support subscriber instance

See merge request !9

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 3
-#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 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,
-        .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 = &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,
-};
-
-void Subscriber_log(void *context, UA_LogLevel level, UA_LogCategory category,
-                    const char *msg, va_list args);
-
-#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

@@ -15,7 +15,7 @@
 #define DATA_SET_WRITER_ID 1
 #define WRITER_GROUP_ID 1
 
-#define MAX_MESSAGE_SIZE 1024
+#define MAX_STR_SIZE 1024
 
 typedef struct {
     UA_UInt16 id;
@@ -29,8 +29,10 @@ typedef struct {
     UA_Float  yaw;
     UA_Float  speed;
     UA_Float  climbRate;
-    char      message[MAX_MESSAGE_SIZE];
+    char      message[MAX_STR_SIZE];
     UA_UInt32 messageId;
+    char      log[MAX_STR_SIZE];
+    UA_UInt32 logId;
 } JSDroneData;
 
 typedef struct {
@@ -79,6 +81,8 @@ 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);

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 4
+#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 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,
+#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 = &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,
+};
 
-# define ANSI_COLOR_RED     "\x1b[31m"
-# define ANSI_COLOR_GREEN   "\x1b[32m"
-# define ANSI_COLOR_YELLOW  "\x1b[33m"
-# define ANSI_COLOR_BLUE    "\x1b[34m"
-# define ANSI_COLOR_MAGENTA "\x1b[35m"
-# define ANSI_COLOR_CYAN    "\x1b[36m"
-# define ANSI_COLOR_RESET   "\x1b[0m"
+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,
+};
 
 static JSClassID jsDroneClassId;
 static JSClassID jsPositionClassId;
@@ -19,30 +115,21 @@ static UA_Boolean pubsubExited = true;
 static UA_UInt32 nbDrone;
 static UA_UInt32 nbSubscriber;
 static JSValueConst *droneObjectIdList;
-static MessageQueue logQueue = {
+static StrQueue messageQueue = {
     .head = NULL,
     .tail = NULL,
 };
-static MessageQueue messageQueue = {
+UA_String currentMessage;
+static StrQueue logQueue = {
     .head = NULL,
     .tail = NULL,
 };
-UA_String currentMessage;
-
-const UA_Logger Subscriber_Log = {Subscriber_log, NULL, UA_Log_Stdout_clear};
-const UA_Logger *logger;
+UA_String currentLog;
 
 pthread_mutex_t mutex;
 pthread_cond_t threadCond;
 
-const char *logLevelNames[6] = {"trace", "debug",
-                                ANSI_COLOR_GREEN "info",
-                                ANSI_COLOR_YELLOW "warn",
-                                ANSI_COLOR_RED "error",
-                                ANSI_COLOR_MAGENTA "fatal"};
-const char *logCategoryNames[10] =
-    {"network", "channel", "session", "server", "client",
-     "userland", "securitypolicy", "eventloop", "pubsub", "discovery"};
+bool isADrone;
 
 // Position class functions
 
@@ -52,12 +139,13 @@ 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;
@@ -66,15 +154,16 @@ 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)
 {
@@ -158,10 +247,21 @@ static JSValue js_drone_init(JSContext *ctx, JSValueConst thisVal,
     return JS_UNDEFINED;
 }
 
+static JSValue readDroneDataStr(JSContext *ctx, char *str)
+{
+    JSValue res;
+
+    pthread_mutex_lock(&mutex);
+    res = JS_NewString(ctx, str);
+    strcpy(str, "");
+    pthread_cond_signal(&threadCond);
+    pthread_mutex_unlock(&mutex);
+    return res;
+}
+
 static JSValue js_drone_get(JSContext *ctx, JSValueConst thisVal, int magic)
 {
     JSDroneData *s = (JSDroneData *) JS_GetOpaque2(ctx, thisVal, jsDroneClassId);
-    JSValue res;
     if (!s)
         return JS_EXCEPTION;
     switch(magic) {
@@ -182,24 +282,21 @@ static JSValue js_drone_get(JSContext *ctx, JSValueConst thisVal, int magic)
         case 7:
             return JS_NewFloat64(ctx, s->climbRate);
         case 8:
-            pthread_mutex_lock(&mutex);
-            res = JS_NewString(ctx, s->message);
-            strcpy(s->message, "");
-            pthread_cond_signal(&threadCond);
-            pthread_mutex_unlock(&mutex);
-            return res;
+            return readDroneDataStr(ctx, s->message);
         case 9:
+            return readDroneDataStr(ctx, s->log);
+        case 10:
             return JS_NewInt64(ctx, s->timestamp);
         default:
             return JS_EXCEPTION;
     }
 }
 
