Separate root and subscriber SRs

See merge request !1549

component/mavsdk/buildout.cfg

@@ -15,12 +15,6 @@ parts =
 [gcc]
 min_version = 7.1
 
-[c-astral-xml-definition]
-recipe = slapos.recipe.build:gitclone
-repository = https://lab.nexedi.com/nexedi/c-astral-c-library.git
-revision = v2.1
-git-executable = ${git:location}/bin/git
-
 [mavsdk-source]
 recipe = slapos.recipe.build:gitclone
 repository = https://github.com/mavlink/MAVSDK.git
@@ -53,7 +47,6 @@ cmake = ${cmake:location}/bin/cmake
 depends = ${mavsdk-pythonpath:recipe}
 pre-configure =
   ${git:location}/bin/git submodule update --init --recursive
-  sed -i 's#message_definitions/v1.0#${c-astral-xml-definition:location}#' ${mavsdk-source:location}/third_party/mavlink/CMakeLists.txt
 configure-command =
   ${:cmake}
 configure-options =
@@ -72,12 +65,3 @@ make-binary =
 environment = mavsdk-env
 
 CMAKE_CFLAGS=-I${tinyxml2:location}/include
-
-[c-astral-wrapper]
-recipe = slapos.recipe.cmmi
-configure-command = true
-url = https://lab.nexedi.com/nexedi/c-astral-wrapper/-/archive/v2.0/c-astral-wrapper-v2.0.tar.gz
-md5sum = ee2d05d225a57d17318282ff595fd498
-environment =
-  CPLUS_INCLUDE_PATH=${qjs-wrapper-source:location}/include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk
-  LDFLAGS=-L${mavsdk:location}/lib -Wl,-rpath=${mavsdk:location}/lib

component/qjs-wrapper/buildout.cfg

 [buildout]
 extends =
   ../git/buildout.cfg
-  ../mavsdk/buildout.cfg
   ../open62541/buildout.cfg
   ../quickjs/buildout.cfg
 
@@ -10,13 +9,14 @@ parts = qjs-wrapper
 [qjs-wrapper-source]
 recipe = slapos.recipe.build:gitclone
 repository = https://lab.nexedi.com/nexedi/qjs-wrapper.git
-revision = v2.0
+revision = v2.1
 git-executable = ${git:location}/bin/git
 
 [qjs-wrapper]
 recipe = slapos.recipe.cmmi
 configure-command = true
 path = ${qjs-wrapper-source:location}
+autopilot-wrapper =
 environment =
   C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include
-  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${c-astral-wrapper:location}/lib -Wl,-rpath=${c-astral-wrapper:location}/lib
+  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${:autopilot-wrapper}/lib -Wl,-rpath=${:autopilot-wrapper}/lib

software/js-drone/README.md

@@ -10,13 +10,17 @@
 
 ## Parameters ##
 
+* autopilotType: Select which autopilot wrapper should be used
 * autopilotIp: IPv4 address to identify the autopilot from the companion board
 * droneGuidList: List of computer id on which flight script must be deployed
+* droneNetIf: Drone network interface used for multicast traffic
 * isASimulation: Must be set to 'true' to automatically take off during simulation
+* debug: Must be set to 'true' to send drone logs through OPC-UA
 * multicastIp: IPv6 of the multicast group of the swarm
-* netIf: Network interface used for multicast traffic
 * flightScript: URL of user's script to execute to fly drone swarm
+* loopPeriod: Minimal period (in milliseconds) between 2 executions of the flight script loop
 * subscriberGuidList: List of computer id on which a GUI must be deployed
+* subscriberNetIf: Subscriber network interface used for multicast traffic
 
 
 ## How it works ##
@@ -46,6 +50,7 @@ For each drone is displayed:
 * the yaw angle in degrees
 * the speed (ground speed for multicopters, airspeed for fixed wings) in meters per second
 * the climb rate in meters per second
+* the timestamp of the position in format hh:mm:ss
 
 
 ### Buttons

software/js-drone/buildout.hash.cfg

@@ -14,32 +14,36 @@
 # not need these here).
 [index-html]
 _update_hash_filename_ = web-gui/index.html.jinja2
-md5sum = 1eedc017ecc9d1a6761dc2fff3bbab9b
+md5sum = 1644d25ea48e35f4b50fbc31e899a74a
+
+[instance-peer-base]
+filename = instance-peer-base.cfg.in
+md5sum = 01425a1c77e79788e1948398b9136724
 
 [instance-profile]
 filename = instance.cfg.in
-md5sum = 80dae3e883663311d9814def78ee875a
+md5sum = 4733c63573e6812c124b356dc146ffcc
 
-[instance-default]
-filename = instance-default.cfg.jinja2
-md5sum = 9db922cc0fcaa67006a2d6b9b95b95fe
+[instance-root]
+filename = instance-root.cfg.jinja2
+md5sum = 316f77c655540226f22dc7a6322624f1
 
-[instance-peer]
-filename = instance-peer.cfg.jinja2.in
-md5sum = d12fbb134c587173ddff46ff1bc6ffe7
+[instance-subscriber]
+filename = instance-subscriber.cfg.in
+md5sum = 8559dc8c95e9232060be6db3e0af4379
 
 [main]
 _update_hash_filename_ = drone-scripts/main.js.jinja2
-md5sum = 9a8ec8a2778f63789f39291795f47e98
+md5sum = 60146505ec8ea50d881d033f63b6725c
 
 [pubsub]
 _update_hash_filename_ = drone-scripts/pubsub.js.jinja2
-md5sum = 1555496ad591a31a845f33488d5c335d
+md5sum = 34a02101a607e60f4e422375beaf7fc2
 
 [script-js]
 _update_hash_filename_ = web-gui/script.js.jinja2
-md5sum = e28492276416c2d84e770217ae97a88f
+md5sum = efd986b3685e50f73c17c9352804bae0
 
 [worker]
 _update_hash_filename_ = drone-scripts/worker.js.jinja2
-md5sum = 48540afedd5437129196d84832d2ed40
+md5sum = 5fc7f9738d8230aeea9a9d25ea30f3f0

software/js-drone/drone-scripts/main.js.jinja2

 /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
+{% if isADrone -%}
 /*global arm, console, close, dup2, exit, open, scriptArgs, setTimeout, start,
   stop, stopPubsub, takeOffAndWait, Worker, SIGINT, SIGTERM*/
+{% else -%}
+/*global console, close, dup2, exit, open, scriptArgs, setTimeout, stopPubsub,
+  Worker, SIGINT, SIGTERM*/
+{% endif -%}
 import {
+{% if isADrone -%}
   arm,
   start,
   stop,
+{% endif -%}
   stopPubsub,
+{% if isADrone -%}
   takeOffAndWait
-} from {{ json_module.dumps(qjs_wrapper) }};
+{% endif -%}
+} from "{{ qjs_wrapper }}";
 import {
   Worker,
+  SIGINT,
   SIGTERM,
   dup2,
   setTimeout,
@@ -17,30 +27,37 @@ import {
 } from "os";
 import { err, exit, open, out } from "std";
 
