From 53624dd7d02167d9982ad3af5087ae1de63a7b58 Mon Sep 17 00:00:00 2001
From: Bas <mega@ioexception.at>
Date: Mon, 28 May 2018 18:43:06 +0200
Subject: [PATCH 01/17] wip

---
 package.json                    |   1 +
 src/CharacteristicEnums.js      |  33 ++++--
 src/DroneCommand.js             |   2 +-
 src/DroneConnection.js          |  38 ++-----
 src/connectors/BLEConnector.js  | 190 ++++++++++++++++++++++++++++++++
 src/connectors/WifiConnector.js |   0
 test-wifi.js                    |  54 +++++++++
 yarn.lock                       |  15 +++
 8 files changed, 298 insertions(+), 35 deletions(-)
 create mode 100644 src/connectors/BLEConnector.js
 create mode 100644 src/connectors/WifiConnector.js
 create mode 100644 test-wifi.js

diff --git a/package.json b/package.json
index 965fbb51..385ba4e6 100644
--- a/package.json
+++ b/package.json
@@ -20,6 +20,7 @@
     "ava": "0.25.0",
     "eslint": "4.19.1",
     "jsdoc": "3.5.5",
+    "mdns": "^2.4.0",
     "minami-compat": "1.2.4"
   },
   "scripts": {
diff --git a/src/CharacteristicEnums.js b/src/CharacteristicEnums.js
index e4028f1a..0c5259be 100644
--- a/src/CharacteristicEnums.js
+++ b/src/CharacteristicEnums.js
@@ -17,10 +17,10 @@ const Enum = require('./util/Enum');
  * @type {Enum}
  */
 const characteristicSendUuids = new Enum({
-  SEND_NO_ACK: '0a', // not-ack commands (PCMD only)
-  SEND_WITH_ACK: '0b', // ack commands (all piloting commands)
-  SEND_HIGH_PRIORITY: '0c', // emergency commands
-  ACK_COMMAND: '1e', // ack for data sent on 0e
+  SEND_NO_ACK: 'fa0a', // not-ack commands (PCMD only)
+  SEND_WITH_ACK: 'fa0b', // ack commands (all piloting commands)
+  SEND_HIGH_PRIORITY: 'fa0c', // emergency commands
+  ACK_COMMAND: 'fa1e', // ack for data sent on 0e
 });
 
 /**
@@ -34,13 +34,30 @@ const characteristicSendUuids = new Enum({
  * @type {Enum}
  */
 const characteristicReceiveUuids = new Enum({
-  ACK_DRONE_DATA: '0e', // drone data that needs an ack (needs to be ack on 1e)
-  NO_ACK_DRONE_DATA: '0f', // data from drone (including battery and others), no ack
-  ACK_COMMAND_SENT: '1b', // ack 0b channel, SEND_WITH_ACK
-  ACK_HIGH_PRIORITY: '1c', // ack 0c channel, SEND_HIGH_PRIORITY
+  ACK_DRONE_DATA: 'fb0e', // drone data that needs an ack (needs to be ack on 1e)
+  NO_ACK_DRONE_DATA: 'fb0f', // data from drone (including battery and others), no ack
+  ACK_COMMAND_SENT: 'fb1b', // ack 0b channel, SEND_WITH_ACK
+  ACK_HIGH_PRIORITY: 'fb1c', // ack 0c channel, SEND_HIGH_PRIORITY
 });
 
+/**
+ * Receive and send characteristsic UUIDs
+ *
+ * @property {string} ACK_DRONE_DATA - drone data that needs an ack (needs to be ack on 1e)
+ * @property {string} NO_ACK_DRONE_DATA - data from drone (including battery and others), no ack
+ * @property {string} ACK_COMMAND_SENT - ack 0b channel, SEND_WITH_ACK
+ * @property {string} ACK_HIGH_PRIORITY - ack 0c channel, SEND_HIGH_PRIORITY
+ * @property {string} SEND_NO_ACK - not-ack commands (PCMD only)
+ * @property {string} SEND_WITH_ACK - ack commands (all piloting commands)
+ * @property {string} SEND_HIGH_PRIORITY - emergency commands
+ * @property {string} ACK_COMMAND - ack for data sent on 0e
+ *
+ * @type {Enum}
+ */
+const characteristicUuids = new Enum(Object.assign({}, characteristicSendUuids, characteristicReceiveUuids));
+
 module.exports = {
   characteristicSendUuids,
   characteristicReceiveUuids,
+  characteristicUuids,
 };
diff --git a/src/DroneCommand.js b/src/DroneCommand.js
index d359dcb4..be578aac 100644
--- a/src/DroneCommand.js
+++ b/src/DroneCommand.js
@@ -177,7 +177,7 @@ class DroneCommand {
   get sendCharacteristicUuid() {
     const t = bufferCharTranslationMap[this.bufferType] || 'SEND_WITH_ACK';
 
-    return 'fa' + characteristicSendUuids[t];
+    return characteristicSendUuids[t];
   }
 
   /**
diff --git a/src/DroneConnection.js b/src/DroneConnection.js
index 23dc6ec2..5ed6c974 100644
--- a/src/DroneConnection.js
+++ b/src/DroneConnection.js
@@ -173,12 +173,13 @@ class DroneConnection extends EventEmitter {
       for (const uuid of handshakeUuids) {
         const target = this.getCharacteristic(uuid);
 
+        // @todo Function needs a callback, should investigate
         target.subscribe();
       }
 
       Logger.debug('Adding listeners (fb uuid prefix)');
       for (const uuid of characteristicReceiveUuids.values()) {
-        const target = this.getCharacteristic('fb' + uuid);
+        const target = this.getCharacteristic(uuid);
 
         target.subscribe();
         target.on('data', data => this._handleIncoming(uuid, data));
@@ -251,28 +252,13 @@ class DroneConnection extends EventEmitter {
     return new Promise(accept => {
       Logger.debug(`SEND ${command.bufferType}[${packetId}]: `, command.toString());
 
-      this.getCharacteristic(command.sendCharacteristicUuid).write(buffer, true);
-
-      switch (command.bufferType) {
-        case 'DATA_WITH_ACK':
-        case 'SEND_WITH_ACK':
-          if (!this._commandCallback['ACK_COMMAND_SENT']) {
-            this._commandCallback['ACK_COMMAND_SENT'] = [];
-          }
-
-          this._commandCallback['ACK_COMMAND_SENT'][packetId] = accept;
-          break;
-        case 'SEND_HIGH_PRIORITY':
-          if (!this._commandCallback['ACK_HIGH_PRIORITY']) {
-            this._commandCallback['ACK_HIGH_PRIORITY'] = [];
-          }
-
-          this._commandCallback['ACK_HIGH_PRIORITY'][packetId] = accept;
-          break;
-        default:
-          accept();
-          break;
+      if (command.shouldAck) {
+        this._commandCallback[packetId] = accept;
+      } else {
+        accept();
       }
+
+      this.getCharacteristic(command.sendCharacteristicUuid).write(buffer, true);
     });
   }
 
@@ -298,10 +284,10 @@ class DroneConnection extends EventEmitter {
       case 'ACK_HIGH_PRIORITY':
         const packetId = buffer.readUInt8(2);
 
-        callback = (this._commandCallback[channel] || {})[packetId];
+        callback = this._commandCallback[packetId];
 
         if (callback) {
-          delete this._commandCallback[channel][packetId];
+          delete this._commandCallback[packetId];
         }
 
         if (typeof callback === 'function') {
@@ -337,7 +323,7 @@ class DroneConnection extends EventEmitter {
 
       this._sensorStore[token] = command;
 
-      Logger.debug('RECV:', command.toString());
+      Logger.debug(`RECV ${command.bufferType}:`, command.toString());
 
       /**
        * Fires when a new sensor reading has been received
@@ -448,7 +434,7 @@ class DroneConnection extends EventEmitter {
     buffer.writeUIntLE(this._getStep(characteristic), 1, 1);
     buffer.writeUIntLE(packetId, 2, 1);
 
-    this.getCharacteristic('fa' + characteristic).write(buffer, true);
+    this.getCharacteristic(characteristic).write(buffer, true);
   }
 }
 
diff --git a/src/connectors/BLEConnector.js b/src/connectors/BLEConnector.js
new file mode 100644
index 00000000..fe592e8d
--- /dev/null
+++ b/src/connectors/BLEConnector.js
@@ -0,0 +1,190 @@
+const noble = require('noble');
+const EventEmitter = require('events');
+const Logger = require('winston');
+const { characteristicUuids, characteristicReceiveUuids } = require('../CharacteristicEnums');
+
+const MANUFACTURER_SERIALS = [
+  '4300cf1900090100',
+  '4300cf1909090100',
+  '4300cf1907090100',
+];
+
+const DRONE_PREFIXES = [
+  'RS_',
+  'Mars_',
+  'Travis_',
+  'Maclan_',
+  'Mambo_',
+  'Blaze_',
+  'NewZ_',
+];
+
+class BLEConnector extends EventEmitter {
+  constructor() {
+
+  }
+
+  connect() {
+    if (this.peripheral) {
+      noble.warn('Already connected. Ignoring connect request');
+    }
+
+    if (noble.state === 'unknown') {
+      Logger.debug('Noble state is unknown. Waiting for it to change to poweredOn');
+      noble.once('stateChange', () => this.connect());
+    } else if (noble.state === 'poweredOn') {
+      Logger.info('Searching for drones...');
+
+      noble.on('discover', peripheral => this._onPeripheralDiscovery(peripheral));
+
+      noble.startScanning();
+    }
+  }
+
+  /**
+   * Event handler for when noble discovers a peripheral
+   * Validates it is a drone and attempts to connect.
+   *
+   * @param {Peripheral} peripheral a noble peripheral class
+   * @return {undefined}
+   * @private
+   */
+  _onPeripheralDiscovery(peripheral) {
+    if (!this._validatePeripheral(peripheral)) {
+      return;
+    }
+
+    Logger.info(`Peripheral found ${peripheral.advertisement.localName}`); //ex: Mambo_646859
+
+    noble.stopScanning();
+
+    peripheral.connect((error) => {
+      if (error) {
+        throw error;
+      }
+
+      this._peripheral = peripheral;
+
+      this._setupPeripheral();
+    });
+  }
+
+  /**
+   * Validates a noble Peripheral class is a Parrot MiniDrone
+   * @param {Peripheral} peripheral a noble peripheral object class
+   * @return {boolean} If the peripheral is a drone
+   * @private
+   */
+  _validatePeripheral(peripheral) {
+    if (!peripheral) {
+      return false;
+    }
+
+    const localName = peripheral.advertisement.localName;
+    const manufacturer = peripheral.advertisement.manufacturerData;
+    const matchesFilter = this.droneFilter ? localName === this.droneFilter : false;
+
+    const localNameMatch = matchesFilter || DRONE_PREFIXES.some((prefix) => localName && localName.indexOf(prefix) >= 0);
+    const manufacturerMatch = manufacturer && MANUFACTURER_SERIALS.indexOf(manufacturer) >= 0;
+
+    // Is TRUE according to droneFilter or if empty, for EITHER an "RS_" name OR manufacturer code.
+    return localNameMatch || manufacturerMatch;
+  }
+
+  /**
+   * Sets up a peripheral and finds all of it's services and characteristics
+   * @return {undefined}
+   */
+  _setupPeripheral() {
+    this.peripheral.discoverAllServicesAndCharacteristics((err, services, characteristics) => {
+      if (err) {
+        throw err;
+      }
+
+      this.characteristics = characteristics;
+
+      if (Logger.level === 'debug') {
+        Logger.debug('Found the following characteristics:');
+
+        // Get uuids
+        const characteristicUuids = this.characteristics.map(x => x.uuid.substr(4, 4).toLowerCase());
+
+        characteristicUuids.sort();
+
+        characteristicUuids.join(', ').replace(/([^\n]{40,}?), /g, '$1|').split('|').map(s => Logger.debug(s));
+      }
+
+      Logger.debug('Preforming handshake');
+      for (const uuid of handshakeUuids) {
+        const target = this.getCharacteristic(uuid);
+
+        target.subscribe();
+      }
+
+      Logger.debug('Adding listeners (fb uuid prefix)');
+      for (const uuid of characteristicReceiveUuids.values()) {
+        const target = this.getCharacteristic('fb' + uuid);
+
+        target.subscribe();
+        target.on('data', data => this._handleIncoming(uuid, data));
+      }
+
+      Logger.info(`Device connected ${this.peripheral.advertisement.localName}`);
+
+      // Register some event handlers
+      /**
+       * Drone disconnected event
+       * Fired when the bluetooth connection has been disconnected
+       *
+       * @event DroneCommand#disconnected
+       */
+      noble.on('disconnect', () => this.disconnect());
+
+      setTimeout(() => {
+        /**
+         * Drone connected event
+         * You can control the drone once this event has been triggered.
+         *
+         * @event DroneCommand#connected
+         */
+        this.emit('connected');
+      }, 200);
+    });
+  }
+
+  /**
+   * @returns {Peripheral} a noble peripheral object class
+   */
+  get peripheral() {
+    return this._peripheral;
+  }
+
+  /**
+   * Finds a Noble Characteristic class for the given characteristic UUID
+   * @param {String} uuid The characteristics UUID
+   * @return {Characteristic} The Noble Characteristic corresponding to that UUID
+   */
+  getCharacteristic(uuid) {
+    uuid = uuid.toLowerCase();
+
+    if (typeof this._characteristicLookupCache[uuid] === 'undefined') {
+      this._characteristicLookupCache[uuid] = this.characteristics.find(x => x.uuid.substr(4, 4).toLowerCase() === uuid);
+    }
+
+    return this._characteristicLookupCache[uuid];
+  }
+
+  write(characteristic, buffer) {
+    this.getCharacteristic(characteristicUuids[characteristic]).write(buffer, true);
+  }
+
+  disconnect() {
+    delete this._peripheral;
+
+    this.characteristics = [];
+
+    this.emit('disconnected');
+  }
+}
+
+module.exports = BLEConnector;
diff --git a/src/connectors/WifiConnector.js b/src/connectors/WifiConnector.js
new file mode 100644
index 00000000..e69de29b
diff --git a/test-wifi.js b/test-wifi.js
new file mode 100644
index 00000000..0ba95326
--- /dev/null
+++ b/test-wifi.js
@@ -0,0 +1,54 @@
+const mdns = require('mdns');
+const Logger = require('winston');
+const net = require('net');
+
+Logger.level = 'debug';
+
+let mambo;
+
+function _onMdnsServiceDiscovery(service) {
+  if (service.type.name.startsWith('arsdk-') && service.type.protocol === 'udp') {
+    browser.stop();
+
+    Logger.info('Found service ' + service.type.toString());
+
+    mambo = service;
+    console.log(service);
+
+    const ip = service.addresses[0];
+    const port = service.port;
+
+    const config = {
+      'd2c_port': 43210,
+      'controller_type': 'minidrone-js',
+      'controller_name': 'com.example.arsdkapp'
+    };
+
+    var client = new net.Socket();
+    client.connect(port, ip, function() {
+      console.log('Connected');
+      console.log('Sending: ' + JSON.stringify(config));
+      client.write(JSON.stringify(config));
+    });
+
+    client.on('data', function(data) {
+      console.log('Received: ' + data);
+      client.destroy(); // kill client after server's response
+    });
+
+    client.on('close', function() {
+      console.log('Connection closed');
+    });
+  }
+}
+
+var sequence = [
+  mdns.rst.DNSServiceResolve()
+  , mdns.rst.DNSServiceGetAddrInfo({ families: [4] }),
+];
+
+let browser = mdns.createBrowser(mdns.udp('_arsdk-090b'), { resolverSequence: sequence }); // createBrowser(mdns.udp('arsdk-090b'));
+
+browser.on('serviceUp', _onMdnsServiceDiscovery);
+
+browser.start();
diff --git a/yarn.lock b/yarn.lock
index 60916294..731a0ea6 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -641,6 +641,10 @@ binary-extensions@^1.0.0:
   version "1.11.0"
   resolved "https://registry.yarnpkg.com/binary-extensions/-/binary-extensions-1.11.0.tgz#46aa1751fb6a2f93ee5e689bb1087d4b14c6c205"
 
+bindings@~1.2.1:
+  version "1.2.1"
+  resolved "https://registry.yarnpkg.com/bindings/-/bindings-1.2.1.tgz#14ad6113812d2d37d72e67b4cacb4bb726505f11"
+
 block-stream@*:
   version "0.0.9"
   resolved "https://registry.yarnpkg.com/block-stream/-/block-stream-0.0.9.tgz#13ebfe778a03205cfe03751481ebb4b3300c126a"
@@ -2213,6 +2217,13 @@ md5-o-matic@^0.1.1:
   version "0.1.1"
   resolved "https://registry.yarnpkg.com/md5-o-matic/-/md5-o-matic-0.1.1.tgz#822bccd65e117c514fab176b25945d54100a03c3"
 
+mdns@^2.4.0:
+  version "2.4.0"
+  resolved "https://registry.yarnpkg.com/mdns/-/mdns-2.4.0.tgz#dc9d7152086a2ca8f1ed81eb451a7ee4cb456940"
+  dependencies:
+    bindings "~1.2.1"
+    nan "^2.10.0"
+
 meow@^3.7.0:
   version "3.7.0"
   resolved "https://registry.yarnpkg.com/meow/-/meow-3.7.0.tgz#72cb668b425228290abbfa856892587308a801fb"
@@ -2313,6 +2324,10 @@ nan@^2.0.5, nan@^2.3.0, nan@^2.8.0:
   version "2.8.0"
   resolved "https://registry.yarnpkg.com/nan/-/nan-2.8.0.tgz#ed715f3fe9de02b57a5e6252d90a96675e1f085a"
 
+nan@^2.10.0:
+  version "2.10.0"
+  resolved "https://registry.yarnpkg.com/nan/-/nan-2.10.0.tgz#96d0cd610ebd58d4b4de9cc0c6828cda99c7548f"
+
 natural-compare@^1.4.0:
   version "1.4.0"
   resolved "https://registry.yarnpkg.com/natural-compare/-/natural-compare-1.4.0.tgz#4abebfeed7541f2c27acfb29bdbbd15c8d5ba4f7"

From f0f71c419878c4471db8ffb74dc640eef3b06589 Mon Sep 17 00:00:00 2001
From: Bas <mega@ioexception.at>
Date: Mon, 28 May 2018 22:50:29 +0200
Subject: [PATCH 02/17] wip

---
 examples/toggleAutoTakeOff.js   |  14 +-
 src/ARDiscoveryError.js         |   4 +-
 src/DroneCommand.js             |  33 +---
 src/DroneConnection.js          | 308 +++++---------------------------
 src/connectors/BLEConnector.js  |  48 ++++-
 src/connectors/WifiConnector.js | 144 +++++++++++++++
 src/index.js                    |   2 +
 7 files changed, 247 insertions(+), 306 deletions(-)

diff --git a/examples/toggleAutoTakeOff.js b/examples/toggleAutoTakeOff.js
index b6d550ca..d49b0ffd 100644
--- a/examples/toggleAutoTakeOff.js
+++ b/examples/toggleAutoTakeOff.js
@@ -1,20 +1,28 @@
-const { DroneConnection, CommandParser } = require('../src');
+const { DroneConnection, CommandParser, WifiConnector, BLEConnector } = require('../src');
 const Logger = require('winston');
 
 Logger.level = 'debug';
 
 const parser = new CommandParser();
-const drone = new DroneConnection();
+const connector = new WifiConnector();
+const drone = new DroneConnection(connector);
+connector.connect();
 
 const autoTakeOffOn = parser.getCommand('minidrone', 'Piloting', 'AutoTakeOffMode', { state: 1 });
 const autoTakeOffOff = parser.getCommand('minidrone', 'Piloting', 'AutoTakeOffMode', { state: 0 });
+const allState = parser.getCommand('common', 'Common', 'AllStates');
 
 function sleep(ms) {
   return new Promise(a => setTimeout(a, ms));
 }
 
 drone.on('connected', async () => {
-  await drone.runCommand(autoTakeOffOff);
+  await sleep(200);
+  drone.runCommand(allState);
+
+  await sleep(1000);
+
+  await drone.runCommand(autoTakeOffOn);
   Logger.debug('Command got ACK\'d');
 
   await sleep(2000);
diff --git a/src/ARDiscoveryError.js b/src/ARDiscoveryError.js
index 1651b65d..002eec58 100644
--- a/src/ARDiscoveryError.js
+++ b/src/ARDiscoveryError.js
@@ -47,7 +47,7 @@ const Enum = require('./util/Enum');
  *
  * @see https://github.com/Parrot-Developers/libARDiscovery/blob/master/Includes/libARDiscovery/ARDISCOVERY_Error.h
  */
-const ARDiscoveryError = module.exports = new Enum({
+const ARDiscoveryError = new Enum({
   // Do not change these values, they are sent by the device in the Json of connection.
   OK: 0,
   ERROR: -1,
@@ -100,3 +100,5 @@ const ARDiscoveryError = module.exports = new Enum({
   ERROR_JSON_PARSSING: -5999,
   ERROR_JSON_BUFFER_SIZE: -5998,
 });
+
+module.exports = ARDiscoveryError;
diff --git a/src/DroneCommand.js b/src/DroneCommand.js
index be578aac..fef0d65d 100644
--- a/src/DroneCommand.js
+++ b/src/DroneCommand.js
@@ -1,36 +1,7 @@
 const DroneCommandArgument = require('./DroneCommandArgument');
 const Enum = require('./util/Enum');
 const { characteristicSendUuids } = require('./CharacteristicEnums');
-
-/**
- * Buffer types
- *
- * @property {number} ACK - Acknowledgment of previously received data
- * @property {number} DATA - Normal data (no ack requested)
- * @property {number} NON_ACK - Same as DATA
- * @property {number} HIGH_PRIO - Not sure about this one could be LLD
- * @property {number} LOW_LATENCY_DATA - Treated as normal data on the network, but are given higher priority internally
- * @property {number} DATA_WITH_ACK - Data requesting an ack. The receiver must send an ack for this data unit!
- *
- * @type {Enum}
- */
-const bufferType = new Enum({
-  ACK: 0x02,
-  DATA: 0x02,
-  NON_ACK: 0x02,
-  HIGH_PRIO: 0x02,
-  LOW_LATENCY_DATA: 0x03,
-  DATA_WITH_ACK: 0x04,
-});
-
-const bufferCharTranslationMap = new Enum({
-  ACK: 'ACK_COMMAND',
-  DATA: 'SEND_NO_ACK',
-  NON_ACK: 'SEND_NO_ACK',
-  HIGH_PRIO: 'SEND_HIGH_PRIORITY',
-  LOW_LATENCY_DATA: 'SEND_NO_ACK',
-  DATA_WITH_ACK: 'SEND_WITH_ACK',
-});
+const { bufferType, bufferCharacteristicTranslationMap } = require('./BufferEnums');
 
