update change log

Support for passing an existing tcpVideoStream

.gitignore

@@ -1,2 +1,4 @@
 node_modules
+dist/broadway.js
 .*.swp
+.DS_Store

.jshintrc

@@ -0,0 +1,30 @@
+{
+    "browser" : false,
+    "boss" : true,
+    "curly": true,
+    "debug": false,
+    "devel": true,
+    "eqeqeq": true,
+    "evil": false,
+    "forin": true,
+    "immed": true,
+    "indent": 4,
+    "jquery": true,
+    "laxbreak": false,
+    "laxcomma": true,
+    "newcap": true,
+    "noarg": false,
+    "noempty": true,
+    "nonew": true,
+    "nomen": false,
+    "onevar": true,
+    "plusplus": false,
+    "regexp": false,
+    "trailing": true,
+    "undef": true,
+    "sub": false,
+    "strict": true,
+    "globalstrict": true,
+    "white": true,
+    "node" : true
+}

Gruntfile.js

@@ -0,0 +1,49 @@
+module.exports = function (grunt) {
+    'use strict';
+    // load all grunt tasks
+    require('matchdep').filterDev('grunt-*').forEach(grunt.loadNpmTasks);
+
+    grunt.initConfig({
+
+        pkg: grunt.file.readJSON('package.json'),
+
+        jshint: {
+            options: {
+                jshintrc: '.jshintrc'
+            },
+            all: [
+                'Gruntfile.js',
+                'lib/{,*/}*.js',
+                'dist/nodecopter-stream.js'
+            ]
+        },
+
+        uglify: {
+            dist: {
+                files: {
+                    'dist/broadway.js' : [
+                        'dist/vendor/broadway/glUtils.js',
+                        'dist/vendor/broadway/util.js',
+                        'dist/vendor/broadway/avc.js',
+                        'dist/vendor/broadway/canvas.js',
+                        'dist/nodecopter-stream.js'
+                    ]
+                }
+            }
+        },
+        concat: {
+            options: {
+                banner: '/*! <%= pkg.name %> <%= grunt.template.today("dd-mm-yyyy") %> */\n'
+            },
+            dist: {
+                src: [
+                    'dist/vendor/broadway/sylvester.js',
+                    'dist/vendor/broadway/avc-codec.js',
+                    'dist/broadway.js'
+                ],
+                dest: 'dist/nodecopter-client.js'
+            }
+        }
+    });
+    grunt.registerTask('default', ['jshint', 'uglify', 'concat']);
+};

History.md

@@ -0,0 +1,57 @@
+0.1.0 / 2012-10-20
+==================
+
+  * Initial version, unreleased
+
+0.2.0 / 2012-10-20
+==================
+
+  * released as npm package dronestream
+
+1.0.0 / 2012-12-15
+==================
+
+  * add support for multiple browser clients
+  * add support for browser reloads
+  * reconnect to drone on failure
+  * add support for bare http sockers
+  * remove express dependency
+  * export as a module
+  * added examples for using in other applications
+
+1.0.1 / 2012-12-16
+==================
+
+  * update documentation
+  * add changelog
+
+1.0.2 / 2012-12-27
+==================
+
+  * use requestAnimationFrame() for rendering video frames
+  * cleaned up express example
+  * update ar-drone and buffy dependencies to latest versions
+
+1.0.3 / 2013-03-19
+==================
+
+  * add custom drone ip to server options
+  * fix static files on webserver
+
+1.1.0 / 2013-08-07
+==================
+
+  * add support for custom host and port to client
+  * support passing an existing video stream
+  * switch to grunt for building
+  * express fixes
+  * remove constants for strict mode
+  * bump ws and ar-drone dependencies
+  * add hook for postprocessors
+
+1.1.1 / 2013-08-31
+==================
+
+  * use cleaned up version of broadways avc.js, fixes errors about 'clip'
+  * switch to ardrone 0.2.0
+

README.md

@@ -10,6 +10,29 @@ This code uses web-sockets and the incredibly awesome
 [Broadway.js](https://github.com/mbebenita/Broadway) to render the video frames
 in your browser using a WebGL canvas.
 
+## How to use
+
+Please see the http.createServer and Express 3.0 examples in the 'examples' dir.
+You attach the stream to your server like this:
+```javascript
+// in node:
+//
+// note that the 'server' object points to a server instance and NOT an express app.
+require("dronestream").listen(server); 
+// if your drone is on a different IP
+require("dronestream").listen(server, { ip: "192.168.2.155" });
+```
+
+We serve the client in the same manner as Socket.IO. Add a reference to 
+**/dronestream/nodecopter-client.js** in your template. Then attach the stream to a DOM node:
+```html
+<!-- on the client -->
+<script src="/dronestream/nodecopter-client.js"></script>
+<script>
+  // video canvas will auto-size to the DOM-node, or default to 640*360 if no size is set.
+  new NodecopterStream(document.getElementById("droneStream"));
+</script>
+```
 
 ## How it works
 
@@ -22,10 +45,9 @@ In the browser broadway takes care of the rendering of the WebGL canvas.
 
 ## Status
 
-For this release I was exclusively interested in the lowest possible latency.
-There is no error handling for the websockets, the connection to the drone or
-the video player what-so-ever. This may come eventually, or may not. I think it
-is enough to be used as a starting point for your own integration.
+Node-dronestream has gained some stability in the last release. It attempts 
+to recover lost connections to the drone, and it handles multiple clients, 
+disconnections, etc. See "How to use" for API.
 
 ## Thanks
 
@@ -45,3 +67,9 @@ is enough to be used as a starting point for your own integration.
 - Brian Leroux for being not content with the original solution and for
   cleaning up the predecessor, nodecopter-stream.
 
