Update API for multicopters

Update API to be convenient for both fix-wings and multicopters

include/autopilot_API.h

@@ -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

@@ -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,
+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, &longitude, argv[1]))
         return JS_EXCEPTION;
-    if (JS_ToFloat64(ctx, &lo_arg_double, argv[1]))
+    if (JS_ToFloat64(ctx, &altitude, argv[2]))
         return JS_EXCEPTION;
-    if (JS_ToFloat64(ctx, &a_arg_double, argv[2]))
+    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);
 }
 
@@ -833,10 +836,10 @@ static JSValue js_gpsIsOk(JSContext *ctx, JSValueConst this_val,
     return JS_NewBool(ctx, gpsIsOk());
 }
 
-static JSValue js_healthAllOk(JSContext *ctx, JSValueConst this_val,
+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
 };