Check if autopilot API is required

Makefile

 CFLAGS=-std=c99 -D_POSIX_C_SOURCE=200809L -pipe -Wall -Wextra -Wpedantic -Werror -Wno-overlength-strings -Wno-unused-parameter -Wc++-compat -Wformat -Wformat-security -Wformat-nonliteral -Wmissing-prototypes -Wstrict-prototypes -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wnested-externs -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden
-LIBS=-lautopilotwrapper -lopen62541
+LIBS=-lopen62541
+
+ifeq ($(WITH_AUTOPILOT),y)
+LIBS+= -lautopilotwrapper
+CFLAGS+= -DWITH_AUTOPILOT
+endif
 
 LIB_NAME := libqjswrapper.so
 

include/autopilot_wrapper.h → include/autopilot_API.h

-#ifndef __AUTOPILOT_H__
-#define __AUTOPILOT_H__
+#ifndef __AUTOPILOT_API_H__
+#define __AUTOPILOT_API_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)
- * 4. timestamp (double, milliseconds)
-*/
-#define POSITION_ARRAY_SIZE 5
-/*
- * 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
@@ -59,4 +44,4 @@ DLL_PUBLIC void updateLogAndProjection(void);
 }
 #endif
 
-#endif /* __AUTOPILOT_H__ */
+#endif /* __AUTOPILOT__API_H__ */

include/dronedge.h

-#ifndef __DRONEDGE_H__
-#define __DRONEDGE_H__
-
-#include <open62541/server.h>
-#include "autopilot_wrapper.h"
-#include "pubsub.h"
-
-#define DRONE_VARIABLE_NB 4
-#define SUBSCRIBER_VARIABLE_NB 1
-struct messageNode {
-  char *message;
-  struct messageNode *next;
-};
-typedef struct {
-  struct messageNode *head;
-  struct messageNode *tail;
-} MessageQueue;
-
-UA_Int64 positionArray[POSITION_ARRAY_SIZE] = { 0 };
-UA_UInt32 positionArrayDims[] = {POSITION_ARRAY_SIZE};
-
-UA_Double speedArray[SPEED_ARRAY_SIZE] = { 0 };
-UA_UInt32 speedArrayDims[] = {SPEED_ARRAY_SIZE};
-
-UA_String initial_ua_string = {
-    .length = 0,
-    .data = NULL,
-};
-
-VariableData droneVariableArray[] = {
-    {
-        .name = "positionArray",
-        .typeName = "Position Array Type",
-        .description = "Position Array",
-        .value = &positionArray,
-        .type = UA_TYPES_INT64,
-        .builtInType = UA_NS0ID_INT64,
-        .valueRank = UA_VALUERANK_ONE_DIMENSION,
-        .arrayDimensionsSize = 1,
-        .arrayDimensions = positionArrayDims,
-        .getter.getArray = getPositionArray,
-    },
-    {
-        .name = "speedArray",
-        .typeName = "Speed Array Type",
-        .description = "Speed Array",
-        .value = &speedArray,
-        .type = UA_TYPES_FLOAT,
-        .builtInType = UA_NS0ID_FLOAT,
-        .valueRank = UA_VALUERANK_ONE_DIMENSION,
-        .arrayDimensionsSize = 1,
-        .arrayDimensions = speedArrayDims,
-        .getter.getArray = getSpeedArray,
-    },
-    {
-        .name = "message",
-        .description = "Message to send to the other drones",
-        .value = &initial_ua_string,
-        .type = UA_TYPES_STRING,
-        .builtInType = UA_NS0ID_STRING,
-        .valueRank = UA_VALUERANK_SCALAR,
-        .arrayDimensionsSize = 0,
-        .arrayDimensions = NULL,
-        .getter.getString = get_message,
-    },
-    {
-        .name = "log",
-        .description = "Message to send to the other drones",
-        .value = &initial_ua_string,
-        .type = UA_TYPES_STRING,
-        .builtInType = UA_NS0ID_STRING,
-        .valueRank = UA_VALUERANK_SCALAR,
-        .arrayDimensionsSize = 0,
-        .arrayDimensions = NULL,
-        .getter.getString = get_log,
-    },
-};
-
-VariableStruct droneVariables = {
-    .nbVariable = DRONE_VARIABLE_NB,
-    .variableArray = droneVariableArray,
-};
-
-VariableData subscriberVariableArray[] = {
-    {
-        .name = "message",
-        .description = "Message to send to the other drones",
-        .value = &initial_ua_string,
-        .type = UA_TYPES_STRING,
-        .builtInType = UA_NS0ID_STRING,
-        .valueRank = UA_VALUERANK_SCALAR,
-        .arrayDimensionsSize = 0,
-        .arrayDimensions = NULL,
-        .getter.getString = get_message,
-    },
-};
-
-VariableStruct subscriberVariables = {
-    .nbVariable = SUBSCRIBER_VARIABLE_NB,
-    .variableArray = subscriberVariableArray,
-};
-
-#endif /* __DRONEDGE_H__ */