-static void addMessageToQueue(const char* msg, MessageQueue* pQueue)
+static void addStrToQueue(const char* str, StrQueue* pQueue)
 {
-    struct messageNode *newNode;
-    newNode = (struct messageNode*)malloc(sizeof(struct messageNode));
-    newNode->message = strdup(msg);
+    struct strNode *newNode;
+    newNode = (struct strNode*)malloc(sizeof(struct strNode));
+    newNode->str = strdup(str);
     newNode->next = NULL;
 
     if (pQueue->tail == NULL) {
@@ -210,23 +307,34 @@ static void addMessageToQueue(const char* msg, MessageQueue* pQueue)
     }
 }
 
-static JSValue js_drone_set_message(JSContext *ctx, JSValueConst thisVal,
-                                    int argc, JSValueConst *argv)
+static JSValue add_jsstr_to_queue(JSContext *ctx, JSValueConst jsStr, StrQueue *queue)
 {
-    const char *message;
-    message = JS_ToCString(ctx, argv[0]);
-    if (strlen(message) > MAX_MESSAGE_SIZE) {
-        UA_LOG_ERROR(logger, UA_LOGCATEGORY_SERVER, "Message too long");
+    const char *str;
+    str = JS_ToCString(ctx, jsStr);
+    if (strlen(str) > MAX_STR_SIZE) {
+        UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "String too long");
         return JS_EXCEPTION;
     }
 
-    addMessageToQueue(message, &messageQueue);
-    JS_FreeCString(ctx, message);
+    addStrToQueue(str, queue);
+    JS_FreeCString(ctx, str);
     return JS_UNDEFINED;
 }
 
-static void delete_message_node(struct messageNode *node) {
-    free(node->message);
+static JSValue js_drone_set_message(JSContext *ctx, JSValueConst thisVal,
+                                    int argc, JSValueConst *argv)
+{
+    return add_jsstr_to_queue(ctx, argv[0], &messageQueue);
+}
+
+static JSValue js_drone_set_log(JSContext *ctx, JSValueConst thisVal,
+                                int argc, JSValueConst *argv)
+{
+    return add_jsstr_to_queue(ctx, argv[0], &logQueue);
+}
+
+static void delete_str_node(struct strNode *node) {
+    free(node->str);
     free(node);
 }
 
@@ -234,23 +342,33 @@ 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); 
+static void clear_str(UA_String *pstr) {
+    if (!UA_String_isEmpty(pstr))
+        UA_String_clear(pstr); 
 }
 
-UA_String get_message(void)
+static UA_String get_StrQueue_content(StrQueue *queue, UA_String currentStr)
 {
-    struct messageNode *current;
+    struct strNode *current;
 
-    current = messageQueue.head;
+    current = queue->head;
     if (current != NULL) {
-        clear_message(currentMessage);
-        currentMessage = UA_STRING_ALLOC(current->message);
-        messageQueue.head = current->next == NULL ? (messageQueue.tail = NULL) : current->next;
-        delete_message_node(current);
+        clear_str(&currentStr);
+        currentStr = UA_STRING_ALLOC(current->str);
+        queue->head = current->next == NULL ? (queue->tail = NULL) : current->next;
+        delete_str_node(current);
     }
-    return currentMessage;
+    return currentStr;
+}
+
+UA_String get_message(void)
+{
+    return get_StrQueue_content(&messageQueue, currentMessage);
+}
+
+UA_String get_log(void)
+{
+    return get_StrQueue_content(&logQueue, currentLog);
 }
 
 static JSClassDef jsDroneClass = {
@@ -268,7 +386,8 @@ static const JSCFunctionListEntry js_drone_proto_funcs[] = {
     JS_CGETSET_MAGIC_DEF("speed", js_drone_get, NULL, 6),
     JS_CGETSET_MAGIC_DEF("climbRate", js_drone_get, NULL, 7),
     JS_CGETSET_MAGIC_DEF("message", js_drone_get, NULL, 8),
-    JS_CGETSET_MAGIC_DEF("timestamp", js_drone_get, NULL, 9),
+    JS_CGETSET_MAGIC_DEF("log", js_drone_get, NULL, 9),
+    JS_CGETSET_MAGIC_DEF("timestamp", js_drone_get, NULL, 10),
     JS_CFUNC_DEF("init", 1, js_drone_init),
 };
 
