pubsub: use message instead of checkpoint

include/dronedge.h

@@ -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.getUint32 = getLastCheckpoint
+        .name = "message",
+        .description = "Message to send to the other drones",
+        .value = &message,
+        .type = UA_TYPES_STRING,
+        .builtInType = UA_NS0ID_STRING,
+        .getter.getString = get_message
     },
 };
 

include/pubsub.h

@@ -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 lastCheckpointId;
+    char message[MAX_MESSAGE_SIZE];
+    UA_UInt32 messageId;
 } 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__ */

pubsub.c

@@ -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, interval, init_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, init_node_id,
-              get_reader_id, update);
+    subscribe(server, variableArray, nbVariable, id, nbReader, interval,
+              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, init_node_id,
-              get_reader_id, update);
+    subscribe(server, variableArray, nbVariable, id, nbReader, interval,
+              init_node_id, get_reader_id, update);
 
     retval = UA_Server_run(server, running);
     UA_Server_delete(server);

qjs_wrapper.c

+#include <pthread.h>
 #include "dronedge.h"
 
-static JSClassID js_drone_class_id;
+static JSClassID jsDroneClassId;
 
-static UA_Boolean pubsub_running = true;
+static UA_Boolean pubsubRunning = true;
 
 static UA_UInt32 nbDrone;
-static JSValueConst *drone_object_id_list;
+static JSValueConst *droneObjectIdList;
+static MessageQueue messageQueue = {
+    .head = NULL,
+    .tail = NULL,
+};
+UA_String currentMessage;
 
-static UA_UInt32 lastCheckpoint = 0;
+pthread_mutex_t mutex;
+pthread_cond_t threadCond;
 
 static void js_drone_finalizer(JSRuntime *rt, JSValue val)
 {
-    JSDroneData *s = (JSDroneData *) JS_GetOpaque(val, js_drone_class_id);
+    JSDroneData *s = (JSDroneData *) JS_GetOpaque(val, jsDroneClassId);
     js_free_rt(rt, s);
 }
 
-static JSValue js_drone_ctor(JSContext *ctx, JSValueConst new_target, 
+static JSValue js_drone_ctor(JSContext *ctx, JSValueConst newTarget, 
                              int argc, JSValueConst *argv)
 {
     JSDroneData *s;
@@ -30,10 +37,10 @@ static JSValue js_drone_ctor(JSContext *ctx, JSValueConst new_target,
         goto fail;
     s->id = (uint16_t)uint32;
 
-    proto = JS_GetPropertyStr(ctx, new_target, "prototype");
+    proto = JS_GetPropertyStr(ctx, newTarget, "prototype");
     if (JS_IsException(proto))
         goto fail;
-    obj = JS_NewObjectProtoClass(ctx, proto, js_drone_class_id);
+    obj = JS_NewObjectProtoClass(ctx, proto, jsDroneClassId);
     JS_FreeValue(ctx, proto);
     if (JS_IsException(obj))
         goto fail;
@@ -45,22 +52,23 @@ static JSValue js_drone_ctor(JSContext *ctx, JSValueConst new_target,
     return JS_EXCEPTION;
 }
 
-static JSValue js_drone_init(JSContext *ctx, JSValueConst this_val,
+static JSValue js_drone_init(JSContext *ctx, JSValueConst thisVal,
                              int argc, JSValueConst *argv)
 {
     int nb;
-    JSDroneData *s = (JSDroneData *) JS_GetOpaque2(ctx, this_val, js_drone_class_id);
+    JSDroneData *s = (JSDroneData *) JS_GetOpaque2(ctx, thisVal, jsDroneClassId);
     if (!s)
         return JS_EXCEPTION;
     if (JS_ToInt32(ctx, &nb, argv[0]))
         return JS_EXCEPTION;
-    drone_object_id_list[nb] = this_val;
+    droneObjectIdList[nb] = thisVal;
     return JS_UNDEFINED;
 }
 