 /**
  * Drone command
@@ -175,7 +146,7 @@ class DroneCommand {
    * @returns {string} - uuid as a string
    */
   get sendCharacteristicUuid() {
-    const t = bufferCharTranslationMap[this.bufferType] || 'SEND_WITH_ACK';
+    const t = bufferCharacteristicTranslationMap[this.bufferType] || 'SEND_WITH_ACK';
 
     return characteristicSendUuids[t];
   }
diff --git a/src/DroneConnection.js b/src/DroneConnection.js
index 5ed6c974..cf85c8e1 100644
--- a/src/DroneConnection.js
+++ b/src/DroneConnection.js
@@ -3,43 +3,7 @@ const Logger = require('winston');
 const Enum = require('./util/Enum');
 const CommandParser = require('./CommandParser');
 const { characteristicSendUuids, characteristicReceiveUuids } = require('./CharacteristicEnums');
-
-const MANUFACTURER_SERIALS = [
-  '4300cf1900090100',
-  '4300cf1909090100',
-  '4300cf1907090100',
-];
-
-const DRONE_PREFIXES = [
-  'RS_',
-  'Mars_',
-  'Travis_',
-  'Maclan_',
-  'Mambo_',
-  'Blaze_',
-  'NewZ_',
-];
-
-// http://forum.developer.parrot.com/t/minidrone-characteristics-uuid/4686/3
-const handshakeUuids = [
-  'fb0f', 'fb0e', 'fb1b', 'fb1c',
-  'fd22', 'fd23', 'fd24', 'fd52',
-  'fd53', 'fd54',
-];
-
-// the following UUID segments come from the Mambo and from the documenation at
-// http://forum.developer.parrot.com/t/minidrone-characteristics-uuid/4686/3
-// the 3rd and 4th bytes are used to identify the service
-const serviceUuids = new Enum({
-  'fa': 'ARCOMMAND_SENDING_SERVICE',
-  'fb': 'ARCOMMAND_RECEIVING_SERVICE',
-  'fc': 'PERFORMANCE_COUNTER_SERVICE',
-  'fd21': 'NORMAL_BLE_FTP_SERVICE',
-  'fd51': 'UPDATE_BLE_FTP',
-  'fe00': 'UPDATE_RFCOMM_SERVICE',
-  '1800': 'Device Info',
-  '1801': 'unknown',
-});
+const { bufferType } = require('./BufferEnums');
 
 /**
  * Drone connection class
@@ -54,187 +18,35 @@ const serviceUuids = new Enum({
 class DroneConnection extends EventEmitter {
   /**
    * Creates a new DroneConnection instance
-   * @param {string} [droneFilter=] - The drone name leave blank for no filter
+   * @param {BLEConnector} connector - The drone connector to use (BLE, Wifi)
    * @param {boolean} [warmup=true] - Warmup the command parser
    */
-  constructor(droneFilter = '', warmup = true) {
+  constructor(connector, warmup = true) {
     super();
 
-    this.characteristics = [];
-
-    this._characteristicLookupCache = {};
     this._commandCallback = {};
     this._sensorStore = {};
     this._stepStore = {};
 
-    this.droneFilter = droneFilter;
+    this.connector = connector;
+
+    this.connector.on('disconnect', () => this.emit('disconnect'));
+    this.connector.on('connected', () => this.emit('connected'));
+    this.connector.on('data', data => this._handleIncoming(data));
 
-    this.noble = require('noble');
     this.parser = new CommandParser();
 
     if (warmup) {
       // We'll do it for you so you don't have to
       this.parser.warmup();
     }
-
-    // bind noble event handlers
-    this.noble.on('stateChange', state => this._onNobleStateChange(state));
-    this.noble.on('discover', peripheral => this._onPeripheralDiscovery(peripheral));
-  }
-
-  /**
-   * Event handler for when noble broadcasts a state change
-   * @param  {String} state a string describing noble's state
-   * @return {undefined}
-   * @private
-   */
-  _onNobleStateChange(state) {
-    Logger.debug(`Noble state changed to ${state}`);
-
-    if (state === 'poweredOn') {
-      Logger.info('Searching for drones...');
-      this.noble.startScanning();
-    }
-  }
-
-  /**
-   * Event handler for when noble discovers a peripheral
-   * Validates it is a drone and attempts to connect.
-   *
-   * @param {Peripheral} peripheral a noble peripheral class
-   * @return {undefined}
-   * @private
-   */
-  _onPeripheralDiscovery(peripheral) {
-    if (!this._validatePeripheral(peripheral)) {
-      return;
-    }
-
-    Logger.info(`Peripheral found ${peripheral.advertisement.localName}`);
-
-    this.noble.stopScanning();
-
-    peripheral.connect((error) => {
-      if (error) {
-        throw error;
-      }
-      this._peripheral = peripheral;
-
-      this._setupPeripheral();
-    });
-  }
-
-  /**
-   * Validates a noble Peripheral class is a Parrot MiniDrone
-   * @param {Peripheral} peripheral a noble peripheral object class
-   * @return {boolean} If the peripheral is a drone
-   * @private
-   */
-  _validatePeripheral(peripheral) {
-    if (!peripheral) {
-      return false;
-    }
-
-    const localName = peripheral.advertisement.localName;
-    const manufacturer = peripheral.advertisement.manufacturerData;
-    const matchesFilter = this.droneFilter ? localName === this.droneFilter : false;
-
-    const localNameMatch = matchesFilter || DRONE_PREFIXES.some((prefix) => localName && localName.indexOf(prefix) >= 0);
-    const manufacturerMatch = manufacturer && MANUFACTURER_SERIALS.indexOf(manufacturer) >= 0;
-
-    // Is TRUE according to droneFilter or if empty, for EITHER an "RS_" name OR manufacturer code.
-    return localNameMatch || manufacturerMatch;
-  }
-
-  /**
-   * Sets up a peripheral and finds all of it's services and characteristics
-   * @return {undefined}
-   */
-  _setupPeripheral() {
-    this.peripheral.discoverAllServicesAndCharacteristics((err, services, characteristics) => {
-      if (err) {
-        throw err;
-      }
-
-      this.characteristics = characteristics;
-
-      if (Logger.level === 'debug') {
-        Logger.debug('Found the following characteristics:');
-
-        // Get uuids
-        const characteristicUuids = this.characteristics.map(x => x.uuid.substr(4, 4).toLowerCase());
-
-        characteristicUuids.sort();
-
-        characteristicUuids.join(', ').replace(/([^\n]{40,}?), /g, '$1|').split('|').map(s => Logger.debug(s));
-      }
-
-      Logger.debug('Preforming handshake');
-      for (const uuid of handshakeUuids) {
-        const target = this.getCharacteristic(uuid);
-
-        // @todo Function needs a callback, should investigate
-        target.subscribe();
-      }
-
-      Logger.debug('Adding listeners (fb uuid prefix)');
-      for (const uuid of characteristicReceiveUuids.values()) {
-        const target = this.getCharacteristic(uuid);
-
-        target.subscribe();
-        target.on('data', data => this._handleIncoming(uuid, data));
-      }
-
-      Logger.info(`Device connected ${this.peripheral.advertisement.localName}`);
-
-      // Register some event handlers
-      /**
-       * Drone disconnected event
-       * Fired when the bluetooth connection has been disconnected
-       *
-       * @event DroneCommand#disconnected
-       */
-      this.noble.on('disconnect', () => this.emit('disconnected'));
-
-      setTimeout(() => {
-        /**
-         * Drone connected event
-         * You can control the drone once this event has been triggered.
-         *
-         * @event DroneCommand#connected
-         */
-        this.emit('connected');
-      }, 200);
-    });
-  }
-
-  /**
-   * @returns {Peripheral} a noble peripheral object class
-   */
-  get peripheral() {
-    return this._peripheral;
   }
 
   /**
    * @returns {boolean} If the drone is connected
    */
   get connected() {
-    return this.characteristics.length > 0;
-  }
-
-  /**
-   * Finds a Noble Characteristic class for the given characteristic UUID
-   * @param {String} uuid The characteristics UUID
-   * @return {Characteristic} The Noble Characteristic corresponding to that UUID
-   */
-  getCharacteristic(uuid) {
-    uuid = uuid.toLowerCase();
-
-    if (typeof this._characteristicLookupCache[uuid] === 'undefined') {
-      this._characteristicLookupCache[uuid] = this.characteristics.find(x => x.uuid.substr(4, 4).toLowerCase() === uuid);
-    }
-
-    return this._characteristicLookupCache[uuid];
+    return this.connector.connected;
   }
 
   /**
@@ -245,7 +57,7 @@ class DroneConnection extends EventEmitter {
    */
   runCommand(command) {
     const buffer = command.toBuffer();
-    const packetId = this._getStep(command.bufferType);
+    const packetId = this._getStep(command.bufferFlag);
 
     buffer.writeUIntLE(packetId, 1, 1);
 
@@ -257,8 +69,7 @@ class DroneConnection extends EventEmitter {
       } else {
         accept();
       }
-
-      this.getCharacteristic(command.sendCharacteristicUuid).write(buffer, true);
+      this.connector.write(buffer, command.sendCharacteristicUuid);
     });
   }
 
@@ -268,39 +79,27 @@ class DroneConnection extends EventEmitter {
    * @param {Buffer} buffer - The packet data
    * @private
    */
-  _handleIncoming(channelUuid, buffer) {
-    const channel = characteristicReceiveUuids.findForValue(channelUuid);
-    let callback;
-
-    switch (channel) {
-      case 'ACK_DRONE_DATA':
-        // We need to response with an ack
-        this._updateSensors(buffer, true);
-        break;
-      case 'NO_ACK_DRONE_DATA':
-        this._updateSensors(buffer);
-        break;
-      case 'ACK_COMMAND_SENT':
-      case 'ACK_HIGH_PRIORITY':
-        const packetId = buffer.readUInt8(2);
-
-        callback = this._commandCallback[packetId];
-
-        if (callback) {
-          delete this._commandCallback[packetId];
-        }
-
-        if (typeof callback === 'function') {
-          Logger.debug(`${channel}: packet id ${packetId}`);
-          callback();
-        } else {
-          Logger.debug(`${channel}: packet id ${packetId}, no callback  :(`);
-        }
-
-        break;
-      default:
-        Logger.warn(`Got data on an unknown channel ${channel}(${channelUuid}) (wtf!?)`);
-        break;
+  _handleIncoming(buffer) {
+    const characteristic = bufferType.findForValue(buffer.readUInt8(0));
+
+    Logger.debug(buffer);
+
+    if (characteristic !== 'ACK') {
+      this._updateSensors(buffer);
+    } else {
+      // @todo figure out why two ACK's in a row are received
+      const packetId = buffer.readUInt8(2);
+      const callback = this._commandCallback[packetId];
+
+      if (typeof callback === 'function') {
+        Logger.debug(`ACK_*: packet id ${packetId}`);
+
+        delete this._commandCallback[packetId];
+
+        callback();
+      } else {
+        Logger.debug(`ACK_*: packet id ${packetId}, no callback  :(`);
+      }
     }
   }
 
@@ -308,11 +107,10 @@ class DroneConnection extends EventEmitter {
    * Update the sensor
    *
    * @param {Buffer} buffer - Command buffer
-   * @param {boolean} ack - If an acknowledgement for receiving the data should be sent
    * @private
    * @fires DroneConnection#sensor:
    */
-  _updateSensors(buffer, ack = false) {
+  _updateSensors(buffer) {
     if (buffer[2] === 0) {
       return;
     }
@@ -325,6 +123,12 @@ class DroneConnection extends EventEmitter {
 
       Logger.debug(`RECV ${command.bufferType}:`, command.toString());
 
+      if (command.shouldAck) {
+        const packetId = buffer.readUInt8(1);
+
+        this.ack(packetId);
+      }
+
       /**
        * Fires when a new sensor reading has been received
        *
@@ -343,12 +147,6 @@ class DroneConnection extends EventEmitter {
       Logger.warn('Unable to parse packet:', buffer);
       Logger.warn(e);
     }
-
-    if (ack) {
-      const packetId = buffer.readUInt8(1);
-
-      this.ack(packetId);
-    }
   }
 
   /**
@@ -384,28 +182,11 @@ class DroneConnection extends EventEmitter {
     return command;
   }
 
-  /**
-   * Get the logger level
-   * @returns {string|number} - logger level
-   * @see {@link https://github.com/winstonjs/winston}
-   */
-  get logLevel() {
-    return Logger.level;
-  }
-
-  /**
-   * Set the logger level
-   * @param {string|number} value - logger level
-   * @see {@link https://github.com/winstonjs/winston}
-   */
-  set logLevel(value) {
-    Logger.level = typeof value === 'number' ? value : value.toString();
-  }
-
   /**
    * used to count the drone command steps
    * @param {string} id - Step store id
    * @returns {number} - step number
+   * @todo steps should be grouped on bufferType (see bufferType enum)
    */
   _getStep(id) {
     if (typeof this._stepStore[id] === 'undefined') {
@@ -425,16 +206,15 @@ class DroneConnection extends EventEmitter {
    * @param {number} packetId - Id of the packet to ack
    */
   ack(packetId) {
-    Logger.debug('ACK: packet id ' + packetId);
+    Logger.debug('SEND ACK: packet id ' + packetId);
 
-    const characteristic = characteristicSendUuids.ACK_COMMAND;
     const buffer = new Buffer(3);
 
-    buffer.writeUIntLE(characteristic, 0, 1);
-    buffer.writeUIntLE(this._getStep(characteristic), 1, 1);
+    buffer.writeUIntLE(bufferType.ACK, 0, 1);
+    buffer.writeUIntLE(this._getStep(bufferType.ACK), 1, 1);
     buffer.writeUIntLE(packetId, 2, 1);
 
-    this.getCharacteristic(characteristic).write(buffer, true);
+    this.connector.write(buffer, characteristicSendUuids.ACK_COMMAND);
   }
 }
 
diff --git a/src/connectors/BLEConnector.js b/src/connectors/BLEConnector.js
index fe592e8d..773d8002 100644
--- a/src/connectors/BLEConnector.js
+++ b/src/connectors/BLEConnector.js
@@ -1,6 +1,7 @@
 const noble = require('noble');
 const EventEmitter = require('events');
 const Logger = require('winston');
+const Enum = require('../util/Enum');
 const { characteristicUuids, characteristicReceiveUuids } = require('../CharacteristicEnums');
 
 const MANUFACTURER_SERIALS = [
@@ -19,9 +20,35 @@ const DRONE_PREFIXES = [
   'NewZ_',
 ];
 
+// http://forum.developer.parrot.com/t/minidrone-characteristics-uuid/4686/3
+const handshakeUuids = [
+  'fb0f', 'fb0e', 'fb1b', 'fb1c',
+  'fd22', 'fd23', 'fd24', 'fd52',
+  'fd53', 'fd54',
+];
+
+// the following UUID segments come from the Mambo and from the documenation at
+// http://forum.developer.parrot.com/t/minidrone-characteristics-uuid/4686/3
+// the 3rd and 4th bytes are used to identify the service
+const serviceUuids = new Enum({
+  'fa': 'ARCOMMAND_SENDING_SERVICE',
+  'fb': 'ARCOMMAND_RECEIVING_SERVICE',
+  'fc': 'PERFORMANCE_COUNTER_SERVICE',
+  'fd21': 'NORMAL_BLE_FTP_SERVICE',
+  'fd51': 'UPDATE_BLE_FTP',
+  'fe00': 'UPDATE_RFCOMM_SERVICE',
+  '1800': 'Device Info',
+  '1801': 'unknown',
+});
+
 class BLEConnector extends EventEmitter {
-  constructor() {
+  constructor (droneFilter = '') {
+    super();
 
+    this.droneFilter = droneFilter;
+
+    this._characteristicLookupCache = {};
+    this.characteristics = [];
   }
 
   connect() {
@@ -54,7 +81,7 @@ class BLEConnector extends EventEmitter {
       return;
     }
 
-    Logger.info(`Peripheral found ${peripheral.advertisement.localName}`); //ex: Mambo_646859
+    Logger.info(`Peripheral found ${peripheral.advertisement.localName}`); // ex: Mambo_646859
 
     noble.stopScanning();
 
@@ -119,14 +146,15 @@ class BLEConnector extends EventEmitter {
         const target = this.getCharacteristic(uuid);
 
         target.subscribe();
+        target.on('data', data => this.emit('data', data));
       }
 
-      Logger.debug('Adding listeners (fb uuid prefix)');
+      Logger.debug('Adding listeners: ' + characteristicReceiveUuids.values().join(', '));
       for (const uuid of characteristicReceiveUuids.values()) {
-        const target = this.getCharacteristic('fb' + uuid);
+        const target = this.getCharacteristic(uuid);
 
         target.subscribe();
-        target.on('data', data => this._handleIncoming(uuid, data));
+        target.on('data', data => this.emit('data', data));
       }
 
       Logger.info(`Device connected ${this.peripheral.advertisement.localName}`);
@@ -174,8 +202,10 @@ class BLEConnector extends EventEmitter {
     return this._characteristicLookupCache[uuid];
   }
 
-  write(characteristic, buffer) {
-    this.getCharacteristic(characteristicUuids[characteristic]).write(buffer, true);
+  write(buffer, characteristic) {
+    return new Promise(accept => {
+      this.getCharacteristic(characteristic).write(buffer, true, accept);
+    });
   }
 
   disconnect() {
@@ -185,6 +215,10 @@ class BLEConnector extends EventEmitter {
 
     this.emit('disconnected');
   }
+
+  get connected() {
+    return this.characteristics.length > 0;
+  }
 }
 
 module.exports = BLEConnector;
diff --git a/src/connectors/WifiConnector.js b/src/connectors/WifiConnector.js
index e69de29b..594c13a6 100644
--- a/src/connectors/WifiConnector.js
+++ b/src/connectors/WifiConnector.js
@@ -0,0 +1,144 @@
+const EventEmitter = require('events');
+const Logger = require('winston');
+const dgram = require('dgram');
+const net = require('net');
+const ARDiscoveryError = require('../ARDiscoveryError');
+const mdns = require('mdns');
+
+class WifiConnector extends EventEmitter {
+  constructor(droneFilter = '', deviceId = '') {
+    super();
+
+    this.droneFilter = droneFilter;
+    this.deviceId = deviceId || Math.random().toString(36); // Should be persistant between connections
+  }
+
+  connect() {
+    if (!this.browser && !this.server && !this.client) {
+      Logger.debug('Starting mDNS browser');
+
+      const resolverSequence = [
+        // eslint-disable-next-line new-cap
+        mdns.rst.DNSServiceResolve(),
+        // eslint-disable-next-line new-cap
+        mdns.rst.DNSServiceGetAddrInfo({ families: [4] }),
+      ];
+
+      this.browser = mdns.createBrowser(mdns.udp('_arsdk-090b'), { resolverSequence }); // @todo browse all
+
+      this.browser.on('serviceUp', service => this._onMdnsServiceDiscovery(service));
+
+      this.browser.start();
+    }
+  }
+
+  _onMdnsServiceDiscovery(service) {
+    if (!service.fullname.includes('_arsdk-')) {
+      return;
+    }
+
+    if (this.droneFilter && service.name !== this.droneFilter) {
+      Logger.debug(`Found drone ${service.name} but it didn't match the drone filter`);
+      return;
+    }
+
+    this.browser.stop();
+    delete this.browser;
+
+    Logger.debug(`Found drone ${service.name}`);
+
+    this._handshake(service);
+  }
+
+  _handshake(service) {
+    Logger.info('Doing Wifi handshake');
+
+    this.server = dgram.createSocket('udp4');
+
+    this.server.on('data', msg => {
+      Logger.debug('got data from server');
+      this.emit(msg.msg)
+    });
+    this.server.on('close', () => this.disconnect());
+    this.server.on('error', (err) => {
+      this.disconnect();
+
+      throw err;
+    });
+
+    this.server.on('listening', () => {
+      const address = this.server.address();
+
+      Logger.debug(`Server listening ${address.address}:${address.port}`);
+
+      const handshakeClient = new net.Socket();
+
+      handshakeClient.connect(service.port, service.addresses[0], () => {
+        const config = {
+          'd2c_port': this.server.address().port,
+          'controller_type': 'minidrone-js',
+          'controller_name': 'me.shodan.minidrone-js',
+          // 'device_id': this.deviceId, // @ todo drone returns errors
+        };
+
+        Logger.debug('Negotiating connection:', config);
+
+        handshakeClient.write(JSON.stringify(config));
+      });
+
+      handshakeClient.on('data', data => {
+        data = data.toString();
+        data = data.replace('\0', ''); // Remove trailing nullbyte
+        data = JSON.parse(data);
+
+        Logger.debug('Got drone response: ', data);
+
+        if (data.status !== 0) {
+          const error = ARDiscoveryError.findForValue(data.status);
+
+          throw new Error(error);
+        }
+
+        handshakeClient.destroy();
+
+        this.ip = service.addresses[0];
+        this.port = data.c2d_port;
+        this.client = dgram.createSocket('udp4');
+
+        this.emit('connected');
+      });
+    });
+
+    this.server.bind(0); // random utp port
+  }
+
+  write(buffer, characteristic) {
+    return new Promise((accept, reject) => {
+      this.client.send(buffer, this.port, this.ip, err => {
+        if (err) {
+          reject(err);
+        }
+
+        accept();
+      });
+    });
+  }
+
+  disconnect() {
+    Logger.info('Disconnected');
+
+    delete this.browser;
+    delete this.server;
+    delete this.ip;
+    delete this.port;
+    delete this.client;
+
+    this.emit('disconnected');
+  }
+
+  get connected() {
+    return this.server && this.client;
+  }
+}
+
+module.exports = WifiConnector;
diff --git a/src/index.js b/src/index.js
index 0480b819..6eba4bed 100644
--- a/src/index.js
+++ b/src/index.js
@@ -3,4 +3,6 @@ module.exports = {
   CommandParser: require('./CommandParser'),
   DroneConnection: require('./DroneConnection'),
   ARDiscoveryError: require('./ARDiscoveryError'),
+  BLEConnector: require('./connectors/BLEConnector'),
+  WifiConnector: require('./connectors/WifiConnector'),
 };

