Skip to content
Projects
Groups
Snippets
Help
Loading...
Help
Support
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Q
qjs-wrapper
Project overview
Project overview
Details
Activity
Releases
Repository
Repository
Files
Commits
Branches
Tags
Contributors
Graph
Compare
Issues
0
Issues
0
List
Boards
Labels
Milestones
Merge Requests
0
Merge Requests
0
CI / CD
CI / CD
Pipelines
Jobs
Schedules
Analytics
Analytics
CI / CD
Repository
Value Stream
Wiki
Wiki
Snippets
Snippets
Members
Members
Collapse sidebar
Close sidebar
Activity
Graph
Create a new issue
Jobs
Commits
Issue Boards
Open sidebar
nexedi
qjs-wrapper
Commits
460a8cf2
Commit
460a8cf2
authored
Sep 16, 2022
by
Thomas Gambier
🚴🏼
Browse files
Options
Browse Files
Download
Plain Diff
Comply with simulator API
See merge request
!3
parents
3ea4a41c
598b5b79
Changes
7
Expand all
Hide whitespace changes
Inline
Side-by-side
Showing
7 changed files
with
440 additions
and
402 deletions
+440
-402
Makefile
Makefile
+3
-3
include/dronedge.h
include/dronedge.h
+19
-7
include/mavsdk_wrapper.h
include/mavsdk_wrapper.h
+5
-13
include/pubsub.h
include/pubsub.h
+11
-10
mavsdk_wrapper.cpp
mavsdk_wrapper.cpp
+124
-149
pubsub.c
pubsub.c
+14
-12
qjs_wrapper.c
qjs_wrapper.c
+264
-208
No files found.
Makefile
View file @
460a8cf2
CFLAGS
=
-std
=
c99
-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
-fPIC
-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
-fPIC
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
-fPIC
-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
-fPIC
CXXFLAGS
=
-pipe
-Wall
-Wextra
-Wpedantic
-Werror
-Wno-overlength-strings
-Wno-unused-parameter
-Wformat
-Wformat-security
-Wformat-nonliteral
-Wredundant-decls
-Wuninitialized
-Winit-self
-Wcast-qual
-Wstrict-overflow
-Wmultichar
-Wundef
-fno-strict-aliasing
-fexceptions
-fPIC
-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
-fPIC
LDFLAGS
+=
-std
=
c99
-pipe
-Wall
-Wextra
-Wpedantic
-Werror
-Wno-static-in-inline
-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
-fPIC
-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
-fPIC
LIBS
=
-lstdc
++
-lmavsdk
-lmavsdk_action
-lmavsdk_mavlink_passthrough
-lmavsdk_telemetry
-lopen62541
LDFLAGS
+=
-std
=
c99
-
D_POSIX_C_SOURCE
=
200809L
-
pipe
-Wall
-Wextra
-Wpedantic
-Werror
-Wno-static-in-inline
-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
-fPIC
-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
-fPIC
LIBS
=
-lstdc
++
-lmavsdk
-lmavsdk_action
-lmavsdk_ma
nual_control
-lmavsdk_ma
vlink_passthrough
-lmavsdk_telemetry
-lopen62541
LIB_NAME
:=
libqjswrapper.so
...
...
include/dronedge.h
View file @
460a8cf2
...
...
@@ -5,11 +5,23 @@
#include "mavsdk_wrapper.h"
#include "pubsub.h"
struct
messageNode
{
char
*
message
;
struct
messageNode
*
next
;
};
typedef
struct
{
struct
messageNode
*
head
;
struct
messageNode
*
tail
;
}
MessageQueue
;
UA_Double
latitude
=
0
;
UA_Double
longitude
=
0
;
UA_Float
altitude_abs
=
0
;
UA_Float
altitude_rel
=
0
;
UA_UInt32
last_checkpoint
=
0
;
UA_String
message
=
{
.
length
=
0
,
.
data
=
NULL
,
};
VariableData
droneVariableArray
[]
=
{
{
...
...
@@ -45,12 +57,12 @@ VariableData droneVariableArray[] = {
.
getter
.
getFloat
=
mavsdk_getAltitudeRel
,
},
{
.
name
=
"
last_checkpoint
"
,
.
description
=
"
Last checkpoint flown over
"
,
.
value
=
&
last_checkpoint
,
.
type
=
UA_TYPES_
UINT32
,
.
builtInType
=
UA_NS0ID_
UINT32
,
.
getter
.
get
Uint32
=
getLastCheckpoint
.
name
=
"
message
"
,
.
description
=
"
Message to send to the other drones
"
,
.
value
=
&
message
,
.
type
=
UA_TYPES_
STRING
,
.
builtInType
=
UA_NS0ID_
STRING
,
.
getter
.
get
String
=
get_message
},
};
...