-static JSValue js_drone_get(JSContext *ctx, JSValueConst this_val, int magic)
+static JSValue js_drone_get(JSContext *ctx, JSValueConst thisVal, int magic)
 {
-    JSDroneData *s = (JSDroneData *) JS_GetOpaque2(ctx, this_val, js_drone_class_id);
+    JSDroneData *s = (JSDroneData *) JS_GetOpaque2(ctx, thisVal, jsDroneClassId);
+    JSValue res;
     if (!s)
         return JS_EXCEPTION;
     switch(magic) {
@@ -75,28 +83,78 @@ static JSValue js_drone_get(JSContext *ctx, JSValueConst this_val, int magic)
         case 4:
             return JS_NewFloat64(ctx, s->altitudeRel);
         case 5:
-            return JS_NewUint32(ctx, s->lastCheckpoint);
+            pthread_mutex_lock(&mutex);
+            res = JS_NewString(ctx, s->message);
+            strcpy(s->message, "");
+            pthread_cond_signal(&threadCond);
+            pthread_mutex_unlock(&mutex);
+            return res;
         default:
             return JS_EXCEPTION;
     }
 }
 
-static JSValue js_drone_set_checkpoint(JSContext *ctx, JSValueConst this_val,
+static JSValue js_drone_set_message(JSContext *ctx, JSValueConst thisVal,
                                     int argc, JSValueConst *argv)
 {
-    uint32_t uint32;
-    if (JS_ToUint32(ctx, &uint32, argv[0]))
+    struct messageNode *newNode;
+    const char *message;
+
+    message = JS_ToCString(ctx, argv[0]);
+    if (strlen(message) > MAX_MESSAGE_SIZE) {
+        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "Message too long");
         return JS_EXCEPTION;
-    lastCheckpoint = (uint16_t)uint32;
+    }
+
+    newNode = (struct messageNode*)malloc(sizeof(struct messageNode));
+    newNode->message = strdup(message);
+    newNode->next = NULL;
+
+    if (messageQueue.tail == NULL) {
+        messageQueue.head = messageQueue.tail = newNode;
+    } else {
+        messageQueue.tail->next = newNode;
+        messageQueue.tail = newNode;
+    }
+
+    JS_FreeCString(ctx, message);
     return JS_UNDEFINED;
 }
 
-UA_UInt32 getLastCheckpoint(void)
+static void delete_message_node(struct messageNode *node) {
+    free(node->message);
+    free(node);
+}
+
+static UA_Boolean UA_String_isEmpty(const UA_String *s) {
+    return (s->length == 0 || s->data == NULL);
+}
+
+static void clear_message(UA_String message) {
+    if (!UA_String_isEmpty(&message))
+        UA_String_clear(&message); 
+}
+
+UA_String get_message(void)
 {
-    return lastCheckpoint;
+    struct messageNode *current;
+
+    current = messageQueue.head;
+    if (current == NULL) {
+        if (!UA_String_isEmpty(&currentMessage)) {
+            UA_String_clear(&currentMessage);
+            currentMessage = UA_STRING("");
+        }
+    } else {
+        clear_message(currentMessage);
+        currentMessage = UA_STRING_ALLOC(current->message);
+        messageQueue.head = current->next == NULL ? (messageQueue.tail = NULL) : current->next;
+        delete_message_node(current);
+    }
+    return currentMessage;
 }
 
-static JSClassDef js_drone_class = {
+static JSClassDef jsDroneClass = {
     "Drone",
     .finalizer = js_drone_finalizer,
 };
@@ -107,20 +165,15 @@ static const JSCFunctionListEntry js_drone_proto_funcs[] = {
     JS_CGETSET_MAGIC_DEF("longitude", js_drone_get, NULL, 2),
     JS_CGETSET_MAGIC_DEF("altitudeAbs", js_drone_get, NULL, 3),
     JS_CGETSET_MAGIC_DEF("altitudeRel", js_drone_get, NULL, 4),
-    JS_CGETSET_MAGIC_DEF("lastCheckpoint", js_drone_get, NULL, 5),
+    JS_CGETSET_MAGIC_DEF("message", js_drone_get, NULL, 5),
     JS_CFUNC_DEF("init", 1, js_drone_init),
 };
 
 UA_UInt16 get_drone_id(UA_UInt32 nb) {
-    JSDroneData *s = (JSDroneData *) JS_GetOpaque(drone_object_id_list[nb], js_drone_class_id);
+    JSDroneData *s = (JSDroneData *) JS_GetOpaque(droneObjectIdList[nb], jsDroneClassId);
     return s->id;
 }
 
