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nexedi
qjs-wrapper
Commits
c5484255
Commit
c5484255
authored
Nov 02, 2022
by
Léo-Paul Géneau
👾
Browse files
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Pub/Sub: remove subscribeOnly function
Merge subscribeOnly function into runPubsub
parent
544191ac
Changes
3
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3 changed files
with
52 additions
and
106 deletions
+52
-106
include/pubsub.h
include/pubsub.h
+2
-15
pubsub.c
pubsub.c
+19
-37
qjs_wrapper.c
qjs_wrapper.c
+31
-54
No files found.
include/pubsub.h
View file @
c5484255
...
...
@@ -47,15 +47,6 @@ typedef struct {
}
getter
;
}
VariableData
;
int
subscribeOnly
(
UA_String
*
transportProfile
,
UA_NetworkAddressUrlDataType
*
networkAddressUrl
,
VariableData
*
variableArray
,
size_t
nbVariable
,
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
*
),
UA_Boolean
*
running
);
int
runPubsub
(
UA_String
*
transportProfile
,
UA_NetworkAddressUrlDataType
*
networkAddressUrl
,
VariableData
*
variableArray
,
size_t
nbVariable
,
...
...
@@ -63,8 +54,8 @@ int runPubsub(UA_String *transportProfile,
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
);
void
(
*
update
)(
UA_UInt32
id
,
const
UA_DataValue
*
,
bool
print
),
bool
publish
,
UA_Boolean
*
running
);
UA_String
get_message
(
void
);
...
...
@@ -72,10 +63,6 @@ UA_UInt16 get_drone_id(UA_UInt32 nb);
void
init_node_id
(
UA_UInt32
id
,
UA_UInt32
nb
,
UA_UInt32
magic
);
void
pubsub_update_coordinates
(
UA_UInt32
id
,
const
UA_DataValue
*
var
);
void
pubsub_print_coordinates
(
UA_UInt32
id
,
const
UA_DataValue
*
var
);
VariableData
pubsub_get_value
(
UA_String
identifier
);
DLL_PUBLIC
JSModuleDef
*
js_init_module
(
JSContext
*
ctx
,
const
char
*
module_name
);
...
...
pubsub.c
View file @
c5484255
...
...
@@ -10,9 +10,10 @@ UA_NodeId connectionIdent, publishedDataSetIdent, writerGroupIdent,
readerGroupIdent
,
readerIdent
;
UA_DataSetReaderConfig
readerConfig
;
bool
isPublisher
;
VariableData
(
*
pubsubGetValue
)(
UA_String
identifier
);
static
void
(
*
callbackUpdate
)(
UA_UInt32
,
const
UA_DataValue
*
);
static
void
(
*
callbackUpdate
)(
UA_UInt32
,
const
UA_DataValue
*
,
bool
print
);
static
void
fillDataSetMetaData
(
UA_DataSetMetaDataType
*
pMetaData
,
VariableData
*
variableArray
,
...
...
@@ -251,7 +252,7 @@ dataChangeNotificationCallback(UA_Server *server, UA_UInt32 monitoredItemId,
void
*
monitoredItemContext
,
const
UA_NodeId
*
nodeId
,
void
*
nodeContext
,
UA_UInt32
attributeId
,
const
UA_DataValue
*
var
)
{
callbackUpdate
(
nodeId
->
identifier
.
numeric
,
var
);
callbackUpdate
(
nodeId
->
identifier
.
numeric
,
var
,
!
isPublisher
);
}
/**
...
...
@@ -437,7 +438,7 @@ subscribe(UA_Server *server,
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
*
))
{
void
(
*
update
)(
UA_UInt32
id
,
const
UA_DataValue
*
,
bool
print
))
{
UA_UInt16
publisherIdent
;
UA_StatusCode
retval
;
char
readerName
[
19
];
...
...
