aerogel - npm Package Compare versions

Comparing version 0.0.2 to 0.0.3

examples/telemetry.js

@@ -1,61 +0,28 @@
-var
-	Aerogel = require('../index')
-	;
+var Aerogel = require('../index');
 
 var driver = new Aerogel.CrazyDriver();
 var copter = new Aerogel.Copter(driver);
-process.on('SIGINT', copter.land.bind(copter));
+var params;
+process.on('SIGINT', bail);
 
-console.log('telemetry logging...');
+console.log('just connecting & sitting to log some telemetry info...');
 
-
-function shutItDown()
+function bail()
 {
-	console.log('shutting down');
-	copter.shutdown()
-	.then(function(response)
+	console.log('entered bail()');
+	return copter.shutdown()
+	.then(function()
 	{
-		console.log('shutting down:', response);
-		process.exit(0);
+		return process.exit(0);
 	})
 	.fail(function(err)
 	{
-		console.log('error: ', err);
-		copter.shutdown()
-		.then(function(response)
-		{
-			process.exit(1);
-		});
-	})
-	.done();
-}
-
-function flyAndLog()
-{
-	copter.takeoff()
-	.then(function() { return copter.land(); })
-	.then(function() { return copter.shutdown(); })
-	.then(function(response)
-	{
-		console.log(response);
-		process.exit(0);
-	})
-	.fail(function(err)
-	{
 		console.log(err);
-		copter.shutdown()
-		.then(function(response)
-		{
-			console.log(response);
-			process.exit(1);
-		});
+		copter.shutdown();
+		return process.exit(0);
 	})
 	.done();
-
 }
 
-copter.on('ready', function()
-{
-	setTimeout(shutItDown, 20000);
-});
+setTimeout(bail, 30000);
 
@@ -79,4 +46,30 @@ driver.findCopters()
 })
+.then(function()
+{
+	console.log('got all telemetry & parameters');
+
+	params = copter.driver.parameters.all();
+	console.log(params);
+	return copter.driver.parameters.get('pid_attitude.yaw_kd');
+})
+.then(function(value)
+{
+	console.log('pid_attitude.yaw_kd:', value);
+	return copter.shutdown();
+})
+.then(function(response)
+{
+	console.log('Shutdown complete.');
+	process.exit(0);
+})
+.fail(function(err)
+{
+	console.log(err);
+	copter.shutdown()
+	.then(function(response)
+	{
+		console.log(response);
+		process.exit(1);
+	});
+})
 .done();
-
-

lib/copter.js

@@ -45,12 +45,15 @@ var
 {
-	var self = this;
+	var self = this,
+		deferred = P.defer();
 	self.copterStates.connect();
 
-	return self.driver.connect(uri)
+	self.driver.connect(uri)
 	.then(function()
 	{
-		self.driver.onStabilizerTelemetry(self.handleStabilizerTelemetry.bind(self));
-		self.driver.onMotorTelemetry(self.handleMotorTelemetry.bind(self));
+		self.driver.telemetry.subscribe('motor', self.handleMotorTelemetry.bind(self));
+		self.driver.telemetry.subscribe('stabilizer', self.handleStabilizerTelemetry.bind(self));
+		self.driver.telemetry.subscribe('accelerometer', self.handleAccTelemetry.bind(self));
 		self.copterStates.ready();
 		self.emit('ready');
+		deferred.resolve('ready');
 	})
@@ -61,4 +64,7 @@ .fail(function(err)
 		self.emit('error', err);
+		deferred.reject(err);
 	})
 	.done();
+
+	return deferred.promise;
 };
@@ -72,4 +78,2 @@
 
-	console.log('takeoff()');
-
 	this.copterStates.takeoff();
@@ -220,3 +224,3 @@ this.pulseTimer = setInterval(this.pulse.bind(this), 100);
 	{
-		console.log('entering', current, 'from', previous);
+		console.log('STATE CHANGE:', previous, '-->', current);
 	};
@@ -303,3 +307,2 @@ };
 	case 'flying':
-		console.log(data.thrust, this.currentSetpoint.thrust);
 		/*
@@ -365,2 +368,7 @@ var diff = data.yaw - this.goal.yaw;
 
+Copter.prototype.handleAccTelemetry = function(data)
+{
+	// console.log('acc:', data);
+};
+
 Copter.prototype.shutdown = function()
@@ -367,0 +375,0 @@ {

lib/crazydriver.js

 // Crazy Real Time Protocol Driver
 // This module knows how to format messages for the crazy radio and the copter.
+// There's some repetition because the emphasis is on provding a clear, readable
+// API to higher levels.
 
