web-handler.go

package main

import (
	"dronecore"
	"fmt"
	"log"
	"net/http"
	"strings"

	"github.com/gorilla/mux"
	"github.com/gorilla/websocket"
)

const (
	SVR_ADDR = "localhost:8080"
	ENCODING = "Content-Encoding"
	TEXTENC  = "text/plain"
)

type actionMessage struct {
	Action string
}

type message struct {
    Movement movementData `json:"movement"`
}

type movementData struct {
    Yaw string `json:"yaw"`
		Pitch string `json:"pitch"`
    Roll string `json:"roll"`
    Gaz string `json:"gaz"`
}

var drones *dronecore.DroneService
var conn *websocket.Conn

//var srv *http.Server

func init() {
	drones = dronecore.InitialiseDroneService()
}

func wsHandler(w http.ResponseWriter, r *http.Request) {
	newConn, err := websocket.Upgrade(w, r, w.Header(), 1024, 1024)
	if err != nil {
		http.Error(w, "Could not open websocket connection", http.StatusBadRequest)
	}
	conn = newConn
	
}

func sendMessage(yaw string, roll string, pitch string, gaz string) {

	m := message{movementData{Yaw: yaw, Roll: roll, Pitch: pitch, Gaz: gaz}}
	
	if conn != nil {
		
		if err := conn.WriteJSON(m); err != nil {
			Trace.Println(err)
		}
		
	} else {
		Info.Println("No websocket connection")
	}
	
}

func sendAction(action string) {

	a := actionMessage{Action: action}
	
	if conn != nil {
		
		if err := conn.WriteJSON(a); err != nil {
			Trace.Println(err)
		}
		
	} else {
		Info.Println("No websocket connection")
	}
	
}

func catchAllHandler(w http.ResponseWriter, r *http.Request) {
	Info.Println("Default handler Call " + fmt.Sprint(r.Header))
	w.WriteHeader(http.StatusOK)
	fmt.Fprintf(w, "-- your body -- %s!", r.URL.Path[1:])
}

// walk through the multiplexer configuration and display the relevant details
func walkMux(r *mux.Router) {
	err := r.Walk(func(route *mux.Route, router *mux.Router, ancestors []*mux.Route) error {
		pathTemplate, err := route.GetPathTemplate()
		if err == nil {
			fmt.Println("ROUTE:", pathTemplate)
		}
		pathRegexp, err := route.GetPathRegexp()
		if err == nil {
			fmt.Println("Path regexp:", pathRegexp)
		}
		queriesTemplates, err := route.GetQueriesTemplates()
		if err == nil {
			fmt.Println("Queries templates:", strings.Join(queriesTemplates, ","))
		}
		queriesRegexps, err := route.GetQueriesRegexp()
		if err == nil {
			fmt.Println("Queries regexps:", strings.Join(queriesRegexps, ","))
		}
		methods, err := route.GetMethods()
		if err == nil {
			fmt.Println("Methods:", strings.Join(methods, ","))
		}
		fmt.Println()
		return nil
	})

	if err != nil {
		Error.Panicln(err)
	}
}

func main() {
	Trace.Println("Starting ...")

	// going to use Gorrilla MUX - can be obtained by go get -u github.com/gorilla/mux
	// http://www.gorillatoolkit.org/pkg/mux
	r := mux.NewRouter()

	r.HandleFunc("/drone/STOP", droneAllEmergencyStopHandler)
	r.HandleFunc("/drone/STOP/", droneAllEmergencyStopHandler)

	r.HandleFunc("/drone/{droneId}/STOP", droneEmergencyStopHandler)
	r.HandleFunc("/drone/{droneId}/STOP/", droneEmergencyStopHandler)

	r.HandleFunc("/drone/register", droneRegistrationHandler)
	r.HandleFunc("/drone/register/", droneRegistrationHandler)

	r.HandleFunc("/drone/{droneId}/nav/action/{action}", droneActionHandler)
	r.HandleFunc("/drone/{droneId}/nav/action/{action}/", droneActionHandler)

	r.HandleFunc("/drone/{droneId}/simplenav/pitch/{pitch}", droneSimpleNavPitchHandler)
	r.HandleFunc("/drone/{droneId}/simplenav/pitch/{pitch}/", droneSimpleNavPitchHandler)

	r.HandleFunc("/drone/{droneId}/simplenav/altitude/{altitude}", droneSimpleNavGazHandler)
	r.HandleFunc("/drone/{droneId}/simplenav/altitude/{altitude}/", droneSimpleNavGazHandler)

	r.HandleFunc("/drone/{droneId}/simplenav/gaz/{gaz}", droneSimpleNavGazHandler)
	r.HandleFunc("/drone/{droneId}/simplenav/gaz/{gaz}/", droneSimpleNavGazHandler)

	r.HandleFunc("/drone/{droneId}/simplenav/roll/{roll}", droneSimpleNavRollHandler)
	r.HandleFunc("/drone/{droneId}/simplenav/roll/{roll}/", droneSimpleNavRollHandler)

	r.HandleFunc("/drone/{droneId}/simplenav/rotation/{yaw}", droneSimpleNavYawHandler)
	r.HandleFunc("/drone/{droneId}/simplenav/rotation/{yaw}/", droneSimpleNavYawHandler)
	r.HandleFunc("/drone/{droneId}/simplenav/yaw/{yaw}", droneSimpleNavYawHandler)
	r.HandleFunc("/drone/{droneId}/simplenav/yaw/{yaw}/", droneSimpleNavYawHandler)
	
	r.HandleFunc("/ws", wsHandler)

	r.HandleFunc("/", catchAllHandler)
	r.HandleFunc("/drone/", catchAllHandler)

	Trace.Println("Multiplexer configured. starting server....")
	
	
	if IsLogging("Trace") {
		walkMux(r)
	}
	
	log.Fatal(http.ListenAndServe(SVR_ADDR, r))
	
	

	Trace.Println("The End")
}