From fea4360a98c7d0f7a6f1dfef52dd399ae64f2d68 Mon Sep 17 00:00:00 2001
From: David Henderson <david.henderson@triggeredmessaging.com>
Date: Sat, 10 Aug 2013 15:11:30 +0100
Subject: [PATCH] Added confidence

---
 .idea/workspace.xml | 69 ++++++++++++++++++++++++++++++++++------
 go.js               | 77 +++++++++++++++++++++++++++++++++------------
 nearest.js          | 23 ++++++++++++++
 3 files changed, 139 insertions(+), 30 deletions(-)
 create mode 100644 nearest.js

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index b9535fa..50afcf1 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -2,12 +2,15 @@
 <project version="4">
   <component name="ChangeListManager">
     <list default="true" id="eeacb93f-73aa-46ec-92c7-08d6fb5d2b5c" name="Default" comment="">
+      <change type="NEW" beforePath="" afterPath="$PROJECT_DIR$/nearest.js" />
       <change type="MODIFICATION" beforePath="$PROJECT_DIR$/go.js" afterPath="$PROJECT_DIR$/go.js" />
+      <change type="MODIFICATION" beforePath="$PROJECT_DIR$/.idea/workspace.xml" afterPath="$PROJECT_DIR$/.idea/workspace.xml" />
     </list>
     <ignored path="NodeCopterHack.iws" />
     <ignored path=".idea/workspace.xml" />
-    <file path="/Dummy.txt" changelist="eeacb93f-73aa-46ec-92c7-08d6fb5d2b5c" time="1376139814566" ignored="false" />
-    <file path="/go.js" changelist="eeacb93f-73aa-46ec-92c7-08d6fb5d2b5c" time="1376139920469" ignored="false" />
+    <file path="/Dummy.txt" changelist="eeacb93f-73aa-46ec-92c7-08d6fb5d2b5c" time="1376143309879" ignored="false" />
+    <file path="/go.js" changelist="eeacb93f-73aa-46ec-92c7-08d6fb5d2b5c" time="1376143525720" ignored="false" />
+    <file path="/nearest.js" changelist="eeacb93f-73aa-46ec-92c7-08d6fb5d2b5c" time="1376142921730" ignored="false" />
     <option name="TRACKING_ENABLED" value="true" />
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -30,7 +33,16 @@
       <file leaf-file-name="go.js" pinned="false" current="true" current-in-tab="true">
         <entry file="file://$PROJECT_DIR$/go.js">
           <provider selected="true" editor-type-id="text-editor">
-            <state line="6" column="0" selection-start="185" selection-end="185" vertical-scroll-proportion="0.109913796">
+            <state line="104" column="2" selection-start="2594" selection-end="2594" vertical-scroll-proportion="0.34051725">
+              <folding />
+            </state>
+          </provider>
+        </entry>
+      </file>
+      <file leaf-file-name="nearest.js" pinned="false" current="false" current-in-tab="false">
+        <entry file="file://$PROJECT_DIR$/nearest.js">
+          <provider selected="true" editor-type-id="text-editor">
+            <state line="11" column="0" selection-start="0" selection-end="465" vertical-scroll-proportion="0.0">
               <folding />
             </state>
           </provider>
@@ -54,6 +66,7 @@
   <component name="IdeDocumentHistory">
     <option name="changedFiles">
       <list>
+        <option value="$PROJECT_DIR$/nearest.js" />
         <option value="$PROJECT_DIR$/go.js" />
       </list>
     </option>
@@ -121,6 +134,14 @@
     <property name="options.splitter.details.proportions" value="0.2" />
   </component>
   <component name="RunManager">
+    <configuration default="true" type="DartUnitRunConfigurationType" factoryName="DartUnit">
+      <option name="VMOptions" />
+      <option name="arguments" />
+      <option name="filePath" />
+      <option name="scope" value="ALL" />
+      <option name="testName" />
+      <method />
+    </configuration>
     <list size="0" />
   </component>
   <component name="ShelveChangesManager" show_recycled="false" />
@@ -136,22 +157,22 @@
     <frame x="64" y="-4" width="1857" height="1085" extended-state="6" />
     <editor active="true" />
     <layout>
-      <window_info id="Changes" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="-1" side_tool="false" content_ui="tabs" />
+      <window_info id="Changes" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
       <window_info id="TODO" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="6" side_tool="false" content_ui="tabs" />
       <window_info id="Structure" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
       <window_info id="Project" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" weight="0.24959569" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
       <window_info id="Debug" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.4" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
-      <window_info id="Favorites" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="-1" side_tool="true" content_ui="tabs" />
-      <window_info id="Event Log" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="-1" side_tool="true" content_ui="tabs" />
+      <window_info id="Favorites" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="2" side_tool="true" content_ui="tabs" />
+      <window_info id="Event Log" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="7" side_tool="true" content_ui="tabs" />
       <window_info id="Run" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="2" side_tool="false" content_ui="tabs" />
-      <window_info id="Version Control" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="-1" side_tool="false" content_ui="tabs" />
+      <window_info id="Version Control" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
       <window_info id="Cvs" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.25" sideWeight="0.5" order="4" side_tool="false" content_ui="tabs" />
       <window_info id="Message" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
-      <window_info id="Find" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
       <window_info id="Ant Build" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
+      <window_info id="Find" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.33" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
       <window_info id="Commander" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.4" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
-      <window_info id="Inspection" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.4" sideWeight="0.5" order="5" side_tool="false" content_ui="tabs" />
       <window_info id="Hierarchy" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.25" sideWeight="0.5" order="2" side_tool="false" content_ui="combo" />
+      <window_info id="Inspection" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" weight="0.4" sideWeight="0.5" order="5" side_tool="false" content_ui="tabs" />
     </layout>
   </component>
   <component name="VcsContentAnnotationSettings">
@@ -217,7 +238,35 @@
   <component name="editorHistoryManager">
     <entry file="file://$PROJECT_DIR$/go.js">
       <provider selected="true" editor-type-id="text-editor">
-        <state line="6" column="0" selection-start="185" selection-end="185" vertical-scroll-proportion="0.109913796">
+        <state line="0" column="0" selection-start="0" selection-end="0" vertical-scroll-proportion="0.0">
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/nearest.js">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="0" column="0" selection-start="0" selection-end="465" vertical-scroll-proportion="0.0">
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/go.js">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="0" column="0" selection-start="0" selection-end="0" vertical-scroll-proportion="0.0">
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/nearest.js">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="11" column="0" selection-start="0" selection-end="465" vertical-scroll-proportion="0.0">
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/go.js">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="104" column="2" selection-start="2594" selection-end="2594" vertical-scroll-proportion="0.34051725">
           <folding />
         </state>
       </provider>
diff --git a/go.js b/go.js
index f9d5f1c..bdb1082 100644
--- a/go.js
+++ b/go.js
@@ -22,9 +22,9 @@ app.get('/image', function (req, res) {
     }
 });
 