@@ -12,6 +14,8 @@ var
 	Crazypacket = require('./crazypacket'),
+	Parameters  = require('./parameters'),
+	Protocol    = require('./protocol'),
 	Telemetry   = require('./telemetry')
 	;
 
-function CrazyDriver(name)
+var CrazyDriver = module.exports = function CrazyDriver(name)
 {
@@ -23,5 +27,5 @@ events.EventEmitter.call(this);
 	this.datarate = 2;
-	this.queue    = [];
 	this.telemetry = new Telemetry(this);
-}
+	this.parameters = new Parameters(this);
+};
 util.inherits(CrazyDriver, events.EventEmitter);
@@ -37,3 +41,3 @@
 	return self.radio.setupRadio()
-	.then(self.radio.setAckRetryCount(1))
+	.then(function() { return self.radio.setAckRetryCount(1); })
 	.then(function() { return self.scanAtRate(0); })
@@ -94,5 +98,3 @@ .then(function(res1)
 		for (var i = 0; i < result.length; i++)
-		{
 			copters.push(util.format('radio://1/%d/%s', result[i], CrazyDriver.DATARATE[datarate]));
-		}
 
@@ -131,2 +133,5 @@ return copters;
 
+	this.radio.addListener('logging', this.telemetry.handlePacket.bind(this.telemetry));
+	this.radio.addListener('param', this.parameters.handlePacket.bind(this.parameters));
+
 	this.channel = parseInt(pieces[1], 10);
@@ -136,3 +141,7 @@ return self.radio.setupRadio(null, self.channel, self.datarate)
 	{
-		return self.startTelemetry();
+		return self.startTelemetry(); // completion required for flight
+	})
+	.then(function()
+	{
+		return self.fetchParameters();
 	});
@@ -163,5 +172,4 @@ };
 	var packet = new Crazypacket();
-	packet.port = Crazypacket.Ports.COMMANDER;
+	packet.port = Protocol.Ports.COMMANDER;
 
-	// first byte is for the header data
 	packet.writeFloat(roll)
@@ -176,3 +184,2 @@ .writeFloat(-pitch)
 	{
-		// console.log(item);
 		return item;
@@ -188,58 +195,104 @@ })
 // parameter functions: get list, set, get
-// telemetry aka logging functions
 
-CrazyDriver.prototype.startTelemetry = function()
+CrazyDriver.prototype.fetchParameters = function()
 {
-	this.telemetryDeferred = P.defer();
-
-	this.radio.addListener('logging', this.telemetry.handlePacket.bind(this.telemetry));
-	this.requestTOC();
-
-	return this.telemetryDeferred.promise;
+	var self = this;
+	this.parametersDeferred = P.defer();
+	this.requestTOC(Protocol.Ports.PARAM);
+	return this.parametersDeferred.promise;
 };
 
-CrazyDriver.prototype.telemetryReady = function()
+CrazyDriver.prototype.parametersDone = function()
 {
-	this.telemetryDeferred.resolve('OK');
+	if (!this.parametersDeferred) return;
+	this.parametersDeferred.resolve('OK');
+	this.parametersDeferred = undefined;
 };
 
-CrazyDriver.prototype.onStabilizerTelemetry = function(subfunc)
+CrazyDriver.prototype.getParameter = function(param)
 {
-	this.telemetry.addSubscriber(subfunc, 'stabilizer');
+	var packet = new Crazypacket();
+	packet.port = Protocol.Ports.PARAM;
+	packet.channel = Protocol.Channels.PARAM_READ;
+	packet.writeByte(param);
+	packet.endPacket();
+
+	return this.radio.sendPacket(packet);
 };
 
-CrazyDriver.prototype.onMotorTelemetry = function(subfunc)
+CrazyDriver.prototype.setParameter = function(param, value)
 {
-	this.telemetry.addSubscriber(subfunc, 'motor');
+	var packet = new Crazypacket();
+	packet.port = Protocol.Ports.PARAM;
+	packet.channel = Protocol.Channels.PARAM_WRITE;
+
+	packet.writeByte(param.id)
+	.writeType(param.type, value)
+	.endPacket();
+
+	return this.radio.sendPacket(packet);
 };
 
-CrazyDriver.prototype.requestTOC = function()
+// telemetry, which the Crazy protocol calls "logging"
+
+CrazyDriver.prototype.startTelemetry = function()
 {
+	console.log('starting telemetry');
 	var self = this;
+	this.telemetryDeferred = P.defer();
 
 	var packet = new Crazypacket();
-	packet.port = Crazypacket.Ports.LOGGING;
-	packet.channel = Crazypacket.Channels.SETTINGS;
-	packet.writeByte(Crazypacket.Commands.RESET_LOGGING);
+	packet.port = Protocol.Ports.LOGGING;
+	packet.channel = Protocol.Channels.SETTINGS;
+	packet.writeByte(Protocol.Commands.RESET_LOGGING);
 	packet.endPacket();
 
-	return self.radio.sendPacket(packet)
+	this.radio.sendPacket(packet)
 	.then(function()
 	{
-		packet = new Crazypacket();
-		packet.port = Crazypacket.Ports.LOGGING;
-		packet.channel = Crazypacket.Channels.TOC;
-		packet.writeByte(Crazypacket.Commands.GET_INFO);
-		packet.endPacket();
+		self.requestTOC(Protocol.Ports.LOGGING);
+	});
 
-		return self.radio.sendPacket(packet);
-	});
+	return this.telemetryDeferred.promise;
 };
 
+CrazyDriver.prototype.telemetryReady = function()
+{
+	if (!this.telemetryDeferred) return;
+	this.telemetryDeferred.resolve('OK');
+	this.telemetryDeferred = undefined;
+};
+
+// ---------------------
+// now the heavy lifting
+
+CrazyDriver.prototype.requestTOC = function(which)
+{
+	var packet = new Crazypacket();
+	packet.port = which;
+	packet.channel = Protocol.Channels.TOC;
+	packet.writeByte(Protocol.Commands.GET_INFO);
+	packet.endPacket();
+
+	return this.radio.sendPacket(packet);
+};
+
+// request details about a specific parameter or telemetry item
+
 CrazyDriver.prototype.requestTelemetryElement = function(id)
 {
+	return this.requestTOCItem(Protocol.Ports.LOGGING, id);
+};
+
+CrazyDriver.prototype.requestParameter = function(id)
+{
+	return this.requestTOCItem(Protocol.Ports.PARAM, id);
+};
+
+CrazyDriver.prototype.requestTOCItem = function(port, id)
+{
 	var packet = new Crazypacket();
-	packet.port = Crazypacket.Ports.LOGGING;
-	packet.channel = Crazypacket.Channels.TOC;
-	packet.writeByte(Crazypacket.Commands.GET_ELEMENT);
+	packet.port = port;
+	packet.channel = Protocol.Channels.TOC;
+	packet.writeByte(Protocol.Commands.GET_ELEMENT);
 	if (id)
@@ -252,8 +305,11 @@ packet.writeByte(id);
 
+// Create a telemetry block, aka a group of sensor readings that
+// get emitted by the copter periodically.
+
 CrazyDriver.prototype.createTelemetryBlock = function(block)
 {
 	var packet = new Crazypacket();
-	packet.port = Crazypacket.Ports.LOGGING;
-	packet.channel = Crazypacket.Channels.SETTINGS;
-	packet.writeByte(Crazypacket.Commands.CREATE_BLOCK)
+	packet.port = Protocol.Ports.LOGGING;
+	packet.channel = Protocol.Channels.SETTINGS;
+	packet.writeByte(Protocol.Commands.CREATE_BLOCK)
 		.writeByte(block.id);
@@ -275,5 +331,5 @@
 	var packet = new Crazypacket();
-	packet.port = Crazypacket.Ports.LOGGING;
-	packet.channel = Crazypacket.Channels.SETTINGS;
-	packet.writeByte(Crazypacket.Commands.START_LOGGING)
+	packet.port = Protocol.Ports.LOGGING;
+	packet.channel = Protocol.Channels.SETTINGS;
+	packet.writeByte(Protocol.Commands.START_LOGGING)
 		.writeByte(block)
@@ -288,7 +344,5 @@ .writeByte(10) // period
 {
-	// TODO record ack stats
+	// TODO record ack stats-- dropped packets etc
 	var ack = new Crazypacket.RadioAck(buf);
 	return P(ack);
 };
-
-module.exports = CrazyDriver;

lib/crazypacket.js

@@ -24,38 +24,88 @@ // Crazyradio should offer a method to take data in, format it properly
 
-
 // --------------------------------------------
+// chainable write methods
+// This is sugar so you never have to resize your buffer & to track how many
+// bytes we need to write over the radio.
 
-Crazypacket.Ports =
+Crazypacket.readType = function(buffer, type, offset)
 {
-	CONSOLE     : 0x00,
-	PARAM       : 0x02,
-	COMMANDER   : 0x03,
-	LOGGING     : 0x05,
-	DEBUGDRIVER : 0x0E,
-	LINKCTRL    : 0x0F,
-	ALL         : 0xFF,
+	switch(type)
+	{
+	case 'uint8_t':
+		return buffer.readUInt8(offset);
+
+	case 'uint16_t':
+		return buffer.readUInt16(offset);
+
+	case 'uint32_t':
+		return buffer.readUInt32(offset);
+
+	case 'uint64_t':
+		return buffer.readUInt64(offset);
+
+	case 'int8_t':
+		return buffer.readInt8(offset);
+
+	case 'int16_t':
+		return buffer.readInt16(offset);
+
+	case 'int32_t':
+		return buffer.readInt32(offset);
+
+	case 'int64_t':
+		return buffer.readInt64(offset);
+
+	case 'float':
+		return buffer.readFloatLE(offset);
+
+	case 'double':
+		return buffer.readDoubleLE(offset);
+
+	default:
+		// log?
+		return 0;
+	}
 };
 
-Crazypacket.Channels =
+
+Crazypacket.prototype.writeType = function(type, value)
 {
-	TOC:      0,
-	SETTINGS: 1,
-	LOGDATA:  2
-};
+	switch(type)
+	{
+	case 'uint8_t':
+		return this.writeByte(value);
 
-Crazypacket.Commands =
-{
-	CREATE_BLOCK:  0,
-	APPEND_BLOCK:  1,
-	DELETE_BLOCK:  2,
-	START_LOGGING: 3,
-	STOP_LOGGING:  4,
-	RESET_LOGGING: 5,
-	GET_ELEMENT:   0,
-	GET_INFO:      1
+	case 'uint16_t':
+		return this.writeUnsignedShort(value);
+
+	case 'uint32_t':
+		return this.writeUnsignedLong(value);
+
+	case 'uint64_t':
+		return this.writeUnsignedLongLong(value);
+
+	case 'int8_t':
+		return this.writeInt(value);
+
+	case 'int16_t':
+		return this.writeShort(value);
+
+	case 'int32_t':
+		return this.writeLong(value);
+
+	case 'int64_t':
+		return this.writeLongLong(value);
+
+	case 'float':
+		return this.writeFloat(value);
+
+	case 'double':
+		return this.writeDouble(value);
+
+	default:
+		// log?
+		return this;
+	}
 };
 
-// --------------------------------------------
-// chainable write methods
-
 Crazypacket.prototype.resizeBuffer = function()
@@ -81,2 +131,27 @@ {
 
+Crazypacket.prototype.writeDouble = function(value)
+{
+	if (!this._writable)
+		return;
+	if (this.pointer + 8 >= this.data.length)
+		this.resizeBuffer();
+
+	this.data.writeDoubleLE(value, this.pointer);
+	this.pointer += 8;
+	return this;
+
+};
+
+Crazypacket.prototype.writeByte = function(value)
+{
+	if (!this._writable)
+		return;
+	if (this.pointer + 1 >= this.data.length)
+		this.resizeBuffer();
+
+	this.data.writeUInt8(value, this.pointer);
+	this.pointer++;
+	return this;
+};
+
 Crazypacket.prototype.writeUnsignedShort = function(value)
@@ -94,10 +169,36 @@ {
 
-Crazypacket.prototype.writeByte = function(value)
+Crazypacket.prototype.writeUnsignedLong = function(value)
 {
 	if (!this._writable)
 		return;
+	if (this.pointer + 4 >= this.data.length)
+		this.resizeBuffer();
+
+	this.data.writeUInt32LE(value, this.pointer);
+	this.pointer += 4;
+	return this;
+};
+
+Crazypacket.prototype.writeUnsignedLongLong = function(value)
+{
+	if (!this._writable)
+		return;
+	if (this.pointer + 8 >= this.data.length)
+		this.resizeBuffer();
+
+	this.data.writeUInt64LE(value, this.pointer);
+	this.pointer += 8;
+	return this;
+};
+
+//
+
+Crazypacket.prototype.writeInt = function(value)
+{
+	if (!this._writable)
+		return;
 	if (this.pointer + 1 >= this.data.length)
 		this.resizeBuffer();
 
-	this.data.writeUInt8(value, this.pointer);
+	this.data.writeInt8(value, this.pointer);
 	this.pointer++;
@@ -107,2 +208,39 @@ return this;
 
+Crazypacket.prototype.writeShort = function(value)
+{
+	if (!this._writable)
+		return;
+	if (this.pointer + 2 >= this.data.length)
+		this.resizeBuffer();
+
+	this.data.writeInt16LE(value, this.pointer);
+	this.pointer += 2;
+	return this;
+};
+
+Crazypacket.prototype.writeLong = function(value)
+{
+	if (!this._writable)
+		return;
+	if (this.pointer + 4 >= this.data.length)
+		this.resizeBuffer();
+
+	this.data.writeInt32LE(value, this.pointer);
+	this.pointer += 4;
+	return this;
+};
+
+Crazypacket.prototype.writeLongLong = function(value)
+{
+	if (!this._writable)
+		return;
+	if (this.pointer + 8 >= this.data.length)
+		this.resizeBuffer();
+
+	this.data.writeInt64LE(value, this.pointer);
+	this.pointer += 8;
+	return this;
+};
+
+// ready to write over the radio...
 Crazypacket.prototype.endPacket = function()
@@ -195,3 +333,3 @@ {
 
-module.exports      = Crazypacket;
+module.exports = Crazypacket;
 Crazypacket.Ack = RadioAck;

lib/crazyradio.js

@@ -10,2 +10,3 @@ var
 	Crazypacket       = require('./crazypacket'),
+	Protocol          = require('./protocol'),
 	usbstreams        = require('./usbstreams'),
@@ -37,5 +38,2 @@ WritableUSBStream = usbstreams.WritableUSBStream,
 
-
-// ----- The radio driver
-
 function findCrazyradios()
@@ -51,3 +49,3 @@ {
 
-function Crazyradio()
+var Crazyradio = module.exports = function Crazyradio()
 {
@@ -68,3 +66,3 @@ events.EventEmitter.call(this);
 	this.pingTimer = null;
-}
+};
 util.inherits(Crazyradio, events.EventEmitter);
@@ -126,3 +124,2 @@
 	input.addListener('readable', this.onReadable.bind(this));
-	input.addListener('end', this.onInputEnd.bind(this));
 	input.addListener('error', this.onInputError.bind(this));
@@ -325,8 +322,2 @@
 
-	/*
-	We inspect the packet to determinewhich channel it's addressed
-	to. We then handed off to be parsed further & sent along to any subscribers
-	to that kind of event.
-	*/
-
 	// console.log('got packet for port ' + ack.packet.port, 'length:', ack.packet.data.length);
@@ -336,19 +327,19 @@
 	{
-	case Crazypacket.Ports.CONSOLE:
+	case Protocol.Ports.CONSOLE:
 		this.emit('console', ack.packet);
 		break;
 
-	case Crazypacket.Ports.PARAM:
+	case Protocol.Ports.PARAM:
 		this.emit('param', ack.packet);
 		break;
 
-	case Crazypacket.Ports.COMMANDER:
+	case Protocol.Ports.COMMANDER:
 		this.emit('commander', ack.packet);
 		break;
 
-	case Crazypacket.Ports.LOGGING:
+	case Protocol.Ports.LOGGING:
 		this.emit('logging', ack.packet);
 		break;
 
-	case Crazypacket.Ports.LINKCTRL:
+	case Protocol.Ports.LINKCTRL:
 		this.emit('linkcontrol', ack);
@@ -370,2 +361,8 @@ break;
 	console.log('usb stream input error:', err);
+	this.close()
+	.then(function()
+	{
+		console.log('shutting down following usb error.');
+		process.exit(0);
+	});
 };
@@ -379,3 +376,2 @@
 	var d = domain.create();
-
 	d.on('error', function(err)
@@ -411,6 +407,2 @@ {
 
-// exports
 
-module.exports = Crazyradio;
-
-

lib/telemetry.js

@@ -9,3 +9,3 @@ // See the logging section here:
 	P           = require('p-promise'),
-	Crazypacket = require('./crazypacket')
+	Protocol    = require('./protocol')
 	;
@@ -35,2 +35,3 @@
 	this.stabilizerblock = null;
+	this.accblock        = null;
 	this.nextBlockID     = 16;
@@ -45,4 +46,4 @@ this.blocks          = {};
 	{
-	case Crazypacket.Channels.TOC:
-		if (packet.payload[0] === Crazypacket.Commands.GET_ELEMENT)
+	case Protocol.Channels.TOC:
+		if (packet.payload[0] === Protocol.Commands.GET_ELEMENT)
 			this.handleTOCElement(packet.payload);
@@ -53,7 +54,7 @@ else
 
-	case Crazypacket.Channels.SETTINGS:
+	case Protocol.Channels.SETTINGS:
 		this.handleSettings(packet.payload);
 		break;
 
-	case Crazypacket.Channels.LOGDATA:
+	case Protocol.Channels.LOGDATA:
 		this.handleBlock(packet.payload);
@@ -73,20 +74,6 @@ break;
 
-	var ptr = 1;
-	// var next = payload[1];
 	var item = new TelemetryDatum();
-	item.id = payload[ptr++];
-	item.type = payload[ptr++];
+	item.read(payload);
 
-	var start = ptr;
-	while (payload[ptr] !== 0x00)
-		ptr++;
-	item.group = payload.slice(start, ptr).toString();
-
-	start = ++ptr;
-	while (payload[ptr] !== 0x00)
-		ptr++;
-	item.name = payload.slice(start, ptr).toString();
-
-	item.fullname = item.group + '.' + item.name;
-	// console.log('telemetry variable: ' + item.fullname, item.id, item.type);
+	console.log('telemetry: ' + item.fullname, item.id, item.type);
 	this.variables[item.fullname] = item;
@@ -102,4 +89,4 @@
 {
-	this.total = payload[1];
-	this.CRC   = payload.slice(2);
+	this.total = payload[1] - 1;
+	this.CRC = payload.readUInt16LE(2);
 	this.driver.requestTelemetryElement(0);
@@ -112,23 +99,23 @@ };
 	{
-	case Crazypacket.Commands.CREATE_BLOCK:
+	case Protocol.Commands.CREATE_BLOCK:
 		//console.log('telemetry block ' + payload[1] + ' created: ' + (payload[2] === 0));
 		break;
 
-	case Crazypacket.Commands.APPEND_BLOCK:
+	case Protocol.Commands.APPEND_BLOCK:
 		console.log('telemetry block ' + payload[1] + ' appended to: ' + (payload[2] === 0));
 		break;
 
-	case Crazypacket.Commands.DELETE_BLOCK:
+	case Protocol.Commands.DELETE_BLOCK:
 		console.log('telemetry block ' + payload[1] + ' deleted: ' + (payload[2] === 0));
 		break;
 
-	case Crazypacket.Commands.START_LOGGING:
+	case Protocol.Commands.START_LOGGING:
 		// console.log('telemetry block ' + payload[1] + ' enabled: ' + (payload[2] === 0));
 		break;
 
-	case Crazypacket.Commands.STOP_LOGGING:
+	case Protocol.Commands.STOP_LOGGING:
 		console.log('telemetry block ' + payload[1] + ' stopped: ' + (payload[2] === 0));
 		break;
 
-	case Crazypacket.Commands.RESET_LOGGING:
+	case Protocol.Commands.RESET_LOGGING:
 		// console.log('telemetry reset: ' + payload.slice(1));
@@ -144,9 +131,13 @@ break;
 	case this.motorblock:
-		this.handleMotorTelemetry(payload);
+		this.handleMotor(payload);
 		break;
 
 	case this.stabilizerblock:
-		this.handleStabilizerTelemetry(payload);
+		this.handleStabilizer(payload);
 		break;
 
