Laurent Eschenauer
264 linhas
9.1 KiB
JavaScript
264 linhas
9.1 KiB
JavaScript
PILOT_ACCELERATION = 0.04;
|
|
|
|
(function(window, document) {
|
|
'use strict';
|
|
|
|
var keyCodeMap = {"0":"96","1":"97","2":"98","3":"99","4":"100","5":"101","6":"102","7":"103","8":"104","9":"105","backspace":"8","tab":"9","return":"13","shift":"16","ctrl":"17","alt":"18","pausebreak":"19","capslock":"20","escape":"27"," ":"32","pageup":"33","pagedown":"34","end":"35","home":"36","left":"37","up":"38","right":"39","down":"40","+":"107","printscreen":"44","insert":"45","delete":"46",";":"186","=":"187","a":"65","b":"66","c":"67","d":"68","e":"69","f":"70","g":"71","h":"72","i":"73","j":"74","k":"75","l":"76","m":"77","n":"78","o":"79","p":"80","q":"81","r":"82","s":"83","t":"84","u":"85","v":"86","w":"87","x":"88","y":"89","z":"90","*":"106","-":"189",".":"190","/":"191","f1":"112","f2":"113","f3":"114","f4":"115","f5":"116","f6":"117","f7":"118","f8":"119","f9":"120","f10":"121","f11":"122","f12":"123","numlock":"144","scrolllock":"145",",":"188","`":"192","[":"219","\\":"220","]":"221","'":"222"};
|
|
;
|
|
|
|
var forward = 'w'
|
|
, backward = 's'
|
|
, left = 'a'
|
|
, right = 'd'
|
|
, flip = 'f'
|
|
;
|
|
if (options && options.keyboard === 'qwerty') { }
|
|
else if (options && options.keyboard === 'azerty') {
|
|
forward = 'z';
|
|
backward = 's';
|
|
left = 'q';
|
|
right = 'd';
|
|
}
|
|
|
|
// Static keymap used within this module
|
|
var Keymap = {
|
|
38 : {
|
|
ev : 'move',
|
|
action : 'up'
|
|
},
|
|
40 : {
|
|
ev : 'move',
|
|
action : 'down'
|
|
},
|
|
37 : {
|
|
ev : 'move',
|
|
action : 'counterClockwise'
|
|
},
|
|
39 : {
|
|
ev : 'move',
|
|
action : 'clockwise'
|
|
},
|
|
32 : {
|
|
ev : 'drone',
|
|
action : 'stop'
|
|
},
|
|
84 : {
|
|
ev : 'drone',
|
|
action : 'takeoff'
|
|
},
|
|
76 : {
|
|
ev : 'drone',
|
|
action : 'land'
|
|
},
|
|
69 : {
|
|
ev : 'drone',
|
|
action : 'disableEmergency'
|
|
},
|
|
70 : {
|
|
ev : 'animate',
|
|
action : 'flip'
|
|
}
|
|
};
|
|
Keymap[keyCodeMap[forward]] = {
|
|
ev : 'move',
|
|
action : 'front'
|
|
};
|
|
Keymap[keyCodeMap[backward]] = {
|
|
ev : 'move',
|
|
action : 'back'
|
|
};
|
|
Keymap[keyCodeMap[left]] = {
|
|
ev : 'move',
|
|
action : 'left'
|
|
};
|
|
Keymap[keyCodeMap[right]] = {
|
|
ev : 'move',
|
|
action : 'right'
|
|
};
|
|
|
|
|
|
/*
|
|
* Constructuor
|
|
*/
|
|
var Pilot = function Pilot(cockpit) {
|
|
console.log("Loading Pilot plugin.");
|
|
this.cockpit = cockpit;
|
|
this.speed = 0;
|
|
this.moving = false;
|
|
this.keys = {};
|
|
|
|
// Add the buttons to the control area
|
|
$('#controls').append('<input type="button" id="ftrim" value="Flat trim">');
|
|
$('#controls').append('<input type="button" id="calibratemagneto" value="Calibrate magneto">');
|
|
|
|
// Start with magneto calibration disabled.
|
|
$('#calibratemagneto').prop('disabled', true);
|
|
|
|
// Register the various event handlers
|
|
this.listen();
|
|
|
|
// Setup a timer to send motion command
|
|
var self = this;
|
|
setInterval(function(){self.sendCommands()},100);
|
|
};
|
|
|
|
/*
|
|
* Register keyboard event listener
|
|
*/
|
|
Pilot.prototype.listen = function listen() {
|
|
var pilot = this;
|
|
$(document).keydown(function(ev) {
|
|
pilot.keyDown(ev);
|
|
});
|
|
|
|
$(document).keyup(function(ev) {
|
|
pilot.keyUp(ev);
|
|
});
|
|
|
|
$('#calibratemagneto').click(function(ev) {
|
|
ev.preventDefault();
|
|
pilot.calibrate(0);
|
|
});
|
|
$('#ftrim').click(function(ev) {
|
|
ev.preventDefault();
|
|
pilot.ftrim();
|
|
});
|
|
this.cockpit.socket.on('hovering', function() {
|
|
$('#calibratemagneto').prop('disabled', false);
|
|
$('#ftrim').prop('disabled', true);
|
|
});
|
|
this.cockpit.socket.on('landed', function() {
|
|
$('#calibratemagneto').prop('disabled', true);
|
|
$('#ftrim').prop('disabled', false);
|
|
});
|
|
|
|
|
|
};
|
|
|
|
/*
|
|
* Process onkeydown. For motion commands, we just update the
|
|
* speed for the given key and the actual commands will be sent
|
|
* by the sendCommand method, triggered by a timer.
|
|
*
|
|
*/
|
|
Pilot.prototype.keyDown = function keyDown(ev) {
|
|
console.log("Keydown: " + ev.keyCode);
|
|
if (ev.keyCode == 9) {
|
|
PILOT_ACCELERATION = (PILOT_ACCELERATION == 0.04) ? 0.64 : 0.04;
|
|
console.log("PILOT_ACCELERATION: " + PILOT_ACCELERATION);
|
|
ev.preventDefault();
|
|
return;
|
|
}
|
|
if (Keymap[ev.keyCode] == null) {
|
|
return;
|
|
}
|
|
ev.preventDefault();
|
|
|
|
var key = ev.keyCode;
|
|
var cmd = Keymap[key];
|
|
//if flip, determine which direction to flip
|
|
var regFlip = /^flip/;
|
|
if (regFlip.test(cmd.action)) {
|
|
console.log("FLIP!");
|
|
//check for which direction to flip
|
|
switch (this.moving) {
|
|
case 'front':
|
|
cmd.action = 'flipAhead';
|
|
break;
|
|
case 'back':
|
|
cmd.action = 'flipBehind';
|
|
break;
|
|
case 'right':
|
|
cmd.action = 'flipRight';
|
|
break;
|
|
default:
|
|
cmd.action = 'flipLeft';
|
|
break;
|
|
}
|
|
|
|
}
|
|
// If a motion command, we just update the speed
|
|
if (cmd.ev == "move") {
|
|
this.moving = Keymap[ev.keyCode].action;
|
|
if (typeof(this.keys[key])=='undefined' || this.keys[key]===null) {
|
|
this.keys[key] = PILOT_ACCELERATION;
|
|
}
|
|
}
|
|
// Else we send the command immediately
|
|
else {
|
|
this.cockpit.socket.emit("/pilot/" + cmd.ev, {
|
|
action : cmd.action
|
|
});
|
|
}
|
|
};
|
|
|
|
/*
|
|
* On keyup we delete active keys from the key array
|
|
* and send a stop command for this direction
|
|
*/
|
|
Pilot.prototype.keyUp = function keyUp(ev) {
|
|
console.log("Keyup: " + ev.keyCode);
|
|
if (Keymap[ev.keyCode] == null) {
|
|
return;
|
|
}
|
|
ev.preventDefault();
|
|
|
|
// Delete the key from the tracking array
|
|
var key = ev.keyCode;
|
|
delete this.keys[key];
|
|
|
|
// Send a command to set the motion in this direction to zero
|
|
if (Object.keys(this.keys).length > 0) {
|
|
var cmd = Keymap[key];
|
|
this.cockpit.socket.emit("/pilot/" + cmd.ev, {
|
|
action : cmd.action,
|
|
speed : 0
|
|
});
|
|
} else { // hovering state if no more active commands
|
|
this.cockpit.socket.emit("/pilot/drone", {
|
|
action : 'stop'
|
|
});
|
|
}
|
|
}
|
|
|
|
/*
|
|
* Triggered by a timer, check for active keys
|
|
* and send the appropriate motion commands
|
|
*/
|
|
Pilot.prototype.sendCommands = function() {
|
|
for (var k in this.keys) {
|
|
var cmd = Keymap[k];
|
|
// Send the command
|
|
this.cockpit.socket.emit("/pilot/" + cmd.ev, {
|
|
action : cmd.action,
|
|
speed : this.keys[k]
|
|
});
|
|
|
|
// Update the speed
|
|
this.keys[k] = this.keys[k] + PILOT_ACCELERATION / (1 - this.keys[k]);
|
|
this.keys[k] = Math.min(1, this.keys[k]);
|
|
}
|
|
}
|
|
|
|
/*
|
|
* Requets a device callibration. Beware that for some device
|
|
* such as the compass, the drone will perform some motion.
|
|
*/
|
|
Pilot.prototype.calibrate = function calibrate(deviceNum) {
|
|
this.cockpit.socket.emit("/pilot/calibrate", {
|
|
device_num : 0
|
|
});
|
|
};
|
|
|
|
/*
|
|
* Requests a flat trim. Disabled when flying.
|
|
*/
|
|
Pilot.prototype.ftrim = function ftrim() {
|
|
this.cockpit.socket.emit("/pilot/ftrim");
|
|
};
|
|
|
|
|
|
window.Cockpit.plugins.push(Pilot);
|
|
|
|
}(window, document));
|