func NewHandler(c *control.Control, log log.Interface) http.Handler {
m := martini.Classic()
m.Get("/ws", websocket.Handler(func(conn *websocket.Conn) {
defer conn.Close()
for {
var s Setpoint
if err := websocket.JSON.Receive(conn, &s); err != nil {
log.Error("Could not receive setpoint. err=%s", err)
return
}
c.Set(s.Data, s.Throttle)
}
}).ServeHTTP)
m.NotFound(http.FileServer(fs.Fs).ServeHTTP)
return m
}
func NewHandler(c *control.Control, log log.Interface) http.Handler {
m := martini.Classic()
var setpoint attitude.Data
go func() {
for {
fmt.Printf("setpoint: %s\n", setpoint)
time.Sleep(time.Second)
}
}()
m.Get("/ws", websocket.Handler(func(conn *websocket.Conn) {
defer conn.Close()
for {
var cmd attitude.Data
if err := websocket.JSON.Receive(conn, &cmd); err != nil {
log.Error("Could not receive setpoint cmd. err=%s", err)
return
}
setpoint.Roll = cmd.Roll
setpoint.Pitch = cmd.Pitch
setpoint.Yaw = cmd.Yaw
setpoint.Altitude += cmd.Altitude * 0.01
if setpoint.Altitude < 0 {
setpoint.Altitude = 0
} else if setpoint.Altitude > 3 {
setpoint.Altitude = 3
}
c.Set(setpoint)
}
}).ServeHTTP)
m.NotFound(http.FileServer(fs.Fs).ServeHTTP)
return m
}