hexdec(bin2hex($data[$i])); $expectedChecksum = $expectedChecksum + hexdec(bin2hex($data[$i]));
} }
$expectedChecksum = dechex($expectedChecksum); $expectedChecksum = dechex($expectedChecksum);
if ($checksum !== $expectedChecksum) { if ($checksum !== $expectedChecksum) {
throw new \Exception('Invalid checksum'); throw new \Exception('Invalid checksum');
} }
} }
$option = new Option($idOption, $this->buffer); $option = new Option($idOption, $this->buffer);
@@ -142,7 +138,7 @@ class Frame {
private function checkHeaderIntegrity() private function checkHeaderIntegrity()
{ {
return ($this->header === '55667788' || $this->header === '55667789'); return $this->header === '55667788' || $this->header === '55667789';
} }
public function getHeader() public function getHeader()
@@ -173,22 +169,22 @@ class Frame {
return $this->options; return $this->options;
} }
function __toString() public function __toString()
{ {
$toString = ''; $toString = '';
$toString .= 'HEADER: ' . $this->getHeader() . PHP_EOL; $toString .= 'HEADER: '.$this->getHeader().PHP_EOL;
$toString .= 'DRONE STATE: ' . print_r($this->getDroneState()) . PHP_EOL; $toString .= 'DRONE STATE: '.print_r($this->getDroneState()).PHP_EOL;
$toString .= 'SEQUENCE NUMBER: ' . $this->getSequenceNumber() . PHP_EOL; $toString .= 'SEQUENCE NUMBER: '.$this->getSequenceNumber().PHP_EOL;
$toString .= 'VISION FLAG: ' . $this->getVisionFlag() . PHP_EOL; $toString .= 'VISION FLAG: '.$this->getVisionFlag().PHP_EOL;
foreach($this->getOptions() as $option) { foreach ($this->getOptions() as $option) {
$toString .= '------------------------------------------' . PHP_EOL; $toString .= '------------------------------------------'.PHP_EOL;
$toString .= 'OPTION: ' . $option->getOptionName() . PHP_EOL; $toString .= 'OPTION: '.$option->getOptionName().PHP_EOL;
print_r($option->getData()); print_r($option->getData());
} }
$toString .= '==========================================' . PHP_EOL; $toString .= '=========================================='.PHP_EOL;
return $toString; return $toString;
} }
src/Joli/ArDrone/Navdata/Option.php
+139 -137
Ver Arquivo
@@ -1,9 +1,11 @@
<?php <?php
namespace Joli\ArDrone\Navdata; namespace Joli\ArDrone\Navdata;
use Joli\ArDrone\Buffer\Buffer; use Joli\ArDrone\Buffer\Buffer;
class Option { class Option
{
/** /**
* @var \Joli\ArDrone\Buffer * @var \Joli\ArDrone\Buffer
*/ */
@@ -26,41 +28,42 @@ class Option {
/** /**
* @property array * @property array
*
* @see from ARDrone_SDK_2_0/ARDroneLib/Soft/Common/navdata_keys.h * @see from ARDrone_SDK_2_0/ARDroneLib/Soft/Common/navdata_keys.h
*/ */
public static $optionIds = array( public static $optionIds = [
0 => 'demo', 0 => 'demo',
1 => 'time', 1 => 'time',
2 => 'rawMeasures', 2 => 'rawMeasures',
3 => 'physMeasures', 3 => 'physMeasures',
4 => 'gyrosOffsets', 4 => 'gyrosOffsets',
5 => 'eulerAngles', 5 => 'eulerAngles',
6 => 'references', 6 => 'references',
7 => 'trims', 7 => 'trims',
8 => 'rcReferences', 8 => 'rcReferences',
9 => 'pwm', 9 => 'pwm',
10 => 'altitude', 10 => 'altitude',
11 => 'visionRaw', 11 => 'visionRaw',
12 => 'visionOf', 12 => 'visionOf',
13 => 'vision', 13 => 'vision',
14 => 'visionPerf', 14 => 'visionPerf',
15 => 'trackersSend', 15 => 'trackersSend',
16 => 'visionDetect', 16 => 'visionDetect',
17 => 'watchdog', 17 => 'watchdog',
