Laurent Eschenauer
93 linhas
2.0 KiB
JavaScript
93 linhas
2.0 KiB
JavaScript
var EventEmitter = require('events').EventEmitter;
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var Timers = require('timers');
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var util = require('util');
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DT = 30;
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module.exports = Client;
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util.inherits(Client, EventEmitter);
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function Client(options) {
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EventEmitter.call(this);
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options = options || {};
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this._state = options.state || {x: 0, y: 0, z: 1, yaw: 0};
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this._speed = {vx: 0, vy: 0, vz: 0, vyaw: 0};
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var self = this;
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Timers.setInterval(function() {
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self._sendNavdata();
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}, DT);
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}
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Client.prototype.takeoff = function(callback) {
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setTimeout(callback, 1000);
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}
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Client.prototype.land = function(callback) {
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setTimeout(callback, 1000);
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}
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Client.prototype.front = function(speed) {
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this._speed.vx = speed;
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}
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Client.prototype.back = function(speed) {
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this._speed.vx = -speed;
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}
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Client.prototype.right = function(speed) {
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this._speed.vy = speed;
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}
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Client.prototype.left = function(speed) {
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this._speed.vy = -speed;
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}
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Client.prototype.up = function(speed) {
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this._speed.vz = speed;
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}
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Client.prototype.down = function(speed) {
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this._speed.vz = -speed;
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}
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Client.prototype.clockwise = function(speed) {
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this._speed.vyaw = speed;
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}
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Client.prototype.counterClockwise = function(speed) {
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this._speed.vyaw = -speed;
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}
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Client.prototype.stop = function() {
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this._speed = {vx: 0, vy: 0, vz: 0, vyaw: 0};
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}
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Client.prototype._sendNavdata = function() {
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// First we update the state based on speed
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this._state.z = Math.max(0, this._state.z + this._speed.vz);
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this._state.yaw = this._state.yaw + this._speed.vyaw;
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var navdata = {
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demo: {
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rotation: {
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pitch: 0,
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roll: 0,
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yaw: this._state.yaw
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},
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velocity: {
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x: this._speed.vx * 1000,
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y: this._speed.vy * 1000,
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z: this._speed.vz * 1000
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},
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altitude: this._state.z
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},
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visionDetect: {
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nbDetected: 0
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}
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};
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this.emit('navdata', navdata);
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}
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