@@ -295,7 +414,7 @@ VariableData pubsub_get_value(UA_String identifier) {
                             *(UA_String*)varDetails.value = varDetails.getter.getString();
                             break;
                         default:
-                            UA_LOG_ERROR(logger, UA_LOGCATEGORY_SERVER, "UA_TYPE not handled");
+                            UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "UA_TYPE not handled");
                             break;
                     }
                     break;
@@ -317,14 +436,14 @@ VariableData pubsub_get_value(UA_String identifier) {
                             ptrd += type.memSize;
                         }
                         if(retval != UA_STATUSCODE_GOOD)
-                            UA_LOG_ERROR(logger, 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(logger, UA_LOGCATEGORY_SERVER, "UA_VALUERANK not handled");
+                    UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_SERVER, "UA_VALUERANK not handled");
                     break;
             }
         }
@@ -345,8 +464,11 @@ void init_drone_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
         case 2:
             s->messageId = id;
             break;
+        case 3:
+            s->logId = id;
+            break;
         default:
-            UA_LOG_ERROR(logger, UA_LOGCATEGORY_USERLAND, "Unknown variable id");
+            UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Unknown variable id");
             break;
     }
 }
@@ -358,105 +480,69 @@ void init_subscriber_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
             s->messageId = id;
             break;
         default:
-            UA_LOG_ERROR(logger, UA_LOGCATEGORY_USERLAND, "Unknown variable id");
+            UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_USERLAND, "Unknown variable id");
             break;
     }
 }
 
+static void setDroneDataStr(void *data, char *str)
+{
+    UA_String uaStr = *(UA_String*) data;
+    pthread_mutex_lock(&mutex);
+    while(strlen(str) != 0)
+        pthread_cond_wait(&threadCond, &mutex);
+
+    memcpy(str, uaStr.data, uaStr.length);
+    str[uaStr.length] = '\0';
+
+    pthread_mutex_unlock(&mutex);
+}
+
 static void pubsub_update_variables(UA_UInt32 id, const UA_DataValue *var, bool print)
 {
     JSDroneData* s;
-    UA_String     uaStr;
-    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(logger, UA_LOGCATEGORY_CLIENT,
+                UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT,
                   "Received position of drone %d: %.6f ° %.6f ° %.2f m %.2f m",
                   s->id, s->latitude, s->longitude, s->altitudeAbs, s->altitudeRel);
             }
             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(logger, UA_LOGCATEGORY_CLIENT,
+                UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT,
                   "Received speed of drone %d: %.2f ° %.2f m/s %.2f m/s",
                   s->id, s->yaw, s->speed, s->climbRate);
             }
             return;
         } 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);
+            setDroneDataStr(var->value.data, s->message);
             return;
+        } else if (s->logId == id) {
+            if (!isADrone) {
+                setDroneDataStr(var->value.data, s->log);
             }
-    }
-    UA_LOG_ERROR(logger, UA_LOGCATEGORY_CLIENT, "NodeId not found");
-}
-
-void Subscriber_log(void *context, UA_LogLevel level, UA_LogCategory category,
-                    const char *msg, va_list args) {
-    char log_str[MAX_MESSAGE_SIZE];
-    char formatted_msg[MAX_MESSAGE_SIZE];
-
-    /* MinLevel encoded in the context pointer */
-    UA_LogLevel minLevel = (UA_LogLevel)(uintptr_t)context;
-    if(minLevel > level)
             return;
-
-    UA_Int64 tOffset = UA_DateTime_localTimeUtcOffset();
-    UA_DateTimeStruct dts = UA_DateTime_toStruct(UA_DateTime_now() + tOffset);
-
-    int logLevelSlot = (int)level;
-    if(logLevelSlot < 0 || logLevelSlot > 5)
-        logLevelSlot = 5; /* Set to fatal if the level is outside the range */
-
-    /* Log */
-    snprintf(log_str, MAX_MESSAGE_SIZE,
-             "[%04u-%02u-%02u %02u:%02u:%02u.%03u (UTC%+05d)] %s/%s" ANSI_COLOR_RESET "\t",
-             dts.year, dts.month, dts.day, dts.hour, dts.min, dts.sec, dts.milliSec,
-             (int)(tOffset / UA_DATETIME_SEC / 36), logLevelNames[logLevelSlot],
-             logCategoryNames[category]);
-    vsnprintf(formatted_msg, MAX_MESSAGE_SIZE, msg, args);
-    strncat(log_str, formatted_msg, MAX_MESSAGE_SIZE - strlen(log_str) - 1);
-    strcat(log_str, "\n");
-    addMessageToQueue(log_str, &logQueue);
-}
-
-static JSValue js_get_log(JSContext *ctx, JSValueConst this_val,
-                          int argc, JSValueConst *argv) {
-    JSValue res;
-    struct messageNode *current;
-
-    current = logQueue.head;
-    if (current != NULL) {
-        res = JS_NewString(ctx, current->message);
-        logQueue.head = current->next == NULL ? (logQueue.tail = NULL) : current->next;
-        delete_message_node(current);
-    } else {
-        res = JS_NewString(ctx, "");
         }
-    return res;
+    }
+    UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "NodeId not found");
 }
 
