component/qjs-wrapper: v↑ qjs-wrapper (2.1 -> 2.2)

component/qjs-wrapper/buildout.cfg

@@ -9,7 +9,7 @@ parts = qjs-wrapper
 [qjs-wrapper-source]
 recipe = slapos.recipe.build:gitclone
 repository = https://lab.nexedi.com/nexedi/qjs-wrapper.git
-revision = v2.1
+revision = v2.2
 git-executable = ${git:location}/bin/git
 
 [qjs-wrapper]

software/js-drone/README.md

@@ -14,7 +14,6 @@
 * 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
 * flightScript: URL of user's script to execute to fly drone swarm

software/js-drone/buildout.hash.cfg

@@ -22,11 +22,11 @@ md5sum = 01425a1c77e79788e1948398b9136724
 
 [instance-profile]
 filename = instance.cfg.in
-md5sum = 4733c63573e6812c124b356dc146ffcc
+md5sum = b9f2301782bee12f9ff257a8f0a192f5
 
 [instance-root]
 filename = instance-root.cfg.jinja2
-md5sum = 316f77c655540226f22dc7a6322624f1
+md5sum = ed319ac31addb65842e38d5b20d2d8e7
 
 [instance-subscriber]
 filename = instance-subscriber.cfg.in
@@ -34,7 +34,7 @@ md5sum = 8559dc8c95e9232060be6db3e0af4379
 
 [main]
 _update_hash_filename_ = drone-scripts/main.js.jinja2
-md5sum = 60146505ec8ea50d881d033f63b6725c
+md5sum = 85135842e42a1f48a474467508723c0c
 
 [pubsub]
 _update_hash_filename_ = drone-scripts/pubsub.js.jinja2
@@ -42,8 +42,8 @@ md5sum = 34a02101a607e60f4e422375beaf7fc2
 
 [script-js]
 _update_hash_filename_ = web-gui/script.js.jinja2
-md5sum = efd986b3685e50f73c17c9352804bae0
+md5sum = c3858b5ec7373a0932fcda911a8177b5
 
 [worker]
 _update_hash_filename_ = drone-scripts/worker.js.jinja2
-md5sum = 5fc7f9738d8230aeea9a9d25ea30f3f0
+md5sum = f7f94c4e323a84796977f139b8ab4b9b

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*/
+/*global arm, console, dup2, err, exec, exit, kill, open, out, pipe, read,
+  scriptArgs, setLog, setReadHandler, setTimeout, signal, start, stop,
+  stopPubsub, waitpid, ArrayBuffer, Uint8Array, Worker, SIGINT, SIGTERM,
+  WNOHANG*/
 {% else -%}
-/*global console, close, dup2, exit, open, scriptArgs, setTimeout, stopPubsub,
-  Worker, SIGINT, SIGTERM*/
+/*global console, dup2, err, exec, exit, kill, open, out, pipe, read,
+  scriptArgs, setReadHandler, setTimeout, signal, stopPubsub, waitpid,
+  ArrayBuffer, Uint8Array, Worker, SIGINT, SIGTERM, WNOHANG*/
 {% endif -%}
 import {
 {% if isADrone -%}
   arm,
+  setLog,
   start,
   stop,
 {% endif -%}
   stopPubsub,
-{% if isADrone -%}
-  takeOffAndWait
-{% endif -%}
 } from "{{ qjs_wrapper }}";
 import {
   Worker,
   SIGINT,
   SIGTERM,
+  WNOHANG,
   dup2,
+  exec,
+  kill,
+  pipe,
+  read,
+  setReadHandler,
   setTimeout,
-  signal
+  signal,
+  waitpid
 } from "os";
 import { err, exit, open, out } from "std";
 
 {% 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 -%}
+(function (arm, console, dup2, err, exec, exit, kill, open, out, pipe, read,
+           scriptArgs, setLog, setReadHandler, setTimeout, signal, start, stop,
+           stopPubsub, waitpid, Worker, SIGINT, SIGTERM, WNOHANG) {
+{% else %}
+(function (console, dup2, err, exec, exit, kill, open, out, pipe, read,
+           scriptArgs, setReadHandler, setTimeout, signal, stopPubsub, waitpid,
+           Worker, SIGINT, SIGTERM, WNOHANG) {
+{% endif %}
   "use strict";
 
   var CONF_PATH = "{{ configuration }}",
@@ -42,11 +52,13 @@ import { err, exit, open, out } from "std";
     AUTOPILOT_CONNECTION_TIMEOUT = 5,
     MAVSDK_LOG_FILE_PATH =
       "{{ log_dir }}/mavsdk_" + new Date().toISOString() + ".log",
+    MAX_STR_SIZE = 1024,
     QUICKJS_LOG_FILE_PATH =
       "{{ log_dir }}/quickjs_" + new Date().toISOString() + ".log",
-    QUICKJS_LOG_FILE =
-      open(QUICKJS_LOG_FILE_PATH, "w"),
+    QUICKJS_LOG_FILE = open(QUICKJS_LOG_FILE_PATH, "w"),
+    log_r_pipe,
     pubsubWorker,
+    tail_pid,
     worker,
     user_script = scriptArgs[1],
     LOOP_EXECUTION_PERIOD = configuration.loopPeriod,
@@ -58,6 +70,23 @@ import { err, exit, open, out } from "std";
   // redirect stdout and stderr
   dup2(QUICKJS_LOG_FILE.fileno(), out.fileno());
   dup2(QUICKJS_LOG_FILE.fileno(), err.fileno());
+  if (configuration.debug && configuration.isADrone) {
+    log_r_pipe = pipe();
+    tail_pid = exec([
+      "tail",
+      "-f",
+      QUICKJS_LOG_FILE_PATH
+    ], {
+      block: false,
+      stdout: log_r_pipe[1]
+    });
+    setReadHandler(log_r_pipe[0], function () {
+      var data = new ArrayBuffer(MAX_STR_SIZE);
+      if (read(log_r_pipe[0], data, 0, MAX_STR_SIZE) > 0) {
+        setLog(String.fromCharCode.apply(null, new Uint8Array(data)));
+      }
+    });
+  }
 
   // Use a Worker to ensure the user script
   // does not block the main script
@@ -70,10 +99,15 @@ import { err, exit, open, out } from "std";
   function quit(exit_code) {
     worker.onmessage = null;
     stopPubsub();
-{% if isADrone -%}
+{% if isADrone %}
     stop();
-{% endif -%}
+{% endif %}
     QUICKJS_LOG_FILE.close();
+    if (log_r_pipe) {
+      setReadHandler(log_r_pipe[0], null);
+      kill(tail_pid, SIGTERM);
+      waitpid(tail_pid, WNOHANG);
+    }
     exit(exit_code);
   }
 
@@ -94,7 +128,7 @@ import { err, exit, open, out } from "std";
     }
   }
 
-{% if isADrone -%}
+{% if isADrone %}
   function connect() {
     var address = configuration.autopilotIp + ":" + configuration.autopilotPort;
     console.log("Will connect to", address);
@@ -103,9 +137,7 @@ import { err, exit, open, out } from "std";
         configuration.autopilotIp,
         configuration.autopilotPort,
         MAVSDK_LOG_FILE_PATH,
-        QUICKJS_LOG_FILE_PATH,
-        AUTOPILOT_CONNECTION_TIMEOUT,
-        configuration.debug
+        AUTOPILOT_CONNECTION_TIMEOUT
       ),
       "Failed to connect to " + address
     );
@@ -113,7 +145,7 @@ import { err, exit, open, out } from "std";
 
   console.log("Connecting to aupilot\n");
   connect();
-{% endif -%}
+{% endif %}
 
   pubsubWorker = new Worker("{{ pubsub_script }}");
   pubsubWorker.onmessage = function (e) {
@@ -124,19 +156,10 @@ 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 isADrone -%}
-    if (configuration.isASimulation) {
-      takeOff();
-    }
-{% endif -%}
+{% if isADrone %}
+    exitOnFail(arm(), "Failed to arm");
+{% endif %}
 
     // First argument must provide the user script path
     if (user_script === undefined) {
@@ -192,9 +215,9 @@ import { err, exit, open, out } from "std";
       // Start the update loop
       loop();
     } else if (type === 'updated') {
+      can_update = true;
       err.flush();
       out.flush();
-      can_update = true;
     } else if (type === 'exited') {
       worker.onmessage = null;
       quit(e.data.exit);
@@ -204,9 +227,11 @@ import { err, exit, open, out } from "std";
     }
   };
 {% if isADrone -%}
-}(arm, console, dup2, err, exit, open, out, scriptArgs, setTimeout, start, stop,
-  stopPubsub, takeOffAndWait, Worker, SIGINT, SIGTERM));
+}(arm, console, dup2, err, exec, exit, kill, open, out, pipe, read, scriptArgs,
+  setLog, setReadHandler, setTimeout, signal, start, stop, stopPubsub, waitpid,
+  Worker, SIGINT, SIGTERM, WNOHANG));
 {% else -%}
-}(console, dup2, err, exit, open, out, scriptArgs, setTimeout, stopPubsub,
-  Worker, SIGINT, SIGTERM));
+}(console, dup2, err, exec, exit, kill, open, out, pipe, read, scriptArgs,
+  setReadHandler, setTimeout, signal, stopPubsub, waitpid, Worker, SIGINT,
+  SIGTERM, WNOHANG));
 {% endif -%}

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

 /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
-/*global console, getAltitude, getAltitudeRel, getInitialAltitude, gpsIsOk,
-  getLatitude, getLongitude, getYaw, execUserScript, initPubsub, loiter,
-  setAirSpeed, setMessage, setTargetCoordinates, std, triggerParachute,
-  updateLogAndProjection, Drone, Worker*/
+{% if isADrone -%}
+/*global console, execUserScript, getAltitude, getClimbRate, getInitialAltitude,
+  gpsIsOk, getPosition, getSpeed, getYaw, initPubsub, isLanding, isReadyToFly,
+  land, loiter, setMessage, setTargetCoordinates, std, takeOff,
+  updateLogAndProjection, ArrayBuffer, Drone, Uint8Array, Worker*/
+{% else -%}
+/*global console, execUserScript, initPubsub, setMessage, setTargetCoordinates,
+  std, updateLogAndProjection, Drone, Worker*/
+{% endif -%}
 import {
   Drone,
 {% if isADrone -%}
-  triggerParachute,
-  getAirspeed,
   getAltitude,
   getClimbRate,
   getInitialAltitude,
   gpsIsOk,
   getPosition,
+  getSpeed,
   getYaw,
 {% endif -%}
   initPubsub,
 {% if isADrone -%}
   isLanding,
+  isReadyToFly,
+  land,
   loiter,
-  setAirSpeed,
 {% endif -%}
   setMessage,
 {% if isADrone -%}
   setTargetCoordinates,
+  takeOff,
   updateLogAndProjection
 {% endif -%}
 } from "{{ qjs_wrapper }}";
@@ -44,8 +50,8 @@ import { evalScript, fdopen, loadFile, open } from "std";
 (function (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) {
+           pipe, setMessage, setReadHandler, setTargetCoordinates,
+           land, updateLogAndProjection, waitpid) {
 {% else -%}
 (function (Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
            fdopen, initPubsub, kill, loadFile, open, pipe, setMessage,
@@ -63,32 +69,30 @@ import { evalScript, fdopen, loadFile, open } from "std";
     gwsocket_r_pipe_fd,
     gwsocket_w_pipe_fd,
     handleWebSocketMessage,
-    last_message_timestamp = 0,
     last_log_timestamp = 0,
+    last_message_timestamp_list = [],
     parent = Worker.parent,
     peer_dict = {},
     user_me = {
-      //required to fly
-{% if isADrone -%}
-      triggerParachute: triggerParachute,
-{% endif -%}
       exit: exitWorker,
       getDroneDict: function () { return drone_dict; },
 {% if isADrone -%}
       getAltitudeAbs: getAltitude,
+      getClimbRate: getClimbRate,
       getCurrentPosition: getPosition,
       getInitialAltitude: getInitialAltitude,
       gpsIsOk: gpsIsOk,
+      getSpeed: getSpeed,
       getYaw: getYaw,
-      getSpeed: getAirspeed,
-      getClimbRate: getClimbRate,
 {% endif -%}
       id: configuration.id,
 {% if isADrone -%}
       isLanding: isLanding,
+      isReadyToFly: isReadyToFly,
+      land: land,
       loiter: loiter,
-      setAirSpeed: setAirSpeed,
       setTargetCoordinates: setTargetCoordinates,
+      takeOff: takeOff,
 {% endif -%}
       sendMsg: function (msg, id) {
         if (id === undefined) { id = -1; }
@@ -172,11 +176,11 @@ import { evalScript, fdopen, loadFile, open } from "std";
     user_me.writeWebsocketMessage = function (message) {
       var buf = new ArrayBuffer(message.length);
       var bufView = new Uint8Array(buf);
-      for (var i=0; i<message.length; i++) {
+      for (var i = 0; i < message.length; i++) {
         bufView[i] = message.charCodeAt(i);
       }
       writeMessage(gwsocket_w_pipe_fd, {client: clientId, type: 1, data: buf});
-    }
+    };
     setReadHandler(gwsocket_r_pipe[0], handleWebSocketMessage);
   }
 
@@ -215,18 +219,20 @@ import { evalScript, fdopen, loadFile, open } from "std";
   }
 
   function handleMainMessage(evt) {
-    var type = evt.data.type, message, peer_id, log;
+    var type = evt.data.type, message, parsed_message, peer_id, log;
 
     switch (type) {
 
     case "initPubsub":
-      initPubsub(configuration.numberOfDrones, configuration.numberOfSubscribers);
+      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.numberOfDrones) {
           drone_dict[peer_id] = peer_dict[peer_id];
         }
+        last_message_timestamp_list[peer_id] = 0;
       }
       parent.postMessage({type: "initialized"});
       break;
@@ -239,13 +245,17 @@ import { evalScript, fdopen, loadFile, open } from "std";
     case "update":
       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 (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);
+        if (message.length > 0) {
+          parsed_message = JSON.parse(message);
+          while (parsed_message.timestamp !== last_message_timestamp_list[id]) {
+            if (user_me.hasOwnProperty("onGetMsg")
+                && [-1, user_me.id].includes(parsed_message.dest_id)) {
+              console.log("running on getMsg");
+              user_me.onGetMsg(parsed_message.content);
+            }
+
+            last_message_timestamp_list[id] = parsed_message.timestamp;
+            parsed_message = JSON.parse(peer.message);
           }
         }
       });
@@ -271,7 +281,7 @@ import { evalScript, fdopen, loadFile, open } from "std";
 
     default:
       throw new Error("Unsupported message type", type);
-    };
+    }
   }
 
   parent.onmessage = function (evt) {
@@ -287,8 +297,8 @@ import { evalScript, fdopen, loadFile, open } from "std";
 {% 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,
+  initPubsub, isLanding, kill, loadFile, loiter, open, pipe, setMessage,
+  setReadHandler, setTargetCoordinates, land,
   updateLogAndProjection, waitpid));
 {% else -%}
 }(Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,

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

@@ -38,12 +38,6 @@
       "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.",

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

@@ -25,7 +25,6 @@ config-autopilotPort = {{ dumps(parameter_dict['autopilotPort']) }}
 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']) -%}

software/js-drone/instance.cfg.in

@@ -38,7 +38,6 @@ default-parameters =
     "droneGuidList": [],
     "droneNetIf": "eth0",
     "flightScript": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js",
-    "isASimulation": false,
     "loopPeriod": 200,
     "multicastIp": "ff15::1111",
     "subscriberGuidList":[],

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

@@ -17,8 +17,8 @@ pre-configure +=
 [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
+url = https://lab.nexedi.com/nexedi/c-astral-wrapper/-/archive/v2.2/c-astral-wrapper-v2.2.tar.gz
+md5sum = 08cb41102f87475af0b6ec19e0c2965b
 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

software/js-drone/software-sqdr.cfg

@@ -5,7 +5,7 @@ extends =
 [sqdr-source]
 recipe = slapos.recipe.build:gitclone
 repository = https://lab.nexedi.com/slaposdrone/squadrone.git
-revision = v2.1
+revision = v2.2
 git-executable = ${git:location}/bin/git
 
 [sqdr-wrapper]

software/js-drone/test/test.py

@@ -38,16 +38,16 @@ from websocket import create_connection
 from slapos.testing.testcase import installSoftwareUrlList, makeModuleSetUpAndTestCaseClass
 
 '''
-  0. positionArray
-    0.1 latitude
-    0.2 longitude
-    0.3 absolute altitude
-    0.4 relative altitude
-  1. speedArray
-    1.1 yaw angle
-    1.2 air speed
-    1.3 climb rate
-  2. message
+  0. message
+  1. positionArray
+    1.1 latitude
+    1.2 longitude
+    1.3 absolute altitude
+    1.4 relative altitude
+  2. speedArray
+    2.1 yaw angle
+    2.2 air speed
+    2.3 climb rate
   3. log
 '''
 MONITORED_ITEM_NB = 4
@@ -231,6 +231,7 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
   def ua_dataSetMessage_encode(self):
     data_set_message = self.ua_dataSetMessageHeader_encode()
     data_set_message += struct.pack('H', MONITORED_ITEM_NB)
+    data_set_message += self.ua_string_encode(TEST_MESSAGE)
     data_set_message += self.ua_array_encode(
       POSITION_ARRAY_TYPE,
       'q',
@@ -241,7 +242,6 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
       'f',
       SPEED_ARRAY_VALUES,
     )
-    data_set_message += self.ua_string_encode(TEST_MESSAGE)
     data_set_message += self.ua_string_encode(LOG)
     return data_set_message
 
@@ -280,7 +280,6 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
         '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',
@@ -322,7 +321,6 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
       )
       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((
@@ -333,3 +331,4 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
           b'"log":""}}}',
         )),
       )
+      self.assertEqual(conn.recv_frame().data, MESSAGE_CONTENT.replace(b'\\', b''))

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

@@ -64,6 +64,7 @@
       date,
       flight_state_cell,
       i,
+      log_textarea,
       message,
       new_div,
       new_span,
@@ -81,7 +82,9 @@
           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"];
+          log_textarea = document.getElementById(LOG_BASE_ID + id);
+          log_textarea.scrollTop = log_textarea.scrollHeight;
+          log_textarea.value += drone["log"];
           {% endif -%}
         });
       } else if (message.hasOwnProperty("state") && message.hasOwnProperty("id")) {