18 => 'adcDataFrame', 18 => 'adcDataFrame',
19 => 'videoStream', 19 => 'videoStream',
20 => 'games', 20 => 'games',
21 => 'pressureRaw', 21 => 'pressureRaw',
22 => 'magneto', 22 => 'magneto',
23 => 'windSpeed', 23 => 'windSpeed',
24 => 'kalmanPressure', 24 => 'kalmanPressure',
25 => 'hdvideoStream', 25 => 'hdvideoStream',
26 => 'wifi', 26 => 'wifi',
27 => 'zimmu3000', 27 => 'zimmu3000',
65535 => 'checksum' 65535 => 'checksum',
); ];
public static $controlState = array( public static $controlState = [
0 => 'CTRL_DEFAULT', 0 => 'CTRL_DEFAULT',
1 => 'CTRL_INIT', 1 => 'CTRL_INIT',
2 => 'CTRL_LANDED', 2 => 'CTRL_LANDED',
@@ -70,25 +73,25 @@ class Option {
6 => 'CTRL_TRANS_TAKEOFF', 6 => 'CTRL_TRANS_TAKEOFF',
7 => 'CTRL_TRANS_GOTOFIX', 7 => 'CTRL_TRANS_GOTOFIX',
8 => 'CTRL_TRANS_LANDING', 8 => 'CTRL_TRANS_LANDING',
9 => 'CTRL_TRANS_LOOPING' 9 => 'CTRL_TRANS_LOOPING',
); ];
public static $flyState = array( public static $flyState = [
0 => 'FLYING_OK', 0 => 'FLYING_OK',
1 => 'FLYING_LOST_ALT', 1 => 'FLYING_LOST_ALT',
2 => 'FLYING_LOST_ALT_GO_DOWN', 2 => 'FLYING_LOST_ALT_GO_DOWN',
3 => 'FLYING_ALT_OUT_ZONE', 3 => 'FLYING_ALT_OUT_ZONE',
4 => 'FLYING_COMBINED_YAW', 4 => 'FLYING_COMBINED_YAW',
5 => 'FLYING_BRAKE', 5 => 'FLYING_BRAKE',
6 => 'FLYING_NO_VISION' 6 => 'FLYING_NO_VISION',
); ];
public function __construct($idOption, Buffer $buffer) public function __construct($idOption, Buffer $buffer)
{ {
$this->buffer = $buffer; $this->buffer = $buffer;
$this->idOption = $idOption; $this->idOption = $idOption;
$this->data = array(); $this->data = [];
$this->name = Option::$optionIds[$idOption]; $this->name = self::$optionIds[$idOption];
$this->processOption(); $this->processOption();
} }
@@ -113,154 +116,153 @@ class Option {
private function getDemoOptionData() private function getDemoOptionData()
{ {
$flyState = Option::$flyState[$this->buffer->getUint16LE()]; $flyState = self::$flyState[$this->buffer->getUint16LE()];
$controlState = Option::$controlState[$this->buffer->getUint16LE()]; $controlState = self::$controlState[$this->buffer->getUint16LE()];
$batteryPercentage = $this->buffer->getUint32LE(); $batteryPercentage = $this->buffer->getUint32LE();
$theta = $this->buffer->getFloat32() / 1000; // [mdeg] $theta = $this->buffer->getFloat32() / 1000; // [mdeg]
$phi = $this->buffer->getFloat32() / 1000; // [mdeg] $phi = $this->buffer->getFloat32() / 1000; // [mdeg]
$psi = $this->buffer->getFloat32() / 1000; // [mdeg] $psi = $this->buffer->getFloat32() / 1000; // [mdeg]
$altitude = $this->buffer->getUint32LE() / 1000; // [mm] $altitude = $this->buffer->getUint32LE() / 1000; // [mm]
$velocity = $this->buffer->getVector31(); // [mm/s] $velocity = $this->buffer->getVector31(); // [mm/s]
$frameIndex = $this->buffer->getUint32LE(); $frameIndex = $this->buffer->getUint32LE();
$detection = array( $detection = [
'camera' => array( 'camera' => [
'rotation' => $this->buffer->getMatrix33(), 'rotation' => $this->buffer->getMatrix33(),
'translation' => $this->buffer->getVector31() 'translation' => $this->buffer->getVector31(),
), ],
'tagIndex' => $this->buffer->getUint32LE() 'tagIndex' => $this->buffer->getUint32LE(),
); ];
$detection['camera']['type'] = $this->buffer->getUint32LE(); $detection['camera']['type'] = $this->buffer->getUint32LE();
$drone = array( $drone = [