+- @karlwestin for picking up where I was to lazy to actually make this usable.
+
+## Demo
+
+Watch @felixge demoing node-dronestream live at german user group cgnjs:
+http://www.youtube.com/watch?v=nwGNNMJt4mE&t=19m52

app.js

@@ -1,82 +0,0 @@
-'use strict';
-/**
- * Module dependencies.
- */
-
-var express = require('express')
-  , routes = require('./routes')
-  , http = require('http')
-  , path = require('path')
-  , app = express()
-  , server = http.createServer(app)
-  , WebSocketServer = require('ws').Server
-  , wss = new WebSocketServer({server: server})
-  , sockets = []
-  , Parser = require('./lib/PaVEParser')
-  , arDrone = require('ar-drone')
-  ;
-
-function init() {
-    var tcpVideoStream = new arDrone.Client.PngStream.TcpVideoStream({timeout: 4000})
-      , p = new Parser();
-
-    console.log("Connecting to stream");
-
-    tcpVideoStream.connect(function () {
-        tcpVideoStream.pipe(p);
-    });
-
-    tcpVideoStream.on("error", function(err) {
-      console.log("There was an error: %s", err.message);
-      tcpVideoStream.end();
-      tcpVideoStream.emit("end");
-      init();
-    });
-
-    p.on('data', function (data) {
-      sockets.forEach(function(socket) {
-        socket.send(data, {binary: true});
-      });
-    });
-}
-init();
-
-wss.on('connection', function (socket) {
-  sockets.push(socket);
-
-  socket.on("close", function() {
-    console.log("Closing socket");
-    sockets = sockets.filter(function(el) {
-      return el !== socket;
-    });
-  });
-});
-
-
-app.configure(function () {
-    app.set('port', process.env.PORT || 3000);
-    app.set('views', __dirname + '/views');
-    app.set('view engine', 'jade', { pretty: true });
-    app.use(express.favicon());
-    app.use(express.logger('dev'));
-    app.use(express.bodyParser());
-    app.use(express.methodOverride());
-    app.use(app.router);
-    app.use(express.static(path.join(__dirname, 'public')));
-});
-
-app.configure('development', function () {
-    app.use(express.errorHandler());
-    app.locals.pretty = true;
-});
-
-
-app.get('/', routes.index);
-
-if (module.parent) {
-    module.exports = server;
-} else {
-    server.listen(app.get('port'), function () {
-        console.log("Express server listening on port " + app.get('port'));
-    });
-}

dist/nodecopter-stream.js

@@ -0,0 +1,129 @@
+/*jshint browser:true */
+/*global Avc:true, YUVWebGLCanvas: true, Size: true, requestAnimationFrame:true */
+
+/* requestAnimationFrame polyfill: */
+(function (window) {
+    'use strict';
+    var lastTime = 0,
+        vendors = ['ms', 'moz', 'webkit', 'o'],
+        x,
+        length,
+        currTime,
+        timeToCall;
+
+    for (x = 0, length = vendors.length; x < length && !window.requestAnimationFrame; ++x) {
+        window.requestAnimationFrame = window[
+            vendors[x] + 'RequestAnimationFrame'
+        ];
+        window.cancelAnimationFrame = window[
+            vendors[x] + 'CancelAnimationFrame'
+        ] || window[vendors[x] + 'CancelRequestAnimationFrame'];
+    }
+
+    if (!window.requestAnimationFrame) {
+        window.requestAnimationFrame = function (callback, element) {
+            currTime = new Date().getTime();
+            timeToCall = Math.max(0, 16 - (currTime - lastTime));
+            lastTime = currTime + timeToCall;
+            return window.setTimeout(function () {
+                callback(currTime + timeToCall);
+            }, timeToCall);
+        };
+    }
+
+    if (!window.cancelAnimationFrame) {
+        window.cancelAnimationFrame = function (id) {
+            clearTimeout(id);
+        };
+    }
+}(window));
+
+
+/* NodeCopterStream: */
+(function (window, document, undefined) {
+    'use strict';
+    var NS,
+        socket,
+        avc,
+        webGLCanvas,
+        width,
+        height,
+        callbackOnce = null;
+
+    function setupAvc() {
+        avc = new Avc();
+        avc.configure({
+            filter: 'original',
+            filterHorLuma: 'optimized',
+            filterVerLumaEdge: 'optimized',
+            getBoundaryStrengthsA: 'optimized'
+        });
+        avc.onPictureDecoded = handleDecodedFrame;
+    }
+
+    function handleNalUnits(message) {
+        avc.decode(new Uint8Array(message.data));
+    }
+
+    function handleDecodedFrame(buffer, bufWidth, bufHeight) {
+        var callback;
+
+        requestAnimationFrame(function () {
+            var lumaSize = bufWidth * bufHeight,
+                chromaSize = lumaSize >> 2;
+
+            webGLCanvas.YTexture.fill(buffer.subarray(0, lumaSize));
+            webGLCanvas.UTexture.fill(buffer.subarray(lumaSize, lumaSize + chromaSize));
+            webGLCanvas.VTexture.fill(buffer.subarray(lumaSize + chromaSize, lumaSize + 2 * chromaSize));
+            webGLCanvas.drawScene();
+        });
+
+        // call callback with Y portion (grayscale image)
+        if (null !== callbackOnce && width) {
+            callback = callbackOnce;
+            callbackOnce = null;
+            // decoded buffer size may be larger,
+            // so use subarray with actual dimensions
+            callback(buffer.subarray(0, width * height));
+        }
+    }
+
+    function setupCanvas(div) {
+        var canvas = document.createElement('canvas');
+
+        width = div.attributes.width ? div.attributes.width.value : 640;
+        height = div.attributes.height ? div.attributes.height.value : 360;
+
+        canvas.width = width;
+        canvas.height = height;
+        canvas.style.backgroundColor = "#333333";
+        div.appendChild(canvas);
+
+        webGLCanvas = new YUVWebGLCanvas(canvas, new Size(width, height));
+    }
+
+
+    NS = function (div, options) {
+        var hostname, port;
+        options = options || {};
+        hostname = options.hostname || window.document.location.hostname;
+        port = options.port || window.document.location.port;
+
+        setupCanvas(div);
+        setupAvc();
+
+        socket = new WebSocket(
+             'ws://' + hostname + ':' + port + '/dronestream'
+        );
+        socket.binaryType = 'arraybuffer';
+        socket.onmessage = handleNalUnits;
+    };
+
+    // enqueue callback oto be called with next (black&white) frame
+    NS.prototype.onNextFrame = function (callback) {
+        callbackOnce = callback;
+    };
+
+    window.NodecopterStream = NS;
+
+}(window, document, undefined));

