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nexedi
qjs-wrapper
Commits
f0906899
Commit
f0906899
authored
May 28, 2022
by
Léo-Paul Géneau
👾
Browse files
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Plain Diff
Publish relative altitude
parent
8b442812
Changes
4
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Showing
4 changed files
with
35 additions
and
34 deletions
+35
-34
include/mavsdk_wrapper.h
include/mavsdk_wrapper.h
+1
-1
include/pubsub.h
include/pubsub.h
+4
-2
mavsdk_wrapper.cpp
mavsdk_wrapper.cpp
+3
-3
qjs_wrapper.c
qjs_wrapper.c
+27
-28
No files found.
include/mavsdk_wrapper.h
View file @
f0906899
...
...
@@ -7,7 +7,7 @@ extern "C" {
#include <stdint.h>
// Connexion management functions
int
mavsdk_start
(
const
char
*
url
,
const
char
*
log_file
,
int
timeout
,
void
(
*
publishCoordinates
)(
double
,
double
,
float
));
void
(
*
publishCoordinates
)(
double
,
double
,
float
,
float
));
int
mavsdk_stop
(
void
);
int
mavsdk_reboot
(
void
);
...
...
include/pubsub.h
View file @
f0906899
...
...
@@ -15,8 +15,10 @@ typedef struct {
UA_UInt32
latitudeId
;
UA_Double
longitude
;
UA_UInt32
longitudeId
;
UA_Float
altitude
;
UA_UInt32
altitudeId
;
UA_Float
altitudeAbs
;
UA_UInt32
altitudeAbsId
;
UA_Float
altitudeRel
;
UA_UInt32
altitudeRelId
;
}
JSDroneData
;
typedef
struct
{
...
...
mavsdk_wrapper.cpp
View file @
f0906899
...
...
@@ -53,7 +53,7 @@ static bool initial_coords_set = false;
static
const
double
EARTH_RADIUS
=
6371000.
F
;
static
int
mavsdk_started
=
0
;
static
void
(
*
publish_fn
)(
double
,
double
,
float
);
static
void
(
*
publish_fn
)(
double
,
double
,
float
,
float
);
// Logs functions
...
...
@@ -105,7 +105,7 @@ static int doMavlinkCommand(MavlinkPassthrough::CommandLong command, std::string
// Connexion management functions
int
mavsdk_start
(
const
char
*
url
,
const
char
*
log_file
,
int
timeout
,
void
(
*
publishCoordinates
)(
double
,
double
,
float
))
{
void
(
*
publishCoordinates
)(
double
,
double
,
float
,
float
))
{
std
::
string
connection_url
(
url
);
ConnectionResult
connection_result
;
log_file_fd
.
open
(
log_file
);
...
...
@@ -169,7 +169,7 @@ int mavsdk_start(const char * url, const char * log_file, int timeout,
drone_lo
=
position
.
longitude_deg
;
drone_a
=
position
.
absolute_altitude_m
;
drone_at
=
position
.
relative_altitude_m
;
publish_fn
(
drone_la
,
drone_lo
,
drone_a
);
publish_fn
(
drone_la
,
drone_lo
,
drone_a
,
drone_at
);
if
(
!
initial_coords_set
&&
drone_la
!=
0
)
{
initial_drone_la
=
drone_la
;
...
...
qjs_wrapper.c
View file @
f0906899
...
...
@@ -24,8 +24,15 @@ const VariableData droneVariableArray[] = {
.
builtInType
=
UA_NS0ID_DOUBLE
,
},
{
.
name
=
"altitude"
,
.
description
=
"Altitude"
,
.
name
=
"altitude_abs"
,
.
description
=
"Absolute Altitude (AMSL)"
,
.
pdefaultValue
=
&
defaultFloat
,
.
type
=
UA_TYPES_FLOAT
,
.
builtInType
=
UA_NS0ID_FLOAT
,
},
{
.
name
=
"altitude_rel"
,
.
description
=
"Relative Altitude"
,
.
pdefaultValue
=
&
defaultFloat
,
.
type
=
UA_TYPES_FLOAT
,
.
builtInType
=
UA_NS0ID_FLOAT
,
...
...
@@ -97,7 +104,9 @@ static JSValue js_drone_get(JSContext *ctx, JSValueConst this_val, int magic)
case
2
:
return
JS_NewFloat64
(
ctx
,
s
->
longitude
);
case
3
:
return
JS_NewFloat64
(
ctx
,
s
->
altitude
);
return
JS_NewFloat64
(
ctx
,
s
->
altitudeAbs
);
case
4
:
return
JS_NewFloat64
(
ctx
,
s
->
altitudeRel
);
default:
return
JS_EXCEPTION
;
}
...
...