'camera' => array( 'camera' => [
'rotation' => $this->buffer->getMatrix33(), 'rotation' => $this->buffer->getMatrix33(),
'translation' => $this->buffer->getVector31() 'translation' => $this->buffer->getVector31(),
), ],
); ];
$rotation = array( $rotation = [
'frontBack' => $theta, 'frontBack' => $theta,
'pitch' => $theta, 'pitch' => $theta,
'theta' => $theta, 'theta' => $theta,
'y' => $theta, 'y' => $theta,
'leftRight' => $phi, 'leftRight' => $phi,
'roll' => $phi, 'roll' => $phi,
'phi' => $phi, 'phi' => $phi,
'x' => $phi, 'x' => $phi,
'clockwise' => $psi, 'clockwise' => $psi,
'yaw' => $psi, 'yaw' => $psi,
'psi' => $psi, 'psi' => $psi,
'z' => $psi 'z' => $psi,
); ];
$data = array( $data = [
'controlState' => $controlState, 'controlState' => $controlState,
'flyState' => $flyState, 'flyState' => $flyState,
'batteryPercentage' => hexdec($batteryPercentage), 'batteryPercentage' => hexdec($batteryPercentage),
'rotation' => $rotation, 'rotation' => $rotation,
'frontBackDegrees' => $theta, 'frontBackDegrees' => $theta,
'leftRightDegrees' => $phi, 'leftRightDegrees' => $phi,
'clockwiseDegrees' => $psi, 'clockwiseDegrees' => $psi,
'altitude' => $altitude, 'altitude' => $altitude,
'altitudeMeters' => $altitude, 'altitudeMeters' => $altitude,
'velocity' => $velocity, 'velocity' => $velocity,
'xVelocity' => $velocity['x'], 'xVelocity' => $velocity['x'],
'yVelocity' => $velocity['y'], 'yVelocity' => $velocity['y'],
'zVelocity' => $velocity['z'], 'zVelocity' => $velocity['z'],
'frameIndex' => $frameIndex, 'frameIndex' => $frameIndex,
'detection' => $detection, 'detection' => $detection,
'drone' => $drone 'drone' => $drone,
); ];
return $data; return $data;
} }
private function getVisionDetectData() private function getVisionDetectData()
{ {
return array( return [
'nbDetected' => $this->buffer->getUint32LE(), 'nbDetected' => $this->buffer->getUint32LE(),
'type' => $this->timesMap(4, 'uint32LE'), 'type' => $this->timesMap(4, 'uint32LE'),
'xc' => $this->timesMap(4, 'uint32LE'), 'xc' => $this->timesMap(4, 'uint32LE'),
'yc' => $this->timesMap(4, 'uint32LE'), 'yc' => $this->timesMap(4, 'uint32LE'),
'width' => $this->timesMap(4, 'uint32LE'), 'width' => $this->timesMap(4, 'uint32LE'),
'height' => $this->timesMap(4, 'uint32LE'), 'height' => $this->timesMap(4, 'uint32LE'),
'dist' => $this->timesMap(4, 'uint32LE'), 'dist' => $this->timesMap(4, 'uint32LE'),
'orientationAngle' => $this->timesMap(4, 'float32'), 'orientationAngle' => $this->timesMap(4, 'float32'),
'rotation' => $this->timesMap(4, 'matrix33'), 'rotation' => $this->timesMap(4, 'matrix33'),
'translation' => $this->timesMap(4, 'vector31'), 'translation' => $this->timesMap(4, 'vector31'),
'cameraSource' => $this->timesMap(4, 'uint32LE') 'cameraSource' => $this->timesMap(4, 'uint32LE'),
); ];
} }
private function getPwmData() private function getPwmData()
{ {
return array( return [
'motor' => $this->timesMap(4, 'uint8'), 'motor' => $this->timesMap(4, 'uint8'),
'satMotors' => $this->timesMap(4, 'uint8'), 'satMotors' => $this->timesMap(4, 'uint8'),
'gazFeedForward' => $this->buffer->getFloat32(), 'gazFeedForward' => $this->buffer->getFloat32(),
'gazAltitude' => $this->buffer->getFloat32(), 'gazAltitude' => $this->buffer->getFloat32(),
'altitudeIntegral' => $this->buffer->getFloat32(), 'altitudeIntegral' => $this->buffer->getFloat32(),