dist/vendor/broadway/avc.js

@@ -0,0 +1,285 @@
+/**
+ * Requires: avc-codec.js
+ **/
+
+assert (Module);
+
+var Avc = (function avc() {
+    'use strict';
+
+    var MAX_STREAM_BUFFER_LENGTH = 1024 * 1024,
+        HEAP8 = Module.HEAP8,
+        HEAPU8 = Module.HEAPU8,
+        HEAP16 = Module.HEAP16,
+        HEAP32 = Module.HEAP32,
+        _h264bsdClip = Module._get_h264bsdClip(),
+        patches = {
+            "filter": {
+                name: "_h264bsdFilterPicture",
+                display: "Filter Picture",
+                original: "Original_h264bsdFilterPicture",
+                options: {
+                none: {display: "None", fn: function () {}},
+                original: {display: "Original", fn: null},
+                }
+            },
+            "filterHorLuma": {
+                name: "_FilterHorLuma",
+                display: "Filter Hor Luma",
+                original: "OriginalFilterHorLuma",
+                options: {
+                none: {display: "None", fn: function () {}},
+                original: {display: "Original", fn: null},
+                optimized: {display: "Optimized", fn: OptimizedFilterHorLuma}
+                }
+            },
+            "filterVerLumaEdge": {
+                name: "_FilterVerLumaEdge",
+                display: "Filter Ver Luma Edge",
+                original: "OriginalFilterVerLumaEdge",
+                options: {
+                none: {display: "None", fn: function () {}},
+                original: {display: "Original", fn: null},
+                optimized: {display: "Optimized", fn: OptimizedFilterVerLumaEdge}
+                }
+            },
+            "getBoundaryStrengthsA": {
+                name: "_GetBoundaryStrengthsA",
+                display: "Get Boundary Strengths",
+                original: "OriginalGetBoundaryStrengthsA",
+                options: {
+                none: {display: "None", fn: function () {}},
+                original: {display: "Original", fn: null},
+                optimized: {display: "Optimized", fn: OptimizedGetBoundaryStrengthsA}
+                }
+            }
+        },
+        origFn = {};
+
+    function clip(x, y, z) {
+        return z < x ? x : (z > y ? y : z);
+    }
+
+    function OptimizedGetBoundaryStrengthsA($mb, $bS) {
+        var $totalCoeff = $mb + 28;
+
+        var tc0 = HEAP16[$totalCoeff + 0 >> 1];
+        var tc1 = HEAP16[$totalCoeff + 2 >> 1];
+        var tc2 = HEAP16[$totalCoeff + 4 >> 1];
+        var tc3 = HEAP16[$totalCoeff + 6 >> 1];
+        var tc4 = HEAP16[$totalCoeff + 8 >> 1];
+        var tc5 = HEAP16[$totalCoeff + 10 >> 1];
+        var tc6 = HEAP16[$totalCoeff + 12 >> 1];
+        var tc7 = HEAP16[$totalCoeff + 14 >> 1];
+        var tc8 = HEAP16[$totalCoeff + 16 >> 1];
+        var tc9 = HEAP16[$totalCoeff + 18 >> 1];
+        var tc10 = HEAP16[$totalCoeff + 20 >> 1];
+        var tc11 = HEAP16[$totalCoeff + 22 >> 1];
+        var tc12 = HEAP16[$totalCoeff + 24 >> 1];
+        var tc13 = HEAP16[$totalCoeff + 26 >> 1];
+        var tc14 = HEAP16[$totalCoeff + 28 >> 1];
+        var tc15 = HEAP16[$totalCoeff + 30 >> 1];
+
+        HEAP32[$bS + 32 >> 2] = tc2 || tc0 ? 2 : 0;
+        HEAP32[$bS + 40 >> 2] = tc3 || tc1 ? 2 : 0;
+        HEAP32[$bS + 48 >> 2] = tc6 || tc4 ? 2 : 0;
+        HEAP32[$bS + 56 >> 2] = tc7 || tc5 ? 2 : 0;
+        HEAP32[$bS + 64 >> 2] = tc8 || tc2 ? 2 : 0;
+        HEAP32[$bS + 72 >> 2] = tc9 || tc3 ? 2 : 0;
+        HEAP32[$bS + 80 >> 2] = tc12 || tc6 ? 2 : 0;
+        HEAP32[$bS + 88 >> 2] = tc13 || tc7 ? 2 : 0;
+        HEAP32[$bS + 96 >> 2] = tc10 || tc8 ? 2 : 0;
+        HEAP32[$bS + 104 >> 2] = tc11 || tc9 ? 2 : 0;
+        HEAP32[$bS + 112 >> 2] = tc14 || tc12 ? 2 : 0;
+        HEAP32[$bS + 120 >> 2] = tc15 || tc13 ? 2 : 0;
+
+        HEAP32[$bS + 12 >> 2] = tc1 || tc0 ? 2 : 0;
+        HEAP32[$bS + 20 >> 2] = tc4 || tc1 ? 2 : 0;
+        HEAP32[$bS + 28 >> 2] = tc5 || tc4 ? 2 : 0;
+        HEAP32[$bS + 44 >> 2] = tc3 || tc2 ? 2 : 0;
+        HEAP32[$bS + 52 >> 2] = tc6 || tc3 ? 2 : 0;
+        HEAP32[$bS + 60 >> 2] = tc7 || tc6 ? 2 : 0;
+        HEAP32[$bS + 76 >> 2] = tc9 || tc8 ? 2 : 0;
+        HEAP32[$bS + 84 >> 2] = tc12 || tc9 ? 2 : 0;
+        HEAP32[$bS + 92 >> 2] = tc13 || tc12 ? 2 : 0;
+        HEAP32[$bS + 108 >> 2] = tc11 || tc10 ? 2 : 0;
+        HEAP32[$bS + 116 >> 2] = tc14 || tc11 ? 2 : 0;
+        HEAP32[$bS + 124 >> 2] = tc15 || tc14 ? 2 : 0;
+    }
+
+    function OptimizedFilterVerLumaEdge ($data, bS, $thresholds, imageWidth) {
+        var delta, tc, tmp;
+        var p0, q0, p1, q1, p2, q2;
+        var tmpFlag;
+        var $clp = _h264bsdClip + 512;
+        var alpha = HEAP32[$thresholds + 4 >> 2];
+        var beta = HEAP32[$thresholds + 8 >> 2];
+        var val;
+
+        if (bS < 4) {
+            tmp = tc = HEAPU8[HEAP32[$thresholds >> 2] + (bS - 1)] & 255;
+            for (var i = 4; i > 0; i--) {
+                p1 = HEAPU8[$data + -2] & 255;
+                p0 = HEAPU8[$data + -1] & 255;
+                q0 = HEAPU8[$data] & 255;
+                q1 = HEAPU8[$data + 1] & 255;
+                if (
+                    (Math.abs(p0 - q0) < alpha) &&
+                    (Math.abs(p1 - p0) < beta) &&
+                    (Math.abs(q1 - q0) < beta)
+                ) {
+                    p2 = HEAPU8[$data - 3] & 255;
+                    if (Math.abs(p2 - p0) < beta) {
+                        val = (p2 + ((p0 + q0 + 1) >> 1) - (p1 << 1)) >> 1;
+                        HEAP8[$data - 2] = p1 + clip(-tc, tc, val);
+                        tmp++;