 /*
@@ -476,7 +562,6 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
     char urlBuffer[44];
     UA_UInt32 id;
     UA_Duration interval;
-    bool isADrone;
     VariableStruct variables;
     InstanceData *instanceArray;
     UA_UInt32 nbPeer = nbDrone + nbSubscriber;
@@ -503,7 +588,6 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
 
     isADrone = JS_ToBool(ctx, argv[5]);
     variables = isADrone ? droneVariables : subscriberVariables;
-    logger = isADrone ? UA_Log_Stdout : &Subscriber_Log;
 
     instanceArray = (InstanceData *) malloc((nbPeer) * sizeof(InstanceData));
     for(UA_UInt32 i = 0; i < nbDrone; i++) {
@@ -516,8 +600,8 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
     }
 
     pubsubExited = false;
-    res = runPubsub(logger, &transportProfile, &networkAddressUrl, variables,
-                    id, instanceArray, nbPeer,
+    res = runPubsub(UA_Log_Stdout, &transportProfile, &networkAddressUrl,
+                    variables, id, instanceArray, nbPeer,
                     fmax(DRONE_VARIABLE_NB, SUBSCRIBER_VARIABLE_NB), interval,
                     get_drone_id, pubsub_get_value, pubsub_update_variables,
                     &pubsubShouldRun);
@@ -541,43 +625,44 @@ static JSValue js_init_pubsub(JSContext *ctx, JSValueConst thisVal,
         return JS_EXCEPTION;
 
     currentMessage = UA_STRING("");
+    currentLog = UA_STRING("");
     droneObjectIdList = (JSValue *) malloc((nbDrone + nbSubscriber) * sizeof(JSValueConst));
     return JS_NewInt32(ctx, 0);
 }
 
+static void cleanQueue(StrQueue queue, UA_String current_str)
+{
+    struct strNode *current;
+
+    while (queue.head != NULL) {
+        current = queue.head;
+        queue.head = current->next;
+        delete_str_node(current);
+    }
+    clear_str(&current_str);
+}
+
 static JSValue js_stop_pubsub(JSContext *ctx, JSValueConst thisVal,
                               int argc, JSValueConst *argv)
 {
-    struct messageNode *current;
-
     pubsubShouldRun = false;
     while(!pubsubExited)
         sleep(1);
     free(droneObjectIdList);
 
-    while (messageQueue.head != NULL) {
-        current = messageQueue.head;
-        messageQueue.head = current->next;
-        delete_message_node(current);
-    }
-    clear_message(currentMessage);
-
-    while(logQueue.head != NULL) {
-        current = logQueue.head;
-        logQueue.head = current->next;
-        delete_message_node(current);
-    }
+    cleanQueue(messageQueue, currentMessage);
+    cleanQueue(logQueue, currentLog);
 
     return JS_NewInt32(ctx, 0);
 }
 
 // Connexion management functions
-
+#ifdef WITH_AUTOPILOT
 static JSValue js_start(JSContext *ctx, JSValueConst thisVal,
                                int argc, JSValueConst *argv)
 {
     const char *ip;
-    const char *log_file;
+    const char *mavsdk_log_file;
     int port;
     int timeout;
     int res;
@@ -585,13 +670,13 @@ static JSValue js_start(JSContext *ctx, JSValueConst thisVal,
     ip = JS_ToCString(ctx, argv[0]);
     if (JS_ToInt32(ctx, &port, argv[1]))
         return JS_EXCEPTION;
-    log_file = JS_ToCString(ctx, argv[2]);
+    mavsdk_log_file = JS_ToCString(ctx, argv[2]);
     if (JS_ToInt32(ctx, &timeout, argv[3]))
         return JS_EXCEPTION;
 
-    res = start(ip, port, log_file, timeout);
+    res = start(ip, port, mavsdk_log_file, timeout);
     JS_FreeCString(ctx, ip);
-    JS_FreeCString(ctx, log_file);
+    JS_FreeCString(ctx, mavsdk_log_file);
 
     return JS_NewInt32(ctx, res);
 }
@@ -766,11 +851,15 @@ 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("setLog", 1, js_drone_set_log ),
     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", 4, js_start ),
     JS_CFUNC_DEF("stop", 0, js_stop ),
     JS_CFUNC_DEF("reboot", 0, js_reboot ),
@@ -793,9 +882,8 @@ 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("getLog", 0, js_get_log ),
     JS_CFUNC_DEF("updateLogAndProjection", 0, js_updateLogAndProjection ),
+#endif
 };
 
 static int js_init(JSContext *ctx, JSModuleDef *m)