Add remaining navdata options

examples/camera-detection.js

@@ -0,0 +1,38 @@
+var arDrone                = require('..');
+var constants              = require('../lib/constants');
+var maskingFunctions       = require('../lib/navdata/maskingFunctions');
+var TAG_TYPE_MASK          = maskingFunctions.TAG_TYPE_MASK;
+var maskFromNavdataOptions = maskingFunctions.maskFromNavdataOptions;
+
+// get a reference to the drone
+var client = arDrone.createClient();
+
+// log all errors
+client.on('error', function (err) {
+  console.log('ERROR:', err);
+});
+
+// increase the frequency of the navadata updates
+client.config('general:navdata_demo', 'FALSE');
+
+// control the keys in the navdata
+var optionsMask = maskFromNavdataOptions(
+  constants.options.DEMO,
+  constants.options.VISION_DETECT,
+  constants.options.EULER_ANGLES
+);
+client.config('general:navdata_options', optionsMask);
+
+// detect multiple tag types
+client.config('detect:detect_type', constants.CAD_TYPE.MULTIPLE_DETECTION_MODE);
+
+// look for oriented roundel underneath
+var vMask = TAG_TYPE_MASK(constants.TAG_TYPE.H_ORIENTED_ROUNDEL);
+client.config('detect:detections_select_v', vMask);
+
+// look for a shell tag in front
+var hMask = TAG_TYPE_MASK(constants.TAG_TYPE.SHELL_TAG_V2);
+client.config('detect:detections_select_h', hMask);
+
+// log navdata
+client.on('navdata', console.log);

examples/hover-over-roundel.js

@@ -0,0 +1,37 @@
+var arDrone                = require('..');
+var constants              = require('../lib/constants');
+var maskingFunctions       = require('../lib/navdata/maskingFunctions');
+var maskFromNavdataOptions = maskingFunctions.maskFromNavdataOptions;
+
+// get a reference to the drone
+var client = arDrone.createClient();
+
+// log all errors
+client.on('error', function (err) {
+  console.log('ERROR:', err);
+});
+
+// increase the frequency of the navadata updates
+client.config('general:navdata_demo', 'FALSE');
+
+// control the keys in the navdata
+var optionsMask = maskFromNavdataOptions(
+  constants.options.DEMO,
+  constants.options.VISION_DETECT,
+  constants.options.EULER_ANGLES
+);
+client.config('general:navdata_options', optionsMask);
+
+// detect multiple tag types
+client.config('detect:detect_type', constants.CAD_TYPE.ORIENTED_ROUNDEL);
+
+// set the drone's "flying mode"
+var flyingMode = constants.FLYING_MODE.HOVER_ON_TOP_OF_ORIENTED_ROUNDEL;
+client.config('control:flying_mode', flyingMode);
+
+// set the altitude where the drone should hover
+var millimeters = 1000;
+client.config('control:hovering_range', millimeters);
+
+// log navdata
+client.on('navdata', console.log);

examples/png-stream-replace.js

@@ -0,0 +1,34 @@
+// Run this to receive a png image stream from your drone.
+
+var arDrone = require('..');
+var http    = require('http');
+var server  = http.createServer(function(req, res) {
+
+  var pngStream;
+  if (!pngStream) {
+    pngStream = arDrone.createPngStream();
+    pngStream.on('error', function (err) {
+        console.error('pngStream ERROR: ' + err);
+    });
+  }
+
+  var boundary = 'boundary';
+  res.writeHead(200, {
+    'Content-Type': 'multipart/x-mixed-replace; boundary=' + boundary
+  });
+
+  pngStream.on('data', function writePart(pngBuffer) {
+    // part header
+    res.write('--' + boundary + '\n');
+    res.write('Content-Type: image/png\n');
+    res.write('Content-length: ' + pngBuffer.length + '\n');
+    res.write('\n');
+    // part body
+    res.write(pngBuffer);
+  });
+});
+
+var port = 8080;
+server.listen(port, function () {
+  console.log('Serving latest png on', port);
+});

examples/png-stream.js

@@ -4,17 +4,16 @@ var arDrone = require('..');
 var http    = require('http');
 
 console.log('Connecting png stream ...');
-
 var pngStream = arDrone.createPngStream();
 
 var lastPng;
 pngStream
   .on('error', console.log)
-  .on('data', function(pngBuffer) {
+  .on('data', function (pngBuffer) {
     lastPng = pngBuffer;
   });
 
-var server = http.createServer(function(req, res) {
+var server = http.createServer(function (req, res) {
   if (!lastPng) {
     res.writeHead(503);
     res.end('Did not receive any png data yet.');
@@ -25,7 +24,7 @@ var server = http.createServer(function(req, res) {
   res.end(lastPng);
 });
 