+                    }
+
+                    q2 = HEAPU8[$data + 2] & 255;
+                    if (Math.abs(q2 - q0) < beta) {
+                        val = (q2 + ((p0 + q0 + 1) >> 1) - (q1 << 1)) >> 1;
+                        HEAP8[$data + 1] = (q1 + clip(-tc, tc, val));
+                        tmp++;
+                    }
+
+                    val = ((((q0 - p0) << 2) + (p1 - q1) + 4) >> 3);
+                    delta = clip(-tmp, tmp, val);
+
+                    p0 = HEAPU8[$clp + (p0 + delta)] & 255;
+                    q0 = HEAPU8[$clp + (q0 - delta)] & 255;
+                    tmp = tc;
+                    HEAP8[$data - 1] = p0;
+                    HEAP8[$data] = q0;
+
+                    $data += imageWidth;
+                }
+            }
+        } else {
+            origFn.OriginalFilterVerLumaEdge($data, bS, $thresholds, imageWidth);
+        }
+    }
+
+   /**
+    * Filter all four successive horizontal 4-pixel luma edges. This can be
+    * done when bS is equal to all four edges.
+    */
+    function OptimizedFilterHorLuma ($data, bS, $thresholds, imageWidth) {
+        var delta, tc, tmp;
+        var p0, q0, p1, q1, p2, q2;
+        var tmpFlag;
+        var $clp = _h264bsdClip + 512;
+        var alpha = HEAP32[$thresholds + 4 >> 2];
+        var beta = HEAP32[$thresholds + 8 >> 2];
+        var val;
+
+        if (bS < 4) {
+            tmp = tc = HEAPU8[HEAP32[$thresholds >> 2] + (bS - 1)] & 255;
+            for (var i = 16; i > 0; i--) {
+                p1 = HEAPU8[$data + (-imageWidth << 1)] & 255;
+                p0 = HEAPU8[$data + -imageWidth] & 255;
+                q0 = HEAPU8[$data] & 255;
+                q1 = HEAPU8[$data + imageWidth] & 255;
+
+                if (
+                    (Math.abs(p0 - q0) < alpha) &&
+                    (Math.abs(p1 - p0) < beta) &&
+                    (Math.abs(q1 - q0) < beta)
+                ) {
+                    p2 = HEAPU8[$data + (-imageWidth * 3)] & 255;
+                    if (Math.abs(p2 - p0) < beta) {
+                        val = (p2 + ((p0 + q0 + 1) >> 1) - (p1 << 1)) >> 1;
+                        HEAP8[$data + (-imageWidth << 1)] = p1 + clip(-tc, tc, val);
+                        tmp++;
+                    }
+
+                    q2 = HEAPU8[$data + (imageWidth << 2)] & 255;
+                    if (Math.abs(q2 - q0) < beta) {
+                        val = (q2 + ((p0 + q0 + 1) >> 1) - (q1 << 1)) >> 1;
+                        HEAP8[$data + imageWidth] = (q1 + clip(-tc, tc, val));
+                        tmp++;
+                    }
+
+                    val = ((((q0 - p0) << 2) + (p1 - q1) + 4) >> 3);
+                    delta = clip(-tmp, tmp, val);
+
+                    p0 = HEAPU8[$clp + (p0 + delta)] & 255;
+                    q0 = HEAPU8[$clp + (q0 - delta)] & 255;
+                    tmp = tc;
+                    HEAP8[$data - imageWidth] = p0;
+                    HEAP8[$data] = q0;
+
+                    $data ++;
+                }
+            }
+        } else {
+            origFn.OriginalFilterHorLuma($data, bS, $thresholds, imageWidth);
+        }
+    }
+
+    function patchOptimizations(config, patches) {
+        for (var name in patches) {
+            var patch = patches[name];
+            if (patch) {
+                var option = config[name];
+                if (!option) option = "original";
+                console.info(name + ": " + option);
+                assert (option in patch.options);
+                var fn = patch.options[option].fn;
+                if (fn) {
+                    origFn[patch.original] = Module.patch(null, patch.name, fn);
+                    console.info("Patching: " + patch.name + ", with: " + option);
+                }
+            }
+        }
+    }
+
+
+    function constructor() {
+        Module._broadwayInit();
+        this.streamBuffer = toU8Array(Module._broadwayCreateStream(MAX_STREAM_BUFFER_LENGTH), MAX_STREAM_BUFFER_LENGTH);
+        this.pictureBuffers = {};
+
+        this.onPictureDecoded = function (buffer, width, height) {
+            // console.info(buffer.length);
+        };
+
+        Module.patch(null, "_broadwayOnHeadersDecoded", function (x,y,z) {});
+
+
+        Module.patch(null, "_broadwayOnPictureDecoded", function ($buffer, width, height) {
+            var buffer = this.pictureBuffers[$buffer];
+            if (!buffer) {
+                buffer = this.pictureBuffers[$buffer] = toU8Array($buffer, (width * height * 3) / 2);
+            }
+            this.onPictureDecoded(buffer, width, height);
+        }.bind(this));
+    }
+
+   /**
+    * Creates a typed array from a HEAP8 pointer.
+    */
+    function toU8Array(ptr, length) {
+        return HEAPU8.subarray(ptr, ptr + length);
+    }
+
+    constructor.prototype = {
+       /**
+        * Decodes a stream buffer. This may be one single (unframed) NAL unit
+        * without the start code, or a sequence of NAL units with framing start
+        * code prefixes. This function overwrites stream buffer allocated by
+        * the codec with the supplied buffer.
+        */
+        decode: function decode(buffer) {
+            // console.info("Decoding: " + buffer.length);
+            this.streamBuffer.set(buffer);
+            Module._broadwaySetStreamLength(buffer.length);
+            Module._broadwayPlayStream();
+        },
+        configure: function (config) {
+            patchOptimizations(config, patches);
+            console.info("Broadway Configured: " + JSON.stringify(config));
+        }
+    };
+
+    return constructor;
+})();

