software/js-drone: introduce software-base.cfg

Set c-astral SR in its own file and leave the autopilot used blank in software-base.cfg

component/mavsdk/buildout.cfg

@@ -15,12 +15,6 @@ parts =
 [gcc]
 min_version = 7.1
 
-[c-astral-xml-definition]
-recipe = slapos.recipe.build:gitclone
-repository = https://lab.nexedi.com/nexedi/c-astral-c-library.git
-revision = v2.1
-git-executable = ${git:location}/bin/git
-
 [mavsdk-source]
 recipe = slapos.recipe.build:gitclone
 repository = https://github.com/mavlink/MAVSDK.git
@@ -53,7 +47,6 @@ cmake = ${cmake:location}/bin/cmake
 depends = ${mavsdk-pythonpath:recipe}
 pre-configure =
   ${git:location}/bin/git submodule update --init --recursive
-  sed -i 's#message_definitions/v1.0#${c-astral-xml-definition:location}#' ${mavsdk-source:location}/third_party/mavlink/CMakeLists.txt
 configure-command =
   ${:cmake}
 configure-options =
@@ -72,12 +65,3 @@ make-binary =
 environment = mavsdk-env
 
 CMAKE_CFLAGS=-I${tinyxml2:location}/include
-
-[c-astral-wrapper]
-recipe = slapos.recipe.cmmi
-configure-command = true
-url = https://lab.nexedi.com/nexedi/c-astral-wrapper/-/archive/v2.0/c-astral-wrapper-v2.0.tar.gz
-md5sum = ee2d05d225a57d17318282ff595fd498
-environment =
-  CPLUS_INCLUDE_PATH=${qjs-wrapper-source:location}/include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk
-  LDFLAGS=-L${mavsdk:location}/lib -Wl,-rpath=${mavsdk:location}/lib

component/qjs-wrapper/buildout.cfg

 [buildout]
 extends =
   ../git/buildout.cfg
-  ../mavsdk/buildout.cfg
   ../open62541/buildout.cfg
   ../quickjs/buildout.cfg
 
@@ -17,6 +16,7 @@ git-executable = ${git:location}/bin/git
 recipe = slapos.recipe.cmmi
 configure-command = true
 path = ${qjs-wrapper-source:location}
+autopilot-wrapper =
 environment =
   C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include
-  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${c-astral-wrapper:location}/lib -Wl,-rpath=${c-astral-wrapper:location}/lib
+  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${:autopilot-wrapper}/lib -Wl,-rpath=${:autopilot-wrapper}/lib

software/js-drone/software-c-astral.cfg

+[buildout]
+extends =
+  ../../component/mavsdk/buildout.cfg
+  software-base.cfg
+
+
+[c-astral-xml-definition]
+recipe = slapos.recipe.build:gitclone
+repository = https://lab.nexedi.com/nexedi/c-astral-c-library.git
+revision = v2.1
+git-executable = ${git:location}/bin/git
+
+[mavsdk]
+pre-configure +=
+  sed -i 's#message_definitions/v1.0#${c-astral-xml-definition:location}#' ${mavsdk-source:location}/third_party/mavlink/CMakeLists.txt
+
+[c-astral-wrapper]
+recipe = slapos.recipe.cmmi
+configure-command = true
+url = https://lab.nexedi.com/nexedi/c-astral-wrapper/-/archive/v2.0/c-astral-wrapper-v2.0.tar.gz
+md5sum = ee2d05d225a57d17318282ff595fd498
+environment =
+  CPLUS_INCLUDE_PATH=${qjs-wrapper-source:location}/include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk
+  LDFLAGS=-L${mavsdk:location}/lib -Wl,-rpath=${mavsdk:location}/lib
+
+[qjs-wrapper]
+autopilot-wrapper = ${c-astral-wrapper:location}

software/js-drone/software.cfg.json → software/js-drone/software-c-astral.cfg.json

 {
-  "name": "JS Drone",
-  "description": "JS Drone",
+  "name": "JS Drone C-Astral",
+  "description": "JS Drone with C-Astral's autopilot",
   "serialisation": "json-in-xml",
   "software-type": {
     "default": {

software/js-drone/software-sqdr.cfg

 [buildout]
 extends =
-  software.cfg
+  software-base.cfg
 
 [sqdr-source]
 recipe = slapos.recipe.build:