New properties api

README.md

@@ -132,33 +132,41 @@ events.
 
 #### client.takeoff()
 
-Sets the internal `fly` state to `true`.
+Sets `client.flyBit = true`.
 
 #### client.land()
 
-Sets the internal `fly` state to `false`.
+Sets `client.flyBit = false`.
 
 #### client.up(speed) / client.down(speed)
 
-Makes the drone gain or reduce altitude. `speed` can be a value from `0` to `1`.
+Controls the vertical movement of the drone.
 
-#### client.clockwise(speed) / client.counterClockwise(speed)
-
-Causes the drone to spin. `speed` can be a value from `0` to `1`.
+Sets `client.upDown` to `speed` or `-speed`. `speed` can be be from `0` to `1`.
 
 #### client.front(speed) / client.back(speed)
 
 Controls the pitch, which a horizontal movement using the camera
-as a reference point.  `speed` can be a value from `0` to `1`.
+as a reference point.
+
+Sets `client.frontBack` to `speed` or `-speed`. `speed` can be be from `0` to `1`.
 
 #### client.left(speed) / client.right(speed)
 
 Controls the roll, which is a horizontal movement using the camera
-as a reference point.  `speed` can be a value from `0` to `1`.
+as a reference point.
+
+Sets `client.leftRight` to `speed` or `-speed`. `speed` can be be from `0` to `1`.
+
+#### client.clockwise(speed) / client.counterClockwise(speed)
+
+Controls the rotation of the drone.
+
+Sets client.clockSpin to `speed` or `-speed`. `speed` can be be from `0` to `1`.
 
 #### client.stop()
 
-Sets all drone movement commands to `0`, making it effectively hover in place.
+Sets all drone movement properties to `0`, making it effectively hover in place.
 
 #### client.config(key, value)
 

lib/Client.js

@@ -13,12 +13,17 @@ function Client(options) {
 
   options = options || {};
 
+  this.flyBit       = false;
+  this.emergencyBit = false;
+  this.leftRight    = 0;
+  this.frontBack    = 0;
+  this.upDown       = 0;
+  this.clockSpin    = 0;
+
   this._udpControl        = options.udpControl || new Client.UdpControl(options);
   this._udpNavdatasStream = options.udpNavdataStream || new Client.UdpNavdataStream(options);
   this._pngStream         = new Client.PngStream(options);
   this._interval          = null;
-  this._ref               = {};
-  this._pcmd              = {};
   this._repeaters         = [];
   this._afterOffset       = 0;
   this._disableEmergency  = false;
@@ -57,13 +62,21 @@ Client.prototype.resume = function() {
 
 Client.prototype._handleNavdata = function(navdata) {
   if (navdata.droneState && navdata.droneState.emergencyLanding && this._disableEmergency) {
-    this._ref.emergency = true;
+    this.emergencyBit = true;
   } else {
-    this._ref.emergency    = false;
+    this.emergencyBit      = false;
     this._disableEmergency = false;
   }
 
-  this.emit('navdata', navdata);
+  // request demo navdata if 'demo' option is not included
+  // also: don't emit navdata if 'demo' option is not present
+  // @TODO: Make this behavior configurable in the constructor
+  if (!navdata.demo) {
+    this._udpControl.config('general:navdata_demo', 'TRUE');
+  } else {
+    this.emit('navdata', navdata);
+  }
+
   this._processNavdata(navdata);
 };
 
@@ -117,8 +130,18 @@ Client.prototype._setInterval = function(duration) {
 };
 
 Client.prototype._sendCommands = function() {
-  this._udpControl.ref(this._ref);
-  this._udpControl.pcmd(this._pcmd);
+  this._udpControl.ref({
+    flyBit       : this.flyBit,
+    emergencyBit : this.emergencyBit
+  });
+
+  this._udpControl.pcmd({
+    leftRight : this.leftRight,
+    frontBack : this.frontBack,
+    upDown    : this.upDown,
+    clockSpin : this.clockSpin,
+  });
+
   this._udpControl.flush();
 
   this._repeaters
@@ -137,18 +160,18 @@ Client.prototype.disableEmergency = function() {
 };
 
 Client.prototype.takeoff = function() {
-  this._ref.fly = true;
-  return true;
+  this.flyBit = true;
 };
 