example/createServer/app.js

@@ -0,0 +1,10 @@
+var http = require("http"),
+    drone = require("../../index");
+
+
+var server = http.createServer(function(req, res) {
+  require("fs").createReadStream(__dirname + "/index.html").pipe(res);
+});
+
+drone.listen(server);
+server.listen(5555);

example/createServer/index.html

@@ -0,0 +1,16 @@
+<!doctype html>
+<html>
+<head>
+    <meta http-equiv="content-type" content="text/html; charset=utf-8">
+    <title>Stream as module</title>
+    <script src="/dronestream/nodecopter-client.js" type="text/javascript" charset="utf-8"></script>
+</head>
+<body>
+    <h1 id="heading">Stream through a normal require("http").createServer</h1>
+    <div id="droneStream" style="width: 640px; height: 360px">   </div>
+
+    <script type="text/javascript" charset="utf-8">
+        new NodecopterStream(document.getElementById("droneStream"));
+    </script>
+</body>
+</html>

example/express/app.js

@@ -0,0 +1,33 @@
+var express = require('express')
+  , routes = require('./routes')
+  , app = express()
+  , path = require('path')
+  , server = require("http").createServer(app)
+  ;
+
+
+app.configure(function () {
+    app.set('views', __dirname + '/views');
+    app.set('view engine', 'jade', { pretty: true });
+    app.use(express.favicon());
+    app.use(express.logger('dev'));
+    app.use(app.router);
+    app.use(express.static(path.join(__dirname, 'public')));
+});
+
+app.configure('development', function () {
+    app.use(express.errorHandler());
+    app.locals.pretty = true;
+});
+
+app.get('/', routes.index);
+
+/*
+ * Important:
+ *
+ * pass in the server object to listen, not the express app
+ * call 'listen' on the server, not the express app
+ */
+// should be require("dronestream").listen(server);
+require("../../index").listen(server);
+server.listen(3000);

example/express/package.json

@@ -0,0 +1,13 @@
+{
+  "name": "dronestream-example",
+  "version": "0.1.1",
+  "dependencies": {
+    "express": "3.0.x",
+    "jade": "*"
+  },
+  "scripts": {
+    "start": "node app"
+  },
+  "author": "Bernhard K. Weisshuhn <bkw@codingforce.com>",
+  "license": "BSD"
+}

example/express/views/index.jade

@@ -0,0 +1,22 @@
+extends layout
+
+block append head
+  script(type='text/javascript', src='/dronestream/nodecopter-client.js')
+
+-# for developing the client, use those url:s
+-# script(type='text/javascript', src='/dronestream/vendor/broadway/sylvester.js')
+-# script(type='text/javascript', src='/dronestream/vendor/broadway/glUtils.js')
+-# script(type='text/javascript', src='/dronestream/vendor/broadway/util.js')
+-# script(type='text/javascript', src='/dronestream/vendor/broadway/avc-codec.js')
+-# script(type='text/javascript', src='/dronestream/vendor/broadway/avc.js')
+-# script(type='text/javascript', src='/dronestream/vendor/broadway/canvas.js')
+-# script(type='text/javascript', src='/dronestream/nodecopter-stream.js')
+-# concatenated version of client
+
+
+block append bodyscripts
+  script.
+    var copterStream = new NodecopterStream(document.querySelector('#dronestream'));
+
+block content
+  div#dronestream(width=640, height=360)

example/express/views/layout.jade

@@ -7,7 +7,6 @@ html
       title= title
       link(rel='stylesheet', href='/css/normalize.min.css')
       link(rel='stylesheet', href='/css/style.css')
-      script(src='/js/vendor/h5bp/modernizr-2.6.1-respond-1.1.0.min.js')
   body
     div.header-container
       header.wrapper.clearfix

index.js

@@ -0,0 +1 @@
+module.exports = require("./lib/server");

lib/server.js

@@ -0,0 +1,56 @@
+/*
+ * Drone Stream listen:
+ * Takes a) a port number or b) a server object (node http or express, etc);
+ */
+var staticDir = 'dronestream',
+    check = new RegExp('^/' + staticDir, 'i'),
+    dist = __dirname + '/../dist';
+
+module.exports.listen = function listen(server, options) {
+    'use strict';
+    var port, oldHandlers;
+
+    if (typeof server === 'number') {
+        port = server;
+        server = require('http').createServer();
+        server.listen(port);
+    }
+
+    /*
+     * Serving up the static files needed
+     */
+    oldHandlers = server.listeners('request').splice(0);
+    server.removeAllListeners('request');
+
+    server.on('request', function (req, res) {
+        var i = 0;
+        if (handler(req, res)) {
+            return;
+        }
+
+        for (; i < oldHandlers.length; ++i) {
+            oldHandlers[i].call(server, req, res);
+        }
+    });
+
+    function handler(req, res, next) {
+        var path, read;
+        if (!check.test(req.url)) {
+            return false;
+        }
+        path = dist + req.url.replace(check, '');
+        console.log('checking static path: %s', path);
+        read = require('fs').createReadStream(path);
+        read.pipe(res);
+        read.on('error', function (e) {
+            console.log('Stream error: %s', e.message);
+        });
+
+        return true;
+    }
+
+    /*
+     * Connecting stream + websocket server
+     */
+    return require('./stream').attach(server, options);
+};