From e1610d7b8f5df4830ddb4cc404ba25e4dc5b055e Mon Sep 17 00:00:00 2001
From: Bas <mega@ioexception.at>
Date: Mon, 28 May 2018 22:53:29 +0200
Subject: [PATCH 03/17] Add missing file

---
 src/BufferEnums.js | 41 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 41 insertions(+)
 create mode 100644 src/BufferEnums.js

diff --git a/src/BufferEnums.js b/src/BufferEnums.js
new file mode 100644
index 00000000..d8f75361
--- /dev/null
+++ b/src/BufferEnums.js
@@ -0,0 +1,41 @@
+const Enum = require('./util/Enum');
+
+/**
+ * Buffer types
+ *
+ * @property {number} ACK - Acknowledgment of previously received data
+ * @property {number} DATA - Normal data (no ack requested)
+ * @property {number} NON_ACK - Same as DATA
+ * @property {number} HIGH_PRIO - Not sure about this one could be LLD
+ * @property {number} LOW_LATENCY_DATA - Treated as normal data on the network, but are given higher priority internally
+ * @property {number} DATA_WITH_ACK - Data requesting an ack. The receiver must send an ack for this data unit!
+ *
+ * @type {Enum}
+ */
+const bufferType = new Enum({
+  ACK: 0x01,
+  DATA: 0x02,
+  NON_ACK: 0x02,
+  HIGH_PRIO: 0x02,
+  LOW_LATENCY_DATA: 0x03,
+  DATA_WITH_ACK: 0x04,
+});
+
+/**
+ * Maps buffer types against characteristics for BLE
+ *
+ * @type {Enum}
+ */
+const bufferCharacteristicTranslationMap = new Enum({
+  ACK: 'ACK_COMMAND',
+  DATA: 'SEND_NO_ACK',
+  NON_ACK: 'SEND_NO_ACK',
+  HIGH_PRIO: 'SEND_HIGH_PRIORITY',
+  LOW_LATENCY_DATA: 'SEND_NO_ACK',
+  DATA_WITH_ACK: 'SEND_WITH_ACK',
+});
+
+module.exports = {
+  bufferType,
+  bufferCharacteristicTranslationMap,
+};

From 6fd0019dd88cff066433b06a46eee960b3b705e0 Mon Sep 17 00:00:00 2001
From: Bas <mega@ioexception.at>
Date: Mon, 4 Jun 2018 21:17:28 +0200
Subject: [PATCH 04/17] wip

---
 examples/doAFlip.js             |  6 +-
 examples/toggleAutoTakeOff.js   | 15 ++---
 package.json                    |  2 +
 src/BufferEnums.js              | 15 +++++
 src/DroneCommand.js             | 32 +++++++----
 src/DroneConnection.js          | 68 +++--------------------
 src/connectors/BLEConnector.js  | 31 ++++++++++-
 src/connectors/BaseConnector.js | 32 +++++++++++
 src/connectors/WifiConnector.js | 97 +++++++++++++++++++++++++++++----
 src/util/reflection.js          | 20 ++++++-
 yarn.lock                       |  8 +++
 11 files changed, 230 insertions(+), 96 deletions(-)
 create mode 100644 src/connectors/BaseConnector.js

diff --git a/examples/doAFlip.js b/examples/doAFlip.js
index 842a76ed..5fde21de 100644
--- a/examples/doAFlip.js
+++ b/examples/doAFlip.js
@@ -1,11 +1,13 @@
-const {DroneConnection, CommandParser} = require('../src');
+const {DroneConnection, CommandParser, BLEConnector} = require('../src');
 
+const connector = new BLEConnector();
 const parser = new CommandParser();
-const drone = new DroneConnection();
+const drone = new DroneConnection(connector);
 const takeoff = parser.getCommand('minidrone', 'Piloting', 'TakeOff');
 const landing = parser.getCommand('minidrone', 'Piloting', 'Landing');
 const backFlip = parser.getCommand('minidrone', 'Animations', 'Flip', {direction: 'back'});
 
+connector.connect();
 
 drone.on('connected', () => {
   // Makes the code a bit clearer
diff --git a/examples/toggleAutoTakeOff.js b/examples/toggleAutoTakeOff.js
index d49b0ffd..4d7cd1d9 100644
--- a/examples/toggleAutoTakeOff.js
+++ b/examples/toggleAutoTakeOff.js
@@ -18,22 +18,19 @@ function sleep(ms) {
 
 drone.on('connected', async () => {
   await sleep(200);
-  drone.runCommand(allState);
-
-  await sleep(1000);
+  await drone.runCommand(allState);
 
   await drone.runCommand(autoTakeOffOn);
-  Logger.debug('Command got ACK\'d');
 
   await sleep(2000);
 
-  await drone.runCommand(autoTakeOffOn);
-  Logger.debug('Command got ACK\'d');
+  await drone.runCommand(autoTakeOffOff);
 
-  await sleep(2000);
+  Logger.debug('values: ');
 
-  await drone.runCommand(autoTakeOffOff);
-  Logger.debug('Command got ACK\'d');
+  for (const command of Object.values(drone._sensorStore)) {
+    Logger.debug(command.toString(true));
+  }
 
   process.exit();
 });
diff --git a/package.json b/package.json
index 385ba4e6..b1d001fb 100644
--- a/package.json
+++ b/package.json
@@ -9,7 +9,9 @@
   "dependencies": {
     "arsdk-xml": "1.0.0",
     "case": "^1.5.4",
+    "dgram": "^1.0.1",
     "events": "^3.0.0",
+    "net": "^1.0.2",
     "noble": "git://github.com/jacobrosenthal/noble.git#highsierra",
     "node-gyp": "^3.6.2",
     "resolve": "^1.6.0",
diff --git a/src/BufferEnums.js b/src/BufferEnums.js
index d8f75361..ee066570 100644
--- a/src/BufferEnums.js
+++ b/src/BufferEnums.js
@@ -35,7 +35,22 @@ const bufferCharacteristicTranslationMap = new Enum({
   DATA_WITH_ACK: 'SEND_WITH_ACK',
 });
 
+const bufferIds = new Enum({
+  PING: 0, // pings from device
+  PONG: 1, // respond to pings
+  SEND_NO_ACK: 10,
+  SEND_WITH_ACK: 11,
+  SEND_HIGH_PRIORITY: 12, // emergency
+  VIDEO_ACK: 13, // ack for video
+  ACK_DRONE_DATA: 127, // drone data that needs an ack
+  ACK_COMMAND: 127,
+  NO_ACK_DRONE_DATA: 126, // data from drone (including battery and others), no ack
+  VIDEO_DATA: 125, // video data
+  ACK_FROM_SEND_WITH_ACK: 139, // 128 + buffer id for 'SEND_WITH_ACK' is 139
+});
+
 module.exports = {
   bufferType,
   bufferCharacteristicTranslationMap,
+  bufferIds,
 };
diff --git a/src/DroneCommand.js b/src/DroneCommand.js
index fef0d65d..54191d7f 100644
--- a/src/DroneCommand.js
+++ b/src/DroneCommand.js
@@ -1,7 +1,7 @@
 const DroneCommandArgument = require('./DroneCommandArgument');
 const Enum = require('./util/Enum');
 const { characteristicSendUuids } = require('./CharacteristicEnums');
-const { bufferType, bufferCharacteristicTranslationMap } = require('./BufferEnums');
+const { bufferType, bufferCharacteristicTranslationMap, bufferIds } = require('./BufferEnums');
 
 /**
  * Drone command
@@ -141,14 +141,20 @@ class DroneCommand {
     return this._deprecated;
   }
 
+  /**
+   * Get the send characteristic
+   * @returns {string} - send characteristic
+   */
+  get sendCharacteristic() {
+    return bufferCharacteristicTranslationMap[this.bufferType] || 'SEND_WITH_ACK';
+  }
+
   /**
    * Get the send characteristic uuid based on the buffer type
    * @returns {string} - uuid as a string
    */
   get sendCharacteristicUuid() {
-    const t = bufferCharacteristicTranslationMap[this.bufferType] || 'SEND_WITH_ACK';
-
-    return characteristicSendUuids[t];
+    return characteristicSendUuids[this.sendCharacteristic];
   }
 
   /**
@@ -188,20 +194,18 @@ class DroneCommand {
    * @throws TypeError
    */
   toBuffer() {
-    const bufferLength = 6 + this.arguments.reduce((acc, val) => val.getValueSize() + acc, 0);
+    let bufferOffset = 4;
+
+    const bufferLength = bufferOffset + this.arguments.reduce((acc, val) => val.getValueSize() + acc, 0);
     const buffer = new Buffer(bufferLength);
 
     buffer.fill(0);
 
-    buffer.writeUInt16LE(this.bufferFlag, 0);
-
     // Skip command counter (offset 1) because it's set in DroneConnection::runCommand
 
-    buffer.writeUInt16LE(this.projectId, 2);
-    buffer.writeUInt16LE(this.classId, 3);
-    buffer.writeUInt16LE(this.commandId, 4); // two bytes
-
-    let bufferOffset = 6;
+    buffer.writeUInt8(this.projectId, 0);
+    buffer.writeUInt8(this.classId, 1);
+    buffer.writeUInt16LE(this.commandId, 2); // two bytes
 
     for (const arg of this.arguments) {
       const valueSize = arg.getValueSize();
@@ -285,6 +289,10 @@ class DroneCommand {
     return this._buffer.toUpperCase();
   }
 
+  get bufferId() {
+    return bufferIds[this.sendCharacteristic];
+  }
+
   /**
    * Get the command buffer flag based on it's type
    * @returns {number} - Buffer flag
diff --git a/src/DroneConnection.js b/src/DroneConnection.js
index cf85c8e1..a2532548 100644
--- a/src/DroneConnection.js
+++ b/src/DroneConnection.js
@@ -1,8 +1,6 @@
 const EventEmitter = require('events');
 const Logger = require('winston');
-const Enum = require('./util/Enum');
 const CommandParser = require('./CommandParser');
-const { characteristicSendUuids, characteristicReceiveUuids } = require('./CharacteristicEnums');
 const { bufferType } = require('./BufferEnums');
 
 /**
@@ -26,13 +24,17 @@ class DroneConnection extends EventEmitter {
 
     this._commandCallback = {};
     this._sensorStore = {};
-    this._stepStore = {};
 
     this.connector = connector;
 
     this.connector.on('disconnect', () => this.emit('disconnect'));
     this.connector.on('connected', () => this.emit('connected'));
     this.connector.on('data', data => this._handleIncoming(data));
+    this.connector.on('incoming', command => {
+      // @todo move code
+
+      this._sensorStore[command.getToken()] = command;
+    });
 
     this.parser = new CommandParser();
 
@@ -56,21 +58,7 @@ class DroneConnection extends EventEmitter {
    * @async
    */
   runCommand(command) {
-    const buffer = command.toBuffer();
-    const packetId = this._getStep(command.bufferFlag);
-
-    buffer.writeUIntLE(packetId, 1, 1);
-
-    return new Promise(accept => {
-      Logger.debug(`SEND ${command.bufferType}[${packetId}]: `, command.toString());
-
-      if (command.shouldAck) {
-        this._commandCallback[packetId] = accept;
-      } else {
-        accept();
-      }
-      this.connector.write(buffer, command.sendCharacteristicUuid);
-    });
+    return this.connector.sendCommand(command);
   }
 
   /**
@@ -80,11 +68,10 @@ class DroneConnection extends EventEmitter {
    * @private
    */
   _handleIncoming(buffer) {
-    const characteristic = bufferType.findForValue(buffer.readUInt8(0));
+    const type = bufferType.findForValue(buffer.readUInt8(0));
 
-    Logger.debug(buffer);
 
-    if (characteristic !== 'ACK') {
+    if (type !== 'ACK') {
       this._updateSensors(buffer);
     } else {
       // @todo figure out why two ACK's in a row are received
@@ -124,9 +111,7 @@ class DroneConnection extends EventEmitter {
       Logger.debug(`RECV ${command.bufferType}:`, command.toString());
 
       if (command.shouldAck) {
-        const packetId = buffer.readUInt8(1);
-
-        this.ack(packetId);
+        // @todo ack
       }
 
       /**
@@ -181,41 +166,6 @@ class DroneConnection extends EventEmitter {
 
     return command;
   }
-
-  /**
-   * used to count the drone command steps
-   * @param {string} id - Step store id
-   * @returns {number} - step number
-   * @todo steps should be grouped on bufferType (see bufferType enum)
-   */
-  _getStep(id) {
-    if (typeof this._stepStore[id] === 'undefined') {
-      this._stepStore[id] = 0;
-    }
-
-    const out = this._stepStore[id];
-
-    this._stepStore[id]++;
-    this._stepStore[id] &= 0xFF;
-
-    return out;
-  }
-
-  /**
-   * Acknowledge a packet
-   * @param {number} packetId - Id of the packet to ack
-   */
-  ack(packetId) {
-    Logger.debug('SEND ACK: packet id ' + packetId);
-
-    const buffer = new Buffer(3);
-
-    buffer.writeUIntLE(bufferType.ACK, 0, 1);
-    buffer.writeUIntLE(this._getStep(bufferType.ACK), 1, 1);
-    buffer.writeUIntLE(packetId, 2, 1);
-
-    this.connector.write(buffer, characteristicSendUuids.ACK_COMMAND);
-  }
 }
 
 module.exports = DroneConnection;
diff --git a/src/connectors/BLEConnector.js b/src/connectors/BLEConnector.js
index 773d8002..fb5aa4f9 100644
--- a/src/connectors/BLEConnector.js
+++ b/src/connectors/BLEConnector.js
@@ -1,5 +1,5 @@
 const noble = require('noble');
-const EventEmitter = require('events');
+const BaseConnector = require('./BaseConnector');
 const Logger = require('winston');
 const Enum = require('../util/Enum');
 const { characteristicUuids, characteristicReceiveUuids } = require('../CharacteristicEnums');
@@ -41,8 +41,8 @@ const serviceUuids = new Enum({
   '1801': 'unknown',
 });
 
-class BLEConnector extends EventEmitter {
-  constructor (droneFilter = '') {
+class BLEConnector extends BaseConnector {
+  constructor(droneFilter = '') {
     super();
 
     this.droneFilter = droneFilter;
@@ -219,6 +219,31 @@ class BLEConnector extends EventEmitter {
   get connected() {
     return this.characteristics.length > 0;
   }
+
+  sendCommand(command) {
+    const buffer = Buffer.concat([new Buffer(2), command.toBuffer()]);
+    const packetId = this._getStep(command.bufferFlag);
+
+    buffer.writeUInt16LE(command.bufferFlag, 0);
+    buffer.writeUInt8(packetId, 1);
+
+    return new Promise(accept => {
+      Logger.debug(`SEND ${command.bufferType}[${packetId}]: `, command.toString());
+
+      if (command.shouldAck) {
+        // @todo ack
+        // this._commandCallback[packetId] = accept;
+        setTimeout(accept, 100);
+      } else {
+        accept();
+      }
+      this.write(buffer, command.sendCharacteristicUuid);
+    });
+  }
+
+  ack() {
+
+  }
 }
 
 module.exports = BLEConnector;
diff --git a/src/connectors/BaseConnector.js b/src/connectors/BaseConnector.js
new file mode 100644
index 00000000..89e3d589
--- /dev/null
+++ b/src/connectors/BaseConnector.js
@@ -0,0 +1,32 @@
+const EventEmitter = require('events');
+const CommandParser = require('../CommandParser');
+
+class BaseConnector extends EventEmitter {
+  constructor() {
+    super();
+
+    this._stepStore = {};
+    this.parser = new CommandParser();
+    this._commandCallback = {};
+  }
+
+  /**
+   * used to count the drone command steps
+   * @param {string} id - Step store id
+   * @returns {number} - step number
+   */
+  _getStep(id) {
+    if (typeof this._stepStore[id] === 'undefined') {
+      this._stepStore[id] = 0;
+    }
+
+    const out = this._stepStore[id];
+
+    this._stepStore[id]++;
+    this._stepStore[id] &= 0xFF;
+
+    return out;
+  }
+}
+
+module.exports = BaseConnector;
diff --git a/src/connectors/WifiConnector.js b/src/connectors/WifiConnector.js
index 594c13a6..ae0ac3de 100644
--- a/src/connectors/WifiConnector.js
+++ b/src/connectors/WifiConnector.js
@@ -1,11 +1,12 @@
-const EventEmitter = require('events');
+const BaseConnector = require('./BaseConnector');
 const Logger = require('winston');
 const dgram = require('dgram');
 const net = require('net');
 const ARDiscoveryError = require('../ARDiscoveryError');
 const mdns = require('mdns');
+const { bufferType } = require('../BufferEnums');
 
-class WifiConnector extends EventEmitter {
+class WifiConnector extends BaseConnector {
   constructor(droneFilter = '', deviceId = '') {
     super();
 
@@ -51,14 +52,10 @@ class WifiConnector extends EventEmitter {
   }
 
   _handshake(service) {
-    Logger.info('Doing Wifi handshake');
+    Logger.info(`Doing Wifi handshake with ${service.addresses[0]} [${service.addresses.join(', ')}]`);
 
     this.server = dgram.createSocket('udp4');
 
-    this.server.on('data', msg => {
-      Logger.debug('got data from server');
-      this.emit(msg.msg)
-    });
     this.server.on('close', () => this.disconnect());
     this.server.on('error', (err) => {
       this.disconnect();
@@ -66,6 +63,12 @@ class WifiConnector extends EventEmitter {
       throw err;
     });
 
+    this.server.on('message', (msg, info) => {
+      Logger.debug(`Got data from server ${info.address}:${info.port} (${info.size} bytes)`);
+
+      this._handleIncoming(msg);
+    });
+
     this.server.on('listening', () => {
       const address = this.server.address();
 
@@ -103,8 +106,15 @@ class WifiConnector extends EventEmitter {
 
         this.ip = service.addresses[0];
         this.port = data.c2d_port;
+
         this.client = dgram.createSocket('udp4');
 
+        this.client.on('error', err => {
+          this.disconnect();
+
+          throw err;
+        });
+
         this.emit('connected');
       });
     });
@@ -112,14 +122,14 @@ class WifiConnector extends EventEmitter {
     this.server.bind(0); // random utp port
   }
 
-  write(buffer, characteristic) {
+  write(buffer) {
     return new Promise((accept, reject) => {
-      this.client.send(buffer, this.port, this.ip, err => {
+      this.client.send(buffer, 0, buffer.length, this.port, this.ip, err => {
         if (err) {
           reject(err);
         }
 
-        accept();
+        accept(buffer.length);
       });
     });
   }
@@ -139,6 +149,73 @@ class WifiConnector extends EventEmitter {
   get connected() {
     return this.server && this.client;
   }
+
+  sendCommand(command) {
+    const commandBuffer = command.toBuffer();
+    const buffer = Buffer.concat([new Buffer(7), commandBuffer]);
+    const bufferId = command.bufferId;
+    const packetId = this._getStep(bufferId);
+
+    buffer.writeUInt8(command.bufferFlag, 0); // data type
+    buffer.writeUInt8(bufferId, 1); // buffer id
+    buffer.writeUInt8(packetId, 2); // sequence number
+    buffer.writeUInt32LE(commandBuffer.length + 7, 3); // frame size
+
+    return new Promise(accept => {
+      Logger.debug(`SEND ${command.bufferType}[${packetId}]: `, command.toString());
+
+      if (command.shouldAck) {
+        if (!this._commandCallback[bufferId]) {
+          this._commandCallback[bufferId] = {};
+        }
+
+        this._commandCallback[bufferId][packetId] = accept;
+      } else {
+        accept();
+      }
+      this.write(buffer, command.sendCharacteristicUuid);
+    });
+  }
+
+  _handleIncoming(buffer) {
+    const type = bufferType.findForValue(buffer.readUInt8(0));
+
+    switch (type) {
+      case 'ACK':
+        const bufferId = buffer.readUInt8(1) - 128;
+        const packetId = buffer.readUInt8(7);
+
+        const callback = (this._commandCallback[bufferId] || {})[packetId];
+
+        if (typeof callback === 'function') {
+          callback();
+        }
+
+        break;
+      case 'DATA_WITH_ACK':
+        const ackBuffer = Buffer.alloc(8);
+
+        ackBuffer.writeUInt8(bufferType.ACK, 0);
+        ackBuffer.writeUInt8(buffer.readUInt8(1) + 128, 1);
+        ackBuffer.writeUInt8(this._getStep(bufferType.ACK), 2);
+        ackBuffer.writeUInt32LE(8, 3); // frame size, always 8 for an ACK
+        ackBuffer.writeUInt8(buffer.readUInt8(2), 7);
+
+        Logger.debug(`SEND ACK: buffer ${buffer.readUInt8(1)}, step ${buffer.readUInt8(2)}`);
+        this.write(ackBuffer);
+      case 'DATA':
+      case 'LOW_LATENCY_DATA':
+        try {
+          const command = this.parser.parseBuffer(buffer.slice(7));
+
+          Logger.debug(command.toString(true));
+
+          this.emit('incoming', command);
+        } catch (e) {
+          Logger.error(e);
+        }
+    }
+  }
 }
 
 module.exports = WifiConnector;
diff --git a/src/util/reflection.js b/src/util/reflection.js
index a24d736e..c5363ce4 100644
--- a/src/util/reflection.js
+++ b/src/util/reflection.js
@@ -4,8 +4,26 @@
  * @private
  * @returns {string} - Value type name
  */
-module.exports.getTypeName = function getTypeName(value) {
+function getTypeName(value) {
   value = typeof value === 'function' ? value : value.constructor;
 
   return value.name;
+}
+
+function promiseify(func) {
+  return function() {
+    return new Promise((accept, reject) => {
+      try {
+        func(...arguments, accept);
+      } catch (e) {
+        reject(e);
+      }
+    });
+  };
+}
+
+
+module.exports = {
+  getTypeName,
+  promiseify,
 };
diff --git a/yarn.lock b/yarn.lock
index 731a0ea6..e837c896 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -1109,6 +1109,10 @@ detect-libc@^1.0.2:
   version "1.0.3"
   resolved "https://registry.yarnpkg.com/detect-libc/-/detect-libc-1.0.3.tgz#fa137c4bd698edf55cd5cd02ac559f91a4c4ba9b"
 
