fix ui & rm func

app/controllers/webserver.go

@@ -3,13 +3,15 @@ package controllers
 import (
 	"encoding/json"
 	"fmt"
-	"github.com/taqboz/gotello/app/models"
-	"github.com/taqboz/gotello/config"
 	"html/template"
 	"log"
 	"net/http"
+	"os"
 	"regexp"
 	"strconv"
+
+	"github.com/taqboz/gotello/app/models"
+	"github.com/taqboz/gotello/config"
 )
 
 var appContext struct {
@@ -33,14 +35,6 @@ func viewIndexHandler(w http.ResponseWriter, r *http.Request) {
 	}
 }
 
-func viewControllerHandler(w http.ResponseWriter, r *http.Request) {
-	t, _ := getTemplate("app/view/controller.html")
-	err := t.Execute(w, nil)
-	if err != nil {
-		http.Error(w, err.Error(), http.StatusInternalServerError)
-	}
-}
-
 // 以下APIの処理
 type APIResult struct {
 	Result interface{} `json:"result"`
@@ -115,31 +109,14 @@ func apiCommandHandler(w http.ResponseWriter, r *http.Request)  {
 		drone.Backward(drone.Speed)
 	case "speed":
 		drone.Speed = getSpeed(r)
-	case "frontFlip":
-		drone.FrontFlip()
-	case "leftFlip":
-		drone.LeftFlip()
-	case "rightFlip":
-		drone.RightFlip()
-	case "backFlip":
-		drone.BackFlip()
-	case "throwTakeOff()":
-		drone.ThrowTakeOff()
-	case "bounce":
-		drone.Bounce()
-
-	// 関数内同じだからまとめるか実装を変えたほうがいいかも?
-	case "patrol":
-		drone.StartPatrol()
-	case "stopPatrol":
-		drone.StopPatrol()
+	case "endApp":
+		fmt.Fprintln(w,"Application End")
+		os.Exit(0)
 
 	case "faceDetectTrack":
 		drone.EnableFaceDetectTracking()
 	case "stopFaceDetectTrack":
 		drone.DisableFaceDetectTracking()
-	case "snapshot":
-		drone.TakeSnapshot()
 	default:
 		APIResponse(w, "Not found", http.StatusNotFound)
 		return
@@ -149,7 +126,6 @@ func apiCommandHandler(w http.ResponseWriter, r *http.Request)  {
 
 func StartWebServer() error {
 	http.HandleFunc("/", viewIndexHandler)
-	http.HandleFunc("/controller/", viewControllerHandler)
 	http.HandleFunc("/api/command/", apiMakeHandler(apiCommandHandler))
 	http.Handle("/video/streaming", appContext.DroneManager.Stream)
 	// "static"をファイルサーバーとして使用する

app/models/drone.go

@@ -1,13 +1,10 @@
 package models
 
 import (
-	"context"
 	"image"
 	"image/color"
 	"io"
-	"io/ioutil"
 	"log"
-	"math"
 	"os/exec"
 	"strconv"
 	"time"
@@ -16,37 +13,28 @@ import (
 	"gobot.io/x/gobot"
 	"gobot.io/x/gobot/platforms/dji/tello"
 	"gocv.io/x/gocv"
-	"golang.org/x/sync/semaphore"
 )
 
 const (
 	DefaultSpeed      = 10
 	WaitDroneStartSec = 5
 	frameX            = 960 / 3
 	frameY            = 720 / 3
-	frameCenterX      = frameX / 2
-	frameCenterY      = frameY / 2
 	frameArea         = frameX * frameY
 	frameSize         = frameArea * 3
 	faceDetectXMLFile = "./app/models/haarcascade_frontalface_default.xml"
-	snapshotsFolder   = "./static/img/snapshots/"
 )
 
 type DroneManager struct {
 	*tello.Driver
 	Speed                int
-	patrolSem            *semaphore.Weighted
-	patrolQuit           chan bool
-	isPatrolling         bool
 	ffmpegIn             io.WriteCloser
 	ffmpegOut            io.ReadCloser
 	Stream               *mjpeg.Stream
 	faceDetectTrackingOn bool
-	isSnapShot           bool
 }
 
 func NewDroneManager() *DroneManager {
-	// 8889でdroneに接続
 	drone := tello.NewDriver("8889")
 
 	ffmpeg := exec.Command("ffmpeg", "-hwaccel", "auto", "-hwaccel_device", "opencl", "-i", "pipe:0", "-pix_fmt", "bgr24",
@@ -55,17 +43,12 @@ func NewDroneManager() *DroneManager {
 	ffmpegOut, _ := ffmpeg.StdoutPipe()
 
 	droneManager := &DroneManager{
-		// tello.Driverに要素を追加する
 		Driver:               drone,
 		Speed:                DefaultSpeed,
-		patrolSem:            semaphore.NewWeighted(1),
-		patrolQuit:           make(chan bool),
-		isPatrolling:         false,
 		ffmpegIn:             ffmpegIn,
 		ffmpegOut:            ffmpegOut,
 		Stream:               mjpeg.NewStream(),
 		faceDetectTrackingOn: false,
-		isSnapShot:           false,
 	}
 	work := func() {
 		if err := ffmpeg.Start(); err != nil {
@@ -93,73 +76,13 @@ func NewDroneManager() *DroneManager {
 			}
 		})
 	}
-	// robotの定義
+
 	robot := gobot.NewRobot("tello", []gobot.Connection{}, []gobot.Device{drone}, work)
-	// robotの挙動の開始
 	go robot.Start()
 	time.Sleep(WaitDroneStartSec * time.Second)
-	// WEBサーバーでの操作用
 	return droneManager
 }
 
-func (d *DroneManager) Patrol() {
-	go func() {
-		// ロック
-		isAcquire := d.patrolSem.TryAcquire(1)
-		if !isAcquire {
-			d.patrolQuit <- true
-			d.isPatrolling = false
-			return
-		}
-		defer d.patrolSem.Release(1)
-		// パトロールの開始
-		d.isPatrolling = true
-		status := 0
-		// 3秒ごとに時刻を刻む
-		t := time.NewTicker(3 * time.Second)
-		for {
-			select {
-			// tickerが動いてるときに
-			case <-t.C:
-				// droneを静止
-				d.Hover()
-				// status毎に挙動を変更
-				switch status {
-				case 1:
-					d.Forward(d.Speed)
-				case 2:
-					d.Right(d.Speed)
-				case 3:
-					d.Backward(d.Speed)
-				case 4:
-					d.Left(d.Speed)
-				case 5:
-					status = 0
-				}
-				status++
-			// patrolQuitがtrueで入ってきた場合、静止->着陸
-			case <-d.patrolQuit:
-				t.Stop()
-				d.Hover()
-				d.isPatrolling = false
-				return
-			}
-		}
-	}()
-}
-
-func (d *DroneManager) StartPatrol() {
-	if !d.isPatrolling {
-		d.Patrol()
-	}
-}
-
-func (d *DroneManager) StopPatrol() {
-	if d.isPatrolling {
-		d.Patrol()
-	}
-}
-
 func (d *DroneManager) StreamVideo() {
 	go func(d *DroneManager) {
 		classifier := gocv.NewCascadeClassifier()
@@ -175,94 +98,30 @@ func (d *DroneManager) StreamVideo() {
 			if _, err := io.ReadFull(d.ffmpegOut, buf); err != nil {
 				log.Println(err)
 			}
+
 			img, _ := gocv.NewMatFromBytes(frameY, frameX, gocv.MatTypeCV8UC3, buf)
 
 			if img.Empty() {
 				continue
 			}
 
 			if d.faceDetectTrackingOn {
-				d.StopPatrol()
 				rects := classifier.DetectMultiScale(img)
 				log.Printf("found %d faces\n", len(rects))
-
-				if len(rects) == 0 {
-					d.Hover()
-				}
 				for _, r := range rects {
 					gocv.Rectangle(&img, r, blue, 3)
 					pt := image.Pt(r.Max.X, r.Min.Y-5)
 					gocv.PutText(&img, "Human", pt, gocv.FontHersheyPlain, 1.2, blue, 2)
-
-					faceWidth := r.Max.X - r.Min.X
-					faceHeight := r.Max.Y - r.Min.Y
-					faceCenterX := r.Min.X + (faceWidth / 2)
-					faceCenterY := r.Min.Y + (faceHeight / 2)
-					faceArea := faceWidth * faceHeight
-					diffX := frameCenterX - faceCenterX
-					diffY := frameCenterY - faceCenterY
-					percentF := math.Round(float64(faceArea) / float64(frameArea) * 100)
-
-					move := false
-					if diffX < -20 {
-						d.Right(15)
-						move = true
-					}
-					if diffX > 20 {
-						d.Left(15)
-						move = true
-					}
-					if diffY < -30 {
-						d.Down(25)
-						move = true
-					}
-					if diffY > 30 {
-						d.Up(25)
-						move = true
-					}
-					if percentF > 7.0 {
-						d.Backward(10)
-						move = true
-					}
-					if percentF < 0.9 {
-						d.Forward(10)
-						move = true
-					}
-					if !move {
-						d.Hover()
-					}
-
 					break
 				}
 			}
 
 			jpegBuf, _ := gocv.IMEncode(".jpg", img)
-
-			if d.isSnapShot {
-				backupFileName := snapshotsFolder + time.Now().Format(time.RFC3339) + ".jpg"
-				ioutil.WriteFile(backupFileName, jpegBuf, 0644)
-				snapshotFileName := snapshotsFolder + "snapshot.jpg"
-				ioutil.WriteFile(snapshotFileName, jpegBuf, 0644)
-				d.isSnapShot = false
-			}
-
 			d.Stream.UpdateJPEG(jpegBuf)
 		}
 	}(d)
 }
 
-func (d *DroneManager) TakeSnapshot() {
-	d.isSnapShot = true
-	ctx, cancel := context.WithTimeout(context.Background(), 2*time.Second)
-	defer cancel()
-	for {
-		if !d.isSnapShot || ctx.Err() != nil {
-			break
-		}
-	}
-	d.isSnapShot = false
-}
-
 func (d *DroneManager) EnableFaceDetectTracking() {
 	d.faceDetectTrackingOn = true
 }