cylon-crazyflie/lib/adaptor.js

Cylon adaptor/drivers for Crazyflie nanocopter

/*
 * cylon crazyflie adaptor
 * http://cylonjs.com
 *
 * Copyright (c) 2013-2014 The Hybrid Group
 * Licensed under the Apache 2.0 license.
*/

"use strict";

var Aerogel = require("aerogel"),
    Cylon = require("cylon");

var Commands = require("./commands");

var Adaptor = module.exports = function Adaptor(opts) {
  if (opts == null) { opts = {}; }

  Adaptor.__super__.constructor.apply(this, arguments);

  this.aerogelDriver = new Aerogel.CrazyDriver();
  this.aerogelDriver.radio = new Aerogel.CrazyRadio();
  this.connector = this.copter = new Aerogel.Copter(this.aerogelDriver);
  this.commands = Commands;
  this.proxyMethods(Commands, this.copter, this);
};

Cylon.Utils.subclass(Adaptor, Cylon.Adaptor);

/**
 * Connects to the Crazyflie
 *
 * @param {Function} callback to be triggered when connected
 * @return {void}
 */
Adaptor.prototype.connect = function(callback) {
  var port = this.port;

  if (!port) {
    this.connectFirstCopter(callback);
  } else {
    this.doConnect(port, callback);
  }
};

Adaptor.prototype.doConnect = function(port, callback) {
  this.copter.connect(port).then(function(data) {
    this.emit("connect");
    callback(null, data);
  }.bind(this));
};

/**
 * Disconnects from the Crazyflie
 *
 * @param {Function} callback to be triggered when disconnected
 * @return {void}
 */
Adaptor.prototype.disconnect = function(callback) {
  Cylon.Logger.info("Disconnecting from Adaptor '" + this.name + "'...");
  this.copter.shutdown();
  callback();
};

/**
 * Sets a parameter in the Crazyflie driver
 *
 * @param {String} param parameter to set
 * @param {String} value value to set the parameter to
 * @return {void}
 * @publish
 */
Adaptor.prototype.setParam = function(param, value) {
  this.copter.driver.parameters.set(param, value);
};

Adaptor.prototype.connectFirstCopter = function(callback) {
  this.aerogelDriver.findCopters().then(function(copters) {
    if (copters.length === 0) {
      throw new Error("No copters found!");
    } else {
      this.doConnect(copters[0], callback);
    }
  }.bind(this));
};

Adaptor.prototype.findCopters = function(callback) {
  this.aerogelDriver.findCopters().then(function(copters) {
    callback(null, copters);
  });
};