-(function (arm, console, dup2, err, exit, open, out, scriptArgs,
-           setTimeout, start, stop, stopPubsub, takeOffAndWait, Worker,
-           SIGTERM) {
+{% if isADrone -%}
+(function (arm, console, dup2, err, exit, open, out, scriptArgs, setTimeout,
+           start, stop, stopPubsub, takeOffAndWait, Worker, SIGINT, SIGTERM) {
+{% else -%}
+(function (console, dup2, err, exit, open, out, scriptArgs, setTimeout,
+           stopPubsub, Worker, SIGINT, SIGTERM) {
+{% endif -%}
   "use strict";
 
-  var CONF_PATH = {{ json_module.dumps(configuration) }},
+  var CONF_PATH = "{{ configuration }}",
     conf_file = open(CONF_PATH, "r"),
     configuration = JSON.parse(conf_file.readAsString()),
+    AUTOPILOT_CONNECTION_TIMEOUT = 5,
     MAVSDK_LOG_FILE_PATH =
       "{{ log_dir }}/mavsdk_" + new Date().toISOString() + ".log",
-    LOG_FILE =
-      open("{{ log_dir }}/quickjs_" + new Date().toISOString() + ".log", "w"),
+    QUICKJS_LOG_FILE_PATH =
+      "{{ log_dir }}/quickjs_" + new Date().toISOString() + ".log",
+    QUICKJS_LOG_FILE =
+      open(QUICKJS_LOG_FILE_PATH, "w"),
     pubsubWorker,
     worker,
     user_script = scriptArgs[1],
-    FPS = 50, // Minimum sampling interval for open62541 monitored items
+    LOOP_EXECUTION_PERIOD = configuration.loopPeriod,
     previous_timestamp,
     can_update = false;
 
   conf_file.close();
 
   // redirect stdout and stderr
-  dup2(LOG_FILE.fileno(), out.fileno());
-  dup2(LOG_FILE.fileno(), err.fileno());
+  dup2(QUICKJS_LOG_FILE.fileno(), out.fileno());
+  dup2(QUICKJS_LOG_FILE.fileno(), err.fileno());
 
   // Use a Worker to ensure the user script
   // does not block the main script
@@ -50,13 +67,13 @@ import { err, exit, open, out } from "std";
   // to prevent it to finish (and so, exit the quickjs process)
   worker = new Worker("{{ worker_script }}");
 
-  function quit(is_a_drone, exit_code) {
+  function quit(exit_code) {
     worker.onmessage = null;
     stopPubsub();
-    if (is_a_drone) {
-      stop();
-    }
-    LOG_FILE.close();
+{% if isADrone -%}
+    stop();
+{% endif -%}
+    QUICKJS_LOG_FILE.close();
     exit(exit_code);
   }
 
@@ -68,6 +85,7 @@ import { err, exit, open, out } from "std";
   }
 
   signal(SIGTERM, exitWorker.bind(null, 0));
+  signal(SIGINT, exitWorker.bind(null, 0));
 
   function exitOnFail(ret, msg) {
     if (ret) {
@@ -76,6 +94,7 @@ import { err, exit, open, out } from "std";
     }
   }
 
+{% if isADrone -%}
   function connect() {
     var address = configuration.autopilotIp + ":" + configuration.autopilotPort;
     console.log("Will connect to", address);
@@ -84,16 +103,17 @@ import { err, exit, open, out } from "std";
         configuration.autopilotIp,
         configuration.autopilotPort,
         MAVSDK_LOG_FILE_PATH,
-        60
+        QUICKJS_LOG_FILE_PATH,
+        AUTOPILOT_CONNECTION_TIMEOUT,
+        configuration.debug
       ),
       "Failed to connect to " + address
     );
   }
 
-  if (configuration.isADrone) {
-    console.log("Connecting to aupilot\n");
-    connect();
-  }
+  console.log("Connecting to aupilot\n");
+  connect();
+{% endif -%}
 
   pubsubWorker = new Worker("{{ pubsub_script }}");
   pubsubWorker.onmessage = function (e) {
@@ -104,15 +124,19 @@ import { err, exit, open, out } from "std";
 
   worker.postMessage({type: "initPubsub"});
 
+{% if isADrone -%}
   function takeOff() {
     exitOnFail(arm(), "Failed to arm");
     takeOffAndWait();
   }
+{% endif -%}
 
   function load() {
-    if (configuration.isADrone && configuration.isASimulation) {
+{% if isADrone -%}
+    if (configuration.isASimulation) {
       takeOff();
     }
+{% endif -%}
 
     // First argument must provide the user script path
     if (user_script === undefined) {
@@ -130,23 +154,23 @@ import { err, exit, open, out } from "std";
     var timestamp = Date.now(),
       timeout;
     if (can_update) {
-      if (FPS <= (timestamp - previous_timestamp)) {
+      if (LOOP_EXECUTION_PERIOD <= (timestamp - previous_timestamp)) {
         // Expected timeout between every update
         can_update = false;
         worker.postMessage({
           type: "update",
           timestamp: timestamp
         });
-        // Try to stick to the expected FPS
-        timeout = FPS - (timestamp - previous_timestamp - FPS);
+        // Try to stick to the expected LOOP_EXECUTION_PERIOD
+        timeout = LOOP_EXECUTION_PERIOD - (timestamp - previous_timestamp - LOOP_EXECUTION_PERIOD);
         previous_timestamp = timestamp;
       } else {
-        timeout = FPS - (timestamp - previous_timestamp);
+        timeout = LOOP_EXECUTION_PERIOD - (timestamp - previous_timestamp);
       }
     } else {
       // If timeout occurs, but update is not yet finished
       // wait a bit
-      timeout = FPS / 4;
+      timeout = LOOP_EXECUTION_PERIOD / 4;
     }
     // Ensure loop is not done with timeout < 1ms
     setTimeout(loop, Math.max(1, timeout));
@@ -158,12 +182,12 @@ import { err, exit, open, out } from "std";
       pubsubWorker.postMessage({
         action: "run",
         id: configuration.id,
-        interval: FPS,
+        interval: LOOP_EXECUTION_PERIOD,
         publish: configuration.isADrone
       });
       load();
     } else if (type === 'loaded') {
-      previous_timestamp = -FPS;
+      previous_timestamp = -LOOP_EXECUTION_PERIOD;
       can_update = true;
       // Start the update loop
       loop();
@@ -173,11 +197,16 @@ import { err, exit, open, out } from "std";
       can_update = true;
     } else if (type === 'exited') {
       worker.onmessage = null;
-      quit(configuration.isADrone, e.data.exit);
+      quit(e.data.exit);
     } else {
       console.log('Unsupported message type', type);
       exitWorker(1);
     }
   };
+{% if isADrone -%}
 }(arm, console, dup2, err, exit, open, out, scriptArgs, setTimeout, start, stop,
-  stopPubsub, takeOffAndWait, Worker, SIGTERM));
+  stopPubsub, takeOffAndWait, Worker, SIGINT, SIGTERM));
+{% else -%}
+}(console, dup2, err, exit, open, out, scriptArgs, setTimeout, stopPubsub,
+  Worker, SIGINT, SIGTERM));
+{% endif -%}

software/js-drone/drone-scripts/pubsub.js.jinja2

 /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
 /*global console, open, runPubsub, Worker*/
-import {runPubsub} from {{ json_module.dumps(qjs_wrapper) }};
+import {runPubsub} from "{{ qjs_wrapper }}";
 import {Worker} from "os";
 import {open} from "std";
 
