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SOCKETUDP TCP PHP STREAM react EVENT DRONE Parrot

COUCHES HAUTES COUCHES MATERIELLES PHYSIQUE RESEAU TRANSPORT SESSION PRESENTATION APPLICATION LIAISON DE DONNEES

connecté non connecté

HTTP SOCKET STREAM EVENT LOOP

$readble = array($stream1, $stream2); $writable = array($stream3, $stream4); $except = null; if (stream_select($read, $write, $except, 1)) { if ($readble) { foreach ($readble as $stream) { // process } } if ($writable) { foreach ($writable as $stream) { // process } } }

Event Loop Component readable stream WRITABLE STREAM stream_select()

$loop = React\EventLoop\Factory::create(); $socket = new React\Socket\Server($loop); $socket->on('connection', function ($conn) { $conn->write(’Hello ForumPHP!\n’); $conn->on('data', function ($data) use ($conn) { // Awesome instructions }); }); $socket->listen(1337); $loop->run() SERVEuR

$loop = React\EventLoop\Factory::create(); $udpFactory = new Datagram\Factory($loop); $udpFactory->createClient($ip, $port)->then(function ($client) { $client->send(’Coucou !’); }); $loop->run() CLIENT

ACCéLéROMETRE caméras GYROSCOPES Magnétometre barometre E/R ULTRASONS SYSTeme embarqué

NAVDATA CONTROL VIDEO CONFIG UDP TCP CLIENT SERVEUR

HEADER DRONE STATE SEQUENCE NUMBER VISION FLAG CHECKSUM OPTION 1 OPTION 2 OPTION n... Les options contiennent des informations sur l’état de l’AR Drone. Chaque option est définie par un type et des valeurs. Exemple de type: - rawMeasures - visionDetect - winSpeed - videoStream

unpack uint32 uint16 float32 ... HEADER DRONE STATE SEQUENCE NUMBER OPTION 1 VISION FLAG CHECKSUM ... ... ID SIZE DATA ID SIZE DATA ... ... ... ... int. 32 int. 32 int. 32 int. 32 int. 16 int. 16 int. 16 int. 16 int. 16 $header = unpack('V/', substr ($incomingData , 0, 4)); / / 0x55667788 $droneState = unpack('V/', substr ($incomingData , 4, 8)); $sequenceNumber = unpack('V/', substr ($incomingData , 8, 12)); $visionFlag= unpack('V/', substr ($incomingData , 12, 16)); $idOption1 = unpack('v/', substr ($incomingData , 12, 14)); $sizeOption1 = unpack('v/', substr ($incomingData , 14, 16)); ...

// Décalage à gauche utile pour les masques binaires $droneStateMasks = array( 'flying' => (1 << 0), 'videoEnabled' => (1 << 1), 'visionEnabled' => (1 << 2), 'controlAlgorithm' => (1 << 3), 'altitudeControlAlgorithm' => (1 << 4), 'startButtonState' => (1 << 5), 'controlCommandAck' =>(1 << 6), 'cameraReady' =>(1 << 7) ); $videoIsEnable = ($droneState & $droneStateMasks[1]) ? 1 : 0; & et << pour gérer les états & | ^ ~ << >> AND OR XOR NOT LEFT SHIFT RIGHT SHIFT

AT*=, ,, ... PERMET D'ENVOYER DES INSTRUCTIONS DE CONTROLE SUR LE PORT UDP 5554 DE L'AR DRONE AT*REF AT*PCMD AT*CONFIG TYPES

PERMET DE FAIRE DECOLLER & ATTERRIR LE DRONE Argument 1 : Sequence Number Argument 2 : Integer représentant un champ de 32 bits; Lorsque bit 9 = 0 : Atterrissage Lorsque bit 9 = 1 : Décollage $ref = 0; $ref = $ref | (1 << 9); // 512 -> 1000000000 $client->send(”AT*REF=1,$ref”); // Décollage ! AT*REF=%d, %d

AT*PCMD=%d,%d,%d,%d,%d,%d PERMET DE CONTROLER LES MOUVEMENTS DU DRONE Argument 1: Sequence Number Argument 2: Commande progressive Argument 3: Droite / gauche Argument 4: Avant / arrière Argument 5: Haut / bas Argument 6: Rotation Arguments 3 à 6 de type Float [−1..1] (orientation + vitesse)

DEMO TIME https://github.com/jolicode/php-ar-drone

github.com/jolicode/php-ar-drone MERCI ! question ? speakerdeck.com/shinework/ [email protected] PROJETS DES COOL ? @SHINEWORK joind.in/talk/view/9361 FEED BACK SLIDES CODE !