Initial support for functionality to find connected copters

dist/adaptor.js

@@ -42,8 +42,19 @@
       };
 
       Crazyflie.prototype.connect = function(callback) {
+        var port;
         Logger.info("Connecting to Crazyflie '" + this.name + "' on port '" + this.connection.port + "'...");
-        return this.copter.connect(this.connection.port.toString()).then(function() {
+        port = this.connection.port.toString();
+        Logger.info(port);
+        if (port === "none") {
+          return this.connectFirstCopter(callback);
+        } else {
+          return this.doConnect(port, callback);
+        }
+      };
+
+      Crazyflie.prototype.doConnect = function(port, callback) {
+        return this.copter.connect(port).then(function() {
           callback(null);
           return this.connection.emit('connect');
         });
@@ -58,6 +69,23 @@
         return this.copter.driver.parameters.set(param, value);
       };
 
+      Crazyflie.prototype.connectFirstCopter = function(callback) {
+        return this.aerogelDriver.findCopters().then(function(copters) {
+          if (copters.length === 0) {
+            console.error('No copters found! Is your copter turned on?');
+            return process.exit(1);
+          } else {
+            return this.doConnect(copters[0], callback);
+          }
+        });
+      };
+
+      Crazyflie.prototype.findCopters = function(callback) {
+        return this.aerogelDriver.findCopters().then(function(copters) {
+          return callback(copters);
+        });
+      };
+
       return Crazyflie;
 
     })(Cylon.Adaptor);

dist/commands.js

@@ -14,7 +14,7 @@
   namespace = require('node-namespace');
 
   namespace("Cylon.Crazyflie", function() {
-    return this.Commands = ['takeoff', 'land', 'hover', 'setPitch', 'setYaw', 'setThrust', 'shutdown', 'setParam'];
+    return this.Commands = ['takeoff', 'land', 'hover', 'setPitch', 'setYaw', 'setThrust', 'shutdown', 'setParam', 'findCopters'];
   });
 
 }).call(this);

examples/crazyflie.js

@@ -1,16 +1,18 @@
 var Cylon = require('cylon');
 
 Cylon.robot({
-  connection: { name: 'crazyflie', adaptor: 'crazyflie', port: 'radio://1/10/250KPS' },
+  connection: { name: 'crazyflie', adaptor: 'crazyflie', port: 'radio://1/20/1MPS' },
   device: {name: 'drone', driver: 'crazyflie'},
 
   work: function(my) {
     my.drone.on('start', function() {
+      Logger.info('yo');
+
       my.drone.takeoff();
-      after((10).seconds(), function() { 
+      after((2).seconds(), function() { 
         my.drone.land();
       });
-      after((15).seconds(), function() { 
+      after((5).seconds(), function() { 
         my.drone.stop();
       });
     });

examples/list-copters.js

@@ -0,0 +1,12 @@
+var Cylon = require('cylon');
+
+Cylon.robot({
+  connection: { name: 'crazyflie', adaptor: 'crazyflie', port: 'radio://1/20/1MPS' },
+  device: {name: 'drone', driver: 'crazyflie'},
+
+  work: function(my) {
+    my.crazyflie.findCopters(function(copters) {
+      Logger.info(copters);
+    });
+  }
+}).start();

src/adaptor.coffee

@@ -27,10 +27,17 @@ namespace "Cylon.Adaptors", ->
     commands: ->
       Cylon.Crazyflie.Commands
 
-    connect: (callback) ->
+    connect: (callback) ->      
       Logger.info "Connecting to Crazyflie '#{@name}' on port '#{@connection.port}'..."
-
-      @copter.connect(@connection.port.toString()).then ->
+      port = @connection.port.toString()
+      Logger.info port
+      if port is "none"
+        @connectFirstCopter(callback)
+      else
+        @doConnect(port, callback)
+
+    doConnect: (port, callback) ->        
+      @copter.connect(port).then ->
         (callback)(null)
         @connection.emit 'connect'
 
@@ -40,3 +47,15 @@ namespace "Cylon.Adaptors", ->
 
     setParam: (param, value) ->
       @copter.driver.parameters.set(param, value)
+
+    connectFirstCopter: (callback) ->
+      @aerogelDriver.findCopters().then (copters) ->
+        if copters.length is 0
+          console.error('No copters found! Is your copter turned on?');
+          process.exit(1)
+        else
+          @doConnect(copters[0], callback)
+
+    findCopters: (callback) ->
+      @aerogelDriver.findCopters().then (copters) ->
+        return (callback)(copters);

src/commands.coffee

@@ -27,5 +27,6 @@ namespace "Cylon.Crazyflie", ->
     'setYaw',
     'setThrust',
     'shutdown',
-    'setParam'
+    'setParam',
+    'findCopters'
   ]