component/qjs-wrapper: v↑ qjs-wrapper (1.3 -> 2.0)

component/mavsdk/buildout.cfg

@@ -4,12 +4,18 @@ extends =
   ../curl/buildout.cfg
   ../git/buildout.cfg
   ../jsoncpp/buildout.cfg
+  ../qjs-wrapper/buildout.hash.cfg
   ../tinyxml2/buildout.cfg
   ../zlib/buildout.cfg
 
 parts =
   mavsdk
 
+[autopilot-wrapper-header]
+recipe = slapos.recipe.build:download
+shared = true
+url = ${:_profile_base_location_}/../qjs-wrapper/${:filename}
+
 [c-astral-headers]
 recipe = slapos.recipe.build:gitclone
 repository = https://lab.nexedi.com/nexedi/c-astral-c-library
@@ -57,3 +63,12 @@ environment =
 
 CMAKE_CFLAGS=-I${tinyxml2:location}/include
 CMAKE_LIBRARY_PATH=${curl:location}/lib:${jsoncpp:location}/lib:${tinyxml2:location}/lib:${zlib:location}/lib
+
+[mavsdk-wrapper]
+recipe = slapos.recipe.cmmi
+configure-command = true
+url = https://lab.nexedi.com/nexedi/mavsdk-wrapper/-/archive/update_set_target_coordinates/mavsdk-wrapper-update_set_target_coordinates.tar.gz
+md5sum = 4e5d53ca3c12f6019048a2e3b6351fe2
+environment =
+  CPLUS_INCLUDE_PATH=${autopilot-wrapper-header:location}:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk
+  LDFLAGS=-L${mavsdk:location}/lib -Wl,-rpath=${mavsdk:location}/lib

component/qjs-wrapper/autopilot_wrapper.h

+#ifndef __AUTOPILOT_H__
+#define __AUTOPILOT_H__
+
+#ifndef DLL_PUBLIC
+#define DLL_PUBLIC __attribute__ ((visibility ("default")))
+#endif
+
+/*
+ * 0. latitude (double, degrees)
+ * 1. longitude (double, degrees)
+ * 2. absolute altitude (double, meters)
+ * 3. relative altitude (double, meters)
+*/
+#define POSITION_ARRAY_SIZE 4
+/*
+ * 0. yaw angle (float, degrees)
+ * 1. air speed (float, m/s)
+ * 2. climb rate (float, m/s)
+*/
+#define SPEED_ARRAY_SIZE 3
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include <stdint.h>
+// Connexion management functions
+DLL_PUBLIC int start(const char * ip, int port, const char * log_file, int timeout);
+DLL_PUBLIC int stop();
+DLL_PUBLIC int reboot(void);
+
+// Flight state management functions
+DLL_PUBLIC int arm(void);
+DLL_PUBLIC int takeOff(void);
+DLL_PUBLIC int takeOffAndWait(void);
+DLL_PUBLIC int triggerParachute(void);
+
+// Flight management functions
+DLL_PUBLIC int loiter(double la, double lo, float a, float radius);
+DLL_PUBLIC int setAirspeed(float airspeed);
+DLL_PUBLIC int setTargetCoordinates(double la, double lo, float a);
+
+// Information functions
+DLL_PUBLIC float getAltitude(void);
+DLL_PUBLIC float getAltitudeRel(void);
+DLL_PUBLIC float getInitialAltitude(void);
+DLL_PUBLIC double getInitialLatitude(void);
+DLL_PUBLIC double getInitialLongitude(void);
+DLL_PUBLIC double getLatitude(void);
+DLL_PUBLIC double getLongitude(void);
+DLL_PUBLIC double *getPositionArray(void);
+DLL_PUBLIC float *getSpeedArray(void);
+DLL_PUBLIC double getTakeOffAltitude(void);
+DLL_PUBLIC float getYaw(void);
+DLL_PUBLIC float getSpeed(void);
+DLL_PUBLIC float getClimbRate(void);
+DLL_PUBLIC int healthAllOk(void);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __AUTOPILOT_H__ */

component/qjs-wrapper/buildout.cfg

@@ -9,9 +9,8 @@ parts = qjs-wrapper
 [qjs-wrapper]
 recipe = slapos.recipe.cmmi
 configure-command = true
-url = https://lab.nexedi.com/nexedi/qjs-wrapper/-/archive/v1.3/qjs-wrapper-v1.3.tar.gz
-md5sum = 5f63356c6a10bf227e2641ea4f78c7a2
+url = https://lab.nexedi.com/nexedi/qjs-wrapper/-/archive/update_settarget/qjs-wrapper-update_settarget.tar.gz
+md5sum = 7f69d896b3e27962ae26c5c7888f07bc
 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
-  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${mavsdk:location}/lib -Wl,-rpath=${mavsdk:location}/lib
+  C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include:${autopilot-wrapper-header:location}
+  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${mavsdk-wrapper:location}/lib -Wl,-rpath=${mavsdk-wrapper:location}/lib

