From 66a64111fc828e3f2560b8a9ab98e72668a240a8 Mon Sep 17 00:00:00 2001
From: deadprogram <ron@hybridgroup.com>
Date: Mon, 26 Dec 2016 18:37:55 +0100
Subject: [PATCH] bebop: enable video on firmware 3.3+

Signed-off-by: deadprogram <ron@hybridgroup.com>
---
 platforms/parrot/bebop/bebop_adaptor.go       |  2 +
 platforms/parrot/bebop/bebop_driver.go        | 10 +++++
 platforms/parrot/bebop/client/client.go       | 44 +++++++++++++++++++
 platforms/parrot/bebop/client/constants.go    |  3 ++
 .../parrot/bebop/client/examples/video.go     | 12 ++++-
 platforms/parrot/bebop/test_helper.go         |  2 +
 6 files changed, 72 insertions(+), 1 deletion(-)

diff --git a/platforms/parrot/bebop/bebop_adaptor.go b/platforms/parrot/bebop/bebop_adaptor.go
index 2a02e0aa..37eb9524 100644
--- a/platforms/parrot/bebop/bebop_adaptor.go
+++ b/platforms/parrot/bebop/bebop_adaptor.go
@@ -23,6 +23,8 @@ type drone interface {
 	StopRecording() error
 	HullProtection(protect bool) error
 	Outdoor(outdoor bool) error
+	VideoEnable(enable bool) error
+	VideoStreamMode(mode int8) error
 }
 
 // Adaptor is gobot.Adaptor representation for the Bebop
diff --git a/platforms/parrot/bebop/bebop_driver.go b/platforms/parrot/bebop/bebop_driver.go
index 5393cfc4..4adcf0d5 100644
--- a/platforms/parrot/bebop/bebop_driver.go
+++ b/platforms/parrot/bebop/bebop_driver.go
@@ -140,3 +140,13 @@ func (a *Driver) HullProtection(protect bool) error {
 func (a *Driver) Outdoor(outdoor bool) error {
 	return a.adaptor().drone.Outdoor(outdoor)
 }
+
+// VideoEnable tells the drone to start/stop streaming video
+func (a *Driver) VideoEnable(enable bool) error {
+	return a.adaptor().drone.VideoEnable(enable)
+}
+
+// VideoStreamMode tells the drone what mode to use for streaming video
+func (a *Driver) VideoStreamMode(mode int8) error {
+	return a.adaptor().drone.VideoStreamMode(mode)
+}
diff --git a/platforms/parrot/bebop/client/client.go b/platforms/parrot/bebop/client/client.go
index cb792b15..281a7d60 100644
--- a/platforms/parrot/bebop/client/client.go
+++ b/platforms/parrot/bebop/client/client.go
@@ -651,6 +651,50 @@ func (b *Bebop) Outdoor(outdoor bool) error {
 	return err
 }
 
+func (b *Bebop) VideoEnable(enable bool) error {
+	cmd := &bytes.Buffer{}
+
+	cmd.WriteByte(ARCOMMANDS_ID_PROJECT_ARDRONE3)
+	cmd.WriteByte(ARCOMMANDS_ID_ARDRONE3_CLASS_MEDIASTREAMING)
+
+	tmp := &bytes.Buffer{}
+	binary.Write(tmp,
+		binary.LittleEndian,
+		uint16(ARCOMMANDS_ID_ARDRONE3_MEDIASTREAMING_CMD_VIDEOENABLE),
+	)
+
+	cmd.Write(tmp.Bytes())
+
+	tmp = &bytes.Buffer{}
+	binary.Write(tmp, binary.LittleEndian, bool2int8(enable))
+	cmd.Write(tmp.Bytes())
+
+	_, err := b.write(b.networkFrameGenerator(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
+	return err
+}
+
+func (b *Bebop) VideoStreamMode(mode int8) error {
+	cmd := &bytes.Buffer{}
+
+	cmd.WriteByte(ARCOMMANDS_ID_PROJECT_ARDRONE3)
+	cmd.WriteByte(ARCOMMANDS_ID_ARDRONE3_CLASS_MEDIASTREAMING)
+
+	tmp := &bytes.Buffer{}
+	binary.Write(tmp,
+		binary.LittleEndian,
+		uint16(ARCOMMANDS_ID_ARDRONE3_MEDIASTREAMING_CMD_VIDEOSTREAMMODE),
+	)
+
+	cmd.Write(tmp.Bytes())
+
+	tmp = &bytes.Buffer{}
+	binary.Write(tmp, binary.LittleEndian, mode)
+	cmd.Write(tmp.Bytes())
+
+	_, err := b.write(b.networkFrameGenerator(cmd, ARNETWORKAL_FRAME_TYPE_DATA, BD_NET_CD_NONACK_ID).Bytes())
+	return err
+}
+
 func bool2int8(b bool) int8 {
 	if b {
 		return 1
diff --git a/platforms/parrot/bebop/client/constants.go b/platforms/parrot/bebop/client/constants.go
index 1319a59f..f7270a0e 100644
--- a/platforms/parrot/bebop/client/constants.go
+++ b/platforms/parrot/bebop/client/constants.go
@@ -174,4 +174,7 @@ const (
 	ARCOMMANDS_ID_ARDRONE3_SPEEDSETTINGS_CMD_MAXROTATIONSPEED byte = 1
 	ARCOMMANDS_ID_ARDRONE3_SPEEDSETTINGS_CMD_HULLPROTECTION byte = 2
 	ARCOMMANDS_ID_ARDRONE3_SPEEDSETTINGS_CMD_OUTDOOR byte = 3
+
+	ARCOMMANDS_ID_ARDRONE3_MEDIASTREAMING_CMD_VIDEOENABLE byte = 0
+	ARCOMMANDS_ID_ARDRONE3_MEDIASTREAMING_CMD_VIDEOSTREAMMODE byte = 1
 )
diff --git a/platforms/parrot/bebop/client/examples/video.go b/platforms/parrot/bebop/client/examples/video.go
index b87fba5e..91db5a0e 100644
--- a/platforms/parrot/bebop/client/examples/video.go
+++ b/platforms/parrot/bebop/client/examples/video.go
@@ -1,5 +1,5 @@
 /*
-	This example will connect to the Bebop and stream it's video to a webpage
+	This example will connect to the Bebop and stream its video to a webpage
 	via ffserver. This requires you to have both ffmpeg and ffserver installed
 	on your computer.
 
@@ -32,6 +32,16 @@ func main() {
 		return
 	}
 
+	if err := bebop.VideoEnable(true); err != nil {
+		fmt.Println(err)
+		return
+	}
+
+	if err := bebop.VideoStreamMode(0); err != nil {
+		fmt.Println(err)
+		return
+	}
+
 	ffmpeg := exec.Command("ffmpeg", "-i", "pipe:0", "http://localhost:8090/bebop.ffm")
 
 	ffmpegErr, err := ffmpeg.StderrPipe()
diff --git a/platforms/parrot/bebop/test_helper.go b/platforms/parrot/bebop/test_helper.go
index 65635c96..5b116e27 100644
--- a/platforms/parrot/bebop/test_helper.go
+++ b/platforms/parrot/bebop/test_helper.go
@@ -19,3 +19,5 @@ func (t testDrone) StartRecording() error             { return nil }
 func (t testDrone) StopRecording() error              { return nil }
 func (t testDrone) HullProtection(protect bool) error { return nil }
 func (t testDrone) Outdoor(outdoor bool) error        { return nil }
+func (t testDrone) VideoEnable(enable bool) error        { return nil }
+func (t testDrone) VideoStreamMode(mode int8) error        { return nil }