 Client.prototype.land = function() {
-  this._ref.fly = false;
-  return true;
+  this.flyBit = false;
 };
 
 Client.prototype.stop = function() {
-  this._pcmd = {};
-  return true;
+  this.leftRight = 0;
+  this.frontBack = 0;
+  this.upDown    = 0;
+  this.clockSpin = 0;
 };
 
 Client.prototype.config = function(key, value) {
@@ -182,29 +205,53 @@ Client.prototype._repeat = function(times, fn) {
   this._repeaters.push({times: times, method: fn});
 };
 
-var pcmdOptions = [
-  ['up', 'down'],
-  ['left', 'right'],
-  ['front', 'back'],
-  ['clockwise', 'counterClockwise'],
-]
+Client.prototype.left = function(speed) {
+  this.leftRight = speed;
+};
 
-pcmdOptions.forEach(function(pair) {
-  Client.prototype[pair[0]] = function(speed) {
-    speed = parseFloat(speed);
+Client.prototype.right = function(speed) {
+  this.leftRight = -speed;
+};
 
-    this._pcmd[pair[0]] = speed;
-    delete this._pcmd[pair[1]];
+Client.prototype.front = function(speed) {
+  this.frontBack = speed;
+};
 
-    return speed;
-  };
+Client.prototype.back = function(speed) {
+  this.frontBack = -speed;
+};
 
-  Client.prototype[pair[1]] = function(speed) {
-    speed = parseFloat(speed);
+Client.prototype.up = function(speed) {
+  this.upDown = speed;
+};
 
-    this._pcmd[pair[1]] = speed;
-    delete this._pcmd[pair[0]];
+Client.prototype.down = function(speed) {
+  this.upDown = -speed;
+};
+
+Client.prototype.clockwise = function(speed) {
+  this.clockSpin = speed;
+};
+
+Client.prototype.counterClockwise = function(speed) {
+  this.clockSpin = -speed;
+};
+
+Client.prototype.toJSON = function() {
+  var json = {};
+  for (var key in this) {
+    var isPrivate = (key.substr(0, 1) === '_');
+    if (isPrivate) {
+      continue;
+    }
+
+    var value = this[key];
+    if (typeof value === 'function') {
+      continue;
+    }
 
-    return speed;
-  };
-});
+    json[key] = value;
+  }
+
+  return json;
+};

lib/control/AtCommandCreator.js

@@ -20,11 +20,11 @@ AtCommandCreator.prototype.ref = function(options) {
 
   var args = [0];
 
-  if (options.fly) {
+  if (options.flyBit) {
     args[0] = args[0] | REF_FLAGS.takeoff;
   }
 
-  if (options.emergency) {
+  if (options.emergencyBit) {
     args[0] = args[0] | REF_FLAGS.emergency;
   }
 
@@ -35,19 +35,21 @@ AtCommandCreator.prototype.ref = function(options) {
 AtCommandCreator.prototype.pcmd = function(options) {
   options = options || {};
 
-  // flags, leftRight, frontBack, upDown, clockWise
-  var args = [0, 0, 0, 0, 0];
-
-  for (var key in options) {
-    var alias = PCMD_ALIASES[key];
-    var value = options[key];
-
-    if (alias.invert) {
-      value = -value;
-    }
-
-    args[alias.index] = at.floatString(value);
-    args[0]           = args[0] | PCMD_FLAGS.progressive;
+  var args = [
+    0,
+    at.floatString(options.leftRight),
+    at.floatString(options.frontBack),
+    at.floatString(options.upDown),
+    at.floatString(options.clockSpin),
+  ];
+
+  // determine if the drone is supposed to move or not
+  var move = args.some(function(value) {
+    return value !== 0;
+  });
+
+  if (move) {
+    args[0] = args[0] | PCMD_FLAGS.progressive;
   }
 
   return this.raw('PCMD', args);
@@ -95,17 +97,6 @@ var PCMD_FLAGS = exports.PCMD_FLAGS = {
   progressive : (1 << 0),
 };
 