 (function (console, open, runPubsub, Worker) {
   "use strict";
 
-  var CONF_PATH = {{ json_module.dumps(configuration) }},
+  var CONF_PATH = "{{ configuration }}",
     PORT = "4840",
     parent = Worker.parent,
     conf_file = open(CONF_PATH, "r"),

software/js-drone/drone-scripts/worker.js.jinja2

@@ -5,6 +5,7 @@
   updateLogAndProjection, Drone, Worker*/
 import {
   Drone,
+{% if isADrone -%}
   triggerParachute,
   getAirspeed,
   getAltitude,
@@ -13,14 +14,19 @@ import {
   gpsIsOk,
   getPosition,
   getYaw,
+{% endif -%}
   initPubsub,
+{% if isADrone -%}
   isLanding,
   loiter,
   setAirSpeed,
+{% endif -%}
   setMessage,
+{% if isADrone -%}
   setTargetCoordinates,
   updateLogAndProjection
-} from {{ json_module.dumps(qjs_wrapper) }};
+{% endif -%}
+} from "{{ qjs_wrapper }}";
 import {
   SIGTERM,
   WNOHANG,
@@ -34,15 +40,21 @@ import {
 } from "os";
 import { evalScript, fdopen, loadFile, open } from "std";
 
+{% if isADrone -%}
 (function (Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
            fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition,
-           getYaw, initPubsub, kill, isLanding, loadFile, loiter, open, pipe,
-           setAirSpeed, setMessage, setReadHandler, setTargetCoordinates,
+           getYaw, initPubsub, isLanding, kill, loadFile, loiter, open,
+           pipe, setAirSpeed, setMessage, setReadHandler, setTargetCoordinates,
            triggerParachute, updateLogAndProjection, waitpid) {
+{% else -%}
+(function (Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
+           fdopen, initPubsub, kill, loadFile, open, pipe, setMessage,
+           setReadHandler, waitpid) {
+{% endif -%}
   // Every script is evaluated per drone
   "use strict";
 
-  var CONF_PATH = {{ json_module.dumps(configuration) }},
+  var CONF_PATH = "{{ configuration }}",
     conf_file = open(CONF_PATH, "r"),
     configuration = JSON.parse(conf_file.readAsString()),
     clientId,
@@ -57,9 +69,12 @@ import { evalScript, fdopen, loadFile, open } from "std";
     peer_dict = {},
     user_me = {
       //required to fly
+{% if isADrone -%}
       triggerParachute: triggerParachute,
+{% endif -%}
       exit: exitWorker,
       getDroneDict: function () { return drone_dict; },
+{% if isADrone -%}
       getAltitudeAbs: getAltitude,
       getCurrentPosition: getPosition,
       getInitialAltitude: getInitialAltitude,
@@ -67,9 +82,14 @@ import { evalScript, fdopen, loadFile, open } from "std";
       getYaw: getYaw,
       getSpeed: getAirspeed,
       getClimbRate: getClimbRate,
+{% endif -%}
       id: configuration.id,
+{% if isADrone -%}
       isLanding: isLanding,
       loiter: loiter,
+      setAirSpeed: setAirSpeed,
+      setTargetCoordinates: setTargetCoordinates,
+{% endif -%}
       sendMsg: function (msg, id) {
         if (id === undefined) { id = -1; }
         setMessage(JSON.stringify({
@@ -77,9 +97,7 @@ import { evalScript, fdopen, loadFile, open } from "std";
           timestamp: Date.now(),
           dest_id: id
         }));
-      },
-      setAirSpeed: setAirSpeed,
-      setTargetCoordinates: setTargetCoordinates
+      }
     };
   conf_file.close();
 
@@ -139,7 +157,7 @@ import { evalScript, fdopen, loadFile, open } from "std";
       ], {
         block:   false,
         usePath: false,
-        file:    {{ json_module.dumps(gwsocket_bin) }},
+        file:    "{{ gwsocket_bin }}",
         stdin:   gwsocket_w_pipe[0],
         stdout:  gwsocket_r_pipe[1]
       });
@@ -149,9 +167,6 @@ import { evalScript, fdopen, loadFile, open } from "std";
 
     handleWebSocketMessage = function () {
       var message = readMessage(gwsocket_r_pipe_fd).data;
-      if (message.includes(configuration.websocketIp)) {
-        return;
-      }
       onMessage(message);
     };
     user_me.writeWebsocketMessage = function (message) {
@@ -200,16 +215,16 @@ import { evalScript, fdopen, loadFile, open } from "std";
   }
 
   function handleMainMessage(evt) {
-    var type = evt.data.type, message, peer_id;
+    var type = evt.data.type, message, peer_id, log;
 
     switch (type) {
 
     case "initPubsub":
-      initPubsub(configuration.numberOfDrone, configuration.numberOfSubscriber);
-      for (peer_id = 0; peer_id < configuration.numberOfDrone + configuration.numberOfSubscriber; peer_id++) {
+      initPubsub(configuration.numberOfDrones, configuration.numberOfSubscribers);
+      for (peer_id = 0; peer_id < configuration.numberOfDrones + configuration.numberOfSubscribers; peer_id++) {
         peer_dict[peer_id] = new Drone(peer_id);
         peer_dict[peer_id].init(peer_id);
-        if (peer_id < configuration.numberOfDrone) {
+        if (peer_id < configuration.numberOfDrones) {
           drone_dict[peer_id] = peer_dict[peer_id];
         }
       }
@@ -234,13 +249,16 @@ import { evalScript, fdopen, loadFile, open } from "std";
           }
         }
       });
-      // Call the drone onStart function
+
+      // Call the drone onUpdate function
       if (user_me.hasOwnProperty("onUpdate")) {
         user_me.onUpdate(evt.data.timestamp);
       }
 
       if (evt.data.timestamp - last_log_timestamp >= 1000) {
+{% if isADrone -%}
         updateLogAndProjection();
+{% endif -%}
         last_log_timestamp = evt.data.timestamp; 
       }
 
