Class: ARbDrone

Inherits:
Object
  • Object
show all
Defined in:
lib/arbdrone.rb,
lib/arbdrone/control.rb,
lib/arbdrone/version.rb,
lib/arbdrone/nav_data.rb,
lib/arbdrone/tcp_control.rb

Defined Under Namespace

Modules: Control, NavData, TcpControl Classes: Version

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(options = {}) ⇒ ARbDrone

Returns a new instance of ARbDrone.



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# File 'lib/arbdrone.rb', line 10

def initialize(options = {})
  @drone_ip               = options.delete(:drone_ip)               || '192.168.1.1'
  @drone_firmware_port    = options.delete(:drone_firmware_port)    || 5551
  @drone_navdata_port     = options.delete(:drone_navdata_port)     || 5554
  @drone_video_port       = options.delete(:drone_video_port)       || 5555
  @drone_control_port     = options.delete(:drone_control_port)     || 5556
  @drone_raw_capture_port = options.delete(:drone_raw_capture_port) || 5557 # unused? tcp?
  @drone_tcp_console_port = options.delete(:drone_tcp_console_port) || 5558 # unused?
  @drone_tcp_control_port = options.delete(:drone_tcp_control_port) || 5559
  @listen_ip              = options.delete(:listen_ip)              || '0.0.0.0'
end

Instance Attribute Details

#control ⇒ Object

Returns the value of attribute control.



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# File 'lib/arbdrone.rb', line 8

def control
  @control
end

#control_config ⇒ Object

Returns the value of attribute control_config.



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# File 'lib/arbdrone.rb', line 8

def control_config
  @control_config
end

#navdata ⇒ Object

Returns the value of attribute navdata.



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# File 'lib/arbdrone.rb', line 8

def navdata
  @navdata
end

Instance Method Details

#run ⇒ Object 



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# File 'lib/arbdrone.rb', line 22

def run
  EventMachine.run do
    @control        = run_control
    @control_config = run_control_config
    @navdata        = run_navdata
  end
end

#run_control ⇒ Object 



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# File 'lib/arbdrone.rb', line 30

def run_control
  connection = EventMachine.open_datagram_socket @listen_ip, @drone_control_port, Control
  connection.setup @drone_ip, @drone_control_port

  # Send messages every 20ms to ensure we stay connected to the Drone
  @control_timer = EventMachine.add_periodic_timer 0.02 do
    connection.send_queued_messages
  end
  connection
end

#run_control_config ⇒ Object 



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# File 'lib/arbdrone.rb', line 41

def run_control_config
  connection = EventMachine.connect @drone_ip, @drone_tcp_control_port, TcpControl
  connection.control_channel = @control
  connection
end

#run_navdata ⇒ Object 



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# File 'lib/arbdrone.rb', line 52

def run_navdata
  # We have to bind the socket to 0.0.0.0 so we can receive multicast packets
  connection = EventMachine.open_datagram_socket '0.0.0.0', @drone_navdata_port, NavData
  connection.setup @drone_ip, @drone_navdata_port
  ip = IPAddr.new('224.1.1.1').hton + IPAddr.new(@listen_ip).hton
  connection.set_sock_opt(Socket::IPPROTO_IP, Socket::IP_ADD_MEMBERSHIP, ip)
  connection.send_initial_message
  connection
end

#stop_control ⇒ Object 



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# File 'lib/arbdrone.rb', line 47

def stop_control
  @control.land
  @control_timer.cancel
end