-var PCMD_ALIASES = exports.PCMD_ALIASES = {
-  left             : {index: 1, invert: true},
-  right            : {index: 1, invert: false},
-  front            : {index: 2, invert: true},
-  back             : {index: 2, invert: false},
-  up               : {index: 3, invert: false},
-  down             : {index: 3, invert: true},
-  clockwise        : {index: 4, invert: false},
-  counterClockwise : {index: 4, invert: true},
-};
-
 // from ARDrone_SDK_2_0/ControlEngine/iPhone/Release/ARDroneGeneratedTypes.h
 var LED_ANIMATIONS = exports.LED_ANIMATIONS = [
   'blinkGreenRed',

lib/control/at.js

@@ -2,6 +2,16 @@
 var at = exports;
 
 at.floatString = function(number) {
+  // undefined returns 0
+  if (number === undefined) {
+    return 0;
+  }
+
+  // interpret strings as numbers (THIS IS JAVASCRIPT ... *troll*)
+  if (typeof number === 'string') {
+    number = parseFloat(number);
+  }
+
   // Not sure if this is correct, but it works for the example provided in
   // the drone manual ... (should be revisted)
   var buffer = new Buffer(4);

test/unit/control/test-AtCommandCreator.js

@@ -32,10 +32,10 @@ test('AtCommandCreator', {
     assert.equal(cmd.args.length, 1);
     assert.equal(cmd.args[0], 0);
 
-    var cmd = this.creator.ref({fly: true});
+    var cmd = this.creator.ref({flyBit: true});
     assert.ok(cmd.args[0] & AtCommandCreator.REF_FLAGS.takeoff);
 
-    var cmd = this.creator.ref({emergency: true});
+    var cmd = this.creator.ref({emergencyBit: true});
     assert.ok(cmd.args[0] & AtCommandCreator.REF_FLAGS.emergency);
   },
 
@@ -47,17 +47,13 @@ test('AtCommandCreator', {
 
     // test all the aliases mapping to pcmd args
     var val = 0.75;
-    assert.equal(this.creator.pcmd({left: val}).args[1], at.floatString(-val));
-    assert.equal(this.creator.pcmd({right: val}).args[1], at.floatString(val));
-    assert.equal(this.creator.pcmd({front: val}).args[2], at.floatString(-val));
-    assert.equal(this.creator.pcmd({back: val}).args[2], at.floatString(val));
-    assert.equal(this.creator.pcmd({up: val}).args[3], at.floatString(val));
-    assert.equal(this.creator.pcmd({down: val}).args[3], at.floatString(-val));
-    assert.equal(this.creator.pcmd({clockwise: val}).args[4], at.floatString(val));
-    assert.equal(this.creator.pcmd({counterClockwise: val}).args[4], at.floatString(-val));
+    assert.equal(this.creator.pcmd({leftRight: val}).args[1], at.floatString(val));
+    assert.equal(this.creator.pcmd({frontBack: val}).args[2], at.floatString(val));
+    assert.equal(this.creator.pcmd({upDown: val}).args[3], at.floatString(val));
+    assert.equal(this.creator.pcmd({clockSpin: val}).args[4], at.floatString(val));
 
     // test multiple aliases togeter
-    var cmd = this.creator.pcmd({left: 0.1, clockwise: 0.3});
+    var cmd = this.creator.pcmd({leftRight: -0.1, clockSpin: 0.3});
     assert.equal(cmd.args[1], at.floatString(-0.1));
     assert.equal(cmd.args[4], at.floatString(0.3));
 
@@ -66,7 +62,7 @@ test('AtCommandCreator', {
     assert.equal(cmd.args[0] & AtCommandCreator.PCMD_FLAGS.progressive, false);
 
     // test progressive bit being set automatically
-    var cmd = this.creator.pcmd({left: 0.1});
+    var cmd = this.creator.pcmd({leftRight: 0.1});
     assert.ok(cmd.args[0] & (1 << 0));
   },
 

test/unit/control/test-at.js

@@ -4,10 +4,18 @@ var test   = require('utest');
 var at     = require(common.lib + '/control/at');
 
 test('at', {
+  'undefined returns 0': function() {
+    assert.strictEqual(at.floatString(undefined), 0);
+  },
+
   '-0.8': function() {
     assert.equal(at.floatString(-0.8), -1085485875);
   },
 
+  '"-0.8"': function() {
+    assert.equal(at.floatString('-0.8'), -1085485875);
+  },
+
   '0': function() {
     assert.equal(at.floatString(0), 0);
   },