@@ -472,28 +473,6 @@ subscribe(UA_Server *server,
return
retval
;
}
int
subscribeOnly
(
UA_String
*
transportProfile
,
UA_NetworkAddressUrlDataType
*
networkAddressUrl
,
VariableData
*
variableArray
,
size_t
nbVariable
,
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
*
),
UA_Boolean
*
running
)
{
UA_Server
*
server
;
UA_StatusCode
retval
;
server
=
setServer
(
transportProfile
,
networkAddressUrl
,
id
);
setVariableType
(
server
,
variableArray
,
nbVariable
);
subscribe
(
server
,
variableArray
,
nbVariable
,
id
,
nbReader
,
interval
,
init_node_id
,
get_reader_id
,
update
);
retval
=
UA_Server_run
(
server
,
running
);
UA_Server_delete
(
server
);
return
retval
==
UA_STATUSCODE_GOOD
?
EXIT_SUCCESS
:
EXIT_FAILURE
;
}
int
runPubsub
(
UA_String
*
transportProfile
,
UA_NetworkAddressUrlDataType
*
networkAddressUrl
,
VariableData
*
variableArray
,
size_t
nbVariable
,
...
...
@@ -501,8 +480,8 @@ int runPubsub(UA_String *transportProfile,
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
)
{
void
(
*
update
)(
UA_UInt32
id
,
const
UA_DataValue
*
,
bool
print
),
bool
publish
,
UA_Boolean
*
running
)
{
UA_Server
*
server
;
UA_StatusCode
retval
;
...
...
@@ -511,21 +490,24 @@ int runPubsub(UA_String *transportProfile,
/* Publishing */
pubsubGetValue
=
get_value
;
isPublisher
=
publish
;
if
(
isPublisher
)
{
pubsubGetValue
=
get_value
;
addPublishedDataSet
(
server
,
id
);
for
(
UA_UInt32
i
=
0
;
i
<
nbVariable
;
i
++
)
{
retval
=
addDataSourceVariable
(
server
,
variableArray
[
i
]);
addPublishedDataSet
(
server
,
id
);
for
(
UA_UInt32
i
=
0
;
i
<
nbVariable
;
i
++
)
{
retval
=
addDataSourceVariable
(
server
,
variableArray
[
i
]);
if
(
retval
!=
UA_STATUSCODE_GOOD
)
return
EXIT_FAILURE
;
addDataSetField
(
server
,
variableArray
[
i
]);
}
addWriterGroup
(
server
,
interval
);
retval
=
addDataSetWriter
(
server
);
if
(
retval
!=
UA_STATUSCODE_GOOD
)
return
EXIT_FAILURE
;
addDataSetField
(
server
,
variableArray
[
i
]);
}
addWriterGroup
(
server
,
interval
);
retval
=
addDataSetWriter
(
server
);
if
(
retval
!=
UA_STATUSCODE_GOOD
)
return
EXIT_FAILURE
;
/* Subscribing */
subscribe
(
server
,
variableArray
,
nbVariable
,
id
,
nbReader
,
interval
,
...
...
qjs_wrapper.c
View file @
c5484255
...
...
@@ -260,7 +260,7 @@ void init_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
}
}
void
pubsub_update_coordinates
(
UA_UInt32
id
,
const
UA_DataValue
*
var
)
static
void
pubsub_update_variables
(
UA_UInt32
id
,
const
UA_DataValue
*
var
,
bool
print
)
{
JSDroneData
*
s
;
UA_String
uaStr
;
...
...
@@ -275,59 +275,43 @@ void pubsub_update_coordinates(UA_UInt32 id, const UA_DataValue *var)
s
->
longitude
=
positionArray
[
1
];
s
->
altitudeAbs
=
positionArray
[
2
];
s
->
altitudeRel
=
positionArray
[
3
];
if
(
print
)
{
UA_LOG_INFO
(
UA_Log_Stdout
,
UA_LOGCATEGORY_CLIENT
,
"Received position of drone %d: %f° %f° %fm %fm"
,
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
];
if
(
print
)
{
UA_LOG_INFO
(
UA_Log_Stdout
,
UA_LOGCATEGORY_CLIENT
,
"Received speed of drone %d: %f° %fm/s %fm/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
);
return
;
}
}
UA_LOG_ERROR
(
UA_Log_Stdout
,
UA_LOGCATEGORY_CLIENT
,
"NodeId not found"
);
}
void
pubsub_print_coordinates
(
UA_UInt32
id
,
const
UA_DataValue
*
var
)
{
JSDroneData
*
s
;
UA_String
uaStr
;
UA_Double
*
positionArray
;
UA_Float
*
directionArray
;
for
(
UA_UInt32
i
=
0
;
i
<
nbDrone
;
i
++
)
{
s
=
(
JSDroneData
*
)
JS_GetOpaque
(
droneObjectIdList
[
i
],
jsDroneClassId
);
if
(
s
->
positionArrayId
==
id
)
{
positionArray
=
*
(
UA_Double
**
)
var
->
value
.