+dgram@^1.0.1:
+  version "1.0.1"
+  resolved "https://registry.yarnpkg.com/dgram/-/dgram-1.0.1.tgz#37f3b200f8033a5ff759303089c81ce361b651c3"
+
 doctrine@^2.1.0:
   version "2.1.0"
   resolved "https://registry.yarnpkg.com/doctrine/-/doctrine-2.1.0.tgz#5cd01fc101621b42c4cd7f5d1a66243716d3f39d"
@@ -2332,6 +2336,10 @@ natural-compare@^1.4.0:
   version "1.4.0"
   resolved "https://registry.yarnpkg.com/natural-compare/-/natural-compare-1.4.0.tgz#4abebfeed7541f2c27acfb29bdbbd15c8d5ba4f7"
 
+net@^1.0.2:
+  version "1.0.2"
+  resolved "https://registry.yarnpkg.com/net/-/net-1.0.2.tgz#d1757ec9a7fb2371d83cf4755ce3e27e10829388"
+
 "noble@git://github.com/jacobrosenthal/noble.git#highsierra":
   version "1.8.1"
   resolved "git://github.com/jacobrosenthal/noble.git#15179890f7dd39ed8b40c0c5b11a5538498d03fd"

From eea48397484fdc24b944f67ace36a343b4289a94 Mon Sep 17 00:00:00 2001
From: Bas <mega@ioexception.at>
Date: Tue, 5 Jun 2018 12:39:00 +0200
Subject: [PATCH 05/17] Fix string parsing

---
 src/CommandParser.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/CommandParser.js b/src/CommandParser.js
index 3df4096e..5dfae615 100644
--- a/src/CommandParser.js
+++ b/src/CommandParser.js
@@ -193,7 +193,7 @@ class CommandParser {
           let c = ''; // Last character
 
           for (valueSize = 0; valueSize < buffer.length && c !== '\0'; valueSize++) {
-            c = String.fromCharCode(buffer[bufferOffset]);
+            c = String.fromCharCode(buffer[bufferOffset + valueSize]);
 
             value += c;
           }

From ae8e9258b34660922f0ecbd2dacc664f9231dbd2 Mon Sep 17 00:00:00 2001
From: Bas <mega@ioexception.at>
Date: Fri, 8 Jun 2018 14:39:28 +0200
Subject: [PATCH 06/17] Wifi works like a charm

---
 .eslintrc.json                  |   3 +
 examples/toggleAutoTakeOff.js   |   2 +-
 src/DroneConnection.js          |   2 +-
 src/connectors/BaseConnector.js |  39 ++++++++++
 src/connectors/WifiConnector.js | 126 ++++++++++++++++----------------
 src/util/reflection.js          |   4 +-
 6 files changed, 110 insertions(+), 66 deletions(-)

diff --git a/.eslintrc.json b/.eslintrc.json
index 9f4542fa..ddf529c7 100644
--- a/.eslintrc.json
+++ b/.eslintrc.json
@@ -14,6 +14,9 @@
     "VERSION": false,
     "LICENSE": false
   },
+  "parserOptions": {
+    "ecmaVersion": 2017
+  },
   "rules": {
     "comma-dangle": [1,"always-multiline"],
     "no-cond-assign": [1,"always"],
diff --git a/examples/toggleAutoTakeOff.js b/examples/toggleAutoTakeOff.js
index 4d7cd1d9..2e4cbef7 100644
--- a/examples/toggleAutoTakeOff.js
+++ b/examples/toggleAutoTakeOff.js
@@ -32,5 +32,5 @@ drone.on('connected', async () => {
     Logger.debug(command.toString(true));
   }
 
-  process.exit();
+  // process.exit();
 });
diff --git a/src/DroneConnection.js b/src/DroneConnection.js
index a2532548..95194ade 100644
--- a/src/DroneConnection.js
+++ b/src/DroneConnection.js
@@ -29,7 +29,7 @@ class DroneConnection extends EventEmitter {
 
     this.connector.on('disconnect', () => this.emit('disconnect'));
     this.connector.on('connected', () => this.emit('connected'));
-    this.connector.on('data', data => this._handleIncoming(data));
+
     this.connector.on('incoming', command => {
       // @todo move code
 
diff --git a/src/connectors/BaseConnector.js b/src/connectors/BaseConnector.js
index 89e3d589..0d3e6a7f 100644
--- a/src/connectors/BaseConnector.js
+++ b/src/connectors/BaseConnector.js
@@ -1,5 +1,6 @@
 const EventEmitter = require('events');
 const CommandParser = require('../CommandParser');
+const Logger = require('winston');
 
 class BaseConnector extends EventEmitter {
   constructor() {
@@ -27,6 +28,44 @@ class BaseConnector extends EventEmitter {
 
     return out;
   }
+
+  /**
+   * Set the ack callback (if needed) for a command.
+   * Should be called directly after sending it. It will log the sending of the command.
+   * @param {DroneCommand} command - Sent command
+   * @param {number} packetId - Packet id
+   * @returns {Promise} - Resolves when the command has been acknowledged (if needed)
+   * @protected
+   * @async
+   */
+  _setAckCallback(command, packetId) {
+    const bufferId = command.bufferId;
+
+    return new Promise((_accept, reject) => {
+      if (command.shouldAck) {
+        if (!this._commandCallback[bufferId]) {
+          this._commandCallback[bufferId] = {};
+        }
+
+        // For if the command times out
+        const timeout = setTimeout(reject, 10 * 1000, new Error('Command timed out after 10 seconds'));
+
+        const accept = () => {
+          clearTimeout(timeout);
+
+          _accept(...arguments);
+        };
+
+        this._commandCallback[bufferId][packetId] = { accept, reject };
+      }
+
+      Logger.debug(`SENT ${command.bufferType}[${packetId}]: `, command.toString());
+
+      if (!command.shouldAck) {
+        _accept();
+      }
+    });
+  }
 }
 
 module.exports = BaseConnector;
diff --git a/src/connectors/WifiConnector.js b/src/connectors/WifiConnector.js
index ae0ac3de..5467f08c 100644
--- a/src/connectors/WifiConnector.js
+++ b/src/connectors/WifiConnector.js
@@ -5,6 +5,7 @@ const net = require('net');
 const ARDiscoveryError = require('../ARDiscoveryError');
 const mdns = require('mdns');
 const { bufferType } = require('../BufferEnums');
+const { promisify } = require('../util/reflection');
 
 class WifiConnector extends BaseConnector {
   constructor(droneFilter = '', deviceId = '') {
@@ -27,20 +28,25 @@ class WifiConnector extends BaseConnector {
 
       this.browser = mdns.createBrowser(mdns.udp('_arsdk-090b'), { resolverSequence }); // @todo browse all
 
-      this.browser.on('serviceUp', service => this._onMdnsServiceDiscovery(service));
+      return new Promise(accept => {
+        this.browser.on('serviceUp', service => this._onMdnsServiceDiscovery(service).then(c => !c || accept()));
 
-      this.browser.start();
+        this.browser.start();
+      });
     }
+
+    return new Promise(accept => accept());
   }
 
-  _onMdnsServiceDiscovery(service) {
+  async _onMdnsServiceDiscovery(service) {
     if (!service.fullname.includes('_arsdk-')) {
-      return;
+      Logger.debug(`Skipping mdns service ${service.fullname}`);
+      return false;
     }
 
     if (this.droneFilter && service.name !== this.droneFilter) {
       Logger.debug(`Found drone ${service.name} but it didn't match the drone filter`);
-      return;
+      return false;
     }
 
     this.browser.stop();
@@ -48,10 +54,12 @@ class WifiConnector extends BaseConnector {
 
     Logger.debug(`Found drone ${service.name}`);
 
-    this._handshake(service);
+    await this._handshake(service);
+
+    return true;
   }
 
-  _handshake(service) {
+  async _handshake(service) {
     Logger.info(`Doing Wifi handshake with ${service.addresses[0]} [${service.addresses.join(', ')}]`);
 
     this.server = dgram.createSocket('udp4');
@@ -63,63 +71,61 @@ class WifiConnector extends BaseConnector {
       throw err;
     });
 
-    this.server.on('message', (msg, info) => {
-      Logger.debug(`Got data from server ${info.address}:${info.port} (${info.size} bytes)`);
+    this.server.on('message', msg => this._handleIncoming(msg));
 
-      this._handleIncoming(msg);
-    });
+    this.server.bind(0); // random utp port
 
-    this.server.on('listening', () => {
-      const address = this.server.address();
+    await promisify(this.server.once.bind(this.server))('listening');
 
-      Logger.debug(`Server listening ${address.address}:${address.port}`);
+    const address = this.server.address();
 
-      const handshakeClient = new net.Socket();
+    Logger.debug(`Server listening ${address.address}:${address.port}`);
 
-      handshakeClient.connect(service.port, service.addresses[0], () => {
-        const config = {
-          'd2c_port': this.server.address().port,
-          'controller_type': 'minidrone-js',
-          'controller_name': 'me.shodan.minidrone-js',
-          // 'device_id': this.deviceId, // @ todo drone returns errors
-        };
+    const handshakeClient = new net.Socket();
 
-        Logger.debug('Negotiating connection:', config);
+    handshakeClient.connect(service.port, service.addresses[0], () => {
+      const config = {
+        'd2c_port': this.server.address().port,
+        'controller_type': 'minidrone-js',
+        'controller_name': 'me.shodan.minidrone-js',
+        // 'device_id': this.deviceId, // @ todo drone returns errors
+      };
 
-        handshakeClient.write(JSON.stringify(config));
-      });
+      Logger.debug('Negotiating connection:', config);
 
-      handshakeClient.on('data', data => {
-        data = data.toString();
-        data = data.replace('\0', ''); // Remove trailing nullbyte
-        data = JSON.parse(data);
+      handshakeClient.write(JSON.stringify(config));
+    });
 
-        Logger.debug('Got drone response: ', data);
+    let data = await promisify(handshakeClient.once.bind(handshakeClient))('data');
 
-        if (data.status !== 0) {
-          const error = ARDiscoveryError.findForValue(data.status);
+    data = data.toString();
+    data = data.replace('\0', ''); // Remove trailing nullbyte
+    data = JSON.parse(data);
 
-          throw new Error(error);
-        }
+    Logger.debug('Got drone response: ', data);
 
-        handshakeClient.destroy();
+    if (data.status !== 0) {
+      const error = ARDiscoveryError.findForValue(data.status);
 
-        this.ip = service.addresses[0];
-        this.port = data.c2d_port;
+      throw new Error(error);
+    }
 
-        this.client = dgram.createSocket('udp4');
+    handshakeClient.destroy();
 
-        this.client.on('error', err => {
-          this.disconnect();
+    this.ip = service.addresses[0];
+    this.port = data.c2d_port;
 
-          throw err;
-        });
+    this.client = dgram.createSocket('udp4');
 
-        this.emit('connected');
-      });
+    this.client.on('error', err => {
+      this.disconnect();
+
+      throw err;
     });
 
-    this.server.bind(0); // random utp port
+    Logger.debug(`Stream available at ${this.rtspStreamUri}`);
+
+    this.emit('connected');
   }
 
   write(buffer) {
@@ -161,20 +167,9 @@ class WifiConnector extends BaseConnector {
     buffer.writeUInt8(packetId, 2); // sequence number
     buffer.writeUInt32LE(commandBuffer.length + 7, 3); // frame size
 
-    return new Promise(accept => {
-      Logger.debug(`SEND ${command.bufferType}[${packetId}]: `, command.toString());
-
-      if (command.shouldAck) {
-        if (!this._commandCallback[bufferId]) {
-          this._commandCallback[bufferId] = {};
-        }
+    this.write(buffer, command.sendCharacteristicUuid);
 
-        this._commandCallback[bufferId][packetId] = accept;
-      } else {
-        accept();
-      }
-      this.write(buffer, command.sendCharacteristicUuid);
-    });
+    return this._setAckCallback(command, packetId);
   }
 
   _handleIncoming(buffer) {
@@ -187,8 +182,8 @@ class WifiConnector extends BaseConnector {
 
         const callback = (this._commandCallback[bufferId] || {})[packetId];
 
-        if (typeof callback === 'function') {
-          callback();
+        if (typeof callback.accept === 'function') {
+          callback.accept();
         }
 
         break;
@@ -201,12 +196,15 @@ class WifiConnector extends BaseConnector {
         ackBuffer.writeUInt32LE(8, 3); // frame size, always 8 for an ACK
         ackBuffer.writeUInt8(buffer.readUInt8(2), 7);
 
-        Logger.debug(`SEND ACK: buffer ${buffer.readUInt8(1)}, step ${buffer.readUInt8(2)}`);
         this.write(ackBuffer);
       case 'DATA':
       case 'LOW_LATENCY_DATA':
+        const frame = buffer.slice(7);
+
+        this.emit('data', frame);
+
         try {
-          const command = this.parser.parseBuffer(buffer.slice(7));
+          const command = this.parser.parseBuffer(frame);
 
           Logger.debug(command.toString(true));
 
@@ -216,6 +214,10 @@ class WifiConnector extends BaseConnector {
         }
     }
   }
+
+  get rtspStreamUri() {
+    return `rtsp://${this.ip}/media/stream2`;
+  }
 }
 
 module.exports = WifiConnector;
diff --git a/src/util/reflection.js b/src/util/reflection.js
index c5363ce4..7361c210 100644
--- a/src/util/reflection.js
+++ b/src/util/reflection.js
@@ -10,7 +10,7 @@ function getTypeName(value) {
   return value.name;
 }
 
-function promiseify(func) {
+function promisify(func) {
   return function() {
     return new Promise((accept, reject) => {
       try {
@@ -25,5 +25,5 @@ function promiseify(func) {
 
 module.exports = {
   getTypeName,
-  promiseify,
+  promisify,
 };

From cc11aeaf89b6d3f0453ca50a25885ad7b36bcfd6 Mon Sep 17 00:00:00 2001
From: Bas <mega@ioexception.at>
Date: Fri, 8 Jun 2018 17:38:55 +0200
Subject: [PATCH 07/17] feels good

---
 src/connectors/BLEConnector.js  |   4 +-
 src/connectors/BaseConnector.js |  85 +++++++++++++++++++-
 src/connectors/WifiConnector.js | 138 +++++++++++++++++++++++---------
 3 files changed, 188 insertions(+), 39 deletions(-)

diff --git a/src/connectors/BLEConnector.js b/src/connectors/BLEConnector.js
index fb5aa4f9..87a094ba 100644
--- a/src/connectors/BLEConnector.js
+++ b/src/connectors/BLEConnector.js
@@ -164,7 +164,7 @@ class BLEConnector extends BaseConnector {
        * Drone disconnected event
        * Fired when the bluetooth connection has been disconnected
        *
-       * @event DroneCommand#disconnected
+       * @event BaseConnector#disconnected
        */
       noble.on('disconnect', () => this.disconnect());
 
@@ -173,7 +173,7 @@ class BLEConnector extends BaseConnector {
          * Drone connected event
          * You can control the drone once this event has been triggered.
          *
-         * @event DroneCommand#connected
+         * @event BaseConnector#connected
          */
         this.emit('connected');
       }, 200);
diff --git a/src/connectors/BaseConnector.js b/src/connectors/BaseConnector.js
index 0d3e6a7f..08a9501c 100644
--- a/src/connectors/BaseConnector.js
+++ b/src/connectors/BaseConnector.js
@@ -2,6 +2,16 @@ const EventEmitter = require('events');
 const CommandParser = require('../CommandParser');
 const Logger = require('winston');
 
+/**
+ * Base drone connector
+ *
+ * @fires BaseConnector#connected
+ * @fires BaseConnector#disconnected
+ * @fires BaseConnector#sensor:
+ * @fires BaseConnector#incoming
+ *
+ * @abstract
+ */
 class BaseConnector extends EventEmitter {
   constructor() {
     super();
@@ -9,6 +19,10 @@ class BaseConnector extends EventEmitter {
     this._stepStore = {};
     this.parser = new CommandParser();
     this._commandCallback = {};
+    this._sensorStore = {};
+
+    this.on('incoming', command => this.setSensor(command));
+    this.on('incoming', command => Logger.debug(`RECV ${command.bufferType}:`, command.toString()));
   }
 
   /**
@@ -35,7 +49,6 @@ class BaseConnector extends EventEmitter {
    * @param {DroneCommand} command - Sent command
    * @param {number} packetId - Packet id
    * @returns {Promise} - Resolves when the command has been acknowledged (if needed)
-   * @protected
    * @async
    */
   _setAckCallback(command, packetId) {
@@ -66,6 +79,76 @@ class BaseConnector extends EventEmitter {
       }
     });
   }
+
+  /**
+   * Get the most recent sensor reading
+   *
+   * @param {string} project - Project name
+   * @param {string} class_ - Class name
+   * @param {string} command - Command name
+   * @returns {DroneCommand|undefined} - {@link DroneCommand} instance or {@link undefined} if no sensor reading could be found
+   * @see {@link https://github.com/Parrot-Developers/arsdk-xml/blob/master/xml/}
+   */
+  getSensor(project, class_, command) {
+    const token = [project, class_, command].join('-');
+
+    return this.getSensorFromToken(token);
+  }
+
+  /**
+   * Get the most recent sensor reading using the sensor token
+   *
+   * @param {string} token - Command token
+   * @returns {DroneCommand|undefined} - {@link DroneCommand} instance or {@link undefined} if no sensor reading could be found
+   * @see {@link https://github.com/Parrot-Developers/arsdk-xml/blob/master/xml/}
+   * @see {@link DroneCommand.getToken}
+   */
+  getSensorFromToken(token) {
+    let command = this._sensorStore[token];
+
+    if (command) {
+      command = command.copy();
+    }
+
+    return command;
+  }
+
+  setSensor(command) {
+    this._sensorStore[command.getToken()] = command;
+
+    /**
+     * Fires when a new sensor reading has been received
+     *
+     * @event DroneConnection#sensor:
+     * @type {DroneCommand} - The sensor reading
+     * @example
+     * connection.on('sensor:minidrone-UsbAccessoryState-GunState', function(sensor) {
+     *  if (sensor.state.value === sensor.state.enum.READY) {
+     *    console.log('The gun is ready to fire!');
+     *  }
+     * });
+     */
+    this.emit('sensor:' + token, command);
+    this.emit('sensor:*', command);
+  }
+
+  /**
+   * @returns {boolean} If the drone is connected
+   * @abstract
+   */
+  get connected() {
+    return false;
+  }
+
+  /**
+   * Connect to the drone
+   * @returns {Promise} - Resolves when the connection has been established
+   * @async
+   * @abstract
+   */
+  connect() {
+    throw new Error('Abstract class');
+  }
 }
 
 module.exports = BaseConnector;
diff --git a/src/connectors/WifiConnector.js b/src/connectors/WifiConnector.js
index 5467f08c..d3e0479f 100644
--- a/src/connectors/WifiConnector.js
+++ b/src/connectors/WifiConnector.js
@@ -7,14 +7,27 @@ const mdns = require('mdns');
 const { bufferType } = require('../BufferEnums');
 const { promisify } = require('../util/reflection');
 
+/**
+ * Wifi connector for the drone
+ *
+ * Used for connecting to drones using Wifi
+ */
 class WifiConnector extends BaseConnector {
+  /**
+   * Create a Wifi connector
+   * @param {string?} droneFilter - Name of the drone
+   * @param {string?} deviceId - Persistent device id for reconnection
+   */
   constructor(droneFilter = '', deviceId = '') {
     super();
 
     this.droneFilter = droneFilter;
-    this.deviceId = deviceId || Math.random().toString(36); // Should be persistant between connections
+    this.deviceId = deviceId || ('000' + Math.round(Math.random() * 1000).toString()).slice(-4); // Should be persistant between connections
   }
 
+  /**
+   * @inheritDoc
+   */
   connect() {
     if (!this.browser && !this.server && !this.client) {
       Logger.debug('Starting mDNS browser');
@@ -38,6 +51,13 @@ class WifiConnector extends BaseConnector {
     return new Promise(accept => accept());
   }
 
+  /**
+   * @inheritDoc
+   */
+  get connected() {
+    return this.browser && this.server && this.client;
+  }
+
   async _onMdnsServiceDiscovery(service) {
     if (!service.fullname.includes('_arsdk-')) {
       Logger.debug(`Skipping mdns service ${service.fullname}`);
@@ -54,14 +74,65 @@ class WifiConnector extends BaseConnector {
 
     Logger.debug(`Found drone ${service.name}`);
 
-    await this._handshake(service);
+    try {
+      await this._connect(service);
+    } catch (e) {
+      this.disconnect();
+
+      throw e;
+    }
 
     return true;
   }
 
-  async _handshake(service) {
+  async _connect(service) {
     Logger.info(`Doing Wifi handshake with ${service.addresses[0]} [${service.addresses.join(', ')}]`);
 