'vzRef' => $this->buffer->getFloat32(), 'vzRef' => $this->buffer->getFloat32(),
'uPitch' => $this->buffer->getInt32(), 'uPitch' => $this->buffer->getInt32(),
'uRoll' => $this->buffer->getInt32(), 'uRoll' => $this->buffer->getInt32(),
'uYaw' => $this->buffer->getInt32(), 'uYaw' => $this->buffer->getInt32(),
'yawUI' => $this->buffer->getFloat32(), 'yawUI' => $this->buffer->getFloat32(),
'uPitchPlanif' => $this->buffer->getInt32(), 'uPitchPlanif' => $this->buffer->getInt32(),
'uRollPlanif' => $this->buffer->getInt32(), 'uRollPlanif' => $this->buffer->getInt32(),
'uYawPlanif' => $this->buffer->getInt32(), 'uYawPlanif' => $this->buffer->getInt32(),
'uGazPlanif' => $this->buffer->getFloat32(), 'uGazPlanif' => $this->buffer->getFloat32(),
'motorCurrents' => $this->timesMap(4, 'uint16LE'), 'motorCurrents' => $this->timesMap(4, 'uint16LE'),
'altitudeProp' => $this->buffer->getFloat32(), 'altitudeProp' => $this->buffer->getFloat32(),
'altitudeDer' => $this->buffer->getFloat32() 'altitudeDer' => $this->buffer->getFloat32(),
); ];
} }
private function getPhysMeasuresData() private function getPhysMeasuresData()
{ {
return array( return [
'temperature' => array( 'temperature' => [
'accelerometer' => $this->buffer->getFloat32(), 'accelerometer' => $this->buffer->getFloat32(),
'gyroscope' => $this->buffer->getUint16LE() 'gyroscope' => $this->buffer->getUint16LE(),
), ],
'accelerometers' => $this->buffer->getVector31(), 'accelerometers' => $this->buffer->getVector31(),
'gyroscopes' => $this->buffer->getVector31(), 'gyroscopes' => $this->buffer->getVector31(),
'alim3V3' => $this->buffer->getUint32LE(), 'alim3V3' => $this->buffer->getUint32LE(),
'vrefEpson' => $this->buffer->getUint32LE(), 'vrefEpson' => $this->buffer->getUint32LE(),
'vrefIDG' => $this->buffer->getUint32LE() 'vrefIDG' => $this->buffer->getUint32LE(),
); ];
} }
private function timesMap($n, $type) private function timesMap($n, $type)
{ {
$data = array(); $data = [];
for($i = 0; $i < $n; $i++) { for ($i = 0; $i < $n; ++$i) {
$value = null; $value = null;
if ($type === 'uint32LE') { if ($type === 'uint32LE') {
$value = $this->buffer->getUint32LE(); $value = $this->buffer->getUint32LE();
} else if ($type === 'uint16LE') { } elseif ($type === 'uint16LE') {
$value = $this->buffer->getUint16LE(); $value = $this->buffer->getUint16LE();
} else if ($type === 'float32') { } elseif ($type === 'float32') {
$value = $this->buffer->getFloat32(); $value = $this->buffer->getFloat32();
} else if ($type === 'matrix33') { } elseif ($type === 'matrix33') {
$value = $this->buffer->getMatrix33(); $value = $this->buffer->getMatrix33();
} else if ($type === 'vector31') { } elseif ($type === 'vector31') {
$value = $this->buffer->getVector31(); $value = $this->buffer->getVector31();
} else if ($type === 'uint8') { } elseif ($type === 'uint8') {
$value = $this->buffer->getUint8(); $value = $this->buffer->getUint8();
} }
array_push($data, $value); array_push($data, $value);
} }
} }
public function getOptionName() public function getOptionName()
{ {
return Option::$optionIds[$this->idOption]; return self::$optionIds[$this->idOption];
} }
/** /**
src/Joli/ArDrone/Navdata/UdpNavdata.php
+7 -10
Ver Arquivo
@@ -4,9 +4,8 @@ namespace Joli\ArDrone\Navdata;
use Evenement\EventEmitter; use Evenement\EventEmitter;