data
;
s
->
latitude
=
positionArray
[
0
];
UA_LOG_INFO
(
UA_Log_Stdout
,
UA_LOGCATEGORY_CLIENT
,
"Received latitude of drone %d: %f°"
,
s
->
id
,
s
->
latitude
);
s
->
longitude
=
positionArray
[
1
];
UA_LOG_INFO
(
UA_Log_Stdout
,
UA_LOGCATEGORY_CLIENT
,
"Received longitude of drone %d: %f°"
,
s
->
id
,
s
->
longitude
);
s
->
altitudeAbs
=
positionArray
[
2
];
UA_LOG_INFO
(
UA_Log_Stdout
,
UA_LOGCATEGORY_CLIENT
,
"Received absolute altitude of drone %d: %fm"
,
s
->
id
,
s
->
altitudeAbs
);
s
->
altitudeRel
=
positionArray
[
3
];
UA_LOG_INFO
(
UA_Log_Stdout
,
UA_LOGCATEGORY_CLIENT
,
"Received relative altitude of drone %d: %fm"
,
s
->
id
,
s
->
altitudeRel
);
s
->
altitudeAbs
=
*
(
UA_Float
*
)
var
->
value
.
data
;
return
;
}
else
if
(
s
->
directionArrayId
==
id
)
{
directionArray
=
(
UA_Float
*
)
var
->
value
.
data
;
s
->
yaw
=
directionArray
[
0
];
UA_LOG_INFO
(
UA_Log_Stdout
,
UA_LOGCATEGORY_CLIENT
,
"Received yaw angle of drone %d: %f°"
,
s
->
id
,
s
->
yaw
);
s
->
speed
=
directionArray
[
1
];
UA_LOG_INFO
(
UA_Log_Stdout
,
UA_LOGCATEGORY_CLIENT
,
"Received airspeed of drone %d: %fm/s"
,
s
->
id
,
s
->
speed
);
return
;
}
else
if
(
s
->
messageId
==
id
)
{
uaStr
=
*
(
UA_String
*
)
var
->
value
.
data
;
if
(
!
print
)
{
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'
;
UA_LOG_INFO
(
UA_Log_Stdout
,
UA_LOGCATEGORY_CLIENT
,
"Received message of drone %d: %s"
,
s
->
id
,
s
->
message
);
if
(
print
)
{
UA_LOG_INFO
(
UA_Log_Stdout
,
UA_LOGCATEGORY_CLIENT
,
"Received message for drone %d: %s"
,
s
->
id
,
s
->
message
);
}
else
{
pthread_mutex_unlock
(
&
mutex
);
}
return
;
}
}
...
...
@@ -373,18 +357,11 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
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
,
interval
,
init_node_id
,
get_drone_id
,
pubsub_get_value
,
pubsub_update_coordinates
,
&
pubsubShouldRun
);
}
else
{
res
=
subscribeOnly
(
&
transportProfile
,
&
networkAddressUrl
,
droneVariableArray
,
countof
(
droneVariableArray
),
id
,
nbDrone
,
interval
,
init_node_id
,
get_drone_id
,
pubsub_print_coordinates
,
&
pubsubShouldRun
);
}
res
=
runPubsub
(
&
transportProfile
,
&
networkAddressUrl
,
droneVariableArray
,
countof
(
droneVariableArray
),
id
,
nbDrone
,
interval
,
init_node_id
,
get_drone_id
,
pubsub_get_value
,
pubsub_update_variables
,
JS_ToBool
(
ctx
,
argv
[
5
]),
&
pubsubShouldRun
);
pubsubExited
=
true
;
JS_FreeCString
(
ctx
,
ipv6
);
...
...
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