From 59e3907725ddc29970ad9fd09f18ef7628daab1f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Felix=20Geisendo=CC=88rfer?= <felix@debuggable.com>
Date: Sat, 1 Feb 2014 15:21:02 +0100
Subject: [PATCH] Improve ability to run firmware locally for dev

---
 Makefile                     | 9 +++++++--
 cmd/godrone/main.go          | 3 ++-
 drivers/navboard/navboard.go | 3 +++
 http/fs/js/main.js           | 2 +-
 scripts/build.bash           | 4 ++--
 5 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/Makefile b/Makefile
index 955007c..e91c247 100644
--- a/Makefile
+++ b/Makefile
@@ -1,12 +1,17 @@
 version = $(shell git describe --tags --dirty)
+host_os = $(shell go env GOOS)
+host_arch = $(shell go env GOARCH)
 
 dev:
 	./scripts/build.bash -version $(version) dist/dev
 	./dist/dev/deploy
 
 dev-local:
-	go build github.com/felixge/godrone/cmd/godrone
-	./godrone cmd/godrone/godrone.conf
+	env \
+		BUILD_OS="$(host_os)" \
+		BUILD_ARCH="$(host_arch)" \
+		./scripts/build.bash -version $(version) dist/local-dev
+	cd dist/local-dev && ./godrone
 
 dist:
 	./scripts/dist.bash $(version)
diff --git a/cmd/godrone/main.go b/cmd/godrone/main.go
index 7156db2..5063f97 100644
--- a/cmd/godrone/main.go
+++ b/cmd/godrone/main.go
@@ -99,6 +99,8 @@ func (g *GoDrone) Run() error {
 	g.log.Info("Starting godrone")
 	defer g.motorboard.Close()
 
+	go g.serveHttp()
+
 	g.motorboard.SetLeds(green)
 	time.Sleep(500 * time.Millisecond)
 	g.motorboard.SetLeds(red)
@@ -112,7 +114,6 @@ func (g *GoDrone) Run() error {
 	g.motorboard.SetLeds(green)
 
 	go g.navboardLoop()
-	go g.serveHttp()
 
 	sigCh := make(chan os.Signal, 1)
 	signal.Notify(sigCh, syscall.SIGINT)
diff --git a/drivers/navboard/navboard.go b/drivers/navboard/navboard.go
index 33dd890..e85fdfd 100644
--- a/drivers/navboard/navboard.go
+++ b/drivers/navboard/navboard.go
@@ -6,6 +6,7 @@ import (
 	"github.com/felixge/godrone/log"
 	"math"
 	"os"
+	"time"
 )
 
 // gyroGains are the measured gains for converting the gyroscope output into
@@ -52,6 +53,8 @@ func (n *Navboard) NextData() (data Data, err error) {
 	}()
 
 	if err = n.open(); err != nil {
+		// Don't go too crazy on retry.
+		time.Sleep(time.Second)
 		return
 	}
 
diff --git a/http/fs/js/main.js b/http/fs/js/main.js
index 1bd6571..7ce0288 100644
--- a/http/fs/js/main.js
+++ b/http/fs/js/main.js
@@ -234,7 +234,7 @@
   React.renderComponent(
     <GoDrone
       version={Config.Version}
-      wsUrl="ws://192.168.1.1/ws"
+      wsUrl={'ws://'+window.location.hostname+':'+window.location.port+'/ws'}
       gamepadAxisMin={0.01}
       maxAngle={Config.MaxAngle}
       flyButton={0}
diff --git a/scripts/build.bash b/scripts/build.bash
index f24630d..59e2831 100755
--- a/scripts/build.bash
+++ b/scripts/build.bash
@@ -61,8 +61,8 @@ main() {
     GOARCH="${arch}" \
     go build -o "${out_dir}/${deploy_name}" "${deploy_pkg}"
   env \
-    GOOS=linux \
-    GOARCH=arm \
+    GOOS="${BUILD_OS:-linux}" \
+    GOARCH="${BUILD_ARCH:-arm}" \
     GOARM=7 \
     CGO_ENABLED=0 \
     go build \