-void stop_pubsub(void) {
-    pubsub_running = false;
-    free(drone_object_id_list);
-}
-
 VariableData pubsub_get_value(UA_String identifier) {
     VariableData var_details;
     UA_String name;
@@ -143,6 +196,9 @@ VariableData pubsub_get_value(UA_String identifier) {
                 case UA_TYPES_DATETIME:
                     *(UA_DateTime*)var_details.value = droneVariableArray[i].getter.getTimestamp();
                     break;
+                case UA_TYPES_STRING:
+                    *(UA_String*)var_details.value = droneVariableArray[i].getter.getString();
+                    break;
                 default:
                     UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "UA_TYPE not handled");
                     break;
@@ -155,7 +211,7 @@ VariableData pubsub_get_value(UA_String identifier) {
 }
 
 void init_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
-    JSDroneData *s = (JSDroneData *) JS_GetOpaque(drone_object_id_list[nb], js_drone_class_id);
+    JSDroneData *s = (JSDroneData *) JS_GetOpaque(droneObjectIdList[nb], jsDroneClassId);
     switch(magic) {
         case 0:
             s->latitudeId = id;
@@ -170,7 +226,7 @@ void init_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
             s->altitudeRelId = id;
             break;
         case 4:
-            s->lastCheckpointId = id;
+            s->messageId = id;
             break;
         default:
             break;
@@ -180,8 +236,9 @@ void init_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
 void pubsub_update_coordinates(UA_UInt32 id, const UA_DataValue *var)
 {
     JSDroneData *s;
+    UA_String uaStr;;
     for(UA_UInt32 i = 0; i < nbDrone; i++) {
-        s = (JSDroneData *) JS_GetOpaque(drone_object_id_list[i], js_drone_class_id);
+        s = (JSDroneData *) JS_GetOpaque(droneObjectIdList[i], jsDroneClassId);
         if (s->latitudeId == id) {
             s->latitude = *(UA_Double*) var->value.data;
             return;
@@ -194,8 +251,14 @@ void pubsub_update_coordinates(UA_UInt32 id, const UA_DataValue *var)
         } else if (s->altitudeRelId == id) {
             s->altitudeRel = *(UA_Float*) var->value.data;
             return;
-        } else if (s->lastCheckpointId == id) {
-            s->lastCheckpoint = *(UA_UInt32*) var->value.data;
+        } else if (s->messageId == id) {
+            uaStr = *(UA_String*) var->value.data;
+            pthread_mutex_lock(&mutex);
+            while(strlen(s->message) != 0)
+                pthread_cond_wait(&threadCond, &mutex);
+            memcpy(s->message, uaStr.data, uaStr.length);
+            s->message[uaStr.length] = '\0';
+            pthread_mutex_unlock(&mutex);
             return;
         }
     }
@@ -205,8 +268,9 @@ void pubsub_update_coordinates(UA_UInt32 id, const UA_DataValue *var)
 void pubsub_print_coordinates(UA_UInt32 id, const UA_DataValue *var)
 {
     JSDroneData *s;
+    UA_String uaStr;
     for(UA_UInt32 i = 0; i < nbDrone; i++) {
-        s = (JSDroneData *) JS_GetOpaque(drone_object_id_list[i], js_drone_class_id);
+        s = (JSDroneData *) JS_GetOpaque(droneObjectIdList[i], jsDroneClassId);
         if (s->latitudeId == id) {
             s->latitude = *(UA_Double*) var->value.data;
             UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Received latitude of drone %d: %f°", s->id, s->latitude);
@@ -223,9 +287,11 @@ void pubsub_print_coordinates(UA_UInt32 id, const UA_DataValue *var)
             s->altitudeRel = *(UA_Float*) var->value.data;
             UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Received relative altitude of drone %d: %fm", s->id, s->altitudeRel);
             return;
-        } else if (s->lastCheckpointId == id) {
-            s->lastCheckpoint = *(UA_UInt32*) var->value.data;
-            UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Received checkpoint of drone %d: %dm", s->id, s->lastCheckpoint);
+        } else if (s->messageId == id) {
+            uaStr = *(UA_String*) var->value.data;
+            memcpy(s->message, uaStr.data, uaStr.length);
+            s->message[uaStr.length] = '\0';
+            UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Received message of drone %d: %s", s->id, s->message);
             return;
         }
     }
@@ -237,73 +303,88 @@ void pubsub_print_coordinates(UA_UInt32 id, const UA_DataValue *var)
  * arg 1 (string): port used for multicast communication
  * arg 2 (string): network interface used for multicast communication
  * arg 3 (int): ID of the drone
- * arg 4 (bool): true if there will be data to publish
+ * arg 4 (double): publication/subscription interval in ms
+ * arg 5 (bool): true if there will be data to publish
 */
 static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
                              int argc, JSValueConst *argv)
 {
     const char *ipv6;
     const char *port;
-    const char *net_iface;
-    char *not_const_net_iface;
+    const char *netIface;
+    char *notConstNetIface;
     char urlBuffer[44];
     UA_UInt32 id;
+    UA_Duration interval;
     int res;
 
