public void AddRoutes(HttpServer webserver, Drone drone)
{
webserver.AddAction("GET", BaseRoute, (context) =>
{
return(new
{
value = drone.IsGpsEnabled
});
});
webserver.AddAction("POST", BaseRoute, (context) =>
{
drone.StartGps();
return(new
{
message = "Gps enabled"
});
});
webserver.AddAction("DELETE", BaseRoute, (context) =>
{
drone.StopGps();
return(new
{
message = "Gps disabled"
});
});
webserver.AddAction("GET", $"{BaseRoute}/position", (context) =>
{
return(drone.Position);
});
}
public void AddRoutes(HttpServer webserver, Drone drone)
{
webserver.AddAction("GET", "/orientation", (context) =>
{
Orientation orientation = drone.Orientation;
return(new
{
yaw = orientation.Yaw,
pitch = orientation.Pitch,
roll = orientation.Roll,
});
});
webserver.AddAction("GET", "/orientation/sensor", (context) =>
{
return(new
{
value = drone.IsOrientationSensorEnabled
});
});
webserver.AddAction("POST", "/orientation/sensor", (context) =>
{
drone.StartOrientationThread();
return(new
{
message = "Orientation sensor enabled"
});
});
webserver.AddAction("DELETE", "/orientation/sensor", (context) =>
{
drone.StopOrientationThread();
return(new
{
message = "Orientation sensor disabled"
});
});
webserver.AddAction("GET", "/orientation/assist", (context) =>
{
return(new
{
value = drone.IsOrientationAssistEnabled
});
});
webserver.AddAction("POST", "/orientation/assist", (context) =>
{
drone.StartOrientationAssist();
return(new
{
message = "Orientation assist enabled"
});
});
webserver.AddAction("DELETE", "/orientation/assist", (context) =>
{
drone.StopOrientationAssist();
return(new
{
message = "Orientation assist disabled"
});
});
webserver.AddAction("GET", "/orientation/assist/rate", (context) =>
{
return(new
{
value = drone.OrientationAssistRate
});
});
webserver.AddAction("POST", "/orientation/assist/rate", (context) =>
{
string input;
using (StreamReader reader = new StreamReader(context.Request.InputStream))
{
input = reader.ReadToEnd();
}
OrientationAssistRateDto dto = JsonConvert.DeserializeObject <OrientationAssistRateDto>(input);
drone.OrientationAssistRate = dto.value;
return(new
{
message = "Orientation assist rate updated"
});
});
foreach (Axis axis in Enum.GetValues(typeof(Axis)))
{
webserver.AddAction("GET", $"/orientation/assist/handler/{axis}", (context) =>
{
var handler = drone.GetOffsetHandler(axis);
var qLearningHandler = handler as QLearningOrientationOffsetHandler;
var regularHandler = handler as OrientationOffsetHandler;
return(new OrientationAssistHandlerDto
{
axis = axis,
agression = regularHandler?.Aggression,
isQLearning = qLearningHandler != null,
minThrottle = qLearningHandler?.MinThrottle,
maxThrottle = qLearningHandler?.MaxThrottle ?? regularHandler.MaxThrottle,
throttleIncrement = qLearningHandler?.ThrottleIncrement
});
});
webserver.AddAction("POST", $"/orientation/assist/handler/{axis}", (context) =>
{
string input;
using (StreamReader reader = new StreamReader(context.Request.InputStream))
{
input = reader.ReadToEnd();
}
OrientationAssistHandlerDto dto = JsonConvert.DeserializeObject <OrientationAssistHandlerDto>(input);
var handler = dto.isQLearning ?
new QLearningOrientationOffsetHandler(-180, 180, 1, dto.minThrottle.Value, dto.maxThrottle, dto.throttleIncrement.Value) :
(IOrientationOffsetHandler) new OrientationOffsetHandler(dto.agression.Value, dto.maxThrottle);
drone.SetOffsetHandler(dto.axis, handler);
return(new
{
message = "Orientation assist handler updated"
});
});
webserver.AddAction("GET", $"/orientation/assist/handler/{axis}/json", (context) =>
{
var handler = drone.GetOffsetHandler(axis);
var qLearningHandler = handler as QLearningOrientationOffsetHandler;
if (qLearningHandler == null)
{
context.Response.StatusCode = 400;
return(null);
}
else
{
var bytes = Encoding.UTF8.GetBytes(qLearningHandler.SaveToJson());
context.Response.ContentType = "application/octet-stream";
context.Response.ContentLength64 = bytes.Length;
context.Response.OutputStream.Write(bytes);
context.Response.StatusCode = 200;
context.Response.Close();
return(null);
}
});
webserver.AddAction("POST", $"/orientation/assist/handler/{axis}/json", (context) =>
{
string input;
using (StreamReader reader = new StreamReader(context.Request.InputStream))
{
input = reader.ReadToEnd();
}
var handler = drone.GetOffsetHandler(axis);
var qLearningHandler = handler as QLearningOrientationOffsetHandler;
if (qLearningHandler == null)
{
context.Response.StatusCode = 400;
return(null);
}
else
{
qLearningHandler.LoadJson(input);
return(new
{
message = "Orientation handler configuration loaded"
});
}
});
}
}
public void AddRoutes(HttpServer webserver, Drone drone)
{
webserver.AddAction("GET", BaseRoute, (context) =>
{
return(new
{
value = drone.AreMotorsEnabled
});
});
webserver.AddAction("POST", BaseRoute, (context) =>
{
drone.EnableMotors();
return(new
{
message = "Motors enabled"
});
});
webserver.AddAction("DELETE", BaseRoute, (context) =>
{
drone.DisableMotors();
return(new
{
message = "Motors disabled"
});
});
webserver.AddAction("GET", $"{BaseRoute}/throttles", (context) =>
{
var throttles = drone.GetMotorThrottles();
return(new
{
frontLeft = throttles.Item1,
frontRight = throttles.Item2,
rearLeft = throttles.Item3,
rearRight = throttles.Item4
});
});
webserver.AddAction("POST", $"{BaseRoute}/test", (context) =>
{
string input;
using (StreamReader reader = new StreamReader(context.Request.InputStream))
{
input = reader.ReadToEnd();
}
float value = JsonConvert.DeserializeObject <RunTestStruct>(input).Value;
_ = Task.Run(() =>
{
drone.RunTest(value);
});
return(new
{
message = "Motor test started"
});
});
webserver.AddAction("POST", $"{BaseRoute}/throttle", (context) =>
{
string input;
using (StreamReader reader = new StreamReader(context.Request.InputStream))
{
input = reader.ReadToEnd();
}
float value = JsonConvert.DeserializeObject <RunTestStruct>(input).Value;
_ = Task.Run(() =>
{
drone.MotorThrottle = value;
});
return(new
{
message = "Motor throttle set"
});
});
}
