ar-drone - npm Package Compare versions

Comparing version 0.0.2 to 0.0.3

CONTRIBUTING.md

@@ -9,3 +9,3 @@ # Contributing
 $ npm install
-$ make test
+$ npm test
 ```
@@ -62,7 +62,4 @@
 
-The Client API is still lacking a few important features:
+The Client API is still lacking an important feature:
 
-* `client.disableEmergency()` - this recovers a drone that is in emergency mode
-  by setting the REF emergency bit for a short moment. This should probably also
-  be done implicitly when a new client is created.
 * `client.config()` - allow sending custom config values to a client. This is
@@ -109,4 +106,4 @@ needed to configure things like the 'navdata' and 'camera' settings.
 
-I don't have a 1.0 AR Drone, but if you have one, I'd be open for patches
-to ensure compatibility.
+It [appears](https://github.com/felixge/node-ar-drone/issues/11#issuecomment-9402270) that this library is compatible with 1.0 drones as well,
+but feel free to submit bugs / patches if you find any problems.
 
@@ -113,0 +110,0 @@ ### Fixing bugs

examples/client.js

 var arDrone = require('..');
 var client = arDrone.createClient();
 
-//client.createRepl();
-client.on('navdata', function(navdata) {
+client.createRepl();
+//client.on('navdata', function(navdata) {
   //console.log(navdata.droneState);
-});
+//});
 
@@ -9,0 +9,0 @@ //client.takeoff();

lib/Client.js

@@ -114,2 +114,11 @@ var EventEmitter = require('events').EventEmitter;
 
+Client.prototype.config = function(key, value) {
+  // @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);
+  });
+};
+
 Client.prototype.animate = function(animation, duration) {
@@ -116,0 +125,0 @@ // @TODO Figure out if we can get a ACK for this, so we don't need to

lib/video/PaVEParser.js

@@ -22,3 +22,4 @@ // The AR Drone 2.0 allows a tcp client to receive H264 (MPEG4.10 AVC) video
 
-PaVEParser.HEADER_SIZE = 64;
+PaVEParser.HEADER_SIZE_SHORT = 64;
+PaVEParser.HEADER_SIZE_LONG = 68;
 
@@ -33,3 +34,3 @@ PaVEParser.prototype.write = function(buffer) {
       case 'header':
-        if (parser.bytesAhead() < PaVEParser.HEADER_SIZE) {
+        if (parser.bytesAhead() < PaVEParser.HEADER_SIZE_LONG) {
           return;
@@ -69,4 +70,9 @@ }
           this.emit('error', new Error('Invalid signature: ' + JSON.stringify(this._frame.signature)));
+          // TODO: skip forward until next frame
+          return;
         }
 
+        // stupid kludge for https://projects.ardrone.org/issues/show/159
+        parser.buffer(this._frame.header_size - PaVEParser.HEADER_SIZE_SHORT);
+
         this._state = 'payload';
@@ -73,0 +79,0 @@ break;

lib/video/PngEncoder.js

 // Converts a video stream into a stream of png buffers. Each 'data' event
 // is guaranteed to contain exactly 1 png image.
 
-// @TODO Figure out why ffmpeg.stdin.write seems to always return false and
-// never emits 'drain' event (so we can get backpressure working)
 // @TODO handle ffmpeg exit (and trigger "error" if unexpected)
@@ -36,3 +34,3 @@
 
-  this._ffmpeg.stdin.write(buffer);
+  return this._ffmpeg.stdin.write(buffer);
 };
@@ -56,2 +54,4 @@
 
+  this._ffmpeg.stdin.on('drain', this.emit.bind(this, 'drain'));
+
   var self = this;
@@ -58,0 +58,0 @@ this._ffmpeg.on('exit', function(code) {

package.json

@@ -5,3 +5,3 @@ {
   "description": "A node.js client for controlling Parrot AR Drone 2.0 quad-copters.",
-  "version": "0.0.2",
+  "version": "0.0.3",
   "homepage": "https://github.com/felixge/node-ar-drone",
@@ -14,3 +14,3 @@ "repository": {
   "scripts": {
-    "test": "make test"
+    "test": "node test/run.js"
   },
@@ -17,0 +17,0 @@ "dependencies": {

README.md

@@ -6,7 +6,13 @@ # ar-drone
 An implementation of the networking protocols used by the
-[Parrot AR Drone 2.0](http://ardrone2.parrot.com/).
+[Parrot AR Drone 2.0](http://ardrone2.parrot.com/). It appears that 1.0 drones are also [compatible](https://github.com/felixge/node-ar-drone/issues/11#issuecomment-9402270).
 
-Install via npm:
+Install via Github to get the *latest* version:
 
 ```bash
+npm install git://github.com/felixge/node-ar-drone.git
+```
+
+Or, if you're fine with missing some cutting edge stuff, go for npm:
+
+```bash
 npm install ar-drone
@@ -158,2 +164,14 @@ ```
 