     ipv6 = JS_ToCString(ctx, argv[0]);
     port = JS_ToCString(ctx, argv[1]);
-    net_iface = JS_ToCString(ctx, argv[2]);
+    netIface = JS_ToCString(ctx, argv[2]);
     UA_snprintf(urlBuffer, sizeof(urlBuffer), "opc.udp://[%s]:%s/", ipv6, port);
 
     UA_String transportProfile =
         UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp");
 
     UA_NetworkAddressUrlDataType networkAddressUrl;
-    not_const_net_iface = strdup(net_iface);
-    networkAddressUrl.networkInterface = UA_STRING(not_const_net_iface);
+    notConstNetIface = strdup(netIface);
+    networkAddressUrl.networkInterface = UA_STRING(notConstNetIface);
     networkAddressUrl.url              = UA_STRING(urlBuffer);
 
     if (JS_ToUint32(ctx, &id, argv[3]))
         return JS_EXCEPTION;
 
-    if (JS_ToBool(ctx, argv[4])) {
+    if (JS_ToFloat64(ctx, &interval, argv[4]))
+        return JS_EXCEPTION;
+
+    if (JS_ToBool(ctx, argv[5])) {
         res = runPubsub(&transportProfile, &networkAddressUrl,
                         droneVariableArray, countof(droneVariableArray), id,
-                        nbDrone, init_node_id, get_drone_id, pubsub_get_value,
-                        pubsub_update_coordinates, &pubsub_running);
+                        nbDrone, interval, init_node_id, get_drone_id,
+                        pubsub_get_value, pubsub_update_coordinates,
+                        &pubsubRunning);
     } else {
         res = subscribeOnly(&transportProfile, &networkAddressUrl,
                             droneVariableArray, countof(droneVariableArray), id,
-                            nbDrone, init_node_id, get_drone_id,
-                            pubsub_print_coordinates, &pubsub_running);
+                            nbDrone, interval, init_node_id, get_drone_id,
+                            pubsub_print_coordinates, &pubsubRunning);
     }
 
     JS_FreeCString(ctx, ipv6);
     JS_FreeCString(ctx, port);
-    free(not_const_net_iface);
-    JS_FreeCString(ctx, net_iface);
+    free(notConstNetIface);
+    JS_FreeCString(ctx, netIface);
     return JS_NewInt32(ctx, res);
 }
 
-static JSValue js_init_pubsub(JSContext *ctx, JSValueConst this_val,
+static JSValue js_init_pubsub(JSContext *ctx, JSValueConst thisVal,
                               int argc, JSValueConst *argv)
 {
     if (JS_ToUint32(ctx, &nbDrone, argv[0]))
         return JS_EXCEPTION;
 
-    drone_object_id_list = (JSValue *) malloc(nbDrone * sizeof(JSValueConst));
+    droneObjectIdList = (JSValue *) malloc(nbDrone * sizeof(JSValueConst));
     return JS_NewInt32(ctx, 0);
 }
 
-static JSValue js_stop_pubsub(JSContext *ctx, JSValueConst this_val,
+static JSValue js_stop_pubsub(JSContext *ctx, JSValueConst thisVal,
                               int argc, JSValueConst *argv)
 {
-    pubsub_running = false;
-    free(drone_object_id_list);
+    struct messageNode *current;
+
+    pubsubRunning = false;
+    free(droneObjectIdList);
+
+    while (messageQueue.head != NULL) {
+        current = messageQueue.head;
+        messageQueue.head = current->next;
+        delete_message_node(current);
+    }
+    clear_message(currentMessage);
     return JS_NewInt32(ctx, 0);
 }
 