component/qjs-wrapper/buildout.hash.cfg

+# THIS IS NOT A BUILDOUT FILE, despite purposedly using a compatible syntax.
+# The only allowed lines here are (regexes):
+# - "^#" comments, copied verbatim
+# - "^[" section beginings, copied verbatim
+# - lines containing an "=" sign which must fit in the following categorie.
+#   - "^\s*filename\s*=\s*path\s*$" where "path" is relative to this file
+#     Copied verbatim.
+#   - "^\s*hashtype\s*=.*" where "hashtype" is one of the values supported
+#     by the re-generation script.
+#     Re-generated.
+# - other lines are copied verbatim
+# Substitution (${...:...}), extension ([buildout] extends = ...) and
+# section inheritance (< = ...) are NOT supported (but you should really
+# not need these here).
+[autopilot-wrapper-header]
+filename = autopilot_wrapper.h
+md5sum = facfc36f1ed4672d78f4e345800f02a6

software/js-drone/buildout.hash.cfg

@@ -18,7 +18,7 @@ md5sum = 360b58007c25727b7bd8a9154d5cafd4
 
 [instance-default]
 filename = instance-default.cfg
-md5sum = 903939308701b11b1ff751784a9be110
+md5sum = 696ec3cc5c7bcda336b9bb68ef1555bd
 
 [instance-drone]
 filename = instance-drone.cfg
@@ -26,7 +26,7 @@ md5sum = 1ff50063f5a54712a0bc0ff38fa74630
 
 [main]
 filename = main.js
-md5sum = 21217f85fdab2f6307e3edc6ba74d0b6
+md5sum = 81e692d3edcfe666bb4d7505b3375d8d
 
 [pubsub]
 filename = pubsub.js
@@ -34,4 +34,4 @@ md5sum = 1555496ad591a31a845f33488d5c335d
 
 [worker]
 filename = worker.js
-md5sum = 9167a47913658d395a328f67b5a80d36
+md5sum = f201266b4607ca08d647886afd1e5c96

software/js-drone/instance-default.cfg

@@ -8,7 +8,6 @@
 {% set drone_guid_list = slapparameter_dict.get('droneGuidList', []) -%}
 {% set subscriber_guid_list = slapparameter_dict.get('subscriberGuidList', []) -%}
 {% set guid_list = drone_guid_list + subscriber_guid_list -%}
-{% set nb_peer = len(guid_list) -%}
 {% set drone_id_list = [] -%}
 {% set subscriber_id_list = [] -%}
 
@@ -27,7 +26,8 @@ return = instance-path
 sla-computer_guid = {{ guid }}
 config-autopilotIp = {{ autopilot_ip }}
 config-autopilotPort = {{ dumps(autopilot_port) }}
-config-numberOfPeers = {{ dumps(nb_peer) }}
+config-numberOfDrone = {{ dumps(len(drone_guid_list)) }}
+config-numberOfSubscriber = {{ dumps(len(subscriber_guid_list)) }}
 config-id = {{ dumps(id) }}
 config-isASimulation = {{ dumps(is_a_simulation) }}
 {% if guid in drone_guid_list -%}

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

@@ -14,9 +14,14 @@
       "description": "Port on which autopilot service is running.",
       "type": "integer"
     },
-    "numberOfPeers": {
-      "title": "Number of Peers",
-      "description": "Number of drones and subscribers in the swarm",
+    "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": {

software/js-drone/main.js

@@ -36,10 +36,10 @@ import { open, exit } from "std";
   // to prevent it to finish (and so, exit the quickjs process)
   worker = new Worker("{{ worker_script }}");
 
-  function quit(is_a_drone, shutdown, exit_code) {
+  function quit(is_a_drone, exit_code) {
     stopPubsub();
     if (is_a_drone) {
-      stop(shutdown);
+      stop();
     }
     exit(exit_code);
   }
@@ -141,7 +141,7 @@ import { open, exit } from "std";
       can_update = true;
     } else if (type === 'exited') {
       worker.onmessage = null;
-      quit(configuration.isADrone, !configuration.isASimulation, e.data.exit);
+      quit(configuration.isADrone, e.data.exit);
     } else {
       console.log('Unsupported message type', type);
       quit(configuration.isADrone, !configuration.isASimulation, 1);

software/js-drone/software-sqdr.cfg

@@ -5,16 +5,18 @@ extends =
 [sqdr-source]
 recipe = slapos.recipe.build:gitclone
 repository = https://lab.nexedi.com/slaposdrone/squadrone.git
-revision = v1.0
+revision = de17993
 git-executable = ${git:location}/bin/git
 