use Joli\ArDrone\Config\Config; use Joli\ArDrone\Config\Config;
use React\Datagram\Factory AS UdpFactory; use React\Datagram\Factory as UdpFactory;
use React\Datagram\Socket AS UdpSocket; use React\Datagram\Socket as UdpSocket;
use Joli\ArDrone\Navdata\Frame;
class UdpNavdata extends EventEmitter class UdpNavdata extends EventEmitter
{ {
@@ -28,7 +27,7 @@ class UdpNavdata extends EventEmitter
public function __construct($loop) public function __construct($loop)
{ {
$this->port = Config::CONTROL_PORT; $this->port = Config::CONTROL_PORT;
$this->ip = Config::DRONE_IP; $this->ip = Config::DRONE_IP;
$this->loop = $loop; $this->loop = $loop;
$this->start(); $this->start();
@@ -36,11 +35,9 @@ class UdpNavdata extends EventEmitter
private function start() private function start()
{ {
// $socket = $this->socket;
$udpFactory = new UdpFactory($this->loop); $udpFactory = new UdpFactory($this->loop);
$udpNavdata = $this; $udpNavdata = $this;
//var_dump(Config::DRONE_IP); var_dump(Config::NAVDATA_PORT);die();
// Navdata stream // 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 // Start dialog
@@ -48,10 +45,10 @@ class UdpNavdata extends EventEmitter
$client->send('1'); $client->send('1');
$client->on('message', $client->on('message',
function($message) use (&$udpNavdata) { function ($message) use (&$udpNavdata) {
$frame = new Frame($message); $frame = new Frame($message);
$udpNavdata->emit('navdata', array($frame)); $udpNavdata->emit('navdata', [$frame]);
}); });
}); });
} }
} }
src/Joli/ArDrone/Repl.php
+11 -9
Ver Arquivo
@@ -1,11 +1,12 @@
<?php <?php
namespace Joli\ArDrone; namespace Joli\ArDrone;
use Evenement\EventEmitter; use Evenement\EventEmitter;
use Joli\ArDrone\Config\Config; use Joli\ArDrone\Config\Config;
class Repl extends EventEmitter { class Repl extends EventEmitter
{
/** /**
* @var \React\EventLoop\LibEventLoop|\React\EventLoop\StreamSelectLoop * @var \React\EventLoop\LibEventLoop|\React\EventLoop\StreamSelectLoop
*/ */
@@ -18,7 +19,7 @@ class Repl extends EventEmitter {
public function __construct($loop) public function __construct($loop)
{ {
$this->loop = $loop; $this->loop = $loop;
$this->prompt = 'drone> '; $this->prompt = 'drone> ';
} }
@@ -30,14 +31,14 @@ class Repl extends EventEmitter {
$this->loop->addReadStream(STDIN, function ($stdin) use ($that) { $this->loop->addReadStream(STDIN, function ($stdin) use ($that) {
$input = trim(fgets($stdin)); $input = trim(fgets($stdin));
if(in_array($input, Config::$commands)) { if (in_array($input, Config::$commands)) {
if($input === 'exit') { if ($input === 'exit') {
exit; exit;
} else { } else {
$that->emit('action', array($input)); $that->emit('action', [$input]);
} }
} else { } else {
echo 'Unknown command' . PHP_EOL; echo 'Unknown command'.PHP_EOL;
} }
echo $that->prompt; echo $that->prompt;
@@ -48,7 +49,8 @@ class Repl extends EventEmitter {
echo $this->prompt; echo $this->prompt;
} }
private function getAsciiArt() { private function getAsciiArt()
{
return " return "
_ __ | |__ _ __ __ _ _ __ __| |_ __ ___ _ __ ___ _ __ | |__ _ __ __ _ _ __ __| |_ __ ___ _ __ ___
| '_ \| '_ \| '_ \ _____ / _` | '__|____ / _` | '__/ _ \| '_ \ / _ \ | '_ \| '_ \| '_ \ _____ / _` | '__|____ / _` | '__/ _ \| '_ \ / _ \
@@ -57,4 +59,4 @@ class Repl extends EventEmitter {
|_| |_| |_| |_|
"; ";
} }
} }