-app.get('/land', function(req, res) {
-  client.land();
-  res.render('index');
+app.get('/land', function (req, res) {
+    client.land();
+    res.render('index');
 });
 
 var arDrone = require('ar-drone');
@@ -79,25 +79,62 @@ var scan = function (filename) {
 app.listen(8076);
 
 var doAction = function (command) {
-console.log("COMMAND: " + command);
-    var commands = {
-        'LAND': function () {
-            client.land();
-        },
-        'TAKEOFF': function () {
-            client.takeoff();
-        },
-	'DANCE': function()
-        {
-            client.animateLeds('redSnake', 5, 5);
+    findCommand(command, function (res) {
+            if(res) {
+                console.log("COMMAND: " + res);
+                var commands = {
+                    'LAND': function () {
+                        client.land();
+                    },
+                    'TAKEOFF': function () {
+                        client.takeoff();
+                    },
+                    'DANCE': function () {
+                        client.animateLeds('redSnake', 5, 5);
+                    }
+                }
+
+                var upper = command.toUpperCase();
+                if(typeof commands[upper] == 'function') {
+                    commands[upper]();
+                } else {
+                    console.log("BAD Command: " + command);
+                }
+            } else {
+                console.log("BAD Command: " + command);
+            }
         }
-    }
 
-    var upper = command.toUpperCase();
-    if(typeof commands[upper] == 'function') {
-        commands[upper]();
-    }
+    );
+};
+var findCommand = function (command, callback) {
+    nn = require('nearest-neighbor');
+    var items = [
+        { name: "LAND"},
+        { name: "TAKE OFF"},
+        { name: "UP"},
+        { name: "DOWN"},
+        { name: "LEFT"},
+        { name: "RIGHT"},
+        { name: "DANCE"}
+    ];
 
+    var query = { name: command};
+
+    var fields = [
+        { name: "name", measure: nn.comparisonMethods.word }
+    ];
+
+    nn.findMostSimilar(query, items, fields, function (nearestNeighbor, probability) {
+        console.log(query);
+        console.log(nearestNeighbor);
+        console.log(probability);
+        if(probability > 0.6) {
+            callback(nearestNeighbor.name);
+        } else {
+            callback('');
+        }
+    });
 }
-//takeoff();
+
 
diff --git a/nearest.js b/nearest.js
new file mode 100644
index 0000000..78766d8
--- /dev/null
+++ b/nearest.js
@@ -0,0 +1,23 @@
+nn = require('nearest-neighbor');
+
+var items = [
+  { name: "LAND"},
+  { name: "TAKE OFF"},
+  { name: "UP"},
+  { name: "DOWN"},
+  { name: "LEFT"},
+  { name: "RIGHT"},
+  { name: "DANCE"},
+];
+
+var query = { name: "kuLAND"};
+
+var fields = [
+  { name: "name", measure: nn.comparisonMethods.word },
+ ];
+
+nn.findMostSimilar(query, items, fields, function(nearestNeighbor, probability) {
+  console.log(query);
+  console.log(nearestNeighbor);
+  console.log(probability);
+});
\ No newline at end of file