-server.listen(8080, function() {
+server.listen(8080, function () {
   console.log('Serving latest png on port 8080 ...');
 });
 

examples/repl.js

@@ -0,0 +1,3 @@
+var arDrone = require('..');
+var client  = arDrone.createClient();
+client.createRepl();

examples/takeoff-and-land.js

@@ -0,0 +1,24 @@
+var arDrone = require('..');
+var client  = arDrone.createClient();
+
+// return all navdata
+client.config('general:navdata_demo', 'FALSE');
+
+// log navdata
+client.on('navdata', function (navdata) {
+  console.log('// NAVDATA\n', navdata);
+});
+
+client.on('error', function (err) {
+  console.log('ERROR:', err);
+});
+
+client
+  .after(2*1000, function () {
+    console.log('// TAKEOFF\n');
+    this.takeoff();
+  })
+  .after(8*1000, function () {
+    console.log('// LAND\n');
+    this.land();
+  });

lib/Client.js

@@ -53,6 +53,7 @@ Client.prototype.resume = function() {
   this._udpNavdatasStream
     .on('error', this._maybeEmitError.bind(this))
     .on('data', this._handleNavdata.bind(this));
+  return this;
 };
 
 Client.prototype._handleNavdata = function(navdata) {
@@ -134,30 +135,39 @@ Client.prototype._sendCommands = function() {
 
 Client.prototype.disableEmergency = function() {
   this._disableEmergency = true;
+  return this;
 };
 
 Client.prototype.takeoff = function() {
   this._ref.fly = true;
-  return true;
+  return this;
 };
 
 Client.prototype.land = function() {
   this._ref.fly = false;
-  return true;
+  return this;
 };
 
 Client.prototype.stop = function() {
   this._pcmd = {};
-  return true;
+  return this;
 };
 
 Client.prototype.config = function(key, value) {
+  if (typeof key === "object") {
+    for (var k in key) {
+      if (Object.hasOwnProperty.call(key, k)) this.config(k, key[k]);
+    }
+    return this;
+  }
+
   // @TODO Figure out if we can get a ACK for this, so we don't need to
   // repeat it blindly like this
   var self = this;
   this._repeat(10, function() {
     self._udpControl.config(key, value);
   });
+  return this;
 };
 
 Client.prototype.animate = function(animation, duration) {
@@ -167,6 +177,7 @@ Client.prototype.animate = function(animation, duration) {
   this._repeat(10, function() {
     self._udpControl.animate(animation, duration);
   });
+  return this;
 };
 
 Client.prototype.animateLeds = function(animation, hz, duration) {
@@ -176,6 +187,7 @@ Client.prototype.animateLeds = function(animation, hz, duration) {
   this._repeat(10, function() {
     self._udpControl.animateLeds(animation, hz, duration);
   });
+  return this;
 };
 
 Client.prototype._repeat = function(times, fn) {
@@ -196,7 +208,7 @@ pcmdOptions.forEach(function(pair) {
     this._pcmd[pair[0]] = speed;
     delete this._pcmd[pair[1]];
 
-    return speed;
+    return this;
   };
 
   Client.prototype[pair[1]] = function(speed) {
@@ -205,6 +217,6 @@ pcmdOptions.forEach(function(pair) {
     this._pcmd[pair[1]] = speed;
     delete this._pcmd[pair[0]];
 
-    return speed;
+    return this;
   };
 });

lib/constants.js

@@ -7,7 +7,7 @@
 var constants = module.exports;
 
 constants.getName = function(group, value) {
-  var group = this[group];
+  group = this[group];
 
   for (var name in group) {
     if (group[name] === value) {
@@ -28,7 +28,7 @@ constants.ports = {
   AT             : 5556,
   RAW_CAPTURE    : 5557,
   PRINTF         : 5558,
-  CONTROL        : 5559,
+  CONTROL        : 5559
 };
 
 // from ARDrone_SDK_2_0/ARDroneLib/Soft/Common/config.h
@@ -98,5 +98,56 @@ constants.options = {
   HDVIDEO_STREAM    : 25,
   WIFI              : 26,
   ZIMMU_3000        : 27,
-  CKS               : 65535,
+  CKS               : 65535
+};
+
+constants.CAD_TYPE = {
+  HORIZONTAL              : 0,   /*<! Deprecated */
+  VERTICAL                : 1,   /*<! Deprecated */
+  VISION                  : 2,   /*<! Detection of 2D horizontal tags on drone shells */
+  NONE                    : 3,   /*<! Detection disabled */
+  COCARDE                 : 4,   /*<! Detects a roundel under the drone */
+  ROUNDEL                 : 4,   /*<! Detects a roundel under the drone */
+  ORIENTED_COCARDE        : 5,   /*<! Detects an oriented roundel under the drone */
+  ORIENTED_ROUNDEL        : 5,   /*<! Detects an oriented roundel under the drone */
+  STRIPE                  : 6,   /*<! Detects a uniform stripe on the ground */
+  H_COCARDE               : 7,   /*<! Detects a roundel in front of the drone */
+  H_ROUNDEL               : 7,   /*<! Detects a roundel in front of the drone */
+  H_ORIENTED_COCARDE      : 8,   /*<! Detects an oriented roundel in front of the drone */
+  H_ORIENTED_ROUNDEL      : 8,   /*<! Detects an oriented roundel in front of the drone */
+  STRIPE_V                : 9,
+  MULTIPLE_DETECTION_MODE : 10,  /* The drone uses several detections at the same time */
+  CAP                     : 11,  /*<! Detects a Cap orange and green in front of the drone */
+  ORIENTED_COCARDE_BW     : 12,  /*<! Detects the black and white roundel */
+  ORIENTED_ROUNDEL_BW     : 12,  /*<! Detects the black and white roundel */
+  VISION_V2               : 13,  /*<! Detects 2nd version of shell/tag in front of the drone */
+  TOWER_SIDE              : 14,  /*<! Detect a tower side with the front camera */
+  NUM                     : 15   /*<! Number of possible values for CAD_TYPE */
+};
+
+constants.TAG_TYPE = {
+  NONE             : 0,
+  SHELL_TAG        : 1,
+  ROUNDEL          : 2,
+  ORIENTED_ROUNDEL : 3,
+  STRIPE           : 4,
+  CAP              : 5,
+  SHELL_TAG_V2     : 6,
+  TOWER_SIDE       : 7,
+  BLACK_ROUNDEL    : 8,
+  NUM              : 9
+};
+
+constants.FLYING_MODE = {
+  FREE_FLIGHT                      : 0,       /**< Normal mode, commands are enabled */
+  HOVER_ON_TOP_OF_ROUNDEL          : 1 << 0,  /**< Commands are disabled, drones hovers on top of a roundel - roundel detection MUST be activated by the user with 'detect_type' configuration. */
+  HOVER_ON_TOP_OF_ORIENTED_ROUNDEL : 1 << 1   /**< Commands are disabled, drones hovers on top of an oriented roundel - oriented roundel detection MUST be activated by the user with 'detect_type' configuration. */
+};
+
+constants.ARDRONE_DETECTION_COLOR = {
+  ORANGE_GREEN       : 1,    /*!< Cameras detect orange-green-orange tags */
+  ORANGE_YELLOW      : 2,    /*!< Cameras detect orange-yellow-orange tags*/
+  ORANGE_BLUE        : 3,    /*!< Cameras detect orange-blue-orange tags */
+  ARRACE_FINISH_LINE : 0x10,
+  ARRACE_DONUT       : 0x11
 };

lib/navdata/NavdataReader.js

@@ -27,6 +27,43 @@ NavdataReader.prototype.float32 = function() {
   return this.float32LE();
 };
 
+NavdataReader.prototype.char = function() {
+  return this._buffer[ this._offset ];
+};
+
+NavdataReader.prototype.bool = function() {
+  return !!this.char();
+};
+
+NavdataReader.prototype.matrix33 = function() {
+  return {
+    m11 : this.float32(),
+    m12 : this.float32(),
+    m13 : this.float32(),
+    m21 : this.float32(),
+    m22 : this.float32(),
+    m23 : this.float32(),
+    m31 : this.float32(),
+    m32 : this.float32(),
+    m33 : this.float32()
+  };
+};
+
+NavdataReader.prototype.vector31 = function() {
+  return {
+    x : this.float32(),
+    y : this.float32(),
+    z : this.float32()
+  };
+};
+
+NavdataReader.prototype.screenPoint = function() {
+  return {
+    x : this.int32(),
+    y : this.int32()
+  };
+};
+
 NavdataReader.prototype.mask32 = function(mask) {
   var value = this.uint32();
   return this._mask(mask, value);

lib/navdata/maskingFunctions.js

@@ -0,0 +1,25 @@
+var constants = require('../constants');
+
+exports.NAVDATA_NUM_TAGS         = Object.keys(constants.options).length;
+exports.NAVDATA_OPTION_FULL_MASK = (1<<exports.NAVDATA_NUM_TAGS) - 1;
+
+exports.TAG_TYPE_MASK = function (tagtype) {
+  return (tagtype == 0) ? 0 : 1 << (tagtype - 1);
+};
+
+exports.NAVDATA_OPTION_MASK = function (option) {
+  return 1 << option;
+};
+
+exports.maskFromNavdataOptions = function (options) {
+  if (!Array.isArray(options)) {
+    options = Array.prototype.slice.call(arguments);
+  }
+
+  var masks = options.map(exports.NAVDATA_OPTION_MASK);
+  var mask  = masks.reduce(function (prev, curr) {
+    return prev | curr;
+  });
+
+  return mask;
+};