component/qjs-wrapper: add message API

Add support of the message API (send and receive custom messages between drones).

component/qjs-wrapper/buildout.cfg

@@ -10,8 +10,8 @@ parts = qjs-wrapper
 recipe = slapos.recipe.cmmi
 shared = true
 configure-command = true
-url = https://lab.nexedi.com/nexedi/qjs-wrapper/-/archive/v0.3/qjs-wrapper-v0.3.tar.gz
-md5sum = 850b9d5b8530521635a08baa1a2aa9e0
+url = https://lab.nexedi.com/nexedi/qjs-wrapper/-/archive/v1.0/qjs-wrapper-v1.0.tar.gz
+md5sum = 0f1393fa15d46b2b551836197af9de46
 environment =
   C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include
   CPLUS_INCLUDE_PATH=include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk

software/js-drone/README.md

@@ -14,8 +14,6 @@
 
 * is-a-simulation: Must be set to 'true' to automatically take off during simulation
 
-* leader-id: Id of the drone chosen to be the leader of the swarm
-
 * multicast-ipv6: IPv6 of the multicast group of the swarm
 
 * net-if: Network interface used for multicast traffic

software/js-drone/buildout.hash.cfg

@@ -14,16 +14,16 @@
 # not need these here).
 [instance-profile]
 filename = instance.cfg
-md5sum = ec3dad4513c8587300f1ad64266a4887
+md5sum = 4adca48396a569d2bb9148200866f0d6
 
 [main]
 filename = main.js
-md5sum = b5814f9c0985d7b06c77637baf30a124
+md5sum = 693f8c0f6cee38f52e14e4945a5a63a1
 
 [pubsub]
 filename = pubsub.js
-md5sum = d8798c3206f129e8715afd3ca23afa1a
+md5sum = 4a0c63f9e088fa525a3699484d193c4d
 
 [worker]
 filename = worker.js
-md5sum = 926094ffa8f32cc62c991d8528543cc7
+md5sum = 7e927dae7a0717fb59733bb1d228257f

software/js-drone/instance.cfg

@@ -29,8 +29,6 @@ init =
   options['autopilot-ip'] = options['slapparameter-dict'].get('autopilot-ip', '192.168.27.1')
   options['id'] = options['slapparameter-dict'].get('id', 1)
   options['is-a-simulation'] = options['slapparameter-dict'].get('is-a-simulation', False)
-  options['leader-id'] = options['slapparameter-dict'].get('leader-id', 1)
-  options['is-leader'] = options['id'] == options['leader-id']
   options['multicast-ipv6'] = options['slapparameter-dict'].get('multicast-ip', 'ff15::1111')
   options['net-if'] = options['slapparameter-dict'].get('net-if', 'eth0')
   options['drone-id-list'] = options['slapparameter-dict'].get('drone-id-list', [])
@@ -71,8 +69,6 @@ context =
 extra-context =
   key autopilot_ip drone:autopilot-ip
   key id drone:id
-  key leader_id drone:leader-id
-  key is_leader drone:is-leader
   key is_a_simulation drone:is-a-simulation
   key is_publisher drone:is-publisher
   key log_dir directory:log

software/js-drone/main.js

-/*global console*/
+/* global console */
 import {
   arm,
   start,
@@ -30,15 +30,14 @@ import { exit } from "std";
     // Use the same FPS than browser's requestAnimationFrame
     FPS = 1000 / 60,
     previous_timestamp,
-    can_update = false,
-    i = 0;
+    can_update = false;
 
   function connect() {
     console.log("Will connect to", URL);
-    exit_on_fail(start(URL, LOG_FILE, 60), "Failed to connect to " + URL);
+    exitOnFail(start(URL, LOG_FILE, 60), "Failed to connect to " + URL);
   }
 
-  function exit_on_fail(ret, msg) {
+  function exitOnFail(ret, msg) {
     if (ret) {
       console.log(msg);
       quit(1);
@@ -60,19 +59,20 @@ import { exit } from "std";
 
   pubsubWorker = new Worker("{{ pubsub_script }}");
   pubsubWorker.onmessage = function(e) {
-    if (!e.data.publishing)
+    if (!e.data.publishing) {
       pubsubWorker.onmessage = null;
+    }
   }
 
   worker.postMessage({type: "initPubsub"});
 
   function takeOff() {
-    exit_on_fail(arm(), "Failed to arm");
+    exitOnFail(arm(), "Failed to arm");
     takeOffAndWait();
   }
 
   function load() {
-    if(IS_PUBLISHER && SIMULATION) {
+    if (IS_PUBLISHER && SIMULATION) {
       takeOff();
     }
 
