From 2f4fcb5c43c00cb80c2e32aedeffba92791939e3 Mon Sep 17 00:00:00 2001
From: Laziu Kim <laziu.cc@gmail.com>
Date: Fri, 31 May 2019 16:44:27 +0900
Subject: [PATCH] add comment
---
public/client.js | 10 ++++++++--
server.js | 12 ++++++++++--
2 files changed, 18 insertions(+), 4 deletions(-)
diff --git a/public/client.js b/public/client.js
index 8425b35..1f9d4d5 100644
--- a/public/client.js
+++ b/public/client.js
@@ -1,4 +1,6 @@
const faye = new Faye.Client('/faye', { timeout: 120 });
+
+// get data from socket end set UI text
faye.subscribe('/drone/navdata', data => {
[
'batteryPercentage',
@@ -12,7 +14,6 @@ faye.subscribe('/drone/navdata', data => {
].forEach(type => $('#' + type).html(Math.round(data.demo[type], 4)));
return showBatteryStatus(data.demo.batteryPercentage);
});
-
window.showBatteryStatus = batteryPercentage => {
$('#batterybar').width(`${batteryPercentage}%`);
if (batteryPercentage < 30)
@@ -27,9 +28,12 @@ window.showBatteryStatus = batteryPercentage => {
'data-original-title': `Battery status: ${batteryPercentage}%`
});
};
+
+// get image stream from server and set UI
faye.subscribe('/drone/image', src => $('#cam').attr({ src: src }));
-keymap = {
+// get keyinput
+const keymap = {
87: { ev: 'move', action: 'front' }, // W
83: { ev: 'move', action: 'back' }, // S
65: { ev: 'move', action: 'left' }, // A
@@ -64,6 +68,8 @@ $(document).keyup(ev => {
speed = 0;
faye.publish('/drone/drone', { action: 'stop' });
});
+
+// get mouse event
$('*[data-action]').on('mousedown', ev => {
faye.publish('/drone/' + $(this).attr('data-action'), {
action: $(this).attr('data-param'),
diff --git a/server.js b/server.js
index b877053..c548c0e 100644
--- a/server.js
+++ b/server.js
@@ -2,9 +2,11 @@ const express = require('express');
const faye = require('faye');
const path = require('path');
+// config drone
const drone = require('ar-drone').createClient();
drone.config('general:navdata_demo', 'TRUE');
+// config express app
const app = express();
app.configure(() => {
app.set('port', process.env.PORT || 3001);
@@ -13,11 +15,12 @@ app.configure(() => {
app.use('/components', express.static(path.join(__dirname, 'components')));
});
+// create server and socket
const server = require('http').createServer(app);
-
new faye.NodeAdapter({ mount: '/faye', timeout: 45 }).attach(server);
const socket = new faye.Client(`http://localhost:${app.get('port')}/faye`);
+// get request from socket -> set command to drone
socket.subscribe('/drone/move', cmd => {
console.log('move', cmd);
if (drone[cmd.action]) drone[cmd.action](cmd.speed);
@@ -30,13 +33,17 @@ socket.subscribe('/drone/drone', cmd => {
console.log('drone command: ', cmd);
if (drone[cmd.action]) drone[cmd.action]();
});
+
+// start server
server.listen(app.get('port'), () =>
console.log('Express server listening on port ' + app.get('port'))
);
-let currentImg = null;
+// send navdata to socket
drone.on('navdata', data => socket.publish('/drone/navdata', data));
+// save latest img from drone PngStream
+let currentImg = null;
let imageSendingPaused = false;
drone.createPngStream().on('data', frame => {
currentImg = frame;
@@ -48,6 +55,7 @@ drone.createPngStream().on('data', frame => {
}, 100);
});
+// send latest img to server
app.get('/image/:id', (req, res) => {
res.writeHead(200, { 'Content-Type': 'image/png' });
res.end(currentImg, 'binary');
--
2.22.0