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swarm.coffee
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swarm.coffee
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_ = require "underscore"
ardrone = require "ar-drone"
swarm = []
swarm.drones = {}
swarm.forEach = (iterator) ->
Object.keys(swarm.drones).forEach (id) ->
iterator(swarm.drones[id])
swarm.do = (block) ->
swarm.forEach (drone) ->
block?(drone)
swarm.action = (command) ->
swarm.forEach (drone) ->
if drone.enabled
drone.snooze drone.inactivityTime
console.log("drone[#{command.action}]()")
drone[command.action]?()
swarm.move = (control) ->
swarm.forEach (drone) ->
if drone.enabled
drone.snooze drone.inactivityTime
drone.move control
swarm.animate = (animation) ->
swarm.forEach (drone) ->
if drone.enabled
drone.snooze animation.duration # TODO: research wheter the drone times-out or not with longer snooze times
drone.animate(animation.name, animation.duration)
swarm.add = (config) ->
drone = ardrone.createClient(ip: config.ip)
drone.id = config.id || config.ip.split(".").pop()
drone.ip = config.ip
drone.enabled = false
drone.camera = 0
drone.changeCamera = (camera) ->
camera = !drone.camera + 0 if camera == "toggle"
camera = 0 unless typeof camera == "number"
drone.config('video:video_channel', ''+camera);
drone.camera = camera
drone.control =
x: 0
y: 0
z: 0
r: 0
drone.isIddle = ->
return drone.control.x == 0 && drone.control.y == 0 && drone.control.z == 0 && drone.control.r == 0
drone.move = (control) ->
if control
_.extend drone.control, control
console.log drone.control, control, drone.isIddle() if control
else
control = drone.control
if drone.isIddle()
drone.stop()
# console.log("drone.stop", drone.ip)
else
if control.x < 0
drone.left -control.x
# console.log("drone.left", drone.ip, -control.x)
else if control.x > 0
drone.right control.x
# console.log("drone.right", drone.ip, control.x)
if control.y < 0
drone.back -control.y
# console.log("drone.back", drone.ip, -control.y)
else if control.y > 0
drone.front control.y
# console.log("drone.front", drone.ip, control.y)
if control.z < 0
drone.down -control.z
# console.log("drone.down", drone.ip, -control.z)
else if control.z > 0
drone.up control.z
# console.log("drone.up", drone.ip, control.z)
if control.r < 0
drone.counterClockwise -control.r
# console.log("drone.counterClockwise", drone.ip, -control.r)
else if control.r > 0
drone.clockwise control.r
# console.log("drone.clockwise", drone.ip, control.r)
return control
##############################
## AR Drone SDK 2.0.1, page 36
##############################
## ".. AR.Drone 2.0 is reached by sending the AT-commands every 30 ms for smooth drone movements.
## To prevent the drone from considering the WIFI connection as lost, two consecutive commands must
## be sent within less than 2 seconds."
drone.inactivityTime = 200
drone.inactivityTimeout = +new Date + drone.inactivityTime
drone.snooze = (length) ->
console.log "drone %s snooze (keep alive off)", drone.ip if drone.inactive
drone.inactive = false
drone.inactivityTimeout = +new Date + length
drone.keepAlive = ->
if +new Date() > drone.inactivityTimeout
console.log "drone %s inactive (keep alive on)", drone.ip unless drone.inactive
#console.log "drone %s => keepAlive", drone.ip
drone.inactive = true
drone.move() # this will take care of stoping or moving the drone
setInterval drone.keepAlive, 30
# add drone to swarm
swarm.drones[drone.id] = drone
swarm.push drone
module.exports = swarm