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qjs-wrapper
Commit 24581dcf authored by Léo-Paul Géneau's avatar Léo-Paul Géneau 👾
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Update API for multicopters 

Update API to be convenient for both fix-wings and multicopters
parent 7165e6d6
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Showing with 62 additions and 61 deletions
include/autopilot_API.h
View file @ 24581dcf
......@@ -17,13 +17,13 @@ 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);
DLL_PUBLIC int land(void);
// Flight management functions
DLL_PUBLIC void loiter(double la, double lo, float a, float radius);
DLL_PUBLIC void setAirSpeed_async(float airspeed);
DLL_PUBLIC void setTargetCoordinates(double la, double lo, float a);
DLL_PUBLIC void loiter(double latitude, double longitude, float altitude,
float radius, float speed);
DLL_PUBLIC void setTargetCoordinates(double latitude, double longitude,
float altitude, float speed);
// Information functions
DLL_PUBLIC float getAltitude(void);
......@@ -37,7 +37,7 @@ DLL_PUBLIC float getYaw(void);
DLL_PUBLIC float getSpeed(void);
DLL_PUBLIC float getClimbRate(void);
DLL_PUBLIC int gpsIsOk(void);
DLL_PUBLIC int healthAllOk(void);
DLL_PUBLIC int isReadyToFly(void);
DLL_PUBLIC int isLanding(void);
DLL_PUBLIC void updateLogAndProjection(void);
#ifdef __cplusplus
......
qjs_wrapper.c
View file @ 24581dcf
......@@ -394,7 +394,8 @@ static const JSCFunctionListEntry js_drone_proto_funcs[] = {
// pubsub functions
UA_UInt16 get_drone_id(UA_UInt32 nb) {
JSDroneData *s = (JSDroneData *) JS_GetOpaque(droneObjectIdList[nb], jsDroneClassId);
JSDroneData *s =
(JSDroneData *) JS_GetOpaque(droneObjectIdList[nb], jsDroneClassId);
return s->id;
}
......@@ -411,10 +412,12 @@ VariableData pubsub_get_value(UA_String identifier) {
case UA_VALUERANK_SCALAR:
switch(varDetails.type) {
case UA_TYPES_STRING:
*(UA_String*)varDetails.value = varDetails.getter.getString();
*(UA_String*)varDetails.value =
varDetails.getter.getString();
break;
default:
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "UA_TYPE not handled");
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER,
"UA_TYPE not handled");
break;
}
break;
......@@ -436,14 +439,16 @@ VariableData pubsub_get_value(UA_String identifier) {
ptrd += type.memSize;
}
if(retval != UA_STATUSCODE_GOOD)
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Failed to update array");
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER,
"Failed to update array");
}
free(array);
break;
default:
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "UA_VALUERANK not handled");
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER,
"UA_VALUERANK not handled");
break;
}
}
......@@ -452,8 +457,15 @@ VariableData pubsub_get_value(UA_String identifier) {
return varDetails;
}
static JSDroneData* getJSDroneData(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic)
{
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT,
"Getting field %d of peer %d for node id %d", magic, nb, id);
return (JSDroneData *) JS_GetOpaque(droneObjectIdList[nb], jsDroneClassId);
}
void init_drone_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
JSDroneData *s = (JSDroneData *) JS_GetOpaque(droneObjectIdList[nb], jsDroneClassId);
JSDroneData *s = getJSDroneData(id, nb, magic);
switch(magic) {
case 0:
s->positionArrayId = id;
......@@ -468,19 +480,21 @@ void init_drone_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
s->logId = id;
break;
default:
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Unknown variable id");
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"Unknown variable id");
break;
}
}
void init_subscriber_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
JSDroneData *s = (JSDroneData *) JS_GetOpaque(droneObjectIdList[nb], jsDroneClassId);
JSDroneData *s = getJSDroneData(id, nb, magic);
switch(magic) {
case 0:
s->messageId = id;
break;
default:
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Unknown variable id");
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND,
"Unknown variable id");
break;
}
}
......@@ -542,7 +556,8 @@ static void pubsub_update_variables(UA_UInt32 id, const UA_DataValue *var, bool
return;
}
}
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "NodeId not found");
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT,
"NodeId %i not found", id);
}
/*
......@@ -707,16 +722,10 @@ static JSValue js_takeOff(JSContext *ctx, JSValueConst thisVal,
return JS_NewInt32(ctx, takeOff());
}
static JSValue js_takeOffAndWait(JSContext *ctx, JSValueConst thisVal,
int argc, JSValueConst *argv)
{
return JS_NewInt32(ctx, takeOffAndWait());
}
static JSValue js_triggerParachute(JSContext *ctx, JSValueConst thisVal,
int argc, JSValueConst *argv)
static JSValue js_land(JSContext *ctx, JSValueConst thisVal,
int argc, JSValueConst *argv)
{
return JS_NewInt32(ctx, triggerParachute());
return JS_NewInt32(ctx, land());
}
// Flight management functions
......@@ -724,33 +733,24 @@ static JSValue js_triggerParachute(JSContext *ctx, JSValueConst thisVal,
static JSValue js_loiter(JSContext *ctx, JSValueConst thisVal,
int argc, JSValueConst *argv)
{
double la_arg_double;
double lo_arg_double;
double a_arg_double;
double latitude;
double longitude;
double altitude;
double radius;
double speed;
if (JS_ToFloat64(ctx, &la_arg_double, argv[0]))
if (JS_ToFloat64(ctx, &latitude, argv[0]))
return JS_EXCEPTION;
if (JS_ToFloat64(ctx, &lo_arg_double, argv[1]))
if (JS_ToFloat64(ctx, &longitude, argv[1]))
return JS_EXCEPTION;
if (JS_ToFloat64(ctx, &a_arg_double, argv[2]))
if (JS_ToFloat64(ctx, &altitude, argv[2]))
return JS_EXCEPTION;
if (JS_ToFloat64(ctx, &radius, argv[3]))
return JS_EXCEPTION;
loiter(la_arg_double, lo_arg_double, (float)a_arg_double, (float)radius);
return JS_NewInt32(ctx, 0);
}
static JSValue js_setAirSpeed(JSContext *ctx, JSValueConst thisVal,
int argc, JSValueConst *argv)
{
double altitude;
if (JS_ToFloat64(ctx, &altitude, argv[0]))
if (JS_ToFloat64(ctx, &speed, argv[4]))
return JS_EXCEPTION;
setAirSpeed_async((float)altitude);
loiter(latitude, longitude, (float)altitude, (float)radius, (float)speed);
return JS_NewInt32(ctx, 0);
}
......@@ -758,18 +758,21 @@ static JSValue js_setTargetCoordinates(JSContext *ctx,
JSValueConst thisVal,
int argc, JSValueConst *argv)
{
double la_arg_double;
double lo_arg_double;
double a_arg_double;
double latitude;
double longitude;
double altitude;
double speed;
if (JS_ToFloat64(ctx, &la_arg_double, argv[0]))
if (JS_ToFloat64(ctx, &latitude, argv[0]))
return JS_EXCEPTION;
if (JS_ToFloat64(ctx, &lo_arg_double, argv[1]))
if (JS_ToFloat64(ctx, &longitude, argv[1]))
return JS_EXCEPTION;
if (JS_ToFloat64(ctx, &a_arg_double, argv[2]))
if (JS_ToFloat64(ctx, &altitude, argv[2]))
return JS_EXCEPTION;
if (JS_ToFloat64(ctx, &speed, argv[3]))
return JS_EXCEPTION;
setTargetCoordinates(la_arg_double, lo_arg_double, (float)a_arg_double);
setTargetCoordinates(latitude, longitude, (float)altitude, (float)speed);
return JS_NewInt32(ctx, 0);
}
......@@ -828,15 +831,15 @@ static JSValue js_getClimbRate(JSContext *ctx, JSValueConst thisVal,
}
static JSValue js_gpsIsOk(JSContext *ctx, JSValueConst this_val,
int argc, JSValueConst *argv)
int argc, JSValueConst *argv)
{
return JS_NewBool(ctx, gpsIsOk());
}
static JSValue js_healthAllOk(JSContext *ctx, JSValueConst this_val,
int argc, JSValueConst *argv)
static JSValue js_isReadyToFly(JSContext *ctx, JSValueConst this_val,
int argc, JSValueConst *argv)
{
return JS_NewBool(ctx, healthAllOk());
return JS_NewBool(ctx, isReadyToFly());
}
static JSValue js_isLanding(JSContext *ctx, JSValueConst this_val,
......@@ -865,11 +868,9 @@ static const JSCFunctionListEntry js_funcs[] = {
JS_CFUNC_DEF("reboot", 0, js_reboot ),
JS_CFUNC_DEF("arm", 0, js_arm ),
JS_CFUNC_DEF("takeOff", 0, js_takeOff ),
JS_CFUNC_DEF("takeOffAndWait", 0, js_takeOffAndWait ),
JS_CFUNC_DEF("triggerParachute", 0, js_triggerParachute ),
JS_CFUNC_DEF("loiter", 4, js_loiter ),
JS_CFUNC_DEF("setAirSpeed", 1, js_setAirSpeed ),
JS_CFUNC_DEF("setTargetCoordinates", 3, js_setTargetCoordinates ),
JS_CFUNC_DEF("land", 0, js_land ),
JS_CFUNC_DEF("loiter", 5, js_loiter ),
JS_CFUNC_DEF("setTargetCoordinates", 4, js_setTargetCoordinates ),
JS_CFUNC_DEF("getPosition", 0, js_new_position ),
JS_CFUNC_DEF("getAltitude", 0, js_getAltitude ),
JS_CFUNC_DEF("getInitialAltitude", 0, js_getInitialAltitude ),
......@@ -877,11 +878,11 @@ static const JSCFunctionListEntry js_funcs[] = {
JS_CFUNC_DEF("getInitialLongitude", 0, js_getInitialLongitude ),
JS_CFUNC_DEF("getTakeOffAltitude", 0, js_getTakeOffAltitude ),
JS_CFUNC_DEF("getYaw", 0, js_getYaw ),
JS_CFUNC_DEF("getAirspeed", 0, js_getSpeed ),
JS_CFUNC_DEF("getSpeed", 0, js_getSpeed ),
JS_CFUNC_DEF("getClimbRate", 0, js_getClimbRate ),
JS_CFUNC_DEF("gpsIsOk", 0, js_gpsIsOk ),
JS_CFUNC_DEF("isReadyToFly", 0, js_isReadyToFly ),
JS_CFUNC_DEF("isLanding", 0, js_isLanding ),
JS_CFUNC_DEF("healthAllOk", 0, js_healthAllOk ),
JS_CFUNC_DEF("updateLogAndProjection", 0, js_updateLogAndProjection ),
#endif
};
......
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