@@ -112,11 +121,12 @@ static const JSCFunctionListEntry js_drone_proto_funcs[] = {
JS_CGETSET_MAGIC_DEF
(
"id"
,
js_drone_get
,
NULL
,
0
),
JS_CGETSET_MAGIC_DEF
(
"latitude"
,
js_drone_get
,
NULL
,
1
),
JS_CGETSET_MAGIC_DEF
(
"longitude"
,
js_drone_get
,
NULL
,
2
),
JS_CGETSET_MAGIC_DEF
(
"altitude"
,
js_drone_get
,
NULL
,
3
),
JS_CGETSET_MAGIC_DEF
(
"altitudeAbs"
,
js_drone_get
,
NULL
,
3
),
JS_CGETSET_MAGIC_DEF
(
"altitudeRel"
,
js_drone_get
,
NULL
,
4
),
JS_CFUNC_DEF
(
"init"
,
1
,
js_drone_init
),
};
void
pubsub_publish_coordinates
(
double
latitude
,
double
longitude
,
float
altitude
)
void
pubsub_publish_coordinates
(
double
latitude
,
double
longitude
,
float
altitude
Abs
,
float
altitudeRel
)
{
UA_StatusCode
res
=
UA_STATUSCODE_GOOD
;
...
...
@@ -124,8 +134,10 @@ void pubsub_publish_coordinates(double latitude, double longitude, float altitud
UA_TYPES
[
droneVariableArray
[
0
].
type
]);
res
|=
writeVariable
(
droneVariableArray
[
1
].
name
,
&
longitude
,
UA_TYPES
[
droneVariableArray
[
1
].
type
]);
res
|=
writeVariable
(
droneVariableArray
[
2
].
name
,
&
altitude
,
res
|=
writeVariable
(
droneVariableArray
[
2
].
name
,
&
altitude
Abs
,
UA_TYPES
[
droneVariableArray
[
2
].
type
]);
res
|=
writeVariable
(
droneVariableArray
[
3
].
name
,
&
altitudeRel
,
UA_TYPES
[
droneVariableArray
[
3
].
type
]);
if
(
res
!=
UA_STATUSCODE_GOOD
)
UA_LOG_ERROR
(
UA_Log_Stdout
,
UA_LOGCATEGORY_SERVER
,
"Writing variable returned value %x"
,
res
);
...
...
@@ -146,7 +158,10 @@ void init_node_id(UA_UInt32 id, int nb, int magic) {
s
->
longitudeId
=
id
;
break
;
case
2
:
s
->
altitudeId
=
id
;
s
->
altitudeAbsId
=
id
;
break
;
case
3
:
s
->
altitudeRelId
=
id
;
break
;
default:
break
;
...
...
@@ -164,8 +179,11 @@ void pubsub_update_coordinates(UA_UInt32 id, const UA_DataValue *var)
}
else
if
(
s
->
longitudeId
==
id
)
{
s
->
longitude
=
*
(
UA_Double
*
)
var
->
value
.
data
;
return
;
}
else
if
(
s
->
altitudeId
==
id
)
{
s
->
altitude
=
*
(
UA_Float
*
)
var
->
value
.
data
;
}
else
if
(
s
->
altitudeAbsId
==
id
)
{
s
->
altitudeAbs
=
*
(
UA_Float
*
)
var
->
value
.
data
;
return
;
}
else
if
(
s
->
altitudeRelId
==
id
)
{
s
->
altitudeRel
=
*
(
UA_Float
*
)
var
->
value
.
data
;
return
;
}
}
...
...
@@ -212,24 +230,6 @@ static JSValue js_init_pubsub(JSContext *ctx, JSValueConst this_val,
return
JS_NewInt32
(
ctx
,
0
);
}
static
JSValue
js_pubsub_write
(
JSContext
*
ctx
,
JSValueConst
this_val
,
int
argc
,
JSValueConst
*
argv
)
{
double
latitude
;
double
longitude
;
double
altitude
;
if
(
JS_ToFloat64
(
ctx
,
&
latitude
,
argv
[
0
]))
return
JS_EXCEPTION
;
if
(
JS_ToFloat64
(
ctx
,
&
longitude
,
argv
[
1
]))
return
JS_EXCEPTION
;
if
(
JS_ToFloat64
(
ctx
,
&
altitude
,
argv
[
2
]))
return
JS_EXCEPTION
;
pubsub_publish_coordinates
(
latitude
,
longitude
,
altitude
);
return
JS_NewInt32
(
ctx
,
0
);
}
static
JSValue
js_stop_pubsub
(
JSContext
*
ctx
,
JSValueConst
this_val
,
int
argc
,
JSValueConst
*
argv
)
{
...
...
@@ -522,7 +522,6 @@ static const JSCFunctionListEntry js_mavsdk_funcs[] = {
JS_CFUNC_DEF
(
"initPubsub"
,
1
,
js_init_pubsub
),
JS_CFUNC_DEF
(
"runPubsub"
,
2
,
js_run_pubsub
),
JS_CFUNC_DEF
(
"stopPubsub"
,
0
,
js_stop_pubsub
),
JS_CFUNC_DEF
(
"pubsubWrite"
,
3
,
js_pubsub_write
),
};
static
int
js_mavsdk_init
(
JSContext
*
ctx
,
JSModuleDef
*
m
)
...
...
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