+    await this._startServer();
+
+    this.ip = service.addresses[0];
+
+    let data = await this._sendHandshake(this.ip, service.port);
+
+    data = data.toString();
+    data = data.replace('\0', ''); // Remove trailing nullbyte
+    data = JSON.parse(data);
+
+    Logger.debug('Got drone response: ', data);
+
+    if (data.status !== 0) {
+      const error = ARDiscoveryError.findForValue(data.status);
+
+      throw new Error(error);
+    }
+
+    this.port = data.c2d_port;
+
+    this.client = dgram.createSocket('udp4');
+
+    this.client.on('error', err => {
+      this.disconnect();
+
+      throw err;
+    });
+
+    Logger.debug(`Stream available at ${this.rtspStreamUri}`);
+
+    /**
+     * Drone connected event
+     * You can control the drone once this event has been triggered.
+     *
+     * @event BaseConnector#connected
+     */
+    this.emit('connected');
+  }
+
+  async _startServer() {
+    if (this.server) {
+      Logger.warn('Found existing running server, closing it');
+      this.server.close();
+    }
+
     this.server = dgram.createSocket('udp4');
 
     this.server.on('close', () => this.disconnect());
@@ -76,14 +147,16 @@ class WifiConnector extends BaseConnector {
     this.server.bind(0); // random utp port
 
     await promisify(this.server.once.bind(this.server))('listening');
+  }
 
+  async _sendHandshake(ip, port) {
     const address = this.server.address();
 
     Logger.debug(`Server listening ${address.address}:${address.port}`);
 
     const handshakeClient = new net.Socket();
 
-    handshakeClient.connect(service.port, service.addresses[0], () => {
+    handshakeClient.connect(port, ip, () => {
       const config = {
         'd2c_port': this.server.address().port,
         'controller_type': 'minidrone-js',
@@ -96,38 +169,19 @@ class WifiConnector extends BaseConnector {
       handshakeClient.write(JSON.stringify(config));
     });
 
-    let data = await promisify(handshakeClient.once.bind(handshakeClient))('data');
-
-    data = data.toString();
-    data = data.replace('\0', ''); // Remove trailing nullbyte
-    data = JSON.parse(data);
-
-    Logger.debug('Got drone response: ', data);
-
-    if (data.status !== 0) {
-      const error = ARDiscoveryError.findForValue(data.status);
-
-      throw new Error(error);
-    }
+    const data = await promisify(handshakeClient.once.bind(handshakeClient))('data');
 
     handshakeClient.destroy();
 
-    this.ip = service.addresses[0];
-    this.port = data.c2d_port;
-
-    this.client = dgram.createSocket('udp4');
-
-    this.client.on('error', err => {
-      this.disconnect();
-
-      throw err;
-    });
-
-    Logger.debug(`Stream available at ${this.rtspStreamUri}`);
-
-    this.emit('connected');
+    return data;
   }
 
+  /**
+   * Write raw buffer to the drone
+   * @param {Buffer} buffer
+   * @returns {number} - Resolves with the number of bytes sent
+   * @async
+   */
   write(buffer) {
     return new Promise((accept, reject) => {
       this.client.send(buffer, 0, buffer.length, this.port, this.ip, err => {
@@ -140,8 +194,13 @@ class WifiConnector extends BaseConnector {
     });
   }
 
+  /**
+   * Disconnect from the drone
+   * @emits BaseConnector#disconnected
+   * @returns {void}
+   */
   disconnect() {
-    Logger.info('Disconnected');
+    this.server.close();
 
     delete this.browser;
     delete this.server;
@@ -149,13 +208,16 @@ class WifiConnector extends BaseConnector {
     delete this.port;
     delete this.client;
 
-    this.emit('disconnected');
-  }
+    Logger.info('Disconnected');
 
-  get connected() {
-    return this.server && this.client;
+    this.emit('disconnected');
   }
 
+  /**
+   * Send a command to the drone
+   * @param {DroneCommand} command - Command to send
+   * @returns {Promise} - Resolves when the command has been acknowledged or rejects if it times out
+   */
   sendCommand(command) {
     const commandBuffer = command.toBuffer();
     const buffer = Buffer.concat([new Buffer(7), commandBuffer]);
@@ -215,6 +277,10 @@ class WifiConnector extends BaseConnector {
     }
   }
 
+  /**
+   * Returns an approximation of the rtsp stream uri. Sometimes it's the gateway not the drone itself oddly enough.
+   * @returns {string} - stream uri
+   */
   get rtspStreamUri() {
     return `rtsp://${this.ip}/media/stream2`;
   }

From cd2c068d6ce2b42ba28884b28e0863d20872cf42 Mon Sep 17 00:00:00 2001
From: Bas <mega@ioexception.at>
Date: Tue, 12 Jun 2018 16:47:44 +0200
Subject: [PATCH 08/17] wip

---
 examples/directFlight.js        |    2 +-
 examples/doAFlip.js             |    2 +-
 examples/package-lock.json      | 5066 +++++++++++++++++++++++++++++++
 examples/package.json           |    9 +-
 examples/toggleAutoTakeOff.js   |   20 +-
 examples/wifi/directFlight.js   |   84 +
 package-lock.json               |   62 +-
 src/connectors/BaseConnector.js |   22 +-
 src/connectors/WifiConnector.js |   14 +-
 9 files changed, 5235 insertions(+), 46 deletions(-)
 create mode 100644 examples/package-lock.json
 create mode 100644 examples/wifi/directFlight.js

diff --git a/examples/directFlight.js b/examples/directFlight.js
index 648dbb17..40453a49 100644
--- a/examples/directFlight.js
+++ b/examples/directFlight.js
@@ -1,5 +1,5 @@
 const dualShock = require('dualshock-controller');
-const {DroneConnection, CommandParser} = require('../src');
+const {DroneConnection, CommandParser} = require('minidrone-js');
 
 const controller = dualShock({config: 'dualShock4-alternate-driver'});
 const parser = new CommandParser();
diff --git a/examples/doAFlip.js b/examples/doAFlip.js
index 5fde21de..dab5e0a9 100644
--- a/examples/doAFlip.js
+++ b/examples/doAFlip.js
@@ -1,4 +1,4 @@
-const {DroneConnection, CommandParser, BLEConnector} = require('../src');
+const {DroneConnection, CommandParser, BLEConnector} = require('minidrone-js');
 
 const connector = new BLEConnector();
 const parser = new CommandParser();
diff --git a/examples/package-lock.json b/examples/package-lock.json
new file mode 100644
index 00000000..08944fb6
--- /dev/null
+++ b/examples/package-lock.json
@@ -0,0 +1,5066 @@
+{
+  "name": "direct-flight",
+  "requires": true,
+  "lockfileVersion": 1,
+  "dependencies": {
+    "abbrev": {
+      "version": "1.1.1",
+      "resolved": "https://registry.npmjs.org/abbrev/-/abbrev-1.1.1.tgz",
+      "integrity": "sha512-nne9/IiQ/hzIhY6pdDnbBtz7DjPTKrY00P/zvPSm5pOFkl6xuGrGnXn/VtTNNfNtAfZ9/1RtehkszU9qcTii0Q==",
+      "optional": true
+    },
+    "ansi-regex": {
+      "version": "2.1.1",
+      "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-2.1.1.tgz",
+      "integrity": "sha1-w7M6te42DYbg5ijwRorn7yfWVN8="
+    },
+    "aproba": {
+      "version": "1.2.0",
+      "resolved": "https://registry.npmjs.org/aproba/-/aproba-1.2.0.tgz",
+      "integrity": "sha512-Y9J6ZjXtoYh8RnXVCMOU/ttDmk1aBjunq9vO0ta5x85WDQiQfUF9sIPBITdbiiIVcBo03Hi3jMxigBtsddlXRw=="
+    },
+    "are-we-there-yet": {
+      "version": "1.1.5",
+      "resolved": "https://registry.npmjs.org/are-we-there-yet/-/are-we-there-yet-1.1.5.tgz",
+      "integrity": "sha512-5hYdAkZlcG8tOLujVDTgCT+uPX0VnpAH28gWsLfzpXYm7wP6mp5Q/gYyR7YQ0cKVJcXJnl3j2kpBan13PtQf6w==",
+      "requires": {
+        "delegates": "^1.0.0",
+        "readable-stream": "^2.0.6"
+      }
+    },
+    "async": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/async/-/async-1.0.0.tgz",
+      "integrity": "sha1-+PwEyjoTeErenhZBr5hXjPvWR6k="
+    },
+    "balanced-match": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/balanced-match/-/balanced-match-1.0.0.tgz",
+      "integrity": "sha1-ibTRmasr7kneFk6gK4nORi1xt2c="
+    },
+    "bindings": {
+      "version": "1.3.0",
+      "resolved": "https://registry.npmjs.org/bindings/-/bindings-1.3.0.tgz",
+      "integrity": "sha512-DpLh5EzMR2kzvX1KIlVC0VkC3iZtHKTgdtZ0a3pglBZdaQFjt5S9g9xd1lE+YvXyfd6mtCeRnrUfOLYiTMlNSw=="
+    },
+    "bl": {
+      "version": "1.2.2",
+      "resolved": "https://registry.npmjs.org/bl/-/bl-1.2.2.tgz",
+      "integrity": "sha512-e8tQYnZodmebYDWGH7KMRvtzKXaJHx3BbilrgZCfvyLUYdKpK1t5PSPmpkny/SgiTSCnjfLW7v5rlONXVFkQEA==",
+      "requires": {
+        "readable-stream": "^2.3.5",
+        "safe-buffer": "^5.1.1"
+      }
+    },
+    "bluetooth-hci-socket": {
+      "version": "0.5.1",
+      "resolved": "https://registry.npmjs.org/bluetooth-hci-socket/-/bluetooth-hci-socket-0.5.1.tgz",
+      "integrity": "sha1-774hUk/Bz10/rl1RNl1WHUq77Qs=",
+      "optional": true,
+      "requires": {
+        "debug": "^2.2.0",
+        "nan": "^2.0.5",
+        "usb": "^1.1.0"
+      }
+    },
+    "brace-expansion": {
+      "version": "1.1.11",
+      "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-1.1.11.tgz",
+      "integrity": "sha512-iCuPHDFgrHX7H2vEI/5xpz07zSHB00TpugqhmYtVmMO6518mCuRMoOYFldEBl0g187ufozdaHgWKcYFb61qGiA==",
+      "requires": {
+        "balanced-match": "^1.0.0",
+        "concat-map": "0.0.1"
+      }
+    },
+    "buffer-alloc": {
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+      "integrity": "sha1-ajhfuIU9lS1f8F0Oiq+UJ43GPc8=",
+      "requires": {
+        "ansi-regex": "^2.0.0"
+      }
+    },
+    "strip-json-comments": {
+      "version": "2.0.1",
+      "resolved": "https://registry.npmjs.org/strip-json-comments/-/strip-json-comments-2.0.1.tgz",
+      "integrity": "sha1-PFMZQukIwml8DsNEhYwobHygpgo="
+    },
+    "tar": {
+      "version": "4.4.4",
+      "resolved": "https://registry.npmjs.org/tar/-/tar-4.4.4.tgz",
+      "integrity": "sha512-mq9ixIYfNF9SK0IS/h2HKMu8Q2iaCuhDDsZhdEag/FHv8fOaYld4vN7ouMgcSSt5WKZzPs8atclTcJm36OTh4w==",
+      "optional": true,
+      "requires": {
+        "chownr": "^1.0.1",
+        "fs-minipass": "^1.2.5",
+        "minipass": "^2.3.3",
+        "minizlib": "^1.1.0",
+        "mkdirp": "^0.5.0",
+        "safe-buffer": "^5.1.2",
+        "yallist": "^3.0.2"
+      }
+    },
+    "tar-fs": {
+      "version": "1.16.2",
+      "resolved": "https://registry.npmjs.org/tar-fs/-/tar-fs-1.16.2.tgz",
+      "integrity": "sha512-LdknWjPEiZC1nOBwhv0JBzfJBGPJar08dZg2rwZe0ZTLQoRGEzgrl7vF3qUEkCHpI/wN9e7RyCuDhMsJUCLPPQ==",
+      "requires": {
+        "chownr": "^1.0.1",
+        "mkdirp": "^0.5.1",
+        "pump": "^1.0.0",
+        "tar-stream": "^1.1.2"
+      },
+      "dependencies": {
+        "pump": {
+          "version": "1.0.3",
+          "resolved": "https://registry.npmjs.org/pump/-/pump-1.0.3.tgz",
+          "integrity": "sha512-8k0JupWme55+9tCVE+FS5ULT3K6AbgqrGa58lTT49RpyfwwcGedHqaC5LlQNdEAumn/wFsu6aPwkuPMioy8kqw==",
+          "requires": {
+            "end-of-stream": "^1.1.0",
+            "once": "^1.3.1"
+          }
+        }
+      }
+    },
+    "tar-stream": {
+      "version": "1.6.1",
+      "resolved": "https://registry.npmjs.org/tar-stream/-/tar-stream-1.6.1.tgz",
+      "integrity": "sha512-IFLM5wp3QrJODQFPm6/to3LJZrONdBY/otxcvDIQzu217zKye6yVR3hhi9lAjrC2Z+m/j5oDxMPb1qcd8cIvpA==",
+      "requires": {
+        "bl": "^1.0.0",
+        "buffer-alloc": "^1.1.0",
+        "end-of-stream": "^1.0.0",
+        "fs-constants": "^1.0.0",
+        "readable-stream": "^2.3.0",
+        "to-buffer": "^1.1.0",
+        "xtend": "^4.0.0"
+      }
+    },
+    "to-buffer": {
+      "version": "1.1.1",
+      "resolved": "https://registry.npmjs.org/to-buffer/-/to-buffer-1.1.1.tgz",
+      "integrity": "sha512-lx9B5iv7msuFYE3dytT+KE5tap+rNYw+K4jVkb9R/asAb+pbBSM17jtunHplhBe6RRJdZx3Pn2Jph24O32mOVg=="
+    },
+    "tunnel-agent": {
+      "version": "0.6.0",
+      "resolved": "https://registry.npmjs.org/tunnel-agent/-/tunnel-agent-0.6.0.tgz",
+      "integrity": "sha1-J6XeoGs2sEoKmWZ3SykIaPD8QP0=",
+      "requires": {
+        "safe-buffer": "^5.0.1"
+      }
+    },
+    "usb": {
+      "version": "1.3.2",
+      "resolved": "https://registry.npmjs.org/usb/-/usb-1.3.2.tgz",
+      "integrity": "sha512-FhyDAkccL2ycJw3SDEwuMVYwrwo6+wJOqeImwBcZwrK0fIPzg9eWR3vFWDzXLOtMq/06mXyQb122UgbsE/Qhcg==",
+      "optional": true,
+      "requires": {
+        "nan": "^2.8.0",
+        "node-pre-gyp": "^0.10.0"
+      }
+    },
+    "util-deprecate": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/util-deprecate/-/util-deprecate-1.0.2.tgz",
+      "integrity": "sha1-RQ1Nyfpw3nMnYvvS1KKJgUGaDM8="
+    },
+    "which-pm-runs": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/which-pm-runs/-/which-pm-runs-1.0.0.tgz",
+      "integrity": "sha1-Zws6+8VS4LVd9rd4DKdGFfI60cs="
+    },
+    "wide-align": {
+      "version": "1.1.3",
+      "resolved": "https://registry.npmjs.org/wide-align/-/wide-align-1.1.3.tgz",
+      "integrity": "sha512-QGkOQc8XL6Bt5PwnsExKBPuMKBxnGxWWW3fU55Xt4feHozMUhdUMaBCk290qpm/wG5u/RSKzwdAC4i51YigihA==",
+      "requires": {
+        "string-width": "^1.0.2 || 2"
+      }
+    },
+    "winston": {
+      "version": "2.4.2",
+      "resolved": "https://registry.npmjs.org/winston/-/winston-2.4.2.tgz",
+      "integrity": "sha512-4S/Ad4ZfSNl8OccCLxnJmNISWcm2joa6Q0YGDxlxMzH0fgSwWsjMt+SmlNwCqdpaPg3ev1HKkMBsIiXeSUwpbA==",
+      "requires": {
+        "async": "~1.0.0",
+        "colors": "1.0.x",
+        "cycle": "1.0.x",
+        "eyes": "0.1.x",
+        "isstream": "0.1.x",
+        "stack-trace": "0.0.x"
+      }
+    },
+    "wrappy": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
+      "integrity": "sha1-tSQ9jz7BqjXxNkYFvA0QNuMKtp8="
+    },
+    "xtend": {
+      "version": "4.0.1",
+      "resolved": "https://registry.npmjs.org/xtend/-/xtend-4.0.1.tgz",
+      "integrity": "sha1-pcbVMr5lbiPbgg77lDofBJmNY68="
+    },
+    "yallist": {
+      "version": "3.0.2",
+      "resolved": "https://registry.npmjs.org/yallist/-/yallist-3.0.2.tgz",
+      "integrity": "sha1-hFK0u36Dx8GI2AQcGoN8dz1ti7k="
+    }
+  }
+}
diff --git a/examples/package.json b/examples/package.json
index 3b859a42..32f822bf 100644
--- a/examples/package.json
+++ b/examples/package.json
@@ -3,13 +3,8 @@
   "main": "index.js",
   "license": "MIT",
   "dependencies": {
-    "arsdk-xml": "git://github.com/Parrot-Developers/arsdk-xml",
-    "case": "^1.5.4",
+    "minidrone-js": "file:../",
     "dualshock-controller": "^1.1.1",
-    "events": "^1.1.1",
-    "noble": "git://github.com/jacobrosenthal/noble.git#highsierra",
-    "node-gyp": "^3.6.2",
-    "winston": "^2.4.0",
-    "xml2js": "^0.4.19"
+    "winston": "^2.4.0"
   }
 }
diff --git a/examples/toggleAutoTakeOff.js b/examples/toggleAutoTakeOff.js
index 2e4cbef7..600083a0 100644
--- a/examples/toggleAutoTakeOff.js
+++ b/examples/toggleAutoTakeOff.js
@@ -1,12 +1,12 @@
-const { DroneConnection, CommandParser, WifiConnector, BLEConnector } = require('../src');
+const { CommandParser, WifiConnector } = require('minidrone-js');
 const Logger = require('winston');
 
 Logger.level = 'debug';
 
 const parser = new CommandParser();
-const connector = new WifiConnector();
-const drone = new DroneConnection(connector);
-connector.connect();
+const drone = new WifiConnector();
+
+drone.connect();
 
 const autoTakeOffOn = parser.getCommand('minidrone', 'Piloting', 'AutoTakeOffMode', { state: 1 });
 const autoTakeOffOff = parser.getCommand('minidrone', 'Piloting', 'AutoTakeOffMode', { state: 0 });
@@ -18,13 +18,14 @@ function sleep(ms) {
 
 drone.on('connected', async () => {
   await sleep(200);
-  await drone.runCommand(allState);
 
-  await drone.runCommand(autoTakeOffOn);
+  await drone.sendCommand(allState);
+
+  await drone.sendCommand(autoTakeOffOn);
 
   await sleep(2000);
 
-  await drone.runCommand(autoTakeOffOff);
+  await drone.sendCommand(autoTakeOffOff);
 
   Logger.debug('values: ');
 
@@ -32,5 +33,10 @@ drone.on('connected', async () => {
     Logger.debug(command.toString(true));
   }
 
+  while (true) {
+    await sleep(2000);
+
+    drone.sendCommand(allState);
+  }
   // process.exit();
 });
diff --git a/examples/wifi/directFlight.js b/examples/wifi/directFlight.js
new file mode 100644
index 00000000..0797254a
--- /dev/null
+++ b/examples/wifi/directFlight.js
@@ -0,0 +1,84 @@
+const dualShock = require('dualshock-controller');
+const { WifiConnector, CommandParser } = require('minidrone-js');
+
+const controller = dualShock({ config: 'dualShock4-alternate-driver' });
+const parser = new CommandParser();
+const drone = new WifiConnector();
+const takeoff = parser.getCommand('minidrone', 'Piloting', 'TakeOff');
+const landing = parser.getCommand('minidrone', 'Piloting', 'Landing');
+const flatTrim = parser.getCommand('minidrone', 'Piloting', 'FlatTrim');
+const takePicture = parser.getCommand('minidrone', 'MediaRecord', 'PictureV2');
+const fireGun = parser.getCommand('minidrone', 'UsbAccessory', 'GunControl', { id: 0, action: 'FIRE' });
+const clawOpen = parser.getCommand('minidrone', 'UsbAccessory', 'ClawControl', { id: 0, action: 'OPEN' });
+const clawClose = parser.getCommand('minidrone', 'UsbAccessory', 'ClawControl', { id: 0, action: 'CLOSE' });
+const allState = parser.getCommand('common', 'Common', 'AllStates');
+const autoTakeOff = parser.getCommand('minidrone', 'Piloting', 'AutoTakeOffMode', { state: 1 });
+
+let startTime;
+let flightParams = {
+  roll: 0, pitch: 0, yaw: 0, gaz: 0, flag: true,
+};
+
+function setFlightParams(data) {
+  flightParams = Object.assign({}, flightParams, data);
+}
+
+
+function writeFlightParams() {
+  if (typeof startTime === 'undefined') {
+    startTime = Date.now();
+  }
+
+  const params = Object.assign({}, flightParams, {
+    timestamp: Date.now() - startTime,
+  });
+
+  const command = parser.getCommand('minidrone', 'Piloting', 'PCMD', params);
+
+  drone.sendCommand(command);
+}
+
+function joyToFlightParam(value) {
+  const deadZone = 10; // both ways
+  const center = 255 / 2;
+
+  if (value > center - deadZone && value < center + deadZone) {
+    return 0;
+  }
+
+  return (value / center) * 100 - 100;
+}
+
+drone.on('connected', () => {
+  console.log('Registering controller');
+
+  setInterval(writeFlightParams, 100); // Event loop
+
+  // Bind controls
+  controller.on('connected', () => console.log('Controller connected!'));
+  controller.on('disconnecting', () => {
+    console.log('Controller disconnected!');
+    setFlightParams({
+      roll: 0, pitch: 0, yaw: 0, gaz: -10,
+    });
+  });
+
+  controller.on('circle:press', () => {
+    console.log(Object.values(drone._sensorStore).map(x => x.toString()).join('\n'));
+    drone.sendCommand(allState);
+  });
+  controller.on('x:press', () => drone.sendCommand(takeoff));
+  controller.on('square:press', () => drone.sendCommand(landing));
+  controller.on('triangle:press', () => drone.sendCommand(autoTakeOff));
+
+  controller.on('right:move', data => setFlightParams({
+    yaw: joyToFlightParam(data.x),
+    gaz: -joyToFlightParam(data.y),
+  }));
+  controller.on('left:move', data => setFlightParams({
+    roll: joyToFlightParam(data.x),
+    pitch: -joyToFlightParam(data.y),
+  }));
+});
+
+drone.connect();
diff --git a/package-lock.json b/package-lock.json
index 2f102220..ac0ca5e7 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -925,6 +925,12 @@
       "integrity": "sha1-RqoXUftqL5PuXmibsQh9SxTGwgU=",
       "dev": true
     },
+    "bindings": {
+      "version": "1.2.1",
+      "resolved": "https://registry.npmjs.org/bindings/-/bindings-1.2.1.tgz",
+      "integrity": "sha1-FK1hE4EtLTfXLme0ystLtyZQXxE=",
+      "dev": true
+    },
     "block-stream": {
       "version": "0.0.9",
       "resolved": "https://registry.npmjs.org/block-stream/-/block-stream-0.0.9.tgz",
@@ -1565,6 +1571,11 @@
       "integrity": "sha1-+hN8S9aY7fVc1c0CrFWfkaTEups=",
       "optional": true
     },
+    "dgram": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/dgram/-/dgram-1.0.1.tgz",
+      "integrity": "sha1-N/OyAPgDOl/3WTAwicgc42G2UcM="
+    },
     "doctrine": {
       "version": "2.1.0",
       "resolved": "https://registry.npmjs.org/doctrine/-/doctrine-2.1.0.tgz",
@@ -2030,14 +2041,12 @@
         "balanced-match": {
           "version": "1.0.0",
           "bundled": true,
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "brace-expansion": {
           "version": "1.1.11",
           "bundled": true,
           "dev": true,
-          "optional": true,
           "requires": {
             "balanced-match": "^1.0.0",
             "concat-map": "0.0.1"
@@ -2052,20 +2061,17 @@
         "code-point-at": {
           "version": "1.1.0",
           "bundled": true,
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "concat-map": {
           "version": "0.0.1",
           "bundled": true,
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "console-control-strings": {
           "version": "1.1.0",
           "bundled": true,
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "core-util-is": {
           "version": "1.0.2",
@@ -2182,8 +2188,7 @@
         "inherits": {
           "version": "2.0.3",
           "bundled": true,
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "ini": {
           "version": "1.3.5",
@@ -2195,7 +2200,6 @@
           "version": "1.0.0",
           "bundled": true,
           "dev": true,
-          "optional": true,
           "requires": {
             "number-is-nan": "^1.0.0"
           }
@@ -2210,7 +2214,6 @@
           "version": "3.0.4",
           "bundled": true,
           "dev": true,
-          "optional": true,
           "requires": {
             "brace-expansion": "^1.1.7"
           }
@@ -2218,14 +2221,12 @@
         "minimist": {
           "version": "0.0.8",
           "bundled": true,
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "minipass": {
           "version": "2.2.4",
           "bundled": true,
           "dev": true,
-          "optional": true,
           "requires": {
             "safe-buffer": "^5.1.1",
             "yallist": "^3.0.0"
@@ -2244,7 +2245,6 @@
           "version": "0.5.1",
           "bundled": true,
           "dev": true,
-          "optional": true,
           "requires": {
             "minimist": "0.0.8"
           }
@@ -2332,8 +2332,7 @@
         "number-is-nan": {
           "version": "1.0.1",
           "bundled": true,
-          "dev": true,
-          "optional": true
+          "dev": true
         },
         "object-assign": {
           "version": "4.1.1",
@@ -2345,7 +2344,6 @@
           "version": "1.4.0",
           "bundled": true,
           "dev": true,
-          "optional": true,
           "requires": {
             "wrappy": "1"
           }
@@ -2467,7 +2465,6 @@
           "version": "1.0.2",
           "bundled": true,
           "dev": true,
-          "optional": true,
           "requires": {
             "code-point-at": "^1.0.0",
             "is-fullwidth-code-point": "^1.0.0",
@@ -3582,6 +3579,24 @@
       "integrity": "sha1-givM1l4RfFFPqxdrJZRdVBAKA8M=",
       "dev": true
     },
+    "mdns": {
+      "version": "2.4.0",
+      "resolved": "https://registry.npmjs.org/mdns/-/mdns-2.4.0.tgz",
+      "integrity": "sha512-t58BWOyagGpATg8LlALpnqjfT7VHBq6/HCLfU/SK0Ox+enx3Cut7voWB9DPwjrdoccql6Z6ZY1rwuBX93t0Vpw==",
+      "dev": true,
+      "requires": {
+        "bindings": "~1.2.1",
+        "nan": "^2.10.0"
+      },
+      "dependencies": {
+        "nan": {
+          "version": "2.10.0",
+          "resolved": "https://registry.npmjs.org/nan/-/nan-2.10.0.tgz",
+          "integrity": "sha512-bAdJv7fBLhWC+/Bls0Oza+mvTaNQtP+1RyhhhvD95pgUJz6XM5IzgmxOkItJ9tkoCiplvAnXI1tNmmUD/eScyA==",
+          "dev": true
+        }
+      }
+    },
     "meow": {
       "version": "3.7.0",
       "resolved": "https://registry.npmjs.org/meow/-/meow-3.7.0.tgz",
@@ -3799,6 +3814,11 @@
       "integrity": "sha1-Sr6/7tdUHywnrPspvbvRXI1bpPc=",
       "dev": true
     },
+    "net": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/net/-/net-1.0.2.tgz",
+      "integrity": "sha1-0XV+yaf7I3HYPPR1XOPifhCCk4g="
+    },
     "noble": {
       "version": "git://github.com/jacobrosenthal/noble.git#15179890f7dd39ed8b40c0c5b11a5538498d03fd",
       "from": "git://github.com/jacobrosenthal/noble.git#highsierra",
diff --git a/src/connectors/BaseConnector.js b/src/connectors/BaseConnector.js
index 08a9501c..1f8a3e8d 100644
--- a/src/connectors/BaseConnector.js
+++ b/src/connectors/BaseConnector.js
@@ -17,7 +17,7 @@ class BaseConnector extends EventEmitter {
     super();
 
     this._stepStore = {};
-    this.parser = new CommandParser();
+    this._parser = new CommandParser();
     this._commandCallback = {};
     this._sensorStore = {};
 
@@ -25,6 +25,14 @@ class BaseConnector extends EventEmitter {
     this.on('incoming', command => Logger.debug(`RECV ${command.bufferType}:`, command.toString()));
   }
 
+  /**
+   * Accessor for getting the {@link CommandParser} instance
+   * @returns {CommandParser} - {@link CommandParser} instance
+   */
+  get parser() {
+    return this._parser;
+  }
+
   /**
    * used to count the drone command steps
    * @param {string} id - Step store id
@@ -61,7 +69,7 @@ class BaseConnector extends EventEmitter {
         }
 
         // For if the command times out
-        const timeout = setTimeout(reject, 10 * 1000, new Error('Command timed out after 10 seconds'));
+        const timeout = setTimeout(reject, 5 * 1000, new Error('Command timed out after 5 seconds'));
 
         const accept = () => {
           clearTimeout(timeout);
@@ -107,14 +115,16 @@ class BaseConnector extends EventEmitter {
     let command = this._sensorStore[token];
 
     if (command) {
-      command = command.copy();
+      return command.clone();
     }
-
-    return command;
   }
 
   setSensor(command) {
-    this._sensorStore[command.getToken()] = command;
+    const token = command.getToken();
+
+    this._sensorStore[token] = command;
+
+    Logger.debug('EMIT: sensor:' + token);
 
     /**
      * Fires when a new sensor reading has been received
diff --git a/src/connectors/WifiConnector.js b/src/connectors/WifiConnector.js
index d3e0479f..9e486c7e 100644
--- a/src/connectors/WifiConnector.js
+++ b/src/connectors/WifiConnector.js
@@ -218,7 +218,7 @@ class WifiConnector extends BaseConnector {
    * @param {DroneCommand} command - Command to send
    * @returns {Promise} - Resolves when the command has been acknowledged or rejects if it times out
    */
-  sendCommand(command) {
+  async sendCommand(command) {
     const commandBuffer = command.toBuffer();
     const buffer = Buffer.concat([new Buffer(7), commandBuffer]);
     const bufferId = command.bufferId;
@@ -231,7 +231,15 @@ class WifiConnector extends BaseConnector {
 
     this.write(buffer, command.sendCharacteristicUuid);
 
-    return this._setAckCallback(command, packetId);
+    try {
+      return await this._setAckCallback(command, packetId);
+    } catch (e) {
+      if (e.message.startsWith('Command timed out')) {
+        this.disconnect();
+      }
+
+      throw e;
+    }
   }
 
   _handleIncoming(buffer) {
@@ -282,7 +290,7 @@ class WifiConnector extends BaseConnector {
    * @returns {string} - stream uri
    */
   get rtspStreamUri() {
-    return `rtsp://${this.ip}/media/stream2`;
+    return 'rtsp://192.168.99.1/media/stream2';
   }
 }
 

From b332e2992c5ece76cc579a227b1a3fdcf9b47e2a Mon Sep 17 00:00:00 2001
From: Bas <mega@ioexception.at>
Date: Tue, 12 Jun 2018 16:49:19 +0200
Subject: [PATCH 09/17] rm test-wifi.js

---
 test-wifi.js | 54 ----------------------------------------------------
 1 file changed, 54 deletions(-)
 delete mode 100644 test-wifi.js

diff --git a/test-wifi.js b/test-wifi.js
deleted file mode 100644
index 0ba95326..00000000
--- a/test-wifi.js
+++ /dev/null
@@ -1,54 +0,0 @@
-const mdns = require('mdns');
-const Logger = require('winston');
-const net = require('net');
-
-Logger.level = 'debug';
-
-let mambo;
-
-function _onMdnsServiceDiscovery(service) {
-  if (service.type.name.startsWith('arsdk-') && service.type.protocol === 'udp') {
-    browser.stop();
-
-    Logger.info('Found service ' + service.type.toString());
-
-    mambo = service;
-    console.log(service);
-
-    const ip = service.addresses[0];
-    const port = service.port;
-
-    const config = {
-      'd2c_port': 43210,
-      'controller_type': 'minidrone-js',
-      'controller_name': 'com.example.arsdkapp'
-    };
-
-    var client = new net.Socket();
-    client.connect(port, ip, function() {
-      console.log('Connected');
-      console.log('Sending: ' + JSON.stringify(config));
-      client.write(JSON.stringify(config));
-    });
-
-    client.on('data', function(data) {
-      console.log('Received: ' + data);
-      client.destroy(); // kill client after server's response
-    });
-
-    client.on('close', function() {
-      console.log('Connection closed');
-    });
-  }
-}
-
-var sequence = [
-  mdns.rst.DNSServiceResolve()
-  , mdns.rst.DNSServiceGetAddrInfo({ families: [4] }),
-];
-
-let browser = mdns.createBrowser(mdns.udp('_arsdk-090b'), { resolverSequence: sequence }); // createBrowser(mdns.udp('arsdk-090b'));
-
-browser.on('serviceUp', _onMdnsServiceDiscovery);
-
-browser.start();

From 234837a8de6eeee7cb6d40591665989f517252c2 Mon Sep 17 00:00:00 2001
From: Bas <mega@ioexception.at>
Date: Wed, 22 Aug 2018 10:53:11 +0200
Subject: [PATCH 10/17] Add Symbol.toPrimitive support

---
 src/DroneCommandArgument.js | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/DroneCommandArgument.js b/src/DroneCommandArgument.js
index df9e173b..d5527dbc 100644
--- a/src/DroneCommandArgument.js
+++ b/src/DroneCommandArgument.js
@@ -97,6 +97,10 @@ class DroneCommandArgument {
     this._value = this._parseValue(value);
   }
 
+  [Symbol.toPrimitive]() {
+    return this.value;
+  }
+
   /**
    * If it has the enum property set
    * @returns {boolean} - has enum

From f3fd7d710c29dc9cbf272d895d5c3cf4bbba69e7 Mon Sep 17 00:00:00 2001
From: Bas <mega@ioexception.at>
Date: Wed, 22 Aug 2018 10:53:35 +0200
Subject: [PATCH 11/17] Better hasKey

---
 src/util/Enum.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/util/Enum.js b/src/util/Enum.js
index cf28a8a6..723f435d 100644
--- a/src/util/Enum.js
+++ b/src/util/Enum.js
@@ -90,7 +90,7 @@ class Enum {
    * @returns {boolean} - key exists
    */
   hasKey(name) {
-    return this.keys().includes(name);
+    return name in this;
   }
 
   /**

From a3e1129b2eb281d57d0142436f3509dfe9ba256a Mon Sep 17 00:00:00 2001
From: shodan <mega@ioexception.at>
Date: Sun, 26 Nov 2023 22:01:15 +0100
Subject: [PATCH 12/17] fixes

---
 examples/doAFlip.js             |    8 +-
 examples/package-lock.json      | 4232 +++++++++++++++++++++++++++++++
 examples/package.json           |    4 +-
 src/CharacteristicEnums.js      |    2 +-
 src/DroneCommand.js             |    2 +-
 src/connectors/BLEConnector.js  |    2 +-
 src/connectors/WifiConnector.js |   22 +-
 7 files changed, 4254 insertions(+), 18 deletions(-)
 create mode 100644 examples/package-lock.json

diff --git a/examples/doAFlip.js b/examples/doAFlip.js
index 7a5f98be..885bd879 100644
--- a/examples/doAFlip.js
+++ b/examples/doAFlip.js
@@ -1,13 +1,15 @@
 const {DroneConnection, CommandParser, BLEConnector} = require('minidrone-js');
+const {WifiConnector} = require("../src");
 
-const connector = new BLEConnector();
+// const connector = new BLEConnector();
+const connector = new WifiConnector();
 const parser = new CommandParser();
 const drone = new DroneConnection(connector);
 const takeoff = parser.getCommand('minidrone', 'Piloting', 'TakeOff');
 const landing = parser.getCommand('minidrone', 'Piloting', 'Landing');
 const backFlip = parser.getCommand('minidrone', 'Animations', 'Flip', {direction: 'back'});
 
-connector.connect();
+connector.connect('192.168.99.3', 44444);
 
 drone.on('connected', () => {
   console.log('Connected!')
@@ -18,6 +20,6 @@ drone.on('connected', () => {
   // runCommand(takeoff);
 
   // setTimeout(runCommand, 2000, backFlip);
-  // setTimeout(runCommand, 2000, landing);
+  setTimeout(runCommand, 2000, landing);
   setTimeout(process.exit, 5000);
 });
diff --git a/examples/package-lock.json b/examples/package-lock.json
new file mode 100644
index 00000000..1342eff4
--- /dev/null
+++ b/examples/package-lock.json
@@ -0,0 +1,4232 @@
+{
+  "name": "direct-flight",
+  "lockfileVersion": 3,
+  "requires": true,
+  "packages": {
+    "": {
+      "name": "direct-flight",
+      "license": "MIT",
+      "dependencies": {
+        "minidrone-js": "file:../",
+        "winston": "^2.4.0"
+      }
+    },
+    "..": {
+      "version": "0.6.1",
+      "license": "MIT",
+      "dependencies": {
+        "@abandonware/noble": "^1.9.2-23",
+        "arsdk-xml": "1.0.0",
+        "case": "^1.5.4",
+        "dgram": "^1.0.1",
+        "events": "^3.0.0",
+        "net": "^1.0.2",
+        "node-gyp": "^10.0.0",
+        "resolve": "^1.6.0",
+        "winston": "^3.0.0",
+        "xml2js": "^0.6.2"
+      },
+      "devDependencies": {
+        "ava": "5.3.1",
+        "eslint": "^8.54.0",
+        "jsdoc": "^4.0.2",
+        "mdns": "^2.4.0",
+        "minami-compat": "1.2.4"
+      }
+    },
+    "../node_modules/@aashutoshrathi/word-wrap": {
+      "version": "1.2.6",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=0.10.0"
+      }
+    },
+    "../node_modules/@abandonware/bluetooth-hci-socket": {
+      "version": "0.5.3-10",
+      "hasInstallScript": true,
+      "license": "MIT",
+      "optional": true,
+      "os": [
+        "linux",
+        "android",
+        "freebsd",
+        "win32"
+      ],
+      "dependencies": {
+        "@mapbox/node-pre-gyp": "^1.0.10",
+        "debug": "^4.3.4",
+        "nan": "^2.17.0"
+      },
+      "optionalDependencies": {
+        "usb": "^1.9.2"
+      }
+    },
+    "../node_modules/@abandonware/noble": {
+      "version": "1.9.2-23",
+      "hasInstallScript": true,
+      "license": "MIT",
+      "os": [
+        "darwin",
+        "linux",
+        "freebsd",
+        "win32"
+      ],
+      "dependencies": {
+        "debug": "^4.3.4",
+        "napi-thread-safe-callback": "^0.0.6",
+        "node-addon-api": "^4.3.0",
+        "node-gyp-build": "^4.5.0"
+      },
+      "engines": {
+        "node": ">=6"
+      },
+      "optionalDependencies": {
+        "@abandonware/bluetooth-hci-socket": "^0.5.3-10"
+      }
+    },
+    "../node_modules/@babel/parser": {
+      "version": "7.23.4",
+      "dev": true,
+      "license": "MIT",
+      "bin": {
+        "parser": "bin/babel-parser.js"
+      },
+      "engines": {
+        "node": ">=6.0.0"
+      }
+    },
+    "../node_modules/@colors/colors": {
+      "version": "1.6.0",
+      "license": "MIT",
+      "engines": {
+        "node": ">=0.1.90"
+      }
+    },
+    "../node_modules/@dabh/diagnostics": {
+      "version": "2.0.3",
+      "license": "MIT",
+      "dependencies": {
+        "colorspace": "1.1.x",
+        "enabled": "2.0.x",
+        "kuler": "^2.0.0"
+      }
+    },
+    "../node_modules/@eslint-community/eslint-utils": {
+      "version": "4.4.0",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "eslint-visitor-keys": "^3.3.0"
+      },
+      "engines": {
+        "node": "^12.22.0 || ^14.17.0 || >=16.0.0"
+      },
+      "peerDependencies": {
+        "eslint": "^6.0.0 || ^7.0.0 || >=8.0.0"
+      }
+    },
+    "../node_modules/@eslint-community/regexpp": {
+      "version": "4.10.0",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": "^12.0.0 || ^14.0.0 || >=16.0.0"
+      }
+    },
+    "../node_modules/@eslint/eslintrc": {
+      "version": "2.1.3",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "ajv": "^6.12.4",
+        "debug": "^4.3.2",
+        "espree": "^9.6.0",
+        "globals": "^13.19.0",
+        "ignore": "^5.2.0",
+        "import-fresh": "^3.2.1",
+        "js-yaml": "^4.1.0",
+        "minimatch": "^3.1.2",
+        "strip-json-comments": "^3.1.1"
+      },
+      "engines": {
+        "node": "^12.22.0 || ^14.17.0 || >=16.0.0"
+      },
+      "funding": {
+        "url": "https://opencollective.com/eslint"
+      }
+    },
+    "../node_modules/@eslint/js": {
+      "version": "8.54.0",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": "^12.22.0 || ^14.17.0 || >=16.0.0"
+      }
+    },
+    "../node_modules/@humanwhocodes/config-array": {
+      "version": "0.11.13",
+      "dev": true,
+      "license": "Apache-2.0",
+      "dependencies": {
+        "@humanwhocodes/object-schema": "^2.0.1",
+        "debug": "^4.1.1",
+        "minimatch": "^3.0.5"
+      },
+      "engines": {
+        "node": ">=10.10.0"
+      }
+    },
+    "../node_modules/@humanwhocodes/module-importer": {
+      "version": "1.0.1",
+      "dev": true,
+      "license": "Apache-2.0",
+      "engines": {
+        "node": ">=12.22"
+      },
+      "funding": {
+        "type": "github",
+        "url": "https://github.com/sponsors/nzakas"
+      }
+    },
+    "../node_modules/@humanwhocodes/object-schema": {
+      "version": "2.0.1",
+      "dev": true,
+      "license": "BSD-3-Clause"
+    },
+    "../node_modules/@isaacs/cliui": {
+      "version": "8.0.2",
+      "license": "ISC",
+      "dependencies": {
+        "string-width": "^5.1.2",
+        "string-width-cjs": "npm:string-width@^4.2.0",
+        "strip-ansi": "^7.0.1",
+        "strip-ansi-cjs": "npm:strip-ansi@^6.0.1",
+        "wrap-ansi": "^8.1.0",
+        "wrap-ansi-cjs": "npm:wrap-ansi@^7.0.0"
+      },
+      "engines": {
+        "node": ">=12"
+      }
+    },
+    "../node_modules/@jsdoc/salty": {
+      "version": "0.2.6",
+      "dev": true,
+      "license": "Apache-2.0",
+      "dependencies": {
+        "lodash": "^4.17.21"
+      },
+      "engines": {
+        "node": ">=v12.0.0"
+      }
+    },
+    "../node_modules/@mapbox/node-pre-gyp": {
+      "version": "1.0.11",
+      "license": "BSD-3-Clause",
+      "optional": true,
+      "dependencies": {
+        "detect-libc": "^2.0.0",
+        "https-proxy-agent": "^5.0.0",
+        "make-dir": "^3.1.0",
+        "node-fetch": "^2.6.7",
+        "nopt": "^5.0.0",
+        "npmlog": "^5.0.1",
+        "rimraf": "^3.0.2",
+        "semver": "^7.3.5",
+        "tar": "^6.1.11"
+      },
+      "bin": {
+        "node-pre-gyp": "bin/node-pre-gyp"
+      }
+    },
+    "../node_modules/@nodelib/fs.scandir": {
+      "version": "2.1.5",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@nodelib/fs.stat": "2.0.5",
+        "run-parallel": "^1.1.9"
+      },
+      "engines": {
+        "node": ">= 8"
+      }
+    },
+    "../node_modules/@nodelib/fs.stat": {
+      "version": "2.0.5",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">= 8"
+      }
+    },
+    "../node_modules/@nodelib/fs.walk": {
+      "version": "1.2.8",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@nodelib/fs.scandir": "2.1.5",
+        "fastq": "^1.6.0"
+      },
+      "engines": {
+        "node": ">= 8"
+      }
+    },
+    "../node_modules/@npmcli/agent": {
+      "version": "2.2.0",
+      "license": "ISC",
+      "dependencies": {
+        "agent-base": "^7.1.0",
+        "http-proxy-agent": "^7.0.0",
+        "https-proxy-agent": "^7.0.1",
+        "lru-cache": "^10.0.1",
+        "socks-proxy-agent": "^8.0.1"
+      },
+      "engines": {
+        "node": "^16.14.0 || >=18.0.0"
+      }
+    },
+    "../node_modules/@npmcli/agent/node_modules/agent-base": {
+      "version": "7.1.0",
+      "license": "MIT",
+      "dependencies": {
+        "debug": "^4.3.4"
+      },
+      "engines": {
+        "node": ">= 14"
+      }
+    },
+    "../node_modules/@npmcli/agent/node_modules/https-proxy-agent": {
+      "version": "7.0.2",
+      "license": "MIT",
+      "dependencies": {
+        "agent-base": "^7.0.2",
+        "debug": "4"
+      },
+      "engines": {
+        "node": ">= 14"
+      }
+    },
+    "../node_modules/@npmcli/fs": {
+      "version": "3.1.0",
+      "license": "ISC",
+      "dependencies": {
+        "semver": "^7.3.5"
+      },
+      "engines": {
+        "node": "^14.17.0 || ^16.13.0 || >=18.0.0"
+      }
+    },
+    "../node_modules/@pkgjs/parseargs": {
+      "version": "0.11.0",
+      "license": "MIT",
+      "optional": true,
+      "engines": {
+        "node": ">=14"
+      }
+    },
+    "../node_modules/@types/linkify-it": {
+      "version": "3.0.5",
+      "dev": true,
+      "license": "MIT"
+    },
+    "../node_modules/@types/markdown-it": {
+      "version": "12.2.3",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@types/linkify-it": "*",
+        "@types/mdurl": "*"
+      }
+    },
+    "../node_modules/@types/mdurl": {
+      "version": "1.0.5",
+      "dev": true,
+      "license": "MIT"
+    },
+    "../node_modules/@types/triple-beam": {
+      "version": "1.3.5",
+      "license": "MIT"
+    },
+    "../node_modules/@ungap/structured-clone": {
+      "version": "1.2.0",
+      "dev": true,
+      "license": "ISC"
+    },
+    "../node_modules/abbrev": {
+      "version": "1.1.1",
+      "license": "ISC",
+      "optional": true
+    },
+    "../node_modules/acorn": {
+      "version": "8.11.2",
+      "dev": true,
+      "license": "MIT",
+      "bin": {
+        "acorn": "bin/acorn"
+      },
+      "engines": {
+        "node": ">=0.4.0"
+      }
+    },
+    "../node_modules/acorn-jsx": {
+      "version": "5.3.2",
+      "dev": true,
+      "license": "MIT",
+      "peerDependencies": {
+        "acorn": "^6.0.0 || ^7.0.0 || ^8.0.0"
+      }
+    },
+    "../node_modules/acorn-walk": {
+      "version": "8.3.0",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=0.4.0"
+      }
+    },
+    "../node_modules/agent-base": {
+      "version": "6.0.2",
+      "license": "MIT",
+      "optional": true,
+      "dependencies": {
+        "debug": "4"
+      },
+      "engines": {
+        "node": ">= 6.0.0"
+      }
+    },
+    "../node_modules/aggregate-error": {
+      "version": "4.0.1",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "clean-stack": "^4.0.0",
+        "indent-string": "^5.0.0"
+      },
+      "engines": {
+        "node": ">=12"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/sindresorhus"
+      }
+    },
+    "../node_modules/ajv": {
+      "version": "6.12.6",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "fast-deep-equal": "^3.1.1",
+        "fast-json-stable-stringify": "^2.0.0",
+        "json-schema-traverse": "^0.4.1",
+        "uri-js": "^4.2.2"
+      },
+      "funding": {
+        "type": "github",
+        "url": "https://github.com/sponsors/epoberezkin"
+      }
+    },
+    "../node_modules/ansi-regex": {
+      "version": "6.0.1",
+      "license": "MIT",
+      "engines": {
+        "node": ">=12"
+      },
+      "funding": {
+        "url": "https://github.com/chalk/ansi-regex?sponsor=1"
+      }
+    },
+    "../node_modules/ansi-styles": {
+      "version": "6.2.1",
+      "license": "MIT",
+      "engines": {
+        "node": ">=12"
+      },
+      "funding": {
+        "url": "https://github.com/chalk/ansi-styles?sponsor=1"
+      }
+    },
+    "../node_modules/anymatch": {
+      "version": "3.1.3",
+      "dev": true,
+      "license": "ISC",
+      "dependencies": {
+        "normalize-path": "^3.0.0",
+        "picomatch": "^2.0.4"
+      },
+      "engines": {
+        "node": ">= 8"
+      }
+    },
+    "../node_modules/aproba": {
+      "version": "2.0.0",
+      "license": "ISC",
+      "optional": true
+    },
+    "../node_modules/are-we-there-yet": {
+      "version": "2.0.0",
+      "license": "ISC",
+      "optional": true,
+      "dependencies": {
+        "delegates": "^1.0.0",
+        "readable-stream": "^3.6.0"
+      },
+      "engines": {
+        "node": ">=10"
+      }
+    },
+    "../node_modules/argparse": {
+      "version": "2.0.1",
+      "dev": true,
+      "license": "Python-2.0"
+    },
+    "../node_modules/array-find-index": {
+      "version": "1.0.2",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=0.10.0"
+      }
+    },
+    "../node_modules/arrgv": {
+      "version": "1.0.2",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=8.0.0"
+      }
+    },
+    "../node_modules/arrify": {
+      "version": "3.0.0",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=12"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/sindresorhus"
+      }
+    },
+    "../node_modules/arsdk-xml": {
+      "version": "1.0.0"
+    },
+    "../node_modules/async": {
+      "version": "3.2.5",
+      "license": "MIT"
+    },
+    "../node_modules/ava": {
+      "version": "5.3.1",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "acorn": "^8.8.2",
+        "acorn-walk": "^8.2.0",
+        "ansi-styles": "^6.2.1",
+        "arrgv": "^1.0.2",
+        "arrify": "^3.0.0",
+        "callsites": "^4.0.0",
+        "cbor": "^8.1.0",
+        "chalk": "^5.2.0",
+        "chokidar": "^3.5.3",
+        "chunkd": "^2.0.1",
+        "ci-info": "^3.8.0",
+        "ci-parallel-vars": "^1.0.1",
+        "clean-yaml-object": "^0.1.0",
+        "cli-truncate": "^3.1.0",
+        "code-excerpt": "^4.0.0",
+        "common-path-prefix": "^3.0.0",
+        "concordance": "^5.0.4",
+        "currently-unhandled": "^0.4.1",
+        "debug": "^4.3.4",
+        "emittery": "^1.0.1",
+        "figures": "^5.0.0",
+        "globby": "^13.1.4",
+        "ignore-by-default": "^2.1.0",
+        "indent-string": "^5.0.0",
+        "is-error": "^2.2.2",
+        "is-plain-object": "^5.0.0",
+        "is-promise": "^4.0.0",
+        "matcher": "^5.0.0",
+        "mem": "^9.0.2",
+        "ms": "^2.1.3",
+        "p-event": "^5.0.1",
+        "p-map": "^5.5.0",
+        "picomatch": "^2.3.1",
+        "pkg-conf": "^4.0.0",
+        "plur": "^5.1.0",
+        "pretty-ms": "^8.0.0",
+        "resolve-cwd": "^3.0.0",
+        "stack-utils": "^2.0.6",
+        "strip-ansi": "^7.0.1",
+        "supertap": "^3.0.1",
+        "temp-dir": "^3.0.0",
+        "write-file-atomic": "^5.0.1",
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+      "integrity": "sha512-KGzahc7puUKkzyMt+IqAep+TVNbKP+k2Lmwhub39m1AsTSkaDutx56aDCo+HLDzf/D26BIHTJWNiTG1KAJiQCg==",
+      "engines": {
+        "node": "*"
+      }
+    },
+    "node_modules/winston": {
+      "version": "2.4.7",
+      "resolved": "https://registry.npmjs.org/winston/-/winston-2.4.7.tgz",
+      "integrity": "sha512-vLB4BqzCKDnnZH9PHGoS2ycawueX4HLqENXQitvFHczhgW2vFpSOn31LZtVr1KU8YTw7DS4tM+cqyovxo8taVg==",
+      "dependencies": {
+        "async": "^2.6.4",
+        "colors": "1.0.x",
+        "cycle": "1.0.x",
+        "eyes": "0.1.x",
+        "isstream": "0.1.x",
+        "stack-trace": "0.0.x"
+      },
+      "engines": {
+        "node": ">= 0.10.0"
+      }
+    }
+  }
+}
diff --git a/examples/package.json b/examples/package.json
index 32f822bf..4a166749 100644
--- a/examples/package.json
+++ b/examples/package.json
@@ -4,7 +4,7 @@
   "license": "MIT",
   "dependencies": {
     "minidrone-js": "file:../",
-    "dualshock-controller": "^1.1.1",
-    "winston": "^2.4.0"
+    "winston": "^2.4.0",
+    "dualshock-controller": "^1.1.1"
   }
 }
diff --git a/src/CharacteristicEnums.js b/src/CharacteristicEnums.js
index 486ab1f1..0d39f2ad 100644
--- a/src/CharacteristicEnums.js
+++ b/src/CharacteristicEnums.js
@@ -54,7 +54,7 @@ const receiveUuids = new Enum({
  *
  * @type {Enum}
  */
-const characteristicUuids = new Enum(Object.assign({}, characteristicSendUuids, characteristicReceiveUuids));
+const characteristicUuids = new Enum(Object.assign({}, sendUuids, receiveUuids));
 
 /**
  * @see http://forum.developer.parrot.com/t/minidrone-characteristics-uuid/4686/3
diff --git a/src/DroneCommand.js b/src/DroneCommand.js
index 38a26d61..28e0330b 100644
--- a/src/DroneCommand.js
+++ b/src/DroneCommand.js
@@ -154,7 +154,7 @@ class DroneCommand {
    * @returns {string} - uuid as a string
    */
   get sendCharacteristicUuid() {
-    return characteristicSendUuids[this.sendCharacteristic];
+    return sendUuids[this.sendCharacteristic];
   }
 
   /**
diff --git a/src/connectors/BLEConnector.js b/src/connectors/BLEConnector.js
index 87a094ba..488690d6 100644
--- a/src/connectors/BLEConnector.js
+++ b/src/connectors/BLEConnector.js
@@ -1,4 +1,4 @@
-const noble = require('noble');
+const noble = require('@abandonware/noble');
 const BaseConnector = require('./BaseConnector');
 const Logger = require('winston');
 const Enum = require('../util/Enum');
diff --git a/src/connectors/WifiConnector.js b/src/connectors/WifiConnector.js
index 9e486c7e..a9298f9f 100644
--- a/src/connectors/WifiConnector.js
+++ b/src/connectors/WifiConnector.js
@@ -28,18 +28,22 @@ class WifiConnector extends BaseConnector {
   /**
    * @inheritDoc
    */
-  connect() {
-    if (!this.browser && !this.server && !this.client) {
+  connect(host = null, port = null) {
+    if (!(!this.browser && !this.server && !this.client)) {
+      return new Promise(accept => accept());
+    } else if (host && port) {
+      return this._connect(host, port);
+    } else {
       Logger.debug('Starting mDNS browser');
 
       const resolverSequence = [
         // eslint-disable-next-line new-cap
         mdns.rst.DNSServiceResolve(),
         // eslint-disable-next-line new-cap
-        mdns.rst.DNSServiceGetAddrInfo({ families: [4] }),
+        mdns.rst.DNSServiceGetAddrInfo({families: [4]}),
       ];
 
-      this.browser = mdns.createBrowser(mdns.udp('_arsdk-090b'), { resolverSequence }); // @todo browse all
+      this.browser = mdns.createBrowser(mdns.udp('_arsdk-090b'), {resolverSequence}); // @todo browse all
 
       return new Promise(accept => {
         this.browser.on('serviceUp', service => this._onMdnsServiceDiscovery(service).then(c => !c || accept()));
@@ -47,8 +51,6 @@ class WifiConnector extends BaseConnector {
         this.browser.start();
       });
     }
-
-    return new Promise(accept => accept());
   }
 
   /**
@@ -85,14 +87,14 @@ class WifiConnector extends BaseConnector {
     return true;
   }
 
-  async _connect(service) {
-    Logger.info(`Doing Wifi handshake with ${service.addresses[0]} [${service.addresses.join(', ')}]`);
+  async _connect(host, port) {
+    Logger.info(`Doing Wifi handshake with ${host}`);
 
     await this._startServer();
 
-    this.ip = service.addresses[0];
+    this.ip = host;
 
-    let data = await this._sendHandshake(this.ip, service.port);
+    let data = await this._sendHandshake(this.ip, port);
 
     data = data.toString();
     data = data.replace('\0', ''); // Remove trailing nullbyte

From 430d678bdf69626d54623ef5ac97111f42ad6b5f Mon Sep 17 00:00:00 2001
From: shodan <mega@ioexception.at>
Date: Sun, 26 Nov 2023 22:45:10 +0100
Subject: [PATCH 13/17] Remove broken package

---
 package-lock.json | 10 +---------
 package.json      |  1 -
 2 files changed, 1 insertion(+), 10 deletions(-)

diff --git a/package-lock.json b/package-lock.json
index 78d989f6..87421b4a 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -24,8 +24,7 @@
         "ava": "5.3.1",
         "eslint": "^8.54.0",
         "jsdoc": "^4.0.2",
-        "mdns": "^2.4.0",
-        "minami-compat": "1.2.4"
+        "mdns": "^2.4.0"
       }
     },
     "node_modules/@aashutoshrathi/word-wrap": {
@@ -2660,13 +2659,6 @@
         "url": "https://github.com/sponsors/sindresorhus"
       }
     },
-    "node_modules/minami-compat": {
-      "version": "1.2.4",
-      "resolved": "https://registry.npmjs.org/minami-compat/-/minami-compat-1.2.4.tgz",
-      "integrity": "sha512-9UGVRkvRm1OhnxJ1dXnC4UdA+RuOZUYIsauDVC0bHoqqiqURuBnf17syuvdp1b+uDJ31Yy4Y5IifwqK4v79+EQ==",
-      "deprecated": "MODIFICATIONS ARE NOT SUPPORTED IN NODE 10, USE ORIGINAL MINAMI THEME",
-      "dev": true
-    },
     "node_modules/minimatch": {
       "version": "3.1.2",
       "resolved": "https://registry.npmjs.org/minimatch/-/minimatch-3.1.2.tgz",
diff --git a/package.json b/package.json
index 8b1fb971..a0a8ae67 100644
--- a/package.json
+++ b/package.json
@@ -20,7 +20,6 @@
   },
   "devDependencies": {
     "mdns": "^2.4.0",
-    "minami-compat": "1.2.4",
     "ava": "5.3.1",
     "eslint": "^8.54.0",
     "jsdoc": "^4.0.2"

From 484778ea554e02ae7931fc4d05861abc914326f1 Mon Sep 17 00:00:00 2001
From: shodan <mega@ioexception.at>
Date: Sun, 26 Nov 2023 23:11:21 +0100
Subject: [PATCH 14/17] Attempt to fix broken example dependency

---
 examples/package-lock.json | 460 ++++++++++++++++++++++++++++++++++++-
 examples/package.json      |   5 +
 2 files changed, 459 insertions(+), 6 deletions(-)

diff --git a/examples/package-lock.json b/examples/package-lock.json
index 1342eff4..bfec63a7 100644
--- a/examples/package-lock.json
+++ b/examples/package-lock.json
@@ -7,6 +7,7 @@
       "name": "direct-flight",
       "license": "MIT",
       "dependencies": {
+        "dualshock-controller": "^1.1.1",
         "minidrone-js": "file:../",
         "winston": "^2.4.0"
       }
@@ -30,8 +31,7 @@
         "ava": "5.3.1",
         "eslint": "^8.54.0",
         "jsdoc": "^4.0.2",
-        "mdns": "^2.4.0",
-        "minami-compat": "1.2.4"
+        "mdns": "^2.4.0"
       }
     },
     "../node_modules/@aashutoshrathi/word-wrap": {
@@ -2410,10 +2410,6 @@
         "url": "https://github.com/sponsors/sindresorhus"
       }
     },
-    "../node_modules/minami-compat": {
-      "version": "1.2.4",
-      "dev": true
-    },
     "../node_modules/minimatch": {
       "version": "3.1.2",
       "devOptional": true,
@@ -4166,6 +4162,71 @@
         "lodash": "^4.17.14"
       }
     },
+    "node_modules/base64-js": {
+      "version": "1.5.1",
+      "resolved": "https://registry.npmjs.org/base64-js/-/base64-js-1.5.1.tgz",
+      "integrity": "sha512-AKpaYlHn8t4SVbOHCy+b5+KKgvR4vrsD8vbvrbiQJps7fKDTkjkDry6ji0rUJjC0kzbNePLwzxq8iypo41qeWA==",
+      "funding": [
+        {
+          "type": "github",
+          "url": "https://github.com/sponsors/feross"
+        },
+        {
+          "type": "patreon",
+          "url": "https://www.patreon.com/feross"
+        },
+        {
+          "type": "consulting",
+          "url": "https://feross.org/support"
+        }
+      ]
+    },
+    "node_modules/bindings": {
+      "version": "1.5.0",
+      "resolved": "https://registry.npmjs.org/bindings/-/bindings-1.5.0.tgz",
+      "integrity": "sha512-p2q/t/mhvuOj/UeLlV6566GD/guowlr0hHxClI0W9m7MWYkL1F0hLo+0Aexs9HSPCtR1SXQ0TD3MMKrXZajbiQ==",
+      "dependencies": {
+        "file-uri-to-path": "1.0.0"
+      }
+    },
+    "node_modules/bl": {
+      "version": "4.1.0",
+      "resolved": "https://registry.npmjs.org/bl/-/bl-4.1.0.tgz",
+      "integrity": "sha512-1W07cM9gS6DcLperZfFSj+bWLtaPGSOHWhPiGzXmvVJbRLdG82sH/Kn8EtW1VqWVA54AKf2h5k5BbnIbwF3h6w==",
+      "dependencies": {
+        "buffer": "^5.5.0",
+        "inherits": "^2.0.4",
+        "readable-stream": "^3.4.0"
+      }
+    },
+    "node_modules/buffer": {
+      "version": "5.7.1",
+      "resolved": "https://registry.npmjs.org/buffer/-/buffer-5.7.1.tgz",
+      "integrity": "sha512-EHcyIPBQ4BSGlvjB16k5KgAJ27CIsHY/2JBmCRReo48y9rQ3MaUzWX3KVlBa4U7MyX02HdVj0K7C3WaB3ju7FQ==",
+      "funding": [
+        {
+          "type": "github",
+          "url": "https://github.com/sponsors/feross"
+        },
+        {
+          "type": "patreon",
+          "url": "https://www.patreon.com/feross"
+        },
+        {
+          "type": "consulting",
+          "url": "https://feross.org/support"
+        }
+      ],
+      "dependencies": {
+        "base64-js": "^1.3.1",
+        "ieee754": "^1.1.13"
+      }
+    },
+    "node_modules/chownr": {
+      "version": "1.1.4",
+      "resolved": "https://registry.npmjs.org/chownr/-/chownr-1.1.4.tgz",
+      "integrity": "sha512-jJ0bqzaylmJtVnNgzTeSOs8DPavpbYgEr/b0YL8/2GO3xJEhInFmhKMUnEJQjZumK7KXGFhUy89PrsJWlakBVg=="
+    },
     "node_modules/colors": {
       "version": "1.0.3",
       "resolved": "https://registry.npmjs.org/colors/-/colors-1.0.3.tgz",
@@ -4182,6 +4243,63 @@
         "node": ">=0.4.0"
       }
     },
+    "node_modules/decompress-response": {
+      "version": "6.0.0",
+      "resolved": "https://registry.npmjs.org/decompress-response/-/decompress-response-6.0.0.tgz",
+      "integrity": "sha512-aW35yZM6Bb/4oJlZncMH2LCoZtJXTRxES17vE3hoRiowU2kWHaJKFkSBDnDR+cm9J+9QhXmREyIfv0pji9ejCQ==",
+      "dependencies": {
+        "mimic-response": "^3.1.0"
+      },
+      "engines": {
+        "node": ">=10"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/sindresorhus"
+      }
+    },
+    "node_modules/deep-extend": {
+      "version": "0.6.0",
+      "resolved": "https://registry.npmjs.org/deep-extend/-/deep-extend-0.6.0.tgz",
+      "integrity": "sha512-LOHxIOaPYdHlJRtCQfDIVZtfw/ufM8+rVj649RIHzcm/vGwQRXFt6OPqIFWsm2XEMrNIEtWR64sY1LEKD2vAOA==",
+      "engines": {
+        "node": ">=4.0.0"
+      }
+    },
+    "node_modules/detect-libc": {
+      "version": "2.0.2",
+      "resolved": "https://registry.npmjs.org/detect-libc/-/detect-libc-2.0.2.tgz",
+      "integrity": "sha512-UX6sGumvvqSaXgdKGUsgZWqcUyIXZ/vZTrlRT/iobiKhGL0zL4d3osHj3uqllWJK+i+sixDS/3COVEOFbupFyw==",
+      "engines": {
+        "node": ">=8"
+      }
+    },
+    "node_modules/dualshock-controller": {
+      "version": "1.1.1",
+      "resolved": "https://registry.npmjs.org/dualshock-controller/-/dualshock-controller-1.1.1.tgz",
+      "integrity": "sha512-CEWhF17Y3ZCcpO2DHwoApoOm/TiLX4E1DHDdj9YLZTS4cYIhKbF3lrRvppKLYf0syrw+zpRaPKvxYbTF+8Vxog==",
+      "dependencies": {
+        "node-hid": "^0.5.0"
+      },
+      "engines": {
+        "node": ">=6.9.2"
+      }
+    },
+    "node_modules/end-of-stream": {
+      "version": "1.4.4",
+      "resolved": "https://registry.npmjs.org/end-of-stream/-/end-of-stream-1.4.4.tgz",
+      "integrity": "sha512-+uw1inIHVPQoaVuHzRyXd21icM+cnt4CzD5rW+NC1wjOUSTOs+Te7FOv7AhN7vS9x/oIyhLP5PR1H+phQAHu5Q==",
+      "dependencies": {
+        "once": "^1.4.0"
+      }
+    },
+    "node_modules/expand-template": {
+      "version": "2.0.3",
+      "resolved": "https://registry.npmjs.org/expand-template/-/expand-template-2.0.3.tgz",
+      "integrity": "sha512-XYfuKMvj4O35f/pOXLObndIRvyQ+/+6AhODh+OKWj9S9498pHHn/IMszH+gt0fBCRWMNfk1ZSp5x3AifmnI2vg==",
+      "engines": {
+        "node": ">=6"
+      }
+    },
     "node_modules/eyes": {
       "version": "0.1.8",
       "resolved": "https://registry.npmjs.org/eyes/-/eyes-0.1.8.tgz",
@@ -4190,6 +4308,50 @@
         "node": "> 0.1.90"
       }
     },
+    "node_modules/file-uri-to-path": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/file-uri-to-path/-/file-uri-to-path-1.0.0.tgz",
+      "integrity": "sha512-0Zt+s3L7Vf1biwWZ29aARiVYLx7iMGnEUl9x33fbB/j3jR81u/O2LbqK+Bm1CDSNDKVtJ/YjwY7TUd5SkeLQLw=="
+    },
+    "node_modules/fs-constants": {
+      "version": "1.0.0",
+      "resolved": "https://registry.npmjs.org/fs-constants/-/fs-constants-1.0.0.tgz",
+      "integrity": "sha512-y6OAwoSIf7FyjMIv94u+b5rdheZEjzR63GTyZJm5qh4Bi+2YgwLCcI/fPFZkL5PSixOt6ZNKm+w+Hfp/Bciwow=="
+    },
+    "node_modules/github-from-package": {
+      "version": "0.0.0",
+      "resolved": "https://registry.npmjs.org/github-from-package/-/github-from-package-0.0.0.tgz",
+      "integrity": "sha512-SyHy3T1v2NUXn29OsWdxmK6RwHD+vkj3v8en8AOBZ1wBQ/hCAQ5bAQTD02kW4W9tUp/3Qh6J8r9EvntiyCmOOw=="
+    },
+    "node_modules/ieee754": {
+      "version": "1.2.1",
+      "resolved": "https://registry.npmjs.org/ieee754/-/ieee754-1.2.1.tgz",
+      "integrity": "sha512-dcyqhDvX1C46lXZcVqCpK+FtMRQVdIMN6/Df5js2zouUsqG7I6sFxitIC+7KYK29KdXOLHdu9zL4sFnoVQnqaA==",
+      "funding": [
+        {
+          "type": "github",
+          "url": "https://github.com/sponsors/feross"
+        },
+        {
+          "type": "patreon",
+          "url": "https://www.patreon.com/feross"
+        },
+        {
+          "type": "consulting",
+          "url": "https://feross.org/support"
+        }
+      ]
+    },
+    "node_modules/inherits": {
+      "version": "2.0.4",
+      "resolved": "https://registry.npmjs.org/inherits/-/inherits-2.0.4.tgz",
+      "integrity": "sha512-k/vGaX4/Yla3WzyMCvTQOXYeIHvqOKtnqBduzTHpzpQZzAskKMhZ2K+EnBiSM9zGSoIFeMpXKxa4dYeZIQqewQ=="
+    },
+    "node_modules/ini": {
+      "version": "1.3.8",
+      "resolved": "https://registry.npmjs.org/ini/-/ini-1.3.8.tgz",
+      "integrity": "sha512-JV/yugV2uzW5iMRSiZAyDtQd+nxtUnjeLt0acNdw98kKLrvuRVyB80tsREOE7yvGVgalhZ6RNXCmEHkUKBKxew=="
+    },
     "node_modules/isstream": {
       "version": "0.1.2",
       "resolved": "https://registry.npmjs.org/isstream/-/isstream-0.1.2.tgz",
@@ -4200,10 +4362,228 @@
       "resolved": "https://registry.npmjs.org/lodash/-/lodash-4.17.21.tgz",
       "integrity": "sha512-v2kDEe57lecTulaDIuNTPy3Ry4gLGJ6Z1O3vE1krgXZNrsQ+LFTGHVxVjcXPs17LhbZVGedAJv8XZ1tvj5FvSg=="
     },
+    "node_modules/lru-cache": {
+      "version": "6.0.0",
+      "resolved": "https://registry.npmjs.org/lru-cache/-/lru-cache-6.0.0.tgz",
+      "integrity": "sha512-Jo6dJ04CmSjuznwJSS3pUeWmd/H0ffTlkXXgwZi+eq1UCmqQwCh+eLsYOYCwY991i2Fah4h1BEMCx4qThGbsiA==",
+      "dependencies": {
+        "yallist": "^4.0.0"
+      },
+      "engines": {
+        "node": ">=10"
+      }
+    },
+    "node_modules/mimic-response": {
+      "version": "3.1.0",
+      "resolved": "https://registry.npmjs.org/mimic-response/-/mimic-response-3.1.0.tgz",
+      "integrity": "sha512-z0yWI+4FDrrweS8Zmt4Ej5HdJmky15+L2e6Wgn3+iK5fWzb6T3fhNFq2+MeTRb064c6Wr4N/wv0DzQTjNzHNGQ==",
+      "engines": {
+        "node": ">=10"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/sindresorhus"
+      }
+    },
     "node_modules/minidrone-js": {
       "resolved": "..",
       "link": true
     },
+    "node_modules/minimist": {
+      "version": "1.2.8",
+      "resolved": "https://registry.npmjs.org/minimist/-/minimist-1.2.8.tgz",
+      "integrity": "sha512-2yyAR8qBkN3YuheJanUpWC5U3bb5osDywNB8RzDVlDwDHbocAJveqqj1u8+SVD7jkWT4yvsHCpWqqWqAxb0zCA==",
+      "funding": {
+        "url": "https://github.com/sponsors/ljharb"
+      }
+    },
+    "node_modules/mkdirp-classic": {
+      "version": "0.5.3",
+      "resolved": "https://registry.npmjs.org/mkdirp-classic/-/mkdirp-classic-0.5.3.tgz",
+      "integrity": "sha512-gKLcREMhtuZRwRAfqP3RFW+TK4JqApVBtOIftVgjuABpAtpxhPGaDcfvbhNvD0B8iD1oUr/txX35NjcaY6Ns/A=="
+    },
+    "node_modules/napi-build-utils": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/napi-build-utils/-/napi-build-utils-1.0.2.tgz",
+      "integrity": "sha512-ONmRUqK7zj7DWX0D9ADe03wbwOBZxNAfF20PlGfCWQcD3+/MakShIHrMqx9YwPTfxDdF1zLeL+RGZiR9kGMLdg=="
+    },
+    "node_modules/node-abi": {
+      "version": "3.51.0",
+      "resolved": "https://registry.npmjs.org/node-abi/-/node-abi-3.51.0.tgz",
+      "integrity": "sha512-SQkEP4hmNWjlniS5zdnfIXTk1x7Ome85RDzHlTbBtzE97Gfwz/Ipw4v/Ryk20DWIy3yCNVLVlGKApCnmvYoJbA==",
+      "dependencies": {
+        "semver": "^7.3.5"
+      },
+      "engines": {
+        "node": ">=10"
+      }
+    },
+    "node_modules/node-addon-api": {
+      "version": "3.2.1",
+      "resolved": "https://registry.npmjs.org/node-addon-api/-/node-addon-api-3.2.1.tgz",
+      "integrity": "sha512-mmcei9JghVNDYydghQmeDX8KoAm0FAiYyIcUt/N4nhyAipB17pllZQDOJD2fotxABnt4Mdz+dKTO7eftLg4d0A=="
+    },
+    "node_modules/node-hid": {
+      "version": "2.2.0",
+      "resolved": "https://registry.npmjs.org/node-hid/-/node-hid-2.2.0.tgz",
+      "integrity": "sha512-vj48zh9j555DZzUhMc8tk/qw6xPFrDyPBH1ST1Z/hWaA/juBJw7IuSxPeOgpzNFNU36mGYj+THioRMt1xOdm/g==",
+      "hasInstallScript": true,
+      "dependencies": {
+        "bindings": "^1.5.0",
+        "node-addon-api": "^3.0.2",
+        "prebuild-install": "^7.1.1"
+      },
+      "bin": {
+        "hid-showdevices": "src/show-devices.js"
+      },
+      "engines": {
+        "node": ">=10"
+      }
+    },
+    "node_modules/once": {
+      "version": "1.4.0",
+      "resolved": "https://registry.npmjs.org/once/-/once-1.4.0.tgz",
+      "integrity": "sha512-lNaJgI+2Q5URQBkccEKHTQOPaXdUxnZZElQTZY0MFUAuaEqe1E+Nyvgdz/aIyNi6Z9MzO5dv1H8n58/GELp3+w==",
+      "dependencies": {
+        "wrappy": "1"
+      }
+    },
+    "node_modules/prebuild-install": {
+      "version": "7.1.1",
+      "resolved": "https://registry.npmjs.org/prebuild-install/-/prebuild-install-7.1.1.tgz",
+      "integrity": "sha512-jAXscXWMcCK8GgCoHOfIr0ODh5ai8mj63L2nWrjuAgXE6tDyYGnx4/8o/rCgU+B4JSyZBKbeZqzhtwtC3ovxjw==",
+      "dependencies": {
+        "detect-libc": "^2.0.0",
+        "expand-template": "^2.0.3",
+        "github-from-package": "0.0.0",
+        "minimist": "^1.2.3",
+        "mkdirp-classic": "^0.5.3",
+        "napi-build-utils": "^1.0.1",
+        "node-abi": "^3.3.0",
+        "pump": "^3.0.0",
+        "rc": "^1.2.7",
+        "simple-get": "^4.0.0",
+        "tar-fs": "^2.0.0",
+        "tunnel-agent": "^0.6.0"
+      },
+      "bin": {
+        "prebuild-install": "bin.js"
+      },
+      "engines": {
+        "node": ">=10"
+      }
+    },
+    "node_modules/pump": {
+      "version": "3.0.0",
+      "resolved": "https://registry.npmjs.org/pump/-/pump-3.0.0.tgz",
+      "integrity": "sha512-LwZy+p3SFs1Pytd/jYct4wpv49HiYCqd9Rlc5ZVdk0V+8Yzv6jR5Blk3TRmPL1ft69TxP0IMZGJ+WPFU2BFhww==",
+      "dependencies": {
+        "end-of-stream": "^1.1.0",
+        "once": "^1.3.1"
+      }
+    },
+    "node_modules/rc": {
+      "version": "1.2.8",
+      "resolved": "https://registry.npmjs.org/rc/-/rc-1.2.8.tgz",
+      "integrity": "sha512-y3bGgqKj3QBdxLbLkomlohkvsA8gdAiUQlSBJnBhfn+BPxg4bc62d8TcBW15wavDfgexCgccckhcZvywyQYPOw==",
+      "dependencies": {
+        "deep-extend": "^0.6.0",
+        "ini": "~1.3.0",
+        "minimist": "^1.2.0",
+        "strip-json-comments": "~2.0.1"
+      },
+      "bin": {
+        "rc": "cli.js"
+      }
+    },
+    "node_modules/readable-stream": {
+      "version": "3.6.2",
+      "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-3.6.2.tgz",
+      "integrity": "sha512-9u/sniCrY3D5WdsERHzHE4G2YCXqoG5FTHUiCC4SIbr6XcLZBY05ya9EKjYek9O5xOAwjGq+1JdGBAS7Q9ScoA==",
+      "dependencies": {
+        "inherits": "^2.0.3",
+        "string_decoder": "^1.1.1",
+        "util-deprecate": "^1.0.1"
+      },
+      "engines": {
+        "node": ">= 6"
+      }
+    },
+    "node_modules/safe-buffer": {
+      "version": "5.2.1",
+      "resolved": "https://registry.npmjs.org/safe-buffer/-/safe-buffer-5.2.1.tgz",
+      "integrity": "sha512-rp3So07KcdmmKbGvgaNxQSJr7bGVSVk5S9Eq1F+ppbRo70+YeaDxkw5Dd8NPN+GD6bjnYm2VuPuCXmpuYvmCXQ==",
+      "funding": [
+        {
+          "type": "github",
+          "url": "https://github.com/sponsors/feross"
+        },
+        {
+          "type": "patreon",
+          "url": "https://www.patreon.com/feross"
+        },
+        {
+          "type": "consulting",
+          "url": "https://feross.org/support"
+        }
+      ]
+    },
+    "node_modules/semver": {
+      "version": "7.5.4",
+      "resolved": "https://registry.npmjs.org/semver/-/semver-7.5.4.tgz",
+      "integrity": "sha512-1bCSESV6Pv+i21Hvpxp3Dx+pSD8lIPt8uVjRrxAUt/nbswYc+tK6Y2btiULjd4+fnq15PX+nqQDC7Oft7WkwcA==",
+      "dependencies": {
+        "lru-cache": "^6.0.0"
+      },
+      "bin": {
+        "semver": "bin/semver.js"
+      },
+      "engines": {
+        "node": ">=10"
+      }
+    },
+    "node_modules/simple-concat": {
+      "version": "1.0.1",
+      "resolved": "https://registry.npmjs.org/simple-concat/-/simple-concat-1.0.1.tgz",
+      "integrity": "sha512-cSFtAPtRhljv69IK0hTVZQ+OfE9nePi/rtJmw5UjHeVyVroEqJXP1sFztKUy1qU+xvz3u/sfYJLa947b7nAN2Q==",
+      "funding": [
+        {
+          "type": "github",
+          "url": "https://github.com/sponsors/feross"
+        },
+        {
+          "type": "patreon",
+          "url": "https://www.patreon.com/feross"
+        },
+        {
+          "type": "consulting",
+          "url": "https://feross.org/support"
+        }
+      ]
+    },
+    "node_modules/simple-get": {
+      "version": "4.0.1",
+      "resolved": "https://registry.npmjs.org/simple-get/-/simple-get-4.0.1.tgz",
+      "integrity": "sha512-brv7p5WgH0jmQJr1ZDDfKDOSeWWg+OVypG99A/5vYGPqJ6pxiaHLy8nxtFjBA7oMa01ebA9gfh1uMCFqOuXxvA==",
+      "funding": [
+        {
+          "type": "github",
+          "url": "https://github.com/sponsors/feross"
+        },
+        {
+          "type": "patreon",
+          "url": "https://www.patreon.com/feross"
+        },
+        {
+          "type": "consulting",
+          "url": "https://feross.org/support"
+        }
+      ],
+      "dependencies": {
+        "decompress-response": "^6.0.0",
+        "once": "^1.3.1",
+        "simple-concat": "^1.0.0"
+      }
+    },
     "node_modules/stack-trace": {
       "version": "0.0.10",
       "resolved": "https://registry.npmjs.org/stack-trace/-/stack-trace-0.0.10.tgz",
@@ -4212,6 +4592,64 @@
         "node": "*"
       }
     },
+    "node_modules/string_decoder": {
+      "version": "1.3.0",
+      "resolved": "https://registry.npmjs.org/string_decoder/-/string_decoder-1.3.0.tgz",
+      "integrity": "sha512-hkRX8U1WjJFd8LsDJ2yQ/wWWxaopEsABU1XfkM8A+j0+85JAGppt16cr1Whg6KIbb4okU6Mql6BOj+uup/wKeA==",
+      "dependencies": {
+        "safe-buffer": "~5.2.0"
+      }
+    },
+    "node_modules/strip-json-comments": {
+      "version": "2.0.1",
+      "resolved": "https://registry.npmjs.org/strip-json-comments/-/strip-json-comments-2.0.1.tgz",
+      "integrity": "sha512-4gB8na07fecVVkOI6Rs4e7T6NOTki5EmL7TUduTs6bu3EdnSycntVJ4re8kgZA+wx9IueI2Y11bfbgwtzuE0KQ==",
+      "engines": {
+        "node": ">=0.10.0"
+      }
+    },
+    "node_modules/tar-fs": {
+      "version": "2.1.1",
+      "resolved": "https://registry.npmjs.org/tar-fs/-/tar-fs-2.1.1.tgz",
+      "integrity": "sha512-V0r2Y9scmbDRLCNex/+hYzvp/zyYjvFbHPNgVTKfQvVrb6guiE/fxP+XblDNR011utopbkex2nM4dHNV6GDsng==",
+      "dependencies": {
+        "chownr": "^1.1.1",
+        "mkdirp-classic": "^0.5.2",
+        "pump": "^3.0.0",
+        "tar-stream": "^2.1.4"
+      }
+    },
+    "node_modules/tar-stream": {
+      "version": "2.2.0",
+      "resolved": "https://registry.npmjs.org/tar-stream/-/tar-stream-2.2.0.tgz",
+      "integrity": "sha512-ujeqbceABgwMZxEJnk2HDY2DlnUZ+9oEcb1KzTVfYHio0UE6dG71n60d8D2I4qNvleWrrXpmjpt7vZeF1LnMZQ==",
+      "dependencies": {
+        "bl": "^4.0.3",
+        "end-of-stream": "^1.4.1",
+        "fs-constants": "^1.0.0",
+        "inherits": "^2.0.3",
+        "readable-stream": "^3.1.1"
+      },
+      "engines": {
+        "node": ">=6"
+      }
+    },
+    "node_modules/tunnel-agent": {
+      "version": "0.6.0",
+      "resolved": "https://registry.npmjs.org/tunnel-agent/-/tunnel-agent-0.6.0.tgz",
+      "integrity": "sha512-McnNiV1l8RYeY8tBgEpuodCC1mLUdbSN+CYBL7kJsJNInOP8UjDDEwdk6Mw60vdLLrr5NHKZhMAOSrR2NZuQ+w==",
+      "dependencies": {
+        "safe-buffer": "^5.0.1"
+      },
+      "engines": {
+        "node": "*"
+      }
+    },
+    "node_modules/util-deprecate": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/util-deprecate/-/util-deprecate-1.0.2.tgz",
+      "integrity": "sha512-EPD5q1uXyFxJpCrLnCc1nHnq3gOa6DZBocAIiI2TaSCA7VCJ1UJDMagCzIkXNsUYfD1daK//LTEQ8xiIbrHtcw=="
+    },
     "node_modules/winston": {
       "version": "2.4.7",
       "resolved": "https://registry.npmjs.org/winston/-/winston-2.4.7.tgz",
@@ -4227,6 +4665,16 @@
       "engines": {
         "node": ">= 0.10.0"
       }
+    },
+    "node_modules/wrappy": {
+      "version": "1.0.2",
+      "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz",
+      "integrity": "sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ=="
+    },
+    "node_modules/yallist": {
+      "version": "4.0.0",
+      "resolved": "https://registry.npmjs.org/yallist/-/yallist-4.0.0.tgz",
+      "integrity": "sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A=="
     }
   }
 }
diff --git a/examples/package.json b/examples/package.json
index 4a166749..15924563 100644
--- a/examples/package.json
+++ b/examples/package.json
@@ -6,5 +6,10 @@
     "minidrone-js": "file:../",
     "winston": "^2.4.0",
     "dualshock-controller": "^1.1.1"
+  },
+  "overrides": {
+    "dualshock-controller": {
+      "node-hid": "^2.2.0"
+    }
   }
 }

From b814c1313960d2a424649cea9362dfe25098d7c2 Mon Sep 17 00:00:00 2001
From: shodan <mega@ioexception.at>
Date: Sun, 26 Nov 2023 23:26:50 +0100
Subject: [PATCH 15/17] fix ci

---
 .github/workflows/node.js.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/node.js.yml b/.github/workflows/node.js.yml
index 33e214a5..e868bb6c 100644
--- a/.github/workflows/node.js.yml
+++ b/.github/workflows/node.js.yml
@@ -16,6 +16,8 @@ jobs:
       uses: actions/setup-node@v2
       with:
         node-version: ${{ matrix.node-version }}
+    - name: Install OS Packages
+      run: apt update && apt install libavahi-compat-libdnssd-dev \
     - name: Cache node modules
       id: cache-npm
       uses: actions/cache@v3

From 39fea20cf51f9f8185ebc4d41c05e779de331299 Mon Sep 17 00:00:00 2001
From: shodan <mega@ioexception.at>
Date: Sun, 26 Nov 2023 23:27:38 +0100
Subject: [PATCH 16/17] fix ci

---
 .github/workflows/node.js.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/node.js.yml b/.github/workflows/node.js.yml
index e868bb6c..16283182 100644
--- a/.github/workflows/node.js.yml
+++ b/.github/workflows/node.js.yml
@@ -17,7 +17,7 @@ jobs:
       with:
         node-version: ${{ matrix.node-version }}
     - name: Install OS Packages
-      run: apt update && apt install libavahi-compat-libdnssd-dev \
+      run: sudo apt update && sudo apt install libavahi-compat-libdnssd-dev \
     - name: Cache node modules
       id: cache-npm
       uses: actions/cache@v3

From 2b347ffcf57883cd32965d6b65a0ad9387bf6ce1 Mon Sep 17 00:00:00 2001
From: shodan <mega@ioexception.at>
Date: Sun, 26 Nov 2023 23:29:06 +0100
Subject: [PATCH 17/17] limit ci

---
 .github/workflows/node.js.yml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/node.js.yml b/.github/workflows/node.js.yml
index 16283182..3c50ed51 100644
--- a/.github/workflows/node.js.yml
+++ b/.github/workflows/node.js.yml
@@ -1,6 +1,10 @@
 name: Node CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'master'
 
 jobs:
   build: