public void AddRoutes(WebServer webserver, Wrapper.Dotnet.Drone drone)
{
webserver.AddAction("GET", BaseRoute, (context) =>
{
var throttles = drone.GetMotorThrottles();
return(new
{
frontLeft = throttles.Item1,
frontRight = throttles.Item2,
rearLeft = throttles.Item3,
rearRight = throttles.Item4
});
});
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("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"
});
});
}
public Program()
{
try
{
this.drone = new Wrapper.Dotnet.Drone();
webserver = new WebServer("http", "*", 6606);
AddActions();
drone.Init();
drone.StartOrientationThread();
webserver.AddAuthorizationMethod(new TimeBasedHmacAuthorizationHandler("mySecret", new TimeSpan(0, 0, 3), 1));
webserver.Start();
} catch (Exception exception)
{
Console.WriteLine($"{exception.Message}\n{exception.StackTrace}");
}
}
public void AddRoutes(WebServer webserver, Wrapper.Dotnet.Drone drone)
{
webserver.AddAction("POST", BaseRoute, (context) =>
{
drone.StartGps();
return("Gps started");
});
webserver.AddAction("DELETE", BaseRoute, (context) =>
{
drone.StopGps();
return("Gps stopped");
});
webserver.AddAction("GET", $"{BaseRoute}/position", (context) =>
{
var position = drone.Position;
return(new
{
longitude = position.Longitude,
latitude = position.Latitude
});
});
}
public void AddRoutes(WebServer webserver, Wrapper.Dotnet.Drone drone)
{
webserver.AddAction("GET", "/orientation", (context) =>
{
Orientation orientation = drone.Orientation;
return(new
{
yaw = orientation.Yaw,
pitch = orientation.Pitch,
roll = orientation.Roll,
});
});
webserver.AddAction("POST", "/orientation", (context) =>
{
drone.StartOrientationThread();
return(new
{
message = "Orientation sensor enabled"
});
});
webserver.AddAction("DELETE", "/orientation", (context) =>
{
drone.StartOrientationThread();
return(new
{
message = "Orientation sensor disabled"
});
});
webserver.AddAction("POST", "/orientationAssist", (context) =>
{
drone.StartOrientationAssist();
return(new
{
message = "Orientation assist enabled"
});
});
webserver.AddAction("DELETE", "/orientationAssist", (context) =>
{
drone.StopOrientationAssist();
return(new
{
message = "Orientation assist disabled"
});
});
webserver.AddAction("POST", "/orientationAssistAgression", (context) =>
{
string input;
using (StreamReader reader = new StreamReader(context.Request.InputStream))
{
input = reader.ReadToEnd();
}
float value = JsonConvert.DeserializeObject <RunTestStruct>(input).Value;
drone.OrientationAssistAgression = value;
return(new
{
message = "Orientation assist aggression set"
});
});
}