-static JSValue js_mavsdk_start(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_start(JSContext *ctx, JSValueConst thisVal,
                                int argc, JSValueConst *argv)
 {
     const char *url;
@@ -323,13 +404,13 @@ static JSValue js_mavsdk_start(JSContext *ctx, JSValueConst this_val,
     return JS_NewInt32(ctx, res);
 }
 
-static JSValue js_mavsdk_stop(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_stop(JSContext *ctx, JSValueConst thisVal,
                               int argc, JSValueConst *argv)
 {
     return JS_NewInt32(ctx, mavsdk_stop());
 }
 
-static JSValue js_mavsdk_reboot(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_reboot(JSContext *ctx, JSValueConst thisVal,
                                 int argc, JSValueConst *argv)
 {
     return JS_NewInt32(ctx, mavsdk_reboot());
@@ -360,7 +441,7 @@ static JSValue js_mavsdk_arm(JSContext *ctx, JSValueConst this_val,
 }
 
 static JSValue js_mavsdk_setTargetCoordinates(JSContext *ctx,
-                                              JSValueConst this_val,
+                                              JSValueConst thisVal,
                                               int argc, JSValueConst *argv)
 {
     double la_arg_double;
@@ -386,7 +467,7 @@ static JSValue js_mavsdk_setManualControlInput(JSContext *ctx,
     return JS_NewInt32(ctx, mavsdk_setManualControlInput());
 }
 
-static JSValue js_mavsdk_setAltitude(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_setAltitude(JSContext *ctx, JSValueConst thisVal,
                                      int argc, JSValueConst *argv)
 {
     double altitude;
@@ -397,7 +478,7 @@ static JSValue js_mavsdk_setAltitude(JSContext *ctx, JSValueConst this_val,
     return JS_NewInt32(ctx, mavsdk_setAltitude((float)altitude));
 }
 
-static JSValue js_mavsdk_setAirspeed(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_setAirspeed(JSContext *ctx, JSValueConst thisVal,
                                      int argc, JSValueConst *argv)
 {
     double altitude;
@@ -408,65 +489,65 @@ static JSValue js_mavsdk_setAirspeed(JSContext *ctx, JSValueConst this_val,
     return JS_NewInt32(ctx, mavsdk_setAirspeed((float)altitude));
 }
 
-static JSValue js_mavsdk_getYaw(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_getYaw(JSContext *ctx, JSValueConst thisVal,
                                 int argc, JSValueConst *argv)
 {
     return JS_NewFloat64(ctx, mavsdk_getYaw());
 }
 
 static JSValue js_mavsdk_getInitialLatitude(JSContext *ctx,
-                                            JSValueConst this_val,
+                                            JSValueConst thisVal,
                                             int argc, JSValueConst *argv)
 {
     return JS_NewFloat64(ctx, mavsdk_getInitialLatitude());
 }
 
-static JSValue js_mavsdk_getLatitude(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_getLatitude(JSContext *ctx, JSValueConst thisVal,
                                      int argc, JSValueConst *argv)
 {
     return JS_NewFloat64(ctx, mavsdk_getLatitude());
 }
 
 static JSValue js_mavsdk_getInitialLongitude(JSContext *ctx,
-                                             JSValueConst this_val,
+                                             JSValueConst thisVal,
                                              int argc, JSValueConst *argv)
 {
     return JS_NewFloat64(ctx, mavsdk_getInitialLongitude());
 }
 
-static JSValue js_mavsdk_getLongitude(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_getLongitude(JSContext *ctx, JSValueConst thisVal,
                                       int argc, JSValueConst *argv)
 {
     return JS_NewFloat64(ctx, mavsdk_getLongitude());
 }
 
 static JSValue js_mavsdk_getTakeOffAltitude(JSContext *ctx,
-                                            JSValueConst this_val,
+                                            JSValueConst thisVal,
                                             int argc, JSValueConst *argv)
 {
     return JS_NewFloat64(ctx, mavsdk_getTakeOffAltitude());
 }
 
 static JSValue js_mavsdk_getInitialAltitude(JSContext *ctx,
-                                            JSValueConst this_val,
+                                            JSValueConst thisVal,
                                             int argc, JSValueConst *argv)
 {
     return JS_NewFloat64(ctx, mavsdk_getInitialAltitude());
 }
 