+#### client.config(key, value)
+
+Sends a config command to the drone. You will need to download the drone
+[SDK](https://projects.ardrone.org/projects/show/ardrone-ap) to find a full list of commands in the `ARDrone_Developer_Guide.pdf`.
+
+For example, this command can be used to instruct the drone to send all navdata.
+
+```js`
+client.config('general:navdata_demo', 'FALSE');
+```
+
+
 #### client.animate(animation, duration)
@@ -160,0 +178,0 @@

test/unit/test-Client.js

@@ -16,2 +16,3 @@ var common       = require('../common');
     this.fakeUdpControl.animate     = sinon.stub();
+    this.fakeUdpControl.config      = sinon.stub();
     this.fakeUdpControl.flush       = sinon.stub();
@@ -218,2 +219,23 @@
 
+  'config(): sends config command 10 times': function() {
+    this.client.resume();
+    this.client.config('foo', 'bar');
+
+    for (var i = 1; i <= 10; i++) {
+      this.clock.tick(30);
+      assert.equal(this.fakeUdpControl.config.callCount, i);
+    }
+
+    // Stop repeating after 10 intervals
+    this.clock.tick(30);
+    assert.equal(this.fakeUdpControl.config.callCount, 10);
+
+    // Check that the arguments were right
+    var args = this.fakeUdpControl.config.getCall(0).args;
+    assert.equal(args.length, 2);
+    assert.equal(args[0], 'foo');
+    assert.equal(args[1], 'bar');
+  },
+
+
   'animateLeds(): sends config command 10 times': function() {
@@ -220,0 +242,0 @@ this.client.resume();

test/unit/video/test-PaVEParser.js

@@ -8,2 +8,3 @@ var common     = require('../../common');
 var fixture    = fs.readFileSync(common.fixtures + '/pave.bin');
+var fixture68  = fs.readFileSync(common.fixtures + '/pave-68.bin');
 
@@ -55,4 +56,45 @@ test('PaVEParser', {
 
+  'parses 68 byte frames properly': function() {
+    var frames = [];
+    this.parser.on('data', function(frame) {
+      frames.push(frame);
+    });
+
+    this.parser.write(fixture68);
+
+    assert.equal(frames.length, 5);
+
+    var first = frames[0];
+
+    assert.equal(first.signature, 'PaVE');
+    assert.equal(first.version, 2);
+    assert.equal(first.video_codec, 4);
+    assert.equal(first.header_size, 68);
+    assert.equal(first.payload_size, 10180);
+    assert.equal(first.encoded_stream_width, 640);
+    assert.equal(first.encoded_stream_height, 368);
+    assert.equal(first.display_width, 640);
+    assert.equal(first.display_height, 360);
+    assert.equal(first.frame_number, 245401);
+    assert.equal(first.timestamp, 8015353);
+    assert.equal(first.total_chunks, 1);
+    assert.equal(first.chunk_index, 0);
+    assert.equal(first.frame_type, 1);
+    assert.equal(first.control, 0);
+    assert.equal(first.stream_byte_position_lw, 1009151980);
+    assert.equal(first.stream_byte_position_uw, 0);
+    assert.equal(first.stream_id, 1);
+    assert.equal(first.total_slices, 1);
+    assert.equal(first.slice_index, 0);
+    assert.equal(first.header1_size, 14);
+    assert.equal(first.header2_size, 10);
+    assert.equal(first.reserved2.length, 2);
+    assert.equal(first.advertised_size, 10180);
+    assert.equal(first.reserved3.length, 12);
+    assert.equal(first.payload.length, 10180);
+  },
+
+
   'emits error on bad signature': function() {
-    var buffer = new Buffer(64);
+    var buffer = new Buffer(68);
 
@@ -59,0 +101,0 @@ // should be PaVE, not fuck

test/unit/video/test-PngEncoder.js

@@ -170,6 +170,17 @@ var common       = require('../../common');
 
-  'write() does not handle ffmpeg backpressure for now': function() {
+  'write() handles ffmpeg backpressure': function() {
     this.fakeFfmpeg.stdin.write.returns(true);
     var r = this.encoder.write(new Buffer('abc'));
-    assert.equal(r, undefined);
+    assert.equal(r, true);
+
+    this.fakeFfmpeg.stdin.write.returns(false);
+    r = this.encoder.write(new Buffer('abc'));
+    assert.equal(r, false);
+
+    var drainCalled = false;
+    this.encoder.on('drain', function () {
+        drainCalled = true;
+    });
+    this.fakeFfmpeg.stdin.emit('drain');
+    assert.ok(drainCalled);
   },
@@ -176,0 +187,0 @@

New alerts

Native code

Supply chain risk

Contains native code (e.g., compiled binaries or shared libraries). Including native code can obscure malicious behavior.

Found 1 instance in 1 package

Fixed alerts

Native code

Supply chain risk

Contains native code (e.g., compiled binaries or shared libraries). Including native code can obscure malicious behavior.

Found 1 instance in 1 package

Improved metrics

Lines of code

2666

increased by2.85%

Number of lines in readme file

372

increased by5.08%

Number of medium supply chain risk alerts

18

decreased by-81.44%

Worsened metrics

Total package byte prevSize

3677520

decreased by-64.82%

Number of package files

64

decreased by-55.86%

No dependency changes