var express = require('express');
var engines = require('consolidate');
var nodecr = require('nodecr');
var drone = require('dronestream');
var fs = require('fs');
var app = express();
app.engine('html', engines.hogan);
app.set('view engine', 'html');
app.set('views', __dirname);

var lastPng;

app.get('/', function (req, res) {
    res.render('index');
});

app.get('/image', function (req, res) {
    if(lastPng) {
        //console.log('has last png');
        res.writeHead(200, {'Content-Type:': 'image/png' });
        res.end(lastPng);
    }
});

app.get('/land', function (req, res) {
    client.land();
    res.render('index');
});

var arDrone = require('ar-drone');
var client = arDrone.createClient();
var pngStream;

//client.takeoff();
client.after(2000, function () {
    pngStream = client.getPngStream();
    pngStream.on('error', console.log).on('data', function (lastPng = pngBuffer;
    var filename = new Date() * 1 + '.png';
    fs.open(filename, "wx", function (err, fd) {
        fs.write(fd, pngBuffer, 0, pngBuffer.length, null, function () {
            fs.close(fd, function () {
                scan(filename);

            });
        });
    });

});
})
;

var takeoff = function () {
    client.takeoff();
};

var scanning = false;
var scan = function (filename) {
    if(!scanning) {
        scanning = true;
        nodecr.process(__dirname + '/' + filename, function (err, text)
            //nodecr.process(lastPng, function(err, text)
        {
            if(err) {
                //    console.error(err);
            } else {
                var tidiedUp = text.replace("0", "O").replace(/\W/g, "");
                // if(tidiedUp == "STOP")
                //{
                console.log(tidiedUp);
                doAction(tidiedUp);

                // }
            }
        });
        scanning = false;
    }
};

app.listen(8076);

var doAction = function (command) {
<<<<<<< Updated upstream
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();
                },
                'TAKE OFF': function () {
                    client.takeoff();
                }
            }
            var upper = command.toUpperCase();
            if(typeof commands[upper] == 'function') {
                commands[upper]();
            }else{
                console.log("BAD Command: " + command);
            }
        }else{
                console.log("BAD Command: " + command);
            }
>>>>>>> Stashed changes
        }

    );
};
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('');
        }
    });
};

<<<<<<< Updated upstream
}
//takeoff();
=======
takeoff();
>>>>>>> Stashed changes