-[qjs-wrapper]
+[sqdr-wrapper]
 recipe = slapos.recipe.cmmi
 configure-command = true
-url =
 path = ${sqdr-source:location}
-md5sum =
 environment =
-  C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include
-  CPLUS_INCLUDE_PATH=include
-  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${sqdr-source:location}/lib -Wl,-rpath=${sqdr-source:location}/lib
+  CPLUS_INCLUDE_PATH=include:${autopilot-wrapper-header:location}
+  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:${autopilot-wrapper-header:location}
+  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${sqdr-wrapper:location}/lib -Wl,-rpath=${sqdr-wrapper:location}/lib

software/js-drone/test/test.py

@@ -256,13 +256,14 @@ class JSDroneTestCase(SlapOSInstanceTestCase):
       {
         'autopilotIp': '192.168.27.1',
         'autopilotPort': 7909,
+        'numberOfDrone': 0,
+        'numberOfSubscriber': 1,
         'id': 0,
         'isASimulation': False,
         'isADrone': False,
         'flightScript': 'https://lab.nexedi.com/nexedi/flight-scripts/raw/master/subscribe.js',
-        'multicastIp': MCAST_GRP,
-        'numberOfPeers': 1,
-        'netIf': OPC_UA_NET_IF
+        'netIf': OPC_UA_NET_IF,
+        'multicastIp': MCAST_GRP
       }
     )
 

software/js-drone/worker.js

@@ -32,7 +32,9 @@ import { Worker } from "os";
   var CONF_PATH = {{ json_module.dumps(configuration) }},
     conf_file = std.open(CONF_PATH, "r"),
     configuration = JSON.parse(conf_file.readAsString()),
+    last_message_timestamp = 0,
     parent = Worker.parent,
+    peer_dict = {},
     user_me = {
       //for debugging purpose
       fdopen: std.fdopen,
@@ -60,7 +62,11 @@ import { Worker } from "os";
       loiter: loiter,
       sendMsg: function (msg, id) {
         if (id === undefined) { id = -1; }
-        setMessage(JSON.stringify({ content: msg, dest_id: id }));
+        setMessage(JSON.stringify({
+          content: msg,
+          timestamp: Date.now(),
+          dest_id: id
+        }));
       },
       setAirspeed: setAirspeed,
       setTargetCoordinates: setTargetCoordinates
@@ -90,25 +96,30 @@ import { Worker } from "os";
   }
 
   function handleMainMessage(evt) {
-    var type = evt.data.type, message, drone_id;
+    var type = evt.data.type, message, peer_id;
 
     if (type === "initPubsub") {
-      initPubsub(configuration.numberOfPeers);
-      for (drone_id = 0; drone_id < configuration.numberOfPeers; drone_id++) {
-        user_me.drone_dict[drone_id] = new Drone(drone_id);
-        user_me.drone_dict[drone_id].init(drone_id);
+      initPubsub(configuration.numberOfDrone, configuration.numberOfSubscriber);
+      for (peer_id = 0; peer_id < configuration.numberOfDrone + configuration.numberOfSubscriber; peer_id++) {
+        peer_dict[peer_id] = new Drone(peer_id);
+        peer_dict[peer_id].init(peer_id);
+        if (peer_id < configuration.numberOfDrone) {
+          user_me.drone_dict[peer_id] = peer_dict[peer_id];
+        }
       }
       parent.postMessage({type: "initialized"});
     } else if (type === "load") {
       loadUserScript(evt.data.path);
       parent.postMessage({type: "loaded"});
     } else if (type === "update") {
-      Object.entries(user_me.drone_dict).forEach(function ([id, drone]) {
-        message = drone.message;
+      Object.entries(peer_dict).forEach(function ([id, peer]) {
+        message = peer.message;
         if (user_me.id !== Number(id) && message.length > 0) {
           message = JSON.parse(message);
-          if (user_me.hasOwnProperty("onGetMsg") &&
+          if (message.timestamp != last_message_timestamp &&
+              user_me.hasOwnProperty("onGetMsg") &&
               [-1, user_me.id].includes(message.dest_id)) {
+            last_message_timestamp = message.timestamp;
             user_me.onGetMsg(message.content);
           }
         }