include/dronedge_protocol.h

+#ifndef __DRONEDGE_PROTOCOL_H__
+#define __DRONEDGE_PROTOCOL_H__
+
+#define POSITION_ARRAY_SIZE 5
+#define SPEED_ARRAY_SIZE 3
+
+/*
+ * 0. latitude (double, degrees)
+ * 1. longitude (double, degrees)
+ * 2. absolute altitude (double, meters)
+ * 3. relative altitude (double, meters)
+ * 4. timestamp (double, milliseconds)
+*/
+typedef enum
+{
+  LATITUDE = 0x0,
+  LONGITUDE,
+  ABS_ALTITUDE,
+  REL_ALTITUDE,
+  TIMESTAMP,
+} POSITION_ENUM;
+
+/*
+ * 0. yaw angle (float, degrees)
+ * 1. air speed (float, m/s)
+ * 2. climb rate (float, m/s)
+*/
+typedef enum
+{
+  YAW = 0x0,
+  SPEED,
+  CLIMB_RATE,
+} SPEED_ENUM;
+
+#endif /* __DRONEDGE_PROTOCOL_H__ */

include/pubsub.h

@@ -31,8 +31,6 @@ typedef struct {
     UA_Float  climbRate;
     char      message[MAX_MESSAGE_SIZE];
     UA_UInt32 messageId;
-    char      log[MAX_MESSAGE_SIZE];
-    UA_UInt32 logId;
 } JSDroneData;
 
 typedef struct {
@@ -81,8 +79,6 @@ int runPubsub(const UA_Logger *logger, UA_String *transportProfile,
 
 UA_String get_message(void);
 
-UA_String get_log(void);
-
 UA_UInt16 get_drone_id(UA_UInt32 nb);
 
 void init_drone_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic);
@@ -93,4 +89,7 @@ VariableData pubsub_get_value(UA_String identifier);
 
 DLL_PUBLIC JSModuleDef *js_init_module(JSContext *ctx, const char *module_name);
 
+void Subscriber_log(void *context, UA_LogLevel level, UA_LogCategory category,
+                    const char *msg, va_list args);
+
 #endif /* __PUBSUB_H__ */

