node_drone.js

var RollingSpider = require('rolling-spider');
var temporal = require('temporal');
var keypress = require('keypress');
var record = require('node-record-lpcm16');
var Julius = require('julius-net');
var rollingSpider = new RollingSpider();

keypress(process.stdin);
process.stdin.setRawMode(true);
console.log("[drone event] connecting to rolling spider...");

rollingSpider.connect(function() {
    rollingSpider.setup(function() {
    rollingSpider.flatTrim();
    rollingSpider.startPing();
    rollingSpider.flatTrim();
    console.log("[drone event] connected to rolling spider");
    });
});

julius = new Julius({
    host: '127.0.0.1',
    port: 10500
});

julius.on('recognitionSuccess', function (recognition) {
	var word = recognition[0]['words'][1]['word'];
	console.log("[audio event] input : " + word);

		if(word.indexOf("スタート") !== -1){
			console.log("[drone event] send takeoff instruction");
			
			temporal.queue([
				{
					delay: 5000,
					task: function(){
						rollingSpider.takeoff({steps:12});
						rollingSpider.flatTrim();
					}
				}
			]);

		}else if(word.indexOf("ストップ") !== -1){
			console.log("[drone event] send land instruction");

			temporal.queue([
				{
					delay: 5000,
					task: function(){
						rollingSpider.land({steps:12});
					}
				}
			]);

		}else if(word.indexOf("アップ") !== -1){
			console.log("[drone event] send up instruction");
	
			temporal.queue([
				{
					delay: 5000,
					task: function(){
						rollingSpider.up({steps:12});
					}
				}
			]);

		}else if(word.indexOf("ダウン") !== -1){
			console.log("[drone event] send up instruction");
	
			temporal.queue([
				{
					delay: 5000,
					task: function(){
						rollingSpider.down({steps:12});
					}
				}
			]);		
		}
});

process.stdin.on('keypress',function(c,key){

	if(key && key.name === "up"){
		console.log("[key event] input key : up");
		console.log("[drone event] send forward instruction");

		temporal.queue([
			{
				delay: 5000,
				task: function(){
					rollingSpider.forward({steps:6});
				}
			}
		]);

	}else if(key && key.name === "down"){
		console.log("[key event] input key : down");
		console.log("[drone event] send backward instruction");

		temporal.queue([
			{
				delay: 5000,
				task: function(){
					rollingSpider.backward({steps:12});
				}
			}
		]);

	}else if(key && key.name === "left"){
		console.log("[key event] input key : left");
		console.log("[drone event] send tiltLeft instruction");

		temporal.queue([
			{
				delay: 5000,
				task: function(){
					rollingSpider.tiltLeft({steps:12});
				}
			}
		]);

	}else if(key && key.name === "right"){
		console.log("[key event] input key : right");
		console.log("[drone event] send tiltRight instruction");

		temporal.queue([
			{
				delay: 5000,
				task: function(){
					rollingSpider.tiltRight({steps:12});
				}
			}
		]);

	}else if(key && key.name === "u"){
		console.log("[key event] input key : u");
		console.log("[drone event] send up instruction");

		temporal.queue([
			{
				delay: 5000,
				task: function(){
					rollingSpider.up({steps:12});
				}
			}
		]);

	}else if(key && key.name === "d"){
		console.log("[key event] input key : d");
		console.log("[drone event] send down instruction");

		temporal.queue([
			{
				delay: 5000,
				task: function(){
					rollingSpider.down({steps:12});
				}
			}
		]);

	}else if(key && key.name === "t"){
		console.log("[key event] input key : t");
		console.log("[drone event] send takeoff instruction");

		temporal.queue([
			{
				delay: 5000,
				task: function(){
					rollingSpider.takeoff({steps:12});
					rollingSpider.flatTrim();
				}
			}
		]);

	}else if(key && key.name === "l"){
		console.log("[key event] input key : l");
		console.log("[drone event] send land instruction");

		temporal.queue([
			{
				delay: 5000,
				task: function(){
					rollingSpider.land({steps:12});
				}
			}
		]);

	}else if(key && key.ctrl && key.name === 'c'){
		console.log("[key event] input key : ctrl + c");
		console.log("[drone event] disconnect to rolling spider");
		rollingSpider.disconnect();
		process.stdin.pause();
		process.exit();
	}else{
		if(key){
			console.log("[key event] input key : "+key.name);
		}else{
			console.log("[key event] input key : undefined");
		}
	}

});

process.stdin.resume();