lib/stream.js

@@ -0,0 +1,62 @@
+/*jshint node:true*/
+/*
+ * Sets up a real stream + attaches it to a server
+ */
+module.exports.attach = function droneStream(server, options) {
+    'use strict';
+    var WebSocketServer = require('ws').Server,
+        wss = new WebSocketServer({server: server, path: '/dronestream'}),
+        sockets = [],
+        Parser = require('./PaVEParser'),
+        arDrone = require('ar-drone');
+
+    options = options || {};
+    options.timeout = options.timeout || 4000;
+
+    function init() {
+
+        var tcpVideoStream, parser;
+
+        if (!options.tcpVideoStream) {
+            tcpVideoStream = new arDrone.Client.PngStream.TcpVideoStream(
+                options
+            );
+
+            console.log(
+                "Connecting to drone on %s", options.ip || "192.168.1.1"
+            );
+
+            tcpVideoStream.connect();
+            tcpVideoStream.on('error', function (err) {
+                console.log('There was an error: %s', err.message);
+                tcpVideoStream.end();
+                tcpVideoStream.emit("end");
+                init();
+            });
+        } else {
+            tcpVideoStream = options.tcpVideoStream;
+        }
+
+        parser = new Parser();
+        tcpVideoStream.on('data', function (data) {
+            parser.write(data);
+        });
+        parser.on('data', function (data) {
+            sockets.forEach(function (socket) {
+                socket.send(data, {binary: true});
+            });
+        });
+    }
+    init();
+
+    wss.on('connection', function (socket) {
+        sockets.push(socket);
+
+        socket.on("close", function () {
+            console.log("Closing socket");
+            sockets = sockets.filter(function (el) {
+                return el !== socket;
+            });
+        });
+    });
+};

package.json

@@ -1,11 +1,12 @@
 {
   "name": "dronestream",
   "description": "video live stream from your parrot ar.drone 2.0 to your browser in pure javascript",
-  "version": "0.2.0",
+  "version": "1.1.1",
   "repository": {
     "type": "git",
     "url": "git@github.com:bkw/node-dronestream.git"
   },
+  "main": "index",
   "keywords": [
     "drone",
     "nodecopter",
@@ -15,16 +16,24 @@
     "browser",
     "x264"
   ],
-  "scripts": {
-    "start": "node app"
-  },
   "dependencies": {
-    "express": "3.0.0rc5",
-    "jade": "*",
-    "ws": "~0.4.22",
-    "ar-drone": "0.0.3",
-    "buffy": "0.0.4"
+    "ws": "~0.4.27",
+    "ar-drone": "0.2.0",
+    "buffy": "0.0.5"
+  },
+  "devDependencies": {
+    "grunt": "~0.4.1",
+    "grunt-contrib-uglify": "~0.2.2",
+    "grunt-contrib-jshint": "~0.6.2",
+    "matchdep": "~0.1.2",
+    "grunt-contrib-concat": "~0.3.0"
   },
   "author": "Bernhard K. Weisshuhn <bkw@codingforce.com>",
+  "contributors": [
+    {
+      "name": "Karl Westin",
+      "email": "karl.westin@gmail.com"
+    }
+  ],
   "license": "BSD"
 }

public/js/nodecopter-stream.js

@@ -1,63 +0,0 @@
-/*jshint browser:true */
-/*global Avc:true, YUVWebGLCanvas: true, Size: true */
-(function (window, document, undefined) {
-    'use strict';
-    var NS,
-        socket,
-        avc,
-        webGLCanvas;
-
-    function setupAvc() {
-        avc = new Avc();
-        avc.configure({
-            filter: 'original',
-            filterHorLuma: 'optimized',
-            filterVerLumaEdge: 'optimized',
-            getBoundaryStrengthsA: 'optimized'
-        });
-        avc.onPictureDecoded = handleDecodedFrame;
-    }
-
-    function handleNalUnits(message) {
-        avc.decode(new Uint8Array(message.data));
-    }
-
-    function handleDecodedFrame(buffer, width, height) {
-        var lumaSize = width * height,
-            chromaSize = lumaSize >> 2;
-        webGLCanvas.YTexture.fill(buffer.subarray(0, lumaSize));
-        webGLCanvas.UTexture.fill(buffer.subarray(lumaSize, lumaSize + chromaSize));
-        webGLCanvas.VTexture.fill(buffer.subarray(lumaSize + chromaSize, lumaSize + 2 * chromaSize));
-        webGLCanvas.drawScene();
-    }
-
-    function setupCanvas(div) {
-        var width = div.attributes.width ? div.attributes.width.value : 640,
-            height = div.attributes.height ? div.attributes.height.value : 360,
-            canvas = document.createElement('canvas');
-
-        canvas.width = width;
-        canvas.height = height;
-        canvas.style.backgroundColor = "#333333";
-        div.appendChild(canvas);
-
-        webGLCanvas = new YUVWebGLCanvas(canvas, new Size(width, height));
-    }
-
-
-    NS = function (div) {
-        setupCanvas(div);
-        setupAvc();
-
-        socket = new WebSocket(
-             'ws://' +
-            window.document.location.hostname + ':' +
-            window.document.location.port
-        );
-        socket.binaryType = 'arraybuffer';
-        socket.onmessage = handleNalUnits;
-    };
-
-    window.NodecopterStream = NS;
-
-}(window, document, undefined));