+	case this.accblock:
+		this.handleAccelerometer(payload);
+		break;
+
 	default:
@@ -158,3 +149,3 @@ console.log('got telemetry but not ready for it yet; id=', payload[0]);
 
-Telemetry.prototype.addSubscriber = function(subfunc, group)
+Telemetry.prototype.subscribe = function(group, subfunc)
 {
@@ -173,2 +164,13 @@ switch (group)
 
+	case 'accelerometer':
+		if (!this.variables['acc.x'])
+		{
+			console.log('** no accelerometer telemetry available');
+			return;
+		}
+		this.startAccelerometer();
+		this.addListener('accelerometer', subfunc);
+		break;
+
+
 	default:
@@ -231,4 +233,29 @@ console.error('warning: cannot subscribe to non-existent telemetry group ' + group);
 
-Telemetry.prototype.handleMotorTelemetry = function(payload)
+Telemetry.prototype.startAccelerometer = function()
 {
+	var self = this;
+	if (this.accblock)
+		return;
+
+	var block =
+	{
+		id: this.nextBlockID++,
+		variables:
+		[
+			{ fetchAs: 7, type: this.variables['acc.x'].type, id: this.variables['acc.x'].id },
+			{ fetchAs: 7, type: this.variables['acc.y'].type, id: this.variables['acc.y'].id },
+			{ fetchAs: 7, type: this.variables['acc.z'].type, id: this.variables['acc.z'].id },
+		],
+	};
+
+	this.driver.createTelemetryBlock(block)
+	.then(function()
+	{
+		self.accblock = block.id;
+		self.driver.enableTelemetryBlock(block.id);
+	}).done();
+};
+
+Telemetry.prototype.handleMotor = function(payload)
+{
 	var update =
@@ -244,9 +271,9 @@ {
 
-Telemetry.prototype.handleStabilizerTelemetry = function(payload)
+Telemetry.prototype.handleStabilizer = function(payload)
 {
 	var update =
 	{
-		roll: payload.readFloatLE(4),
+		roll:  payload.readFloatLE(4),
 		pitch: payload.readFloatLE(8),
-		yaw: payload.readFloatLE(12)
+		yaw:   payload.readFloatLE(12)
 	};
@@ -256,2 +283,13 @@ this.emit('stabilizer', update);
 
+Telemetry.prototype.handleAccelerometer = function(payload)
+{
+	var update =
+	{
+		x: payload.readFloatLE(4),
+		y: payload.readFloatLE(8),
+		z: payload.readFloatLE(12)
+	};
+	this.emit('accelerometer', update);
+};
+
 function TelemetryDatum()
@@ -266,2 +304,21 @@ {
 
+TelemetryDatum.prototype.read = function(payload)
+{
+	var ptr = 1;
+	this.id = payload[ptr++];
+	this.type = payload[ptr++];
+
+	var start = ptr;
+	while (payload[ptr] !== 0x00)
+		ptr++;
+	this.group = payload.slice(start, ptr).toString();
+
+	start = ++ptr;
+	while (payload[ptr] !== 0x00)
+		ptr++;
+	this.name = payload.slice(start, ptr).toString();
+
+	this.fullname = this.group + '.' + this.name;
+};
+
 module.exports = Telemetry;

lib/usbstreams.js

@@ -47,3 +47,2 @@ var
 	console.log(error);
-	this.endpoint.stopStream();
 };
@@ -55,3 +54,2 @@
 	console.log('readable stream end');
-	this.endpoint.stopStream();
 };
@@ -58,0 +56,0 @@

package.json

 {
 	"name":        "aerogel",
-	"version":     "0.0.2",
+	"version":     "0.0.3",
 	"description": "CrazyFlie control software",
@@ -5,0 +5,0 @@ "author":      "C J Silverio <[e-mail]>",

README.md

@@ -8,2 +8,3 @@ aerogel
 
+[![NPM](https://nodei.co/npm/aerogel.png)](https://nodei.co/npm/aerogel/)
 
@@ -10,0 +11,0 @@ ## Installation

No alert changes

Improved metrics

Total package byte prevSize

60721

increased by8.92%

Number of package files

21

increased by5%

Lines of code

2085

increased by18.26%

Number of lines in readme file

88

increased by1.15%

No dependency changes