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app.js
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app.js
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var express = require('express')
, app = express()
, fs = require('fs')
, path = require('path')
, server = require("http").createServer(app)
, io = require('socket.io').listen(server)
, arDrone = require('ar-drone')
, arDroneConstants = require('ar-drone/lib/constants')
;
// Fetch configuration
try {
var config = require('./config');
} catch (err) {
console.log("Missing or corrupted config file. Have a look at config.js.example if you need an example.");
process.exit(-1);
}
// Override the drone ip using an environment variable,
// using the same convention as node-ar-drone
var drone_ip = process.env.DEFAULT_DRONE_IP || '192.168.1.1';
// Keep track of plugins js and css to load them in the view
var scripts = []
, styles = []
;
app.configure(function () {
app.set('port', process.env.PORT || 3000);
app.set('views', __dirname + '/views');
app.set('view engine', 'ejs', { pretty: true });
app.use(express.favicon());
app.use(express.logger('dev'));
app.use(app.router);
app.use(express.static(path.join(__dirname, 'public')));
app.use("/components", express.static(path.join(__dirname, 'bower_components')));
});
app.configure('development', function () {
app.use(express.errorHandler());
app.locals.pretty = true;
});
app.get('/', function (req, res) {
res.render('index', {
title: 'WebFlight'
,scripts: scripts
,styles: styles
,options: {
keyboard: config.keyboard
}
});
});
function navdata_option_mask(c) {
return 1 << c;
}
// From the SDK.
var navdata_options = (
navdata_option_mask(arDroneConstants.options.DEMO)
| navdata_option_mask(arDroneConstants.options.VISION_DETECT)
| navdata_option_mask(arDroneConstants.options.MAGNETO)
| navdata_option_mask(arDroneConstants.options.WIFI)
);
// Connect and configure the drone
var client = new arDrone.createClient({timeout:4000});
client.config('general:navdata_demo', 'TRUE');
client.config('video:video_channel', '0');
client.config('general:navdata_options', navdata_options);
// Add a handler on navdata updates
var latestNavData;
client.on('navdata', function (d) {
latestNavData = d;
});
// Signal landed and flying events.
client.on('landing', function () {
console.log('LANDING');
io.sockets.emit('landing');
});
client.on('landed', function () {
console.log('LANDED');
io.sockets.emit('landed');
});
client.on('takeoff', function() {
console.log('TAKEOFF');
io.sockets.emit('takeoff');
});
client.on('hovering', function() {
console.log('HOVERING');
io.sockets.emit('hovering');
});
client.on('flying', function() {
console.log('FLYING');
io.sockets.emit('flying');
});
// Process new websocket connection
io.set('log level', 1);
io.sockets.on('connection', function (socket) {
socket.emit('event', { message: 'Welcome to cockpit :-)' });
});
// Schedule a time to push navdata updates
var pushNavData = function() {
io.sockets.emit('navdata', latestNavData);
};
var navTimer = setInterval(pushNavData, 100);
// Prepare dependency map for plugins
var deps = {
server: server
, app: app
, io: io
, client: client
, config: config
};
// Load the plugins
var dir = path.join(__dirname, 'plugins');
function getFilter(ext) {
return function(filename) {
return filename.match(new RegExp('\\.' + ext + '$', 'i'));
};
}
config.plugins.forEach(function (plugin) {
console.log("Loading " + plugin + " plugin.");
// Load the backend code
require(path.join(dir, plugin))(plugin, deps);
// Add the public assets to a static route
if (fs.existsSync(assets = path.join(dir, plugin, 'public'))) {
app.use("/plugin/" + plugin, express.static(assets));
}
// Add the js to the view
if (fs.existsSync(js = path.join(assets, 'js'))) {
fs.readdirSync(js).filter(getFilter('js')).forEach(function(script) {
scripts.push("/plugin/" + plugin + "/js/" + script);
});
}
// Add the css to the view
if (fs.existsSync(css = path.join(assets, 'css'))) {
fs.readdirSync(css).filter(getFilter('css')).forEach(function(style) {
styles.push("/plugin/" + plugin + "/css/" + style);
});
}
});
// Start the web server
server.listen(app.get('port'), function() {
console.log('AR. Drone WebFlight is listening on port ' + app.get('port'));
});