Initial version of Replay plugin

Closes #8

config.js.example

@@ -1,12 +1,27 @@
 var config = {
-        keyboard: 'azerty',
         plugins: [
             "video-png"     // Display the video feed as static pngs (work in every browser)
         //, "video-stream"  // Display the video as a native h264 stream decoded in JS 
           , "hud"           // Display the artificial horizon, altimeter, compass, etc.
           , "battery"       // Display a simple battery widget in the header bar
           , "pilot"         // Pilot the drone with the keyboard
-        ]
+          , "blackbox"      // Experimental: Records all mision data (navData, raw video, PaVE headers, etc.)
+        //, "replay"        // Experimental: Replay the data recorded by the blackbox
+        ],
+
+        // Config for pilot plugin
+        keyboard: 'azerty',
+
+        // Config for blackbox plugin. Path is an existing folder where to store mission data
+        // Each new mission will have its own timestamped folder.
+        blackbox: {
+            path: "/tmp"
+        },
+
+        // Config for replay plugin. Path points to a specific mission folder to be replayed.
+        replay: {
+            path: "/tmp/2013-06-03_09-10-33/"
+        }
 };
 
 module.exports = config;

package.json

@@ -22,7 +22,9 @@
     "ejs": "~0.8.3",
     "socket.io": "~0.9.4",
     "dronestream": "git+ssh://git@github.com:eschnou/node-dronestream.git#master",
-    "dateformat": "~1.0.6-1.2.3"
+    "dateformat": "~1.0.6-1.2.3",
+    "line-reader": "~0.2.3",
+    "buffered-reader": "~1.0.1"
   },
   "author": "Laurent Eschenauer <laurent@eschenauer.be>",
   "contributors": [

plugins/replay/index.js

@@ -0,0 +1,64 @@
+var fs = require('fs');
+var df = require('dateformat');
+var util = require('util');
+var path = require('path');
+var timers = require('timers');
+var lineReader = require('line-reader');
+var reader = require ("buffered-reader");
+var config, client,video, navReader, vidReader, rawVideo;
+
+var BinaryReader = reader.BinaryReader;
+
+var NAV_INTERVAL = 1000/15; // Navdata sent 15/s in demo mode
+var VIDEO_INTERVAL = 1000/30; // 30 fps
+
+function replay(name, deps) {
+    config = deps.config;
+    client = deps.client;
+    video  = client.getVideoStream();
+
+    // Open the navdata file for line-by-line read
+    var self = this;
+    var navPath = path.join(config.replay.path, 'navdata.txt');
+    lineReader.open(navPath, function(reader) {
+      navReader = reader;
+    });
+
+    // Open the video headers stream
+    var headerPath = path.join(config.replay.path, 'paveHeaders.txt');
+    lineReader.open(headerPath, function(reader) {
+        vidReader = reader;
+    });
+
+    // Open the video raw stream
+    var videoPath = path.join(config.replay.path, 'video.h264');
+    rawVideo = new BinaryReader(videoPath);
+
+    // Schedule timer to simulate nav data emit
+    timers.setInterval(emitNav, NAV_INTERVAL);
+    timers.setInterval(emitVideo, VIDEO_INTERVAL);
+}
+
+function emitNav() {
+    if (navReader && navReader.hasNextLine()) {
+        navReader.nextLine(function(data) {
+            client.emit('navdata', JSON.parse(data));
+        });
+    }
+}
+
+function emitVideo() {
+    if (vidReader && vidReader.hasNextLine()) {
+        vidReader.nextLine(function(data) {
+            var frame = JSON.parse(data);
+            if (rawVideo !== null) {
+                rawVideo.read(frame.payload_size, function (error, bytes, bytesRead) {
+                    if (error) throw error;
+                    video.emit('data', bytes);
+                });
+            }
+        });
+    }
+}
+
+module.exports = replay;