@@ -89,7 +89,7 @@ import { exit } from "std";
   }
 
   function loop() {
-    var timestamp = Date.now(),
+    let timestamp = Date.now(),
       timeout;
     if (can_update) {
       if (FPS <= (timestamp - previous_timestamp)) {
@@ -116,9 +116,14 @@ import { exit } from "std";
   }
 
   worker.onmessage = function (e) {
-    var type = e.data.type;
+    let type = e.data.type;
     if (type === 'initialized') {
-      pubsubWorker.postMessage({ action: "run", id: {{ id }}, publish: IS_PUBLISHER });
+      pubsubWorker.postMessage({
+        action: "run",
+        id: {{ id }},
+        interval: FPS,
+        publish: IS_PUBLISHER
+      });
       pubsubRunning = true;
       load();
     } else if (type === 'loaded') {
@@ -130,12 +135,12 @@ import { exit } from "std";
       can_update = true;
     } else if (type === 'exited') {
       worker.onmessage = null;
-      if(IS_PUBLISHER) {
+      if (IS_PUBLISHER) {
         quit(e.data.exit);
       } else {
         stopPubsub();
         exit(e.data.exit);
-      };
+      }
     } else {
       console.log('Unsupported message type', type);
       quit(1);

software/js-drone/pubsub.js

@@ -4,12 +4,12 @@ import {Worker} from "os";
 const PORT = "4840";
 const IPV6 = "{{ ipv6 }}";
 
-var parent = Worker.parent;
+let parent = Worker.parent;
 
 function handle_msg(e) {
   switch(e.data.action) {
     case "run":
-      runPubsub(IPV6, PORT, "{{ net_if }}", e.data.id, e.data.publish);
+      runPubsub(IPV6, PORT, "{{ net_if }}", e.data.id, e.data.interval, e.data.publish);
       parent.postMessage({running: false});
       parent.onmessage = null;
       break;

software/js-drone/worker.js

-/*global console*/
+/* global console, std */
 import {
   Drone,
   triggerParachute,
@@ -14,12 +14,12 @@ import {
   loiter,
   setAirspeed,
   setAltitude,
-  setCheckpoint,
   setManualControlInput,
+  setMessage,
   setTargetCoordinates
 } from "{{ qjs_wrapper }}";
-import { Worker } from "os"
 import * as std from "std";
+import { Worker } from "os";
 
 (function (console, Worker) {
   // Every script is evaluated per drone
@@ -28,13 +28,11 @@ import * as std from "std";
     drone_id_list = {{ drone_id_list }},
     IS_PUBLISHER = {{ 'true' if is_publisher else 'false' }};
 
-  var parent = Worker.parent,
+  let parent = Worker.parent,
     user_me = {
       //for debugging purpose
       fdopen: std.fdopen,
       in: std.in,
-      //to move into user script
-      setCheckpoint: setCheckpoint,
       //required to fly
       triggerParachute: triggerParachute,
       drone_dict: {},
@@ -55,51 +53,68 @@ import * as std from "std";
       id: {{ id }},
       landed: landed,
       loiter: loiter,
+      sendMsg: function(msg, id = -1) {
+        setMessage(JSON.stringify({ content: msg, dest_id: id }));
+      },
       setAirspeed: setAirspeed,
       setAltitude: setAltitude,
       setTargetCoordinates: setTargetCoordinates
     };
 
   function loadUserScript(path) {
-    var script_content = std.loadFile(path);
+    let script_content = std.loadFile(path);
     if (script_content === null) {
-      console.log('Failed to load user script ' + path);
+      console.log("Failed to load user script " + path);
       std.exit(1);
     }
     try {
       std.evalScript(
-        'function execUserScript(from, me) {' +
+        "function execUserScript(from, me) {" +
           script_content +
-        '};'
+        "};"
       );
     } catch (e) {
-      console.log('Failed to evaluate user script', e);
+      console.log("Failed to evaluate user script", e);
       std.exit(1);
     }
     execUserScript(null, user_me);
 
     // Call the drone onStart function
-    if (user_me.hasOwnProperty('onStart')) {
+    if (user_me.hasOwnProperty("onStart")) {
       user_me.onStart();
     }
   }
 
   function handleMainMessage(evt) {
-    var type = evt.data.type;
+    let type = evt.data.type,
+      message,
+      drone_id;
 
-    if (type === 'initPubsub') {
+    if (type === "initPubsub") {
       initPubsub(drone_id_list.length);
       for (let i = 0; i < drone_id_list.length; i++) {
-        let id = drone_id_list[i];
-        user_me.drone_dict[id] = new Drone(id);
-        user_me.drone_dict[id].init(i);
+        drone_id = drone_id_list[i];
+        user_me.drone_dict[drone_id] = new Drone(drone_id);
+        user_me.drone_dict[drone_id].init(i);
       }
       parent.postMessage({type: "initialized"});
-    }
-    else if (type === 'load') {
+    } else if (type === "load") {
       loadUserScript(evt.data.path);
       parent.postMessage({type: "loaded"});
-    } else if (type === 'update') {
+    } else if (type === "update") {
+      for (const [id, drone] of Object.entries(user_me.drone_dict)) {
+        message = drone.message
+        if (message.length > 0) {
+          message = JSON.parse(message);
+          if (user_me.id === id) {
+            continue;
+          }
+          if (user_me.hasOwnProperty("onGetMsg") &&
+              [-1, user_me.id].includes(message.dest_id)) {
+            user_me.onGetMsg(message.content);
+          }
+        }
+      }
       // Call the drone onStart function
       if (user_me.hasOwnProperty("onUpdate")) {
         if (IS_PUBLISHER && isInManualMode()) {
@@ -109,7 +124,7 @@ import * as std from "std";
       }
       parent.postMessage({type: "updated"});
     } else {
-      throw new Error('Unsupported message type', type);
+      throw new Error("Unsupported message type", type);
     }
   }
 
@@ -123,5 +138,4 @@ import * as std from "std";
       std.exit(1);
     }
   };
-
 }(console, Worker));