public DroneApi()
{
this.webserver = new HttpServer("http", "*", 6606);
this.drone = new Drone();
drone.ThrottleChanged += (value) => webserver.Broadcast(WebSocketMessageFactory.CreateThrottlesMessage(value));
drone.PositionChanged += (value) => webserver.Broadcast(WebSocketMessageFactory.CreatePositionMessage(value));
drone.OrientationChanged += (value) => webserver.Broadcast(WebSocketMessageFactory.CreateOrientationMessage(value));
this.webserver.SocketConnected += HandleSocketConnect;
Task.Run(async() =>
{
try
{
AddActions();
await drone.Init();
drone.StartOrientationThread();
webserver.AddAuthorizationMethod(new TimeBasedHmacAuthorizationHandler("mySecret", new TimeSpan(0, 0, 3), 2));
webserver.Start();
}
catch (Exception exception)
{
Console.WriteLine($"{exception.Message}\n{exception.StackTrace}");
}
});
}
private async void HandleSocketConnect(WebSocket socket)
{
await Task.WhenAll(new Task[]
{
socket.SendAsync(WebSocketMessageFactory.CreateAuthorizedMessage(), System.Net.WebSockets.WebSocketMessageType.Binary, true, new CancellationToken()),
socket.SendAsync(WebSocketMessageFactory.CreateFlagsMessage(
(drone.AreMotorsEnabled ? DroneFlags.MotorsEnabled : 0) |
(drone.IsGpsEnabled ? DroneFlags.GpsEnabled : 0) |
(drone.IsOrientationSensorEnabled ? DroneFlags.OrientationSensorEnabled : 0) |
(drone.IsOrientationAssistEnabled ? DroneFlags.OrientationAssistEnabled : 0)
), System.Net.WebSockets.WebSocketMessageType.Binary, true, new CancellationToken())
});
}