...
include/mavsdk_wrapper.h
View file @
460a8cf2
...
...
@@ -12,20 +12,17 @@ int mavsdk_reboot(void);
// Flight state management functions
int
mavsdk_arm
(
void
);
int
mavsdk_doParachute
(
float
param
);
int
mavsdk_loiter
();
int
mavsdk_land
(
void
);
int
mavsdk_takeOff
(
void
);
int
mavsdk_takeOffAndWait
(
void
);
int
mavsdk_triggerParachute
(
void
);
// Flight management functions
int
mavsdk_
doReposition
(
float
la
,
float
lo
,
float
a
,
float
y
);
int
mavsdk_
loiter
(
float
radius
);
int
mavsdk_setAirspeed
(
float
airspeed
);
int
mavsdk_setAltitude
(
float
altitude
);
int
mavsdk_setTargetAltitude
(
float
a
);
int
mavsdk_setTargetCoordinates
(
double
la
,
double
lo
,
float
a
,
float
y
);
int
mavsdk_setTargetCoordinatesXYZ
(
double
x
,
double
y
,
float
z
);
int
mavsdk_setTargetLatLong
(
double
la
,
double
lo
);
int
mavsdk_setTargetCoordinates
(
double
la
,
double
lo
,
float
a
);
int
mavsdk_setManualControlInput
(
void
);
// Information functions
float
mavsdk_getAltitude
(
void
);
...
...
@@ -35,15 +32,10 @@ double mavsdk_getInitialLatitude(void);
double
mavsdk_getInitialLongitude
(
void
);
double
mavsdk_getLatitude
(
void
);
double
mavsdk_getLongitude
(
void
);
uint64_t
mavsdk_getTimestamp
(
void
);
double
mavsdk_getTakeOffAltitude
(
void
);
float
mavsdk_getPitch
(
void
);
float
mavsdk_getRoll
(
void
);
float
mavsdk_getYaw
(
void
);
float
mavsdk_getAirspeed
(
void
);
float
mavsdk_getClimbRate
(
void
);
float
mavsdk_getThrottle
(
void
);
int
mavsdk_healthAllOk
(
void
);
bool
mavsdk_isInManualMode
(
void
);
int
mavsdk_landed
(
void
);
#ifdef __cplusplus
}
...
...
include/pubsub.h
View file @
460a8cf2
...
...
@@ -13,6 +13,8 @@
#define DATA_SET_WRITER_ID 1
#define WRITER_GROUP_ID 1
#define MAX_MESSAGE_SIZE 1024
typedef
struct
{
UA_UInt16
id
;
UA_Double
latitude
;
...
...
@@ -23,8 +25,8 @@ typedef struct {
UA_UInt32
altitudeAbsId
;
UA_Float
altitudeRel
;
UA_UInt32
altitudeRelId
;
UA_UInt32
lastCheckpoint
;
UA_UInt32
lastCheckpoint
Id
;
char
message
[
MAX_MESSAGE_SIZE
]
;
UA_UInt32
message
Id
;
}
JSDroneData
;
typedef
struct
{
...
...
@@ -34,10 +36,11 @@ typedef struct {
int
type
;
UA_Byte
builtInType
;
union
{
UA_UInt32
(
*
getUint32
)(
void
);
UA_Float
(
*
getFloat
)(
void
);
UA_Double
(
*
getDouble
)(
void
);
UA_DateTime
(
*
getTimestamp
)(
void
);
UA_Double
(
*
getDouble
)(
void
);
UA_Float
(
*
getFloat
)(
void
);
UA_String
(
*
getString
)(
void
);
UA_UInt32
(
*
getUint32
)(
void
);
}
getter
;
}
VariableData
;
...
...
@@ -45,7 +48,7 @@ typedef struct {
int
subscribeOnly
(
UA_String
*
transportProfile
,
UA_NetworkAddressUrlDataType
*
networkAddressUrl
,
VariableData
*
variableArray
,
size_t
nbVariable
,
UA_UInt32
id
,
UA_UInt32
nbReader
,
UA_UInt32
id
,
UA_UInt32
nbReader
,
UA_Duration
interval
,
void
(
*
init_node_id
)(
UA_UInt32
id
,
UA_UInt32
nb
,
UA_UInt32
magic
),
UA_UInt16
(
*
get_reader_id
)(
UA_UInt32
nb
),
void
(
*
update
)(
UA_UInt32
id
,
const
UA_DataValue
*
),
...