@@ -266,8 +284,14 @@ import { evalScript, fdopen, loadFile, open } from "std";
       exitWorker(1);
     }
   };
+{% if isADrone -%}
 }(Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
   fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition, getYaw,
   initPubsub, isLanding, kill, loadFile, loiter, open, pipe, setAirSpeed,
   setMessage, setReadHandler, setTargetCoordinates, triggerParachute,
   updateLogAndProjection, waitpid));
+{% else -%}
+}(Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
+  fdopen, initPubsub, kill, loadFile, open, pipe, setMessage, setReadHandler,
+  waitpid));
+{% endif -%}

software/js-drone/instance-input-schema.json

@@ -4,6 +4,16 @@
   "description": "Parameters to instantiate JS drone",
   "additionalProperties": false,
   "properties": {
+    "autopilotType": {
+      "title": "Type of the drone's autopilot",
+      "description": "Model of the autopilot used in the drones.",
+      "type": "string",
+      "default": "c-astral",
+      "enum": [
+        "c-astral",
+        "sqdr"
+      ]
+    },
     "autopilotIp": {
       "title": "IP address of the drone's autopilot",
       "description": "IP used to create a connection with the autopilot.",
@@ -22,35 +32,53 @@
       "type": "array",
       "default": []
     },
+    "droneNetIf": {
+      "title": "Drones Network interface",
+      "description": "Interface used for multicast traffic.",
+      "type": "string",
+      "default": "eth0"
+    },
     "isASimulation": {
       "title": "Set the flight as a simulation",
       "description": "The option used to determine if the flight is real or if it is a simulation. This affects the context of the flight (e.g. if the take off is manual or automatic).",
       "type": "boolean",
       "default": false
     },
+    "debug": {
+      "title": "Set debug mode",
+      "description": "When debug mode is enabled, drone are publishing the script logs through OPC-UA.",
+      "type": "boolean",
+      "default": false
+    },
     "multicastIpv6": {
       "title": "IP of the multicast group",
       "description": "IP address used to communicate with the other drones.",
       "type": "string",
       "default": "ff15::1111"
     },
-    "netIf": {
-      "title": "Network interface",
-      "description": "Interface used for multicast traffic.",
-      "type": "string",
-      "default": "eth0"
-    },
     "flightScript": {
       "title": "Script's URL of the flight",
       "description": "URL of the script which will be executed for the flight. This URL must be publicly accesible so that the drone can fetch the script.",
       "type": "string",
       "default": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js"
     },
+    "loopPeriod": {
+      "title": "Loop execution period",
+      "description": "Minimal period between 2 executions of flight script loop",
+      "type": "integer",
+      "default": 200
+    },
     "subscriberGuidList": {
       "title": "List of subscribers computer ID",
-      "description": "List of computer ID of swarms subscribers",
+      "description": "List of computer ID of swarms subscribers (entities able to listen/send OPC-UA messages from/to the swarm)",
       "type": "array",
       "default": []
+    },
+    "subscriberNetIf": {
+      "title": "Subscribers Network interface",
+      "description": "Interface used for multicast traffic.",
+      "type": "string",
+      "default": "eth0"
     }
   }
 }

software/js-drone/instance-peer.cfg.jinja2.in → software/js-drone/instance-peer-base.cfg.in

@@ -3,6 +3,18 @@ parts =
   qjs-launcher
   publish-connection-information
 
+eggs-directory = ${buildout:eggs-directory}
+develop-eggs-directory = ${buildout:develop-eggs-directory}
+offline = true
+
+[slap-configuration]
+recipe = slapos.cookbook:slapconfiguration.serialised
+computer = $${slap_connection:computer_id}
+partition = $${slap_connection:partition_id}
+url = $${slap_connection:server_url}
+key = $${slap_connection:key_file}
+cert = $${slap_connection:cert_file}
+
 [directory]
 recipe = slapos.cookbook:mkdirectory
 
@@ -16,15 +28,26 @@ log = $${:var}/log
 public = $${:srv}/public
 service = $${:etc}/service
 
+[peer-configuration]
+recipe = slapos.recipe.template:jinja2
+output = $${directory:etc}/configuration.json
+extensions = jinja2.ext.do
+extra-context =
+context =
+  import json_module json
+  key parameter_dict slap-configuration:configuration
+  $${:extra-context}
+inline =
+  {{ json_module.dumps(parameter_dict) }}
+
 [js-dynamic-template]
 recipe = slapos.recipe.template:jinja2
 rendered = $${directory:etc}/$${:_buildout_section_name_}.js
 extra-context =
 context =
-  import json_module json
-  raw gwsocket_bin ${gwsocket:location}/bin/gwsocket
+  key configuration peer-configuration:output
+  key isADrone slap-configuration:configuration.isADrone
   raw qjs_wrapper ${qjs-wrapper:location}/lib/libqjswrapper.so
-  raw configuration {{ configuration }}
   $${:extra-context}
 
 [main]
@@ -42,10 +65,13 @@ template = ${pubsub:target}
 [worker]
 <= js-dynamic-template
 template = ${worker:target}
+gwsocket_bin =
+extra-context =
+  key gwsocket_bin :gwsocket_bin
 
 [user]
 recipe = slapos.recipe.build:download
-url = {{ parameter_dict['flightScript'] }}
+url = $${slap-configuration:configuration.flightScript}
 destination = $${directory:etc}/user.js
 offline = false
 
@@ -54,41 +80,6 @@ recipe = slapos.cookbook:wrapper
 wrapper-path = $${directory:service}/qjs-launcher
 command-line = ${quickjs:location}/bin/qjs $${main:rendered} $${user:target}
 
-[script-js]
-recipe = slapos.recipe.template:jinja2
-template = ${script-js:target}
-rendered = $${directory:public}/script.js
-websocket-url = [{{ ipv6 }}]:{{ websocket_port }}
-context =
-  raw websocket_url $${:websocket-url}
-
-[index-html]
-recipe = slapos.recipe.template:jinja2
-template = ${index-html:target}
-rendered = $${directory:public}/index.html
-context =
-  raw nb_drones {{ parameter_dict['numberOfDrone'] }}
-
-[httpd-port]
-recipe = slapos.cookbook:free_port
-minimum = 8080
-maximum = 8090
-ip = {{ ipv6 }}
-
-[httpd]
-recipe = slapos.cookbook:simplehttpserver
-host = {{ ipv6 }}
-port = $${httpd-port:port}
-base-path = $${directory:public}
-wrapper = $${directory:service}/http-server
-log-file = $${directory:log}/httpd.log
-use-hash-url = false
-depends = $${index-html:rendered}
-
 [publish-connection-information]
 recipe = slapos.cookbook:publish.serialised
 instance-path = $${directory:home}
-{% if not parameter_dict['isADrone'] -%}
-httpd-url = [$${httpd:host}]:$${httpd:port}
-websocket-url = ws://$${script-js:websocket-url}
-{% endif -%}

software/js-drone/instance-peer-input-schema.json

-{
-  "$schema": "http://json-schema.org/draft-06/schema",
-  "type": "object",
-  "description": "Parameters to instantiate JS drone",
-  "additionalProperties": false,
-  "properties": {
-    "autopilotIp": {
-      "title": "IP address of the drone's autopilot",
-      "description": "IP used to create a connection with the autopilot.",
-      "type": "string"
-    },
-    "autopilotPort": {
-      "title": "Port of the drone's autopilot",
-      "description": "Port on which autopilot service is running.",
-      "type": "integer"
-    },
-    "numberOfDrone": {
-      "title": "Number of drone",
-      "description": "Number of drone in the swarm",
-      "type": "integer"
-    },
-    "numberOfSubscriber": {
-      "title": "Number of subscriber",
-      "description": "Number of subscriber of the swarm",
-      "type": "integer"
-    },
-    "id": {
-      "title": "drone ID",
-      "description": "Drone unique identifier",
-      "type": "integer"
-    },
-    "isADrone": {
-      "title": "Set the requested instance as a drone",
-      "description": "The option used to determine if the instance is a drone. This affects the context of the user script (e.g. if it should be linked to an autopilot or publish its GPS coordinates)",
-      "type": "boolean"
-    },
-    "isASimulation": {
-      "title": "Set the flight as a simulation",
-      "description": "The option used to determine if the flight is real or if it is a simulation. This affects the context of the flight (e.g. if the take off is manual or automatic).",
-      "type": "boolean"
-    },
-    "multicastIp": {
-      "title": "IP of the multicast group",
-      "description": "IP address used to communicate with the other drones.",
-      "type": "string"
-    },
-    "netIf": {
-      "title": "Network interface",
-      "description": "Interface used for multicast traffic.",
-      "type": "string"
-    },
-    "flightScript": {
-      "title": "Script's URL of the flight",
-      "description": "URL of the script which will be executed for the flight. This URL must be publicly accesible so that all drones can fetch the script.",
-      "type": "string"
-    }
-  }
-}

software/js-drone/instance-peer-output-schema.json

-{
-  "$schema": "http://json-schema.org/draft-04/schema#",
-  "description": "Values returned by drone instantiation",
-  "additionalProperties": false,
-  "properties": {
-    "instance-path": {
-      "description": "Path of the directory where the quickjs binary and the flight scripts are located",
-      "type": "string"
-    }
-  },
-  "type": "object"
-}

software/js-drone/instance-default.cfg.jinja2 → software/js-drone/instance-root.cfg.jinja2

@@ -10,28 +10,36 @@
 [{{ request_peer_section_title }}]
 <= slap-connection
 recipe = slapos.cookbook:request.serialised
-name = Peer{{ id }}
-software-url = ${:software-release-url}
-software-type = peer
+{% if id < len(parameter_dict['droneGuidList']) -%}
+{%  set sr_name = parameter_dict['autopilotType'] -%}
+name = Drone{{ id }}_{{ guid }}
+{% else -%}
+{%  set sr_name = 'subscriber' -%}
+name = Subscriber{{ len(parameter_dict['droneGuidList']) - id }}_{{ guid }}
+{% endif -%}
+software-url = {{ '/'.join(software_url.split('/')[:-1]) + '/software-%s.cfg' % sr_name }}
 return = instance-path
 sla-computer_guid = {{ guid }}
 config-autopilotIp = {{ parameter_dict['autopilotIp'] }}
 config-autopilotPort = {{ dumps(parameter_dict['autopilotPort']) }}
-config-numberOfDrone = {{ dumps(len(parameter_dict['droneGuidList'])) }}
-config-numberOfSubscriber = {{ dumps(len(parameter_dict['subscriberGuidList'])) }}
+config-numberOfDrones = {{ dumps(len(parameter_dict['droneGuidList'])) }}
+config-numberOfSubscribers = {{ dumps(len(parameter_dict['subscriberGuidList'])) }}
 config-id = {{ dumps(id) }}
 config-isASimulation = {{ dumps(parameter_dict['isASimulation']) }}
+config-debug = {{ dumps(parameter_dict['debug']) }}
+config-loopPeriod = {{ dumps(parameter_dict['loopPeriod']) }}
 {% if id < len(parameter_dict['droneGuidList']) -%}
 {%   do drone_id_list.append(id) %}
 config-isADrone = {{ dumps(True) }}
 config-flightScript = {{ parameter_dict['flightScript'] }}
+config-netIf = {{ parameter_dict['droneNetIf'] }}
 {% else -%}
 {%   do subscriber_id_list.append(id) %}
 config-isADrone = {{ dumps(False) }}
 config-flightScript = https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/subscribe.js
+config-netIf = {{ parameter_dict['subscriberNetIf'] }}
 {% endif -%}
 config-multicastIp = {{ parameter_dict['multicastIp'] }}
-config-netIf = {{ parameter_dict['netIf'] }}
 {% endfor %}
 
 [publish-connection-information]

software/js-drone/instance-subscriber.cfg.in

+[buildout]
+extends =
+  ${instance-peer-base:output}
+
+[worker]
+gwsocket_bin = ${gwsocket:location}/bin/gwsocket
+
+[gwsocket-port]
+recipe = slapos.cookbook:free_port
+minimum = 6789
+maximum = 6799
+ip = $${slap-configuration:ipv6-random}
+
+[peer-configuration]
+extra-context =
+  key websocket_ip gwsocket-port:ip
+  key websocket_port gwsocket-port:port
+inline =
+  {% do parameter_dict.__setitem__('websocketIp', websocket_ip) -%}
+  {% do parameter_dict.__setitem__('websocketPort', websocket_port) -%}
+  {{ json_module.dumps(parameter_dict) }}
+
+[script-js]
+recipe = slapos.recipe.template:jinja2
+template = ${script-js:target}
+rendered = $${directory:public}/script.js
+websocket-url = [$${gwsocket-port:ip}]:$${gwsocket-port:port}
+context =
+  key debug slap-configuration:configuration.debug
+  key websocket_url :websocket-url
+
+[index-html]
+recipe = slapos.recipe.template:jinja2
+template = ${index-html:target}
+rendered = $${directory:public}/index.html
+context =
+  key debug slap-configuration:configuration.debug
+  key nb_drones slap-configuration:configuration.numberOfDrones
+
+[httpd-port]
+recipe = slapos.cookbook:free_port
+minimum = 8080
+maximum = 8090
+ip = $${slap-configuration:ipv6-random}
+
+[httpd]
+recipe = slapos.cookbook:simplehttpserver
+host = $${slap-configuration:ipv6-random}
+port = $${httpd-port:port}
+base-path = $${directory:public}
+wrapper = $${directory:service}/http-server
+log-file = $${directory:log}/httpd.log
+use-hash-url = false
+depends = $${index-html:rendered}
+
+[publish-connection-information]
+httpd-url = [$${httpd:host}]:$${httpd:port}
+websocket-url = ws://$${script-js:websocket-url}

software/js-drone/instance.cfg.in

@@ -8,9 +8,8 @@ offline = true
 
 [switch-softwaretype]
 recipe = slapos.cookbook:switch-softwaretype
-default = instance-default:output
-peer = instance-peer:output
 RootSoftwareInstance = $${:default}
+default = instance-root:output
 
 [slap-configuration]
 recipe = slapos.cookbook:slapconfiguration.serialised
@@ -19,61 +18,29 @@ partition = $${slap_connection:partition_id}
 url = $${slap_connection:server_url}
 key = $${slap_connection:key_file}
 cert = $${slap_connection:cert_file}
+software = $${slap-connection:software-release-url}
 
-[dynamic-template-base]
+[instance-root]
 recipe = slapos.recipe.template:jinja2
+url = ${instance-root:target}
 output = $${buildout:directory}/$${:_buildout_section_name_}.cfg
-extra-context =
+extensions = jinja2.ext.do
 context =
   jsonkey default_parameter_dict :default-parameters
   key parameter_dict slap-configuration:configuration
-  $${:extra-context}
+  key software_url slap-configuration:software
 default-parameters =
   {
+    "autopilotType": "c-astral",
     "autopilotIp": "192.168.27.1",
     "autopilotPort": 7909,
+    "debug": false,
+    "droneGuidList": [],
+    "droneNetIf": "eth0",
     "flightScript": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js",
     "isASimulation": false,
+    "loopPeriod": 200,
     "multicastIp": "ff15::1111",
-    "netIf": "eth0",
-    "droneGuidList": [],
-    "subscriberGuidList":[]
+    "subscriberGuidList":[],
+    "subscriberNetIf": "eth0"
   }
-
-[instance-default]
-<= dynamic-template-base
-url = ${instance-default:target}
-extensions = jinja2.ext.do
-
-[directory]
-recipe = slapos.cookbook:mkdirectory
-home = $${buildout:directory}
-etc = $${:home}/etc
-
-[gwsocket-port]
-recipe = slapos.cookbook:free_port
-minimum = 6789
-maximum = 6799
-ip = $${slap-configuration:ipv6-random}
-
-[peer-configuration]
-recipe = slapos.recipe.template:jinja2
-output = $${directory:etc}/configuration.json
-extensions = jinja2.ext.do
-context =
-  import json_module json
-  key websocket_ip gwsocket-port:ip
-  key websocket_port gwsocket-port:port
-  key parameter_dict slap-configuration:configuration
-inline =
-  {% do parameter_dict.__setitem__('websocketIp', websocket_ip) -%}
-  {% do parameter_dict.__setitem__('websocketPort', websocket_port) -%}
-  {{ json_module.dumps(parameter_dict) }}
-
-[instance-peer]
-<= dynamic-template-base
-url = ${instance-peer:output}
-extra-context =
-  key configuration peer-configuration:output
-  key ipv6 slap-configuration:ipv6-random
-  key websocket_port gwsocket-port:port

software/js-drone/software-c-astral.cfg

+[buildout]
+extends =
+  ../../component/mavsdk/buildout.cfg
+  software-peer-base.cfg
+
+
+[c-astral-xml-definition]
+recipe = slapos.recipe.build:gitclone
+repository = https://lab.nexedi.com/nexedi/c-astral-c-library.git
+revision = v2.1
+git-executable = ${git:location}/bin/git
+
+[mavsdk]
+pre-configure +=
+  sed -i 's#message_definitions/v1.0#${c-astral-xml-definition:location}#' ${mavsdk-source:location}/third_party/mavlink/CMakeLists.txt
+
+[c-astral-wrapper]
+recipe = slapos.recipe.cmmi
+configure-command = true
+url = https://lab.nexedi.com/nexedi/c-astral-wrapper/-/archive/v2.1/c-astral-wrapper-v2.1.tar.gz
+md5sum = cca66724e1b7a61c1b9559fde95c420b
+environment =
+  CPLUS_INCLUDE_PATH=${qjs-wrapper-source:location}/include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk
+  LDFLAGS=-L${mavsdk:location}/lib -Wl,-rpath=${mavsdk:location}/lib
+
+[qjs-wrapper]
+autopilot-wrapper = ${c-astral-wrapper:location}
+make-options = WITH_AUTOPILOT=y

software/js-drone/software.cfg → software/js-drone/software-peer-base.cfg

@@ -3,43 +3,25 @@ extends =
   buildout.hash.cfg
   ../../stack/slapos.cfg
   ../../component/qjs-wrapper/buildout.cfg
-  ../../component/gwsocket/buildout.cfg
 
 parts =
-    instance-profile
+    instance-peer-base
     slapos-cookbook
 
-[instance-default]
-recipe = slapos.recipe.build:download
-url = ${:_profile_base_location_}/${:filename}
-
-[template-base]
+[instance-peer-base]
 recipe = slapos.recipe.template
 url = ${:_profile_base_location_}/${:filename}
-
-[instance-peer]
-<= template-base
-output = ${buildout:directory}/${:_buildout_section_name_}
-
-[instance-profile]
-<= template-base
 output = ${buildout:directory}/template.cfg
 
 [download]
 recipe = slapos.recipe.build:download
 url = ${:_profile_base_location_}/${:_update_hash_filename_}
 
-[index-html]
-<= download
-
 [main]
 <= download
 
 [pubsub]
 <= download
 
-[script-js]
-<= download
-
 [worker]
 <= download

software/js-drone/software-root.cfg

+[buildout]
+extends =
+  buildout.hash.cfg
+  ../../stack/slapos.cfg
+
+parts =
+  instance-profile
+  slapos-cookbook
+
+[instance-root]
+recipe = slapos.recipe.build:download
+url = ${:_profile_base_location_}/${:filename}
+
+[instance-profile]
+recipe = slapos.recipe.template
+url = ${:_profile_base_location_}/${:filename}
+output = ${buildout:directory}/template.cfg

software/js-drone/software.cfg.json → software/js-drone/software-root.cfg.json

 {
-  "name": "JS Drone",
-  "description": "JS Drone",
+  "name": "JS Drone Root",
+  "description": "Root instance requesting drones and subscribers",
   "serialisation": "json-in-xml",
   "software-type": {
     "default": {
@@ -10,14 +10,6 @@
       "request": "instance-input-schema.json",
       "response": "instance-output-schema.json",
       "index": 0
-    },
-    "drone": {
-      "title": "Peer",
-      "software-type": "peer",
-      "description": "Peer Instance",
-      "request": "instance-peer-input-schema.json",
-      "response": "instance-peer-output-schema.json",
-      "index": 1
     }
   }
 }

software/js-drone/software-sqdr.cfg

 [buildout]
 extends =
-  software.cfg
+  software-peer-base.cfg
 
 [sqdr-source]
 recipe = slapos.recipe.build:gitclone
 repository = https://lab.nexedi.com/slaposdrone/squadrone.git
-revision = v2.0
+revision = v2.1
 git-executable = ${git:location}/bin/git
 
 [sqdr-wrapper]
@@ -17,6 +17,5 @@ environment =
   LDFLAGS=-L${sqdr-source:location}/lib -Wl,-rpath=${sqdr-source:location}/lib
 
 [qjs-wrapper]
-environment =
-  C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include
-  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${sqdr-wrapper:location}/lib -Wl,-rpath=${sqdr-wrapper:location}/lib
+autopilot-wrapper = ${sqdr-wrapper:location}
+make-options = WITH_AUTOPILOT=y

software/js-drone/software-subscriber.cfg

+[buildout]
+extends =
+  ../../component/gwsocket/buildout.cfg
+  software-peer-base.cfg
+
+parts +=
+    instance-subscriber
+
+[instance-subscriber]
+recipe = slapos.recipe.template
+url = ${:_profile_base_location_}/${:filename}
+output = ${buildout:directory}/template.cfg
+
+[instance-peer-base]
+output = ${buildout:directory}/template-base.cfg
+
+[index-html]
+<= download
+
+[script-js]
+<= download

software/js-drone/test/test.py

@@ -31,9 +31,11 @@ import os
 import socket
 import struct
 import time
-import websocket
 
-from slapos.testing.testcase import makeModuleSetUpAndTestCaseClass
+from contextlib import closing
+from websocket import create_connection
+
+from slapos.testing.testcase import installSoftwareUrlList, makeModuleSetUpAndTestCaseClass
 
 '''
   0. positionArray
@@ -46,11 +48,13 @@ from slapos.testing.testcase import makeModuleSetUpAndTestCaseClass
     1.2 air speed
     1.3 climb rate
   2. message
+  3. log
 '''
-MONITORED_ITEM_NB = 3
+MONITORED_ITEM_NB = 4
 OPC_UA_PORT = 4840
 OPC_UA_NET_IF = 'lo'
 MCAST_GRP = 'ff15::1111'
+LOOP_PERIOD = 200
 
 # OPC UA Pub/Sub related constants
 VERSION = 1
@@ -107,10 +111,27 @@ SPEED_ARRAY_VALUES = (-72.419998, 15.93, -0.015)
 STRING_TYPE = 12
 MESSAGE_CONTENT = b'{\\"next_checkpoint\\":1}'
 TEST_MESSAGE = b'{"content":"' + MESSAGE_CONTENT + b'","dest_id":-1}'
+LOG = b''
+
+root_software_release_url = os.path.abspath(
+  os.path.join(os.path.dirname(__file__), '..', 'software-root.cfg'))
+subscriber_software_release_url = os.path.abspath(
+  os.path.join(os.path.dirname(__file__), '..', 'software-subscriber.cfg'))
+c_astral_software_release_url = os.path.abspath(
+  os.path.join(os.path.dirname(__file__), '..', 'software-c-astral.cfg'))
+
+
+_, SlapOSInstanceTestCase = makeModuleSetUpAndTestCaseClass(
+    os.path.abspath(root_software_release_url))
 
-setUpModule, SlapOSInstanceTestCase = makeModuleSetUpAndTestCaseClass(
-    os.path.abspath(
-        os.path.join(os.path.dirname(__file__), '..', 'software.cfg')))
+
+def setUpModule():
+  installSoftwareUrlList(
+    SlapOSInstanceTestCase,
+    [root_software_release_url, subscriber_software_release_url,
+     c_astral_software_release_url],
+    debug=bool(int(os.environ.get('SLAPOS_TEST_DEBUG', 0))),
+  )
 
 
 class SubscriberTestCase(SlapOSInstanceTestCase):
@@ -119,8 +140,8 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
     return {
       '_': json.dumps({
         'droneGuidList': [cls.slap._computer_id],
-        'netIf': OPC_UA_NET_IF,
         'subscriberGuidList': [cls.slap._computer_id],
+        'subscriberNetIf': OPC_UA_NET_IF
       })
     }
 
@@ -201,6 +222,12 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
       ua_array += struct.pack(struct_type, value)
     return ua_array
 
+  def ua_string_encode(self, string):
+    ua_string = struct.pack('B', STRING_TYPE)
+    ua_string += struct.pack('I', len(string))
+    ua_string += string
+    return ua_string
+
   def ua_dataSetMessage_encode(self):
     data_set_message = self.ua_dataSetMessageHeader_encode()
     data_set_message += struct.pack('H', MONITORED_ITEM_NB)
@@ -214,9 +241,8 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
       'f',
       SPEED_ARRAY_VALUES,
     )
-    data_set_message += struct.pack('B', STRING_TYPE)
-    data_set_message += struct.pack('I', len(TEST_MESSAGE))
-    data_set_message += TEST_MESSAGE
+    data_set_message += self.ua_string_encode(TEST_MESSAGE)
+    data_set_message += self.ua_string_encode(LOG)
     return data_set_message
 
   def send_ua_networkMessage(self):
@@ -238,7 +264,6 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
     for expected_process_name in expected_process_name_list:
       self.assertIn(expected_process_name, process_names)
 
-
   def test_requested_instances(self):
     connection_parameter_dict = json.loads(
       self.computer_partition.getConnectionParameterDict()['_'])
@@ -251,10 +276,12 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
       {
         'autopilotIp': '192.168.27.1',
         'autopilotPort': 7909,
-        'numberOfDrone': 1,
-        'numberOfSubscriber': 1,
+        'numberOfDrones': 1,
+        'numberOfSubscribers': 1,
         'id': 1,
+        'debug': False,
         'isASimulation': False,
+        'loopPeriod': LOOP_PERIOD,
         'isADrone': False,
         'flightScript': 'https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/subscribe.js',
         'netIf': OPC_UA_NET_IF,
@@ -277,32 +304,32 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
       self.assertIn(expected_string, f.readlines())
 
   def test_pubsub_subscription(self):
-    ws = websocket.WebSocket()
-    ws.connect(self.websocket_server_address, timeout=5)
-    # Check if first message is 'Unknown instruction IP' where IP is client IPv6 address
-    self.assertIn(
-      b'Unknown instruction %s' % ws.sock.getsockname()[0].encode(),
-      ws.recv_frame().data
-    )
-    self.assertEqual(
-      ws.recv_frame().data,
-      b''.join((
-        b'{"drone_dict":{"0":{"latitude":',
-        b'"%.6f","longitude":"%.6f","altitude":"%.2f",' % (0, 0, 0),
-        b'"yaw":"%.2f","speed":"%.2f","climbRate":"%.2f",' % (0, 0, 0),
-        b'"timestamp":%d}}}' % 0,
-      ))
-    )
-    self.send_ua_networkMessage()
-    time.sleep(0.1)
-    self.assertEqual(ws.recv_frame().data, MESSAGE_CONTENT.replace(b'\\', b''))
-    self.assertEqual(
-      ws.recv_frame().data,
-      b''.join((
-        b'{"drone_dict":{"0":{"latitude":',
-        b'"%.6f","longitude":"%.6f","altitude":"%.2f",' % POSITION_ARRAY_OUTPUT_VALUES[:-1],
-        b'"yaw":"%.2f","speed":"%.2f","climbRate":"%.2f",' % SPEED_ARRAY_VALUES,
-        b'"timestamp":%d}}}' % POSITION_ARRAY_INPUT_VALUES[-1],
-      ))
-    )
-    ws.close()
+    with closing(create_connection(self.websocket_server_address, timeout=5)) as conn:
+      # Check if first message is 'Unknown instruction IP' where IP is client IPv6 address
+      self.assertIn(
+        b'Unknown instruction %s' % conn.sock.getsockname()[0].encode(),
+        conn.recv_frame().data,
+      )
+      self.assertEqual(
+        conn.recv_frame().data,
+        b''.join((
+          b'{"drone_dict":{"0":{"latitude":',
+          b'"%.6f","longitude":"%.6f","altitude":"%.2f",' % (0, 0, 0),
+          b'"yaw":"%.2f","speed":"%.2f","climbRate":"%.2f",' % (0, 0, 0),
+          b'"timestamp":%d,' % 0,
+          b'"log":""}}}',
+        )),
+      )
+      self.send_ua_networkMessage()
+      time.sleep(0.1)
+      self.assertEqual(conn.recv_frame().data, MESSAGE_CONTENT.replace(b'\\', b''))
+      self.assertEqual(
+        conn.recv_frame().data,
+        b''.join((
+          b'{"drone_dict":{"0":{"latitude":',
+          b'"%.6f","longitude":"%.6f","altitude":"%.2f",' % POSITION_ARRAY_OUTPUT_VALUES[:-1],
+          b'"yaw":"%.2f","speed":"%.2f","climbRate":"%.2f",' % SPEED_ARRAY_VALUES,
+          b'"timestamp":%d,' % POSITION_ARRAY_INPUT_VALUES[-1],
+          b'"log":""}}}',
+        )),
+      )