-static JSValue js_mavsdk_getAltitude(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_getAltitude(JSContext *ctx, JSValueConst thisVal,
                                      int argc, JSValueConst *argv)
 {
     return JS_NewFloat64(ctx, mavsdk_getAltitude());
 }
 
-static JSValue js_mavsdk_getAltitudeRel(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_getAltitudeRel(JSContext *ctx, JSValueConst thisVal,
                                         int argc, JSValueConst *argv)
 {
     return JS_NewFloat64(ctx, mavsdk_getAltitudeRel());
 }
 
-static JSValue js_mavsdk_loiter(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_loiter(JSContext *ctx, JSValueConst thisVal,
                                 int argc, JSValueConst *argv)
 {
     double radius = 100;
@@ -484,19 +565,19 @@ static JSValue js_mavsdk_triggerParachute(JSContext *ctx, JSValueConst this_val,
     return JS_NewInt32(ctx, mavsdk_triggerParachute());
 }
 
-static JSValue js_mavsdk_takeOff(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_takeOff(JSContext *ctx, JSValueConst thisVal,
                                  int argc, JSValueConst *argv)
 {
     return JS_NewInt32(ctx, mavsdk_takeOff());
 }
 
-static JSValue js_mavsdk_takeOffAndWait(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_takeOffAndWait(JSContext *ctx, JSValueConst thisVal,
                                         int argc, JSValueConst *argv)
 {
     return JS_NewInt32(ctx, mavsdk_takeOffAndWait());
 }
 
-static JSValue js_mavsdk_land(JSContext *ctx, JSValueConst this_val,
+static JSValue js_mavsdk_land(JSContext *ctx, JSValueConst thisVal,
                               int argc, JSValueConst *argv)
 {
     return JS_NewInt32(ctx, mavsdk_land());
@@ -529,28 +610,28 @@ static const JSCFunctionListEntry js_mavsdk_funcs[] = {
     JS_CFUNC_DEF("takeOffAndWait", 0, js_mavsdk_takeOffAndWait ),
     JS_CFUNC_DEF("land", 0, js_mavsdk_land ),
     JS_CFUNC_DEF("initPubsub", 1, js_init_pubsub ),
-    JS_CFUNC_DEF("runPubsub", 5, js_run_pubsub ),
-    JS_CFUNC_DEF("setCheckpoint", 1, js_drone_set_checkpoint ),
+    JS_CFUNC_DEF("runPubsub", 6, js_run_pubsub ),
+    JS_CFUNC_DEF("setMessage", 1, js_drone_set_message ),
     JS_CFUNC_DEF("stopPubsub", 0, js_stop_pubsub ),
 };
 
 static int js_mavsdk_init(JSContext *ctx, JSModuleDef *m)
 {
-    JSValue drone_proto, drone_class;
+    JSValue droneProto, droneClass;
 
-    JS_NewClassID(&js_drone_class_id);
-    JS_NewClass(JS_GetRuntime(ctx), js_drone_class_id, &js_drone_class);
+    JS_NewClassID(&jsDroneClassId);
+    JS_NewClass(JS_GetRuntime(ctx), jsDroneClassId, &jsDroneClass);
 
-    drone_proto = JS_NewObject(ctx);
-    JS_SetPropertyFunctionList(ctx, drone_proto, js_drone_proto_funcs,
+    droneProto = JS_NewObject(ctx);
+    JS_SetPropertyFunctionList(ctx, droneProto, js_drone_proto_funcs,
                                countof(js_drone_proto_funcs));
 
-    drone_class = JS_NewCFunction2(ctx, js_drone_ctor, "Drone", 1,
+    droneClass = JS_NewCFunction2(ctx, js_drone_ctor, "Drone", 1,
                                    JS_CFUNC_constructor, 0);
-    JS_SetConstructor(ctx, drone_class, drone_proto);
-    JS_SetClassProto(ctx, js_drone_class_id, drone_proto);
+    JS_SetConstructor(ctx, droneClass, droneProto);
+    JS_SetClassProto(ctx, jsDroneClassId, droneProto);
 
-    JS_SetModuleExport(ctx, m, "Drone", drone_class);
+    JS_SetModuleExport(ctx, m, "Drone", droneClass);
 
     return JS_SetModuleExportList(ctx, m, js_mavsdk_funcs,
                                   countof(js_mavsdk_funcs));