qjs_wrapper.c

 #include <math.h>
 #include <pthread.h>
-#include "dronedge.h"
+#include <open62541/server.h>
+#include "dronedge_protocol.h"
+#include "pubsub.h"
+#ifdef WITH_AUTOPILOT
+#include "autopilot_API.h"
+#endif
+
+#define DRONE_VARIABLE_NB 3
+#define SUBSCRIBER_VARIABLE_NB 1
+struct strNode {
+  char *str;
+  struct strNode *next;
+};
+typedef struct {
+  struct strNode *head;
+  struct strNode *tail;
+} StrQueue;
+
+UA_Int64 positionArray[POSITION_ARRAY_SIZE] = { 0 };
+UA_UInt32 positionArrayDims[] = {POSITION_ARRAY_SIZE};
+
+UA_Double speedArray[SPEED_ARRAY_SIZE] = { 0 };
+UA_UInt32 speedArrayDims[] = {SPEED_ARRAY_SIZE};
+
+UA_String message = {
+    .length = 0,
+    .data = NULL,
+};
+
+VariableData droneVariableArray[] = {
+    {
+        .name = "positionArray",
+        .typeName = "Position Array Type",
+        .description = "Position Array",
+        .value = &positionArray,
+        .type = UA_TYPES_INT64,
+        .builtInType = UA_NS0ID_INT64,
+        .valueRank = UA_VALUERANK_ONE_DIMENSION,
+        .arrayDimensionsSize = 1,
+        .arrayDimensions = positionArrayDims,
+#ifdef WITH_AUTOPILOT
+        .getter.getArray = (void * (*)(void))getPositionArray,
+#endif
+    },
+    {
+        .name = "speedArray",
+        .typeName = "Speed Array Type",
+        .description = "Speed Array",
+        .value = &speedArray,
+        .type = UA_TYPES_FLOAT,
+        .builtInType = UA_NS0ID_FLOAT,
+        .valueRank = UA_VALUERANK_ONE_DIMENSION,
+        .arrayDimensionsSize = 1,
+        .arrayDimensions = speedArrayDims,
+#ifdef WITH_AUTOPILOT
+        .getter.getArray = (void * (*)(void))getSpeedArray,
+#endif
+    },
+    {
+        .name = "message",
+        .description = "Message to send to the other drones",
+        .value = &message,
+        .type = UA_TYPES_STRING,
+        .builtInType = UA_NS0ID_STRING,
+        .valueRank = UA_VALUERANK_SCALAR,
+        .arrayDimensionsSize = 0,
+        .arrayDimensions = NULL,
+        .getter.getString = get_message,
+    },
+};
+
+VariableStruct droneVariables = {
+    .nbVariable = DRONE_VARIABLE_NB,
+    .variableArray = droneVariableArray,
+};
+
+VariableData subscriberVariableArray[] = {
+    {
+        .name = "message",
+        .description = "Message to send to the other drones",
+        .value = &message,
+        .type = UA_TYPES_STRING,
+        .builtInType = UA_NS0ID_STRING,
+        .valueRank = UA_VALUERANK_SCALAR,
+        .arrayDimensionsSize = 0,
+        .arrayDimensions = NULL,
+        .getter.getString = get_message,
+    },
+};
+
+VariableStruct subscriberVariables = {
+    .nbVariable = SUBSCRIBER_VARIABLE_NB,
+    .variableArray = subscriberVariableArray,
+};
 
 static JSClassID jsDroneClassId;
 static JSClassID jsPositionClassId;
@@ -33,12 +126,13 @@ static void js_position_finalizer(JSRuntime *rt, JSValue val)
     js_free_rt(rt, s);
 }
 
+#ifdef WITH_AUTOPILOT
 static JSValue js_new_position(JSContext *ctx, JSValueConst thisVal,
                                int argc, JSValueConst *argv)
 {
     JSPositionData *s;
     JSValue obj;
-    UA_Int64 *positionArray;
+    UA_Int64 *newPositionArray;
     obj = JS_NewObjectClass(ctx, (int) jsPositionClassId);
     if (JS_IsException(obj))
         return obj;
@@ -47,15 +141,16 @@ static JSValue js_new_position(JSContext *ctx, JSValueConst thisVal,
         JS_FreeValue(ctx, obj);
         return JS_EXCEPTION;
     }
-    positionArray = getPositionArray();
-    s->x = (double)positionArray[0] / 1e7;
-    s->y = (double)positionArray[1] / 1e7;
-    s->z = (UA_Double)(positionArray[3] / 1000); //relative altitude
-    s->timestamp = positionArray[4];
+    newPositionArray = getPositionArray();
+    s->x = (double)newPositionArray[LATITUDE] / 1e7;
+    s->y = (double)newPositionArray[LONGITUDE] / 1e7;
+    s->z = (UA_Double)(newPositionArray[REL_ALTITUDE] / 1000);
+    s->timestamp = newPositionArray[TIMESTAMP];
     JS_SetOpaque(obj, s);
-    free(positionArray);
+    free(newPositionArray);
     return obj;
 }
+#endif
 