software/js-drone/web-gui/index.html.jinja2

@@ -9,7 +9,8 @@
 
   <style>
     button {
-      padding: 0.5%;
+      margin: 2vh;
+      padding: 2vh;
       font-size: 24px;
       cursor: pointer;
       border: none;
@@ -20,38 +21,64 @@
       box-shadow: 0 2px #666;
       transform: translateY(4px);
     }
-    div > * {margin: 1%}
-    label {margin: 2%}
-    table {width: 30%}
+    label {margin: auto 2%}
+    table {
+      min-width: 1028px;
+      height: max-content;
+    }
+    textarea {
+      resize: none;
+    }
     th, td{
       padding: 1%;
       text-align: center;
       vertical-align: middle;
+      white-space: nowrap;
     }
+    .blue-text {color: blue}
     .connected {color: green}  
     .container {
       display: flex;
       align-items: center;
       justify-content: center;
     }
+    .cyan-text {color: cyan}
     .disconnected {color: red}
     .gray-button {background-color: lightgray}
     .gray-button:hover {background-color: gray}
+    .green-text {color: green}
     .green-button {background-color: #4caf50}
     .green-button:hover {background-color: #3e8e41}
+    .magenta-text {color: magenta}
     .red-button {background-color: red}
-    .red-button {background-color: #e42828}
+    .red-button:hover {background-color: #e42828}
+    .red-text {color: red}
+    .white-text {color: white}
+    .yellow-text {color: yellow}
+    #drones-status {height: 50vh}
   </style>
 
 </head>
 <body>
-
-  <header class="container">
+  <div class="container">
     <label for="web-socket-status">web socket status:</label>
     <output class="disconnected" id="web-socket-status">Disconnected</output>
-  </header>
+  </div>
 
+  {% if debug -%}
   <div class="container">
+    <table>
+      {% for i in range(int(nb_drones)) -%}
+      <tr>
+        <th>Drone {{ i }} logs</th>
+        <td><textarea id="log_{{ i }}" rows="4" cols="100" readonly></textarea><td>
+      </tr>
+      {% endfor %}
+    </table>
+  </div>
+  {% endif -%}
+
+  <div class="container" id="drones-status">
     <table>
       <tr>
         <th></th>
@@ -101,6 +128,12 @@
         <td id="climb_rate_{{ i }}"></td>
         {% endfor %}
       </tr>
+      <tr>
+        <th>Timestamp (hh:mm:ss)</th>
+        {% for i in range(int(nb_drones)) -%}
+        <td id="timestamp_{{ i }}"></td>
+        {% endfor %}
+      </tr>
     </table>
   </div>
 

software/js-drone/web-gui/script.js.jinja2

@@ -12,17 +12,23 @@
     FLIGHT_STATUS_BASE_ID = "flight_state_",
     GREEN_BTN_CLASS_NAME = "green-button",
     LATITUDE_BASE_ID = "latitude_",
+    LOG_BASE_ID = "log_",
     LONGITUDE_BASE_ID = "longitude_",
     QUIT_BTN_ID = "quit-btn",
     RED_BTN_CLASS_NAME = "red-button",
     SWITCH_BTN_ID = "switch-btn",
+    TIMESTAMP_BASE_ID = "timestamp_",
     WEB_SOCKET_STATUS_OUTPUT_ID = "web-socket-status",
     YAW_BASE_ID = "yaw_",
     socket;
 
   function updateConnexionClass(element, status) {
-    element.classList.remove(status ? DISCONNECTED_CLASS_NAME : CONNECTED_CLASS_NAME);
-    element.classList.add(status ? CONNECTED_CLASS_NAME : DISCONNECTED_CLASS_NAME);    
+    element.classList.remove(
+      status ? DISCONNECTED_CLASS_NAME : CONNECTED_CLASS_NAME
+    );
+    element.classList.add(
+      status ? CONNECTED_CLASS_NAME : DISCONNECTED_CLASS_NAME
+    );
   }
 
   function setWebSocketStatus(connected, status) {
@@ -49,28 +55,44 @@
 
   socket = new WebSocket('ws://{{ websocket_url }}');
 
-  socket.onopen = function(event) {
+  socket.onopen = function (event) {
     setWebSocketStatus(true, "Connected");
   };
 
-  socket.onmessage = function(event) {
-    var message = JSON.parse(event.data),
-      flight_state_cell;
-    if (message.hasOwnProperty("drone_dict")) {
-      Object.entries(message["drone_dict"]).forEach(function ([id, drone]) {
-        document.getElementById(LATITUDE_BASE_ID + id).innerHTML = drone["latitude"];
-        document.getElementById(LONGITUDE_BASE_ID + id).innerHTML = drone["longitude"];
-        document.getElementById(ALTITUDE_BASE_ID + id).innerHTML = drone["altitude"];
-        document.getElementById(YAW_BASE_ID + id).innerHTML = drone["yaw"];
-        document.getElementById(SPEED_BASE_ID + id).innerHTML = drone["speed"];
-        document.getElementById(CLIMB_RATE_BASE_ID + id).innerHTML = drone["climbRate"];
-      });
-    } else if (message.hasOwnProperty("state") && message.hasOwnProperty("id")) {
-      flight_state_cell = document.getElementById(FLIGHT_STATUS_BASE_ID + message['id']);
-      flight_state_cell.innerHTML = message['state'];
-      updateConnexionClass(flight_state_cell, message['inAir']);
-    } else {
-      console.info(message);
+  socket.onmessage = function (event) {
+    var color_array,
+      date,
+      flight_state_cell,
+      i,
+      message,
+      new_div,
+      new_span,
+      text_array;
+
+    try {
+      message = JSON.parse(event.data);
+      if (message.hasOwnProperty("drone_dict")) {
+        Object.entries(message.drone_dict).forEach(function ([id, drone]) {
+          document.getElementById(LATITUDE_BASE_ID + id).innerHTML = drone["latitude"];
+          document.getElementById(LONGITUDE_BASE_ID + id).innerHTML = drone["longitude"];
+          document.getElementById(ALTITUDE_BASE_ID + id).innerHTML = drone["altitude"];
+          document.getElementById(YAW_BASE_ID + id).innerHTML = drone["yaw"];
+          document.getElementById(SPEED_BASE_ID + id).innerHTML = drone["speed"];
+          document.getElementById(CLIMB_RATE_BASE_ID + id).innerHTML = drone["climbRate"];
+          document.getElementById(TIMESTAMP_BASE_ID + id).innerHTML = new Date(drone["timestamp"]).toLocaleTimeString('fr-FR');
+          {% if debug -%}
+          document.getElementById(LOG_BASE_ID + id).value += drone["log"];
+          {% endif -%}
+        });
+      } else if (message.hasOwnProperty("state") && message.hasOwnProperty("id")) {
+        flight_state_cell = document.getElementById(FLIGHT_STATUS_BASE_ID + message['id']);
+        flight_state_cell.innerHTML = message['state'];
+        updateConnexionClass(flight_state_cell, message['inAir']);
+      } else {
+        console.info(message);
+      }
+    } catch (error) {
+      console.error(error, event.data);
     }
   };