public/js/vendor/broadway/avc.js

@@ -1,283 +0,0 @@
-/** 
- * Requires: avc-codec.js
- **/
-
-assert (Module);
-
-HEAP8 = Module.HEAP8;
-HEAPU8 = Module.HEAPU8;
-HEAP16 = Module.HEAP16;
-HEAP32 = Module.HEAP32;
-_h264bsdClip = Module._get_h264bsdClip();
-
-var Avc = (function avc() {
-  const MAX_STREAM_BUFFER_LENGTH = 1024 * 1024;
-  
-  function constructor() {
-    Module._broadwayInit();
-    this.streamBuffer = toU8Array(Module._broadwayCreateStream(MAX_STREAM_BUFFER_LENGTH), MAX_STREAM_BUFFER_LENGTH);
-    this.pictureBuffers = {};
-    
-    this.onPictureDecoded = function (buffer, width, height) {
-      // console.info(buffer.length);
-    }
-    
-    Module.patch(null, "_broadwayOnHeadersDecoded", function () {
-      
-    });
-    
-    
-    Module.patch(null, "_broadwayOnPictureDecoded", function ($buffer, width, height) {
-      var buffer = this.pictureBuffers[$buffer];
-      if (!buffer) {
-        buffer = this.pictureBuffers[$buffer] = toU8Array($buffer, (width * height * 3) / 2);
-      }
-      this.onPictureDecoded(buffer, width, height);
-    }.bind(this));
-    
-  }
-
-  /**
-   * Creates a typed array from a HEAP8 pointer. 
-   */
-  function toU8Array(ptr, length) {
-    return HEAPU8.subarray(ptr, ptr + length);
-  }
-  
-  constructor.prototype = {
-    /**
-     * Decodes a stream buffer. This may be one single (unframed) NAL unit without the
-     * start code, or a sequence of NAL units with framing start code prefixes. This
-     * function overwrites stream buffer allocated by the codec with the supplied buffer.
-     */
-    decode: function decode(buffer) {
-      // console.info("Decoding: " + buffer.length);
-      this.streamBuffer.set(buffer);
-      Module._broadwaySetStreamLength(buffer.length);
-      Module._broadwayPlayStream();
-    },
-    configure: function (config) {
-      patchOptimizations(config, patches);
-      console.info("Broadway Configured: " + JSON.stringify(config));
-    }
-  };
-  
-  return constructor;
-})();
-
-function patchOptimizations(config, patches) { 
-  var scope = getGlobalScope();
-  for (var name in patches) {
-    var patch = patches[name];
-    if (patch) {
-      var option = config[name];
-      if (!option) option = "original";
-      console.info(name + ": " + option);
-      assert (option in patch.options);
-      var fn = patch.options[option].fn;
-      if (fn) {
-        scope[patch.original] = Module.patch(null, patch.name, fn);
-        console.info("Patching: " + patch.name + ", with: " + option);
-      }
-    }
-  }
-}
-
-var patches = {
-  "filter": {
-    name: "_h264bsdFilterPicture",
-    display: "Filter Picture",
-    original: "Original_h264bsdFilterPicture",
-    options: {
-      none: {display: "None", fn: function () {}},
-      original: {display: "Original", fn: null},
-    }
-  },
-  "filterHorLuma": {
-    name: "_FilterHorLuma",
-    display: "Filter Hor Luma",
-    original: "OriginalFilterHorLuma",
-    options: {
-      none: {display: "None", fn: function () {}},
-      original: {display: "Original", fn: null},
-      optimized: {display: "Optimized", fn: OptimizedFilterHorLuma}
-    }
-  },
-  "filterVerLumaEdge": {
-    name: "_FilterVerLumaEdge",
-    display: "Filter Ver Luma Edge",
-    original: "OriginalFilterVerLumaEdge",
-    options: {
-      none: {display: "None", fn: function () {}},
-      original: {display: "Original", fn: null},
-      optimized: {display: "Optimized", fn: OptimizedFilterVerLumaEdge}
-    }
-  },
-  "getBoundaryStrengthsA": {
-    name: "_GetBoundaryStrengthsA",
-    display: "Get Boundary Strengths",
-    original: "OriginalGetBoundaryStrengthsA",
-    options: {
-      none: {display: "None", fn: function () {}},
-      original: {display: "Original", fn: null},
-      optimized: {display: "Optimized", fn: OptimizedGetBoundaryStrengthsA}
-    }
-  }
-};
-
-function getGlobalScope() {
-  return function () { return this; }.call(null);
-}
-
-/* Optimizations */
-
-function clip(x, y, z) {
-  return z < x ? x : (z > y ? y : z);
-}
-
-function OptimizedGetBoundaryStrengthsA($mb, $bS) {
-  var $totalCoeff = $mb + 28;
-  
-  var tc0 = HEAP16[$totalCoeff + 0 >> 1];
-  var tc1 = HEAP16[$totalCoeff + 2 >> 1];
-  var tc2 = HEAP16[$totalCoeff + 4 >> 1];
-  var tc3 = HEAP16[$totalCoeff + 6 >> 1];
-  var tc4 = HEAP16[$totalCoeff + 8 >> 1];
-  var tc5 = HEAP16[$totalCoeff + 10 >> 1];
-  var tc6 = HEAP16[$totalCoeff + 12 >> 1];
-  var tc7 = HEAP16[$totalCoeff + 14 >> 1];
-  var tc8 = HEAP16[$totalCoeff + 16 >> 1];
-  var tc9 = HEAP16[$totalCoeff + 18 >> 1];
-  var tc10 = HEAP16[$totalCoeff + 20 >> 1];
-  var tc11 = HEAP16[$totalCoeff + 22 >> 1];
-  var tc12 = HEAP16[$totalCoeff + 24 >> 1];
-  var tc13 = HEAP16[$totalCoeff + 26 >> 1];
-  var tc14 = HEAP16[$totalCoeff + 28 >> 1];
-  var tc15 = HEAP16[$totalCoeff + 30 >> 1];
-  
-  HEAP32[$bS + 32 >> 2] = tc2 || tc0 ? 2 : 0;
-  HEAP32[$bS + 40 >> 2] = tc3 || tc1 ? 2 : 0;
-  HEAP32[$bS + 48 >> 2] = tc6 || tc4 ? 2 : 0;
-  HEAP32[$bS + 56 >> 2] = tc7 || tc5 ? 2 : 0;
-  HEAP32[$bS + 64 >> 2] = tc8 || tc2 ? 2 : 0;
-  HEAP32[$bS + 72 >> 2] = tc9 || tc3 ? 2 : 0;
-  HEAP32[$bS + 80 >> 2] = tc12 || tc6 ? 2 : 0;
-  HEAP32[$bS + 88 >> 2] = tc13 || tc7 ? 2 : 0;
-  HEAP32[$bS + 96 >> 2] = tc10 || tc8 ? 2 : 0;
-  HEAP32[$bS + 104 >> 2] = tc11 || tc9 ? 2 : 0;
-  HEAP32[$bS + 112 >> 2] = tc14 || tc12 ? 2 : 0;
-  HEAP32[$bS + 120 >> 2] = tc15 || tc13 ? 2 : 0;
-
-  HEAP32[$bS + 12 >> 2] = tc1 || tc0 ? 2 : 0;
-  HEAP32[$bS + 20 >> 2] = tc4 || tc1 ? 2 : 0;
-  HEAP32[$bS + 28 >> 2] = tc5 || tc4 ? 2 : 0;
-  HEAP32[$bS + 44 >> 2] = tc3 || tc2 ? 2 : 0;
-  HEAP32[$bS + 52 >> 2] = tc6 || tc3 ? 2 : 0;
-  HEAP32[$bS + 60 >> 2] = tc7 || tc6 ? 2 : 0;
-  HEAP32[$bS + 76 >> 2] = tc9 || tc8 ? 2 : 0;
-  HEAP32[$bS + 84 >> 2] = tc12 || tc9 ? 2 : 0;
-  HEAP32[$bS + 92 >> 2] = tc13 || tc12 ? 2 : 0;
-  HEAP32[$bS + 108 >> 2] = tc11 || tc10 ? 2 : 0;
-  HEAP32[$bS + 116 >> 2] = tc14 || tc11 ? 2 : 0;
-  HEAP32[$bS + 124 >> 2] = tc15 || tc14 ? 2 : 0;
-}
-
-function OptimizedFilterVerLumaEdge ($data, bS, $thresholds, imageWidth) {
-  var delta, tc, tmp;
-  var p0, q0, p1, q1, p2, q2;
-  var tmpFlag;
-  var $clp = _h264bsdClip + 512;
-  var alpha = HEAP32[$thresholds + 4 >> 2];
-  var beta = HEAP32[$thresholds + 8 >> 2];
-  var val;
-  
-  if (bS < 4) {
-    tmp = tc = HEAPU8[HEAP32[$thresholds >> 2] + (bS - 1)] & 255;
-    for (var i = 4; i > 0; i--) {
-      p1 = HEAPU8[$data + -2] & 255;
-      p0 = HEAPU8[$data + -1] & 255;
-      q0 = HEAPU8[$data] & 255;
-      q1 = HEAPU8[$data + 1] & 255;
-      if ((Math.abs(p0 - q0) < alpha) && (Math.abs(p1 - p0) < beta) && (Math.abs(q1 - q0) < beta)) {
-        p2 = HEAPU8[$data - 3] & 255;
-        if (Math.abs(p2 - p0) < beta) {
-          val = (p2 + ((p0 + q0 + 1) >> 1) - (p1 << 1)) >> 1;
-          HEAP8[$data - 2] = p1 + clip(-tc, tc, val);
-          tmp++;
-        }
-        
-        q2 = HEAPU8[$data + 2] & 255;
-        if (Math.abs(q2 - q0) < beta) {
-          val = (q2 + ((p0 + q0 + 1) >> 1) - (q1 << 1)) >> 1;
-          HEAP8[$data + 1] = (q1 + clip(-tc, tc, val));
-          tmp++;
-        }
-        
-        val = ((((q0 - p0) << 2) + (p1 - q1) + 4) >> 3);
-        delta = clip(-tmp, tmp, val);
-        
-        p0 = HEAPU8[$clp + (p0 + delta)] & 255;
-        q0 = HEAPU8[$clp + (q0 - delta)] & 255;
-        tmp = tc;
-        HEAP8[$data - 1] = p0;
-        HEAP8[$data] = q0;
-        
-        $data += imageWidth;
-      }
-    }
-  } else {
-    OriginalFilterVerLumaEdge($data, bS, $thresholds, imageWidth);
-  }
-}
-
-/**
- * Filter all four successive horizontal 4-pixel luma edges. This can be done when bS is equal to all four edges.
- */
-function OptimizedFilterHorLuma ($data, bS, $thresholds, imageWidth) {
-  var delta, tc, tmp;
-  var p0, q0, p1, q1, p2, q2;
-  var tmpFlag;
-  var $clp = _h264bsdClip + 512;
-  var alpha = HEAP32[$thresholds + 4 >> 2];
-  var beta = HEAP32[$thresholds + 8 >> 2];
-  var val;
-  
-  if (bS < 4) {
-    tmp = tc = HEAPU8[HEAP32[$thresholds >> 2] + (bS - 1)] & 255;
-    for (var i = 16; i > 0; i--) {
-      p1 = HEAPU8[$data + (-imageWidth << 1)] & 255;
-      p0 = HEAPU8[$data + -imageWidth] & 255;
-      q0 = HEAPU8[$data] & 255;
-      q1 = HEAPU8[$data + imageWidth] & 255;
-      
-      if ((Math.abs(p0 - q0) < alpha) && (Math.abs(p1 - p0) < beta) && (Math.abs(q1 - q0) < beta)) {
-        p2 = HEAPU8[$data + (-imageWidth * 3)] & 255;
-        if (Math.abs(p2 - p0) < beta) {
-          val = (p2 + ((p0 + q0 + 1) >> 1) - (p1 << 1)) >> 1;
-          HEAP8[$data + (-imageWidth << 1)] = p1 + clip(-tc, tc, val);
-          tmp++;
-        }
-        
-        q2 = HEAPU8[$data + (imageWidth << 2)] & 255;
-        if (Math.abs(q2 - q0) < beta) {
-            val = (q2 + ((p0 + q0 + 1) >> 1) - (q1 << 1)) >> 1;
-            HEAP8[$data + imageWidth] = (q1 + clip(-tc, tc, val));
-            tmp++;
-        }
-        
-        val = ((((q0 - p0) << 2) + (p1 - q1) + 4) >> 3);
-        delta = clip(-tmp, tmp, val);
-        
-        p0 = HEAPU8[$clp + (p0 + delta)] & 255;
-        q0 = HEAPU8[$clp + (q0 - delta)] & 255;
-        tmp = tc;
-        HEAP8[$data - imageWidth] = p0;
-        HEAP8[$data] = q0;
-        
-        $data ++;
-      }
-    }
-  } else {
-    OriginalFilterHorLuma($data, bS, $thresholds, imageWidth);
-  }
-}

views/index.jade

@@ -1,17 +0,0 @@
-extends layout
-
-block append head
-  script(type='text/javascript', src='/js/vendor/broadway/sylvester.js')
-  script(type='text/javascript', src='/js/vendor/broadway/glUtils.js')
-  script(type='text/javascript', src='/js/vendor/broadway/util.js')
-  script(type='text/javascript', src='/js/vendor/broadway/avc-codec.js')
-  script(type='text/javascript', src='/js/vendor/broadway/avc.js')
-  script(type='text/javascript', src='/js/vendor/broadway/canvas.js')
-  script(type='text/javascript', src='/js/nodecopter-stream.js')
-
-block append bodyscripts
-  script
-    var copterStream = new NodecopterStream(document.querySelector('#dronestream'));
-
-block content
-  div#dronestream(width=640, height=360)