 static JSValue js_position_get(JSContext *ctx, JSValueConst thisVal, int magic)
 {
@@ -382,18 +477,18 @@ static void setDroneDataStr(void *data, char *str)
 static void pubsub_update_variables(UA_UInt32 id, const UA_DataValue *var, bool print)
 {
     JSDroneData* s;
-    UA_Int64*    positionArray;
-    UA_Float*     speedArray;
+    UA_Int64* updatedPositionArray;
+    UA_Float* updatedSpeedArray;
 
     for(UA_UInt32 i = 0; i < nbDrone + nbSubscriber; i++) {
         s = (JSDroneData *) JS_GetOpaque(droneObjectIdList[i], jsDroneClassId);
         if (s->positionArrayId == id) {
-            positionArray = (UA_Int64*) var->value.data;
-            s->latitude = (double)positionArray[0] / 1e7;
-            s->longitude = (double)positionArray[1] / 1e7;
-            s->altitudeAbs = (UA_Double)(positionArray[2] / 1000);
-            s->altitudeRel = (UA_Double)(positionArray[3] / 1000);
-            s->timestamp = positionArray[4];
+            updatedPositionArray = (UA_Int64*) var->value.data;
+            s->latitude = (double)updatedPositionArray[LATITUDE] / 1e7;
+            s->longitude = (double)updatedPositionArray[LONGITUDE] / 1e7;
+            s->altitudeAbs = (UA_Double)(updatedPositionArray[ABS_ALTITUDE] / 1000);
+            s->altitudeRel = (UA_Double)(updatedPositionArray[REL_ALTITUDE] / 1000);
+            s->timestamp = updatedPositionArray[TIMESTAMP];
 
             if (print) {
                 UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT,
@@ -402,10 +497,10 @@ static void pubsub_update_variables(UA_UInt32 id, const UA_DataValue *var, bool
             }
             return;
         } else if (s->speedArrayId == id) {
-            speedArray = (UA_Float*) var->value.data;
-            s->yaw = speedArray[0];
-            s->speed = speedArray[1];
-            s->climbRate = speedArray[2];
+            updatedSpeedArray = (UA_Float*) var->value.data;
+            s->yaw = updatedSpeedArray[YAW];
+            s->speed = updatedSpeedArray[SPEED];
+            s->climbRate = updatedSpeedArray[CLIMB_RATE];
 
             if (print) {
                 UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT,
@@ -537,7 +632,7 @@ static JSValue js_stop_pubsub(JSContext *ctx, JSValueConst thisVal,
 }
 
 // Connexion management functions
-
+#ifdef WITH_AUTOPILOT
 static JSValue js_start(JSContext *ctx, JSValueConst thisVal,
                                int argc, JSValueConst *argv)
 {
@@ -738,11 +833,14 @@ static JSValue js_updateLogAndProjection(JSContext *ctx, JSValueConst this_val,
     updateLogAndProjection();
     return JS_NewInt32(ctx, 0);
 }
+#endif
 
 static const JSCFunctionListEntry js_funcs[] = {
     JS_CFUNC_DEF("setMessage", 1, js_drone_set_message ),
     JS_CFUNC_DEF("runPubsub", 6, js_run_pubsub ),
     JS_CFUNC_DEF("stopPubsub", 0, js_stop_pubsub ),
+    JS_CFUNC_DEF("initPubsub", 2, js_init_pubsub ),
+#ifdef WITH_AUTOPILOT
     JS_CFUNC_DEF("start", 6, js_start ),
     JS_CFUNC_DEF("stop", 0, js_stop ),
     JS_CFUNC_DEF("reboot", 0, js_reboot ),
@@ -765,8 +863,8 @@ static const JSCFunctionListEntry js_funcs[] = {
     JS_CFUNC_DEF("gpsIsOk", 0, js_gpsIsOk ),
     JS_CFUNC_DEF("isLanding", 0, js_isLanding ),
     JS_CFUNC_DEF("healthAllOk", 0, js_healthAllOk ),
-    JS_CFUNC_DEF("initPubsub", 2, js_init_pubsub ),
     JS_CFUNC_DEF("updateLogAndProjection", 0, js_updateLogAndProjection ),
+#endif
 };
 
 static int js_init(JSContext *ctx, JSModuleDef *m)