Joli\ArDrone\Control\UdpControl::start PHP Метод

    private function start()
    {
        $udpFactory = new UdpFactory($this->loop);
        $loop = $this->loop;
        $udpControl = $this;
        $udpFactory->createClient($this->ip . ':' . $this->port)->then(function (UdpSocket $client) use(&$loop, $udpControl) {
            $commandCreator = $udpControl->commandCreator;
            $ref = $udpControl->ref;
            $pcmd = $udpControl->pcmd;
            $anim = $udpControl->anim;
            // Start dialog
            $client->send('1');
            $client->send('1');
            for ($j = 0; $j < 5; ++$j) {
                $cmds = [];
                array_push($cmds, $commandCreator->createConfigCommand('general:navdata_demo', 'TRUE'));
                array_push($cmds, $commandCreator->createPcmdCommand($pcmd));
                array_push($cmds, $commandCreator->createRefCommand($ref));
                $cmds = implode('', $cmds);
                $client->send($cmds);
                sleep(0.03);
            }
            // According to tests, a satisfying control of the AR.Drone 2.0 is reached
            // by sending the AT-commands every 30 ms for smooth drone movements.
            $loop->addPeriodicTimer(0.03, function () use($client, $commandCreator, &$ref, &$pcmd, &$anim) {
                $cmds = [];
                array_push($cmds, $commandCreator->createRefCommand($ref));
                array_push($cmds, $commandCreator->createPcmdCommand($pcmd));
                if (count($anim) > 0) {
                    for ($i = 0; $i <= 10; ++$i) {
                        foreach ($anim as $name => $duration) {
                            array_push($cmds, $commandCreator->createConfigCommand($name, $duration));
                        }
                    }
                    $anim = [];
                }
                $cmds = implode('', $cmds);
                $client->send($cmds);
            });
            $udpControl->on('land', function () use(&$ref, &$pcmd) {
                $pcmd = [];
                $ref['fly'] = false;
            });
            $udpControl->on('ftrim', function () use(&$client, &$commandCreator) {
                $client->send($commandCreator->createFtrimCommand());
            });
            $udpControl->on('takeoff', function () use(&$ref, &$pcmd) {
                $pcmd = [];
                $ref['fly'] = true;
            });
            $udpControl->on('clockwise', function ($speed = 0.5) use(&$pcmd) {
                $pcmd['clockwise'] = $speed;
                unset($pcmd['counterClockwise']);
            });
            $udpControl->on('counterClockwise', function ($speed = 0.5) use(&$pcmd) {
                $pcmd['counterClockwise'] = $speed;
                unset($pcmd['clockwise']);
            });
            $udpControl->on('stop', function () use(&$pcmd) {
                $pcmd = [];
            });
            $udpControl->on('front', function ($speed = 0.3) use(&$pcmd) {
                $pcmd['front'] = $speed;
                unset($pcmd['back']);
            });
            $udpControl->on('back', function ($speed = 0.3) use(&$pcmd) {
                $pcmd['back'] = $speed;
                unset($pcmd['front']);
            });
            $udpControl->on('right', function ($speed = 0.3) use(&$pcmd) {
                $pcmd['right'] = $speed;
                unset($pcmd['left']);
            });
            $udpControl->on('left', function ($speed = 0.3) use(&$pcmd) {
                $pcmd['left'] = $speed;
                unset($pcmd['right']);
            });
            $udpControl->on('up', function ($speed = 0.6) use(&$pcmd) {
                $pcmd['up'] = $speed;
                unset($pcmd['down']);
            });
            $udpControl->on('down', function ($speed = 0.6) use(&$pcmd) {
                $pcmd['down'] = $speed;
                unset($pcmd['up']);
            });
            $udpControl->on('flip', function () use(&$anim) {
                $anim['control:flight_anim'] = '16,5';
            });
        });
    }