...
@@ -54,14 +57,14 @@ int subscribeOnly(UA_String *transportProfile,
int
runPubsub
(
UA_String
*
transportProfile
,
UA_NetworkAddressUrlDataType
*
networkAddressUrl
,
VariableData
*
variableArray
,
size_t
nbVariable
,
UA_UInt32
id
,
UA_UInt32
nbReader
,
UA_UInt32
id
,
UA_UInt32
nbReader
,
UA_Duration
interval
,
void
(
*
init_node_id
)(
UA_UInt32
id
,
UA_UInt32
nb
,
UA_UInt32
magic
),
UA_UInt16
(
*
get_reader_id
)(
UA_UInt32
nb
),
VariableData
(
*
get_value
)(
UA_String
identifier
),
void
(
*
update
)(
UA_UInt32
id
,
const
UA_DataValue
*
),
UA_Boolean
*
running
);
UA_
UInt32
getLastCheckpoint
(
void
);
UA_
String
get_message
(
void
);
UA_UInt16
get_drone_id
(
UA_UInt32
nb
);
...
...
@@ -73,8 +76,6 @@ void pubsub_print_coordinates(UA_UInt32 id, const UA_DataValue *var);
VariableData
pubsub_get_value
(
UA_String
identifier
);
void
stop_pubsub
(
void
);
DLL_PUBLIC
JSModuleDef
*
js_init_module
(
JSContext
*
ctx
,
const
char
*
module_name
);
#endif
/* __PUBSUB_H__ */
mavsdk_wrapper.cpp
View file @
460a8cf2
This diff is collapsed.
Click to expand it.
pubsub.c
View file @
460a8cf2
...
...
@@ -135,13 +135,13 @@ addDataSetField(UA_Server *server, VariableData varDetails) {
* The WriterGroup (WG) is part of the connection and contains the primary
* configuration parameters for the message creation. */
static
void
addWriterGroup
(
UA_Server
*
server
)
{
addWriterGroup
(
UA_Server
*
server
,
UA_Duration
publishingInterval
)
{
/* Now we create a new WriterGroupConfig and add the group to the existing
* PubSubConnection. */
UA_WriterGroupConfig
writerGroupConfig
;
memset
(
&
writerGroupConfig
,
0
,
sizeof
(
UA_WriterGroupConfig
));
writerGroupConfig
.
name
=
UA_STRING
(
"Demo WriterGroup"
);
writerGroupConfig
.
publishingInterval
=
100
;
writerGroupConfig
.
publishingInterval
=
publishingInterval
;
writerGroupConfig
.
enabled
=
UA_FALSE
;
writerGroupConfig
.
writerGroupId
=
WRITER_GROUP_ID
;
writerGroupConfig
.
encodingMimeType
=
UA_PUBSUB_ENCODING_UADP
;
...
...
@@ -245,7 +245,8 @@ dataChangeNotificationCallback(UA_Server *server, UA_UInt32 monitoredItemId,
* Set SubscribedDataSet type to TargetVariables data type.
* Add subscribedvariables to the DataSetReader */
static
UA_StatusCode
addSubscribedVariables
(
UA_Server
*
server
,
UA_NodeId
dataSetReaderId
,
UA_UInt32
nb
,
addSubscribedVariables
(
UA_Server
*
server
,
UA_NodeId
dataSetReaderId
,
UA_UInt32
nb
,
UA_Duration
samplingInterval
,
void
(
*
init_node_id
)(
UA_UInt32
id
,
UA_UInt32
nb
,
UA_UInt32
magic
))
{
if
(
server
==
NULL
)
return
UA_STATUSCODE_BADINTERNALERROR
;
...
...
@@ -302,6 +303,7 @@ addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId, UA_UInt32 n
/*monitor variable*/
UA_MonitoredItemCreateRequest
monRequest
=
UA_MonitoredItemCreateRequest_default
(
newNode
);
init_node_id
(
newNode
.
identifier
.
numeric
,
nb
,
i
);
monRequest
.
requestedParameters
.
samplingInterval
=
samplingInterval
;
UA_Server_createDataChangeMonitoredItem
(
server
,
UA_TIMESTAMPSTORETURN_SOURCE
,
monRequest
,
NULL
,
dataChangeNotificationCallback
);
...
...
@@ -375,7 +377,7 @@ setServer(UA_String *transportProfile,
static
UA_StatusCode
subscribe
(
UA_Server
*
server
,
VariableData
*
variableArray
,
size_t
nbVariable
,
UA_UInt32
id
,
UA_UInt32
nbReader
,
UA_UInt32
id
,
UA_UInt32
nbReader
,
UA_Duration
interval
,
void
(
*
init_node_id
)(
UA_UInt32
id
,
UA_UInt32
nb
,
UA_UInt32
magic
),
UA_UInt16
(
*
get_reader_id
)(
UA_UInt32
nb
),
void
(
*
update
)(
UA_UInt32
id
,
const
UA_DataValue
*
))
{
...
...
@@ -405,7 +407,7 @@ subscribe(UA_Server *server,
return
EXIT_FAILURE
;
/* Add SubscribedVariables to the created DataSetReader */
retval
=
addSubscribedVariables
(
server
,
readerIdent
,
i
,
init_node_id
);
retval
=
addSubscribedVariables
(
server
,
readerIdent
,
i
,
in
terval
,
in
it_node_id
);
if
(
retval
!=
UA_STATUSCODE_GOOD
)
return
EXIT_FAILURE
;
}
...
...
@@ -416,7 +418,7 @@ subscribe(UA_Server *server,
int
subscribeOnly
(
UA_String
*
transportProfile
,
UA_NetworkAddressUrlDataType
*
networkAddressUrl
,
VariableData
*
variableArray
,
size_t
nbVariable
,
UA_UInt32
id
,
UA_UInt32
nbReader
,
UA_UInt32
id
,
UA_UInt32
nbReader
,
UA_Duration
interval
,
void
(
*
init_node_id
)(
UA_UInt32
id
,
UA_UInt32
nb
,
UA_UInt32
magic
),
UA_UInt16
(
*
get_reader_id
)(
UA_UInt32
nb
),
void
(
*
update
)(
UA_UInt32
id
,
const
UA_DataValue
*
),
...
...
@@ -426,8 +428,8 @@ int subscribeOnly(UA_String *transportProfile,
server
=
setServer
(
transportProfile
,
networkAddressUrl
,
id
);
subscribe
(
server
,
variableArray
,
nbVariable
,
id
,
nbReader
,
in
it_node_id
,
get_reader_id
,
update
);
subscribe
(
server
,
variableArray
,
nbVariable
,
id
,
nbReader
,
in
terval
,
init_node_id
,
get_reader_id
,
update
);
retval
=
UA_Server_run
(
server
,
running
);
UA_Server_delete
(
server
);
...
...
@@ -437,7 +439,7 @@ int subscribeOnly(UA_String *transportProfile,
int
runPubsub
(
UA_String
*
transportProfile
,
UA_NetworkAddressUrlDataType
*
networkAddressUrl
,
VariableData
*
variableArray
,
size_t
nbVariable
,
UA_UInt32
id
,
UA_UInt32
nbReader
,
UA_UInt32
id
,
UA_UInt32
nbReader
,
UA_Duration
interval
,
void
(
*
init_node_id
)(
UA_UInt32
id
,
UA_UInt32
nb
,
UA_UInt32
magic
),
UA_UInt16
(
*
get_reader_id
)(
UA_UInt32
nb
),
VariableData
(
*
get_value
)(
UA_String
identifier
),
...
...
@@ -460,15 +462,15 @@ int runPubsub(UA_String *transportProfile,
addDataSetField
(
server
,
variableArray
[
i
]);
}
addWriterGroup
(
server
);
addWriterGroup
(
server
,
interval
);
retval
=
addDataSetWriter
(
server
);
if
(
retval
!=
UA_STATUSCODE_GOOD
)
return
EXIT_FAILURE
;
/* Subscribing */
subscribe
(
server
,
variableArray
,
nbVariable
,
id
,
nbReader
,
in
it_node_id
,
get_reader_id
,
update
);
subscribe
(
server
,
variableArray
,
nbVariable
,
id
,
nbReader
,
in
terval
,
init_node_id
,
get_reader_id
,
update
);
retval
=
UA_Server_run
(
server
,
running
);
UA_Server_delete
(
server
);
...
...
qjs_wrapper.c
View file @
460a8cf2
This diff is collapsed.
Click to expand it.
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment