Commit 9470ba61 authored by Léo-Paul Géneau's avatar Léo-Paul Géneau 👾

Add sqdr software release's version

See merge request !1388
parents fa92eaca 6c9f46b3
...@@ -9,8 +9,8 @@ parts = qjs-wrapper ...@@ -9,8 +9,8 @@ parts = qjs-wrapper
[qjs-wrapper] [qjs-wrapper]
recipe = slapos.recipe.cmmi recipe = slapos.recipe.cmmi
configure-command = true configure-command = true
url = https://lab.nexedi.com/nexedi/qjs-wrapper/-/archive/v1.2/qjs-wrapper-v1.2.tar.gz url = https://lab.nexedi.com/nexedi/qjs-wrapper/-/archive/v1.3/qjs-wrapper-v1.3.tar.gz
md5sum = e335fc2251610c09dde3e74787317d98 md5sum = 5f63356c6a10bf227e2641ea4f78c7a2
environment = environment =
C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include 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 CPLUS_INCLUDE_PATH=include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk
......
...@@ -18,7 +18,7 @@ md5sum = 360b58007c25727b7bd8a9154d5cafd4 ...@@ -18,7 +18,7 @@ md5sum = 360b58007c25727b7bd8a9154d5cafd4
[instance-default] [instance-default]
filename = instance-default.cfg filename = instance-default.cfg
md5sum = b26633b118cddd7c7b8dfd61b360999c md5sum = 903939308701b11b1ff751784a9be110
[instance-drone] [instance-drone]
filename = instance-drone.cfg filename = instance-drone.cfg
...@@ -26,7 +26,7 @@ md5sum = 1ff50063f5a54712a0bc0ff38fa74630 ...@@ -26,7 +26,7 @@ md5sum = 1ff50063f5a54712a0bc0ff38fa74630
[main] [main]
filename = main.js filename = main.js
md5sum = 2118d7908a909c585e03531147b1d540 md5sum = d0bfcc79cdd7c1e5b8f5d264cc59074e
[pubsub] [pubsub]
filename = pubsub.js filename = pubsub.js
...@@ -34,4 +34,4 @@ md5sum = 1555496ad591a31a845f33488d5c335d ...@@ -34,4 +34,4 @@ md5sum = 1555496ad591a31a845f33488d5c335d
[worker] [worker]
filename = worker.js filename = worker.js
md5sum = 3893fb9228603e8c74f803476ec64dec md5sum = e4b4ca3bde1a21f1dbfc4ff7fa3b872c
{% set autopilot_ip = slapparameter_dict.get('autopilotIp', '192.168.27.1') -%} {% set autopilot_ip = slapparameter_dict.get('autopilotIp', '192.168.27.1') -%}
{% set autopilot_port = slapparameter_dict.get('autopilotPort', 7909) -%}
{% set flight_script = slapparameter_dict.get('flightScript', 'https://lab.nexedi.com/nexedi/flight-scripts/raw/master/default.js') -%} {% set flight_script = slapparameter_dict.get('flightScript', 'https://lab.nexedi.com/nexedi/flight-scripts/raw/master/default.js') -%}
{% set is_a_simulation = slapparameter_dict.get('isASimulation', False) -%} {% set is_a_simulation = slapparameter_dict.get('isASimulation', False) -%}
{% set multicast_ip = slapparameter_dict.get('multicastIp', 'ff15::1111') -%} {% set multicast_ip = slapparameter_dict.get('multicastIp', 'ff15::1111') -%}
...@@ -25,6 +26,7 @@ software-type = drone ...@@ -25,6 +26,7 @@ software-type = drone
return = instance-path return = instance-path
sla-computer_guid = {{ guid }} sla-computer_guid = {{ guid }}
config-autopilotIp = {{ autopilot_ip }} config-autopilotIp = {{ autopilot_ip }}
config-autopilotPort = {{ dumps(autopilot_port) }}
config-numberOfPeers = {{ dumps(nb_peer) }} config-numberOfPeers = {{ dumps(nb_peer) }}
config-id = {{ dumps(id) }} config-id = {{ dumps(id) }}
config-isASimulation = {{ dumps(is_a_simulation) }} config-isASimulation = {{ dumps(is_a_simulation) }}
......
...@@ -9,6 +9,11 @@ ...@@ -9,6 +9,11 @@
"description": "IP used to create a connection with the autopilot.", "description": "IP used to create a connection with the autopilot.",
"type": "string" "type": "string"
}, },
"autopilotPort": {
"title": "Port of the drone's autopilot",
"description": "Port on which autopilot service is running.",
"type": "integer"
},
"numberOfPeers": { "numberOfPeers": {
"title": "Number of Peers", "title": "Number of Peers",
"description": "Number of drones and subscribers in the swarm", "description": "Number of drones and subscribers in the swarm",
......
...@@ -10,6 +10,12 @@ ...@@ -10,6 +10,12 @@
"type": "string", "type": "string",
"default": "192.168.27.1" "default": "192.168.27.1"
}, },
"autopilotPort": {
"title": "Port of the drone's autopilot",
"description": "Port on which autopilot service is running.",
"type": "integer",
"default": "7909"
},
"droneGuidList": { "droneGuidList": {
"title": "List of drones computer ID", "title": "List of drones computer ID",
"description": "List of computer ID of drones in the swarm", "description": "List of computer ID of drones in the swarm",
......
...@@ -18,7 +18,6 @@ import { open, exit } from "std"; ...@@ -18,7 +18,6 @@ import { open, exit } from "std";
var CONF_PATH = {{ json_module.dumps(configuration) }}, var CONF_PATH = {{ json_module.dumps(configuration) }},
conf_file = open(CONF_PATH, "r"), conf_file = open(CONF_PATH, "r"),
configuration = JSON.parse(conf_file.readAsString()), configuration = JSON.parse(conf_file.readAsString()),
URL = "udp://" + configuration.autopilotIp + ":7909",
LOG_FILE = "{{ log_dir }}/mavsdk-log", LOG_FILE = "{{ log_dir }}/mavsdk-log",
pubsubWorker, pubsubWorker,
worker, worker,
...@@ -53,8 +52,12 @@ import { open, exit } from "std"; ...@@ -53,8 +52,12 @@ import { open, exit } from "std";
} }
function connect() { function connect() {
console.log("Will connect to", URL); var address = configuration.autopilotIp + ":" + configuration.autopilotPort;
exitOnFail(start(URL, LOG_FILE, 60), "Failed to connect to " + URL); console.log("Will connect to", address);
exitOnFail(
start(configuration.autopilotIp, configuration.autopilotPort, LOG_FILE, 60),
"Failed to connect to " + address
);
} }
if (configuration.isADrone) { if (configuration.isADrone) {
......
[buildout]
extends =
software.cfg
[sqdr-source]
recipe = slapos.recipe.build:gitclone
repository = https://lab.nexedi.com/slaposdrone/squadrone.git
revision = v1.0
git-executable = ${git:location}/bin/git
[qjs-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
...@@ -255,6 +255,7 @@ class JSDroneTestCase(SlapOSInstanceTestCase): ...@@ -255,6 +255,7 @@ class JSDroneTestCase(SlapOSInstanceTestCase):
json.loads(self.get_partition('drone').getInstanceParameterDict()['_']), json.loads(self.get_partition('drone').getInstanceParameterDict()['_']),
{ {
'autopilotIp': '192.168.27.1', 'autopilotIp': '192.168.27.1',
'autopilotPort': 7909,
'id': 0, 'id': 0,
'isASimulation': False, 'isASimulation': False,
'isADrone': False, 'isADrone': False,
......
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */ /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*global console, getAltitude, getAltitudeRel, getInitialAltitude, getLatitude, /*global console, getAltitude, getAltitudeRel, getInitialAltitude, getLatitude,
getLongitude, getYaw, execUserScript, initPubsub, isInManualMode, landed, getLongitude, getYaw, execUserScript, initPubsub, landed, loiter, setAirspeed,
loiter, setAirspeed, setAltitude, setManualControlInput, setMessage, setMessage, setTargetCoordinates, std, triggerParachute, Drone, Worker*/
setTargetCoordinates, std, triggerParachute, Drone, Worker*/
import { import {
Drone, Drone,
triggerParachute, triggerParachute,
...@@ -15,12 +14,9 @@ import { ...@@ -15,12 +14,9 @@ import {
getLongitude, getLongitude,
getYaw, getYaw,
initPubsub, initPubsub,
isInManualMode,
landed, landed,
loiter, loiter,
setAirspeed, setAirspeed,
setAltitude,
setManualControlInput,
setMessage, setMessage,
setTargetCoordinates setTargetCoordinates
} from {{ json_module.dumps(qjs_wrapper) }}; } from {{ json_module.dumps(qjs_wrapper) }};
...@@ -28,10 +24,9 @@ import * as std from "std"; ...@@ -28,10 +24,9 @@ import * as std from "std";
import { Worker } from "os"; import { Worker } from "os";
(function (console, getAltitude, getAltitudeRel, getInitialAltitude, (function (console, getAltitude, getAltitudeRel, getInitialAltitude,
getLatitude, getLongitude, getYaw, initPubsub, isInManualMode, getLatitude, getLongitude, getYaw, initPubsub, landed, loiter,
landed, loiter, setAirspeed, setAltitude, setManualControlInput, setAirspeed, setMessage, setTargetCoordinates, std, triggerParachute,
setMessage, setTargetCoordinates, std, triggerParachute, Drone, Drone, Worker) {
Worker) {
// Every script is evaluated per drone // Every script is evaluated per drone
"use strict"; "use strict";
...@@ -70,7 +65,6 @@ import { Worker } from "os"; ...@@ -70,7 +65,6 @@ import { Worker } from "os";
setMessage(JSON.stringify({ content: msg, dest_id: id })); setMessage(JSON.stringify({ content: msg, dest_id: id }));
}, },
setAirspeed: setAirspeed, setAirspeed: setAirspeed,
setAltitude: setAltitude,
setTargetCoordinates: setTargetCoordinates setTargetCoordinates: setTargetCoordinates
}; };
conf_file.close(); conf_file.close();
...@@ -123,9 +117,6 @@ import { Worker } from "os"; ...@@ -123,9 +117,6 @@ import { Worker } from "os";
}); });
// Call the drone onStart function // Call the drone onStart function
if (user_me.hasOwnProperty("onUpdate")) { if (user_me.hasOwnProperty("onUpdate")) {
if (configuration.isADrone && isInManualMode()) {
setManualControlInput();
}
user_me.onUpdate(evt.data.timestamp); user_me.onUpdate(evt.data.timestamp);
} }
parent.postMessage({type: "updated"}); parent.postMessage({type: "updated"});
...@@ -145,6 +136,5 @@ import { Worker } from "os"; ...@@ -145,6 +136,5 @@ import { Worker } from "os";
} }
}; };
}(console, getAltitude, getAltitudeRel, getInitialAltitude, getLatitude, }(console, getAltitude, getAltitudeRel, getInitialAltitude, getLatitude,
getLongitude, getYaw, initPubsub, isInManualMode, landed, loiter, setAirspeed, getLongitude, getYaw, initPubsub, landed, loiter, setAirspeed, setMessage,
setAltitude, setManualControlInput, setMessage, setTargetCoordinates, std, setTargetCoordinates, std, triggerParachute, Drone, Worker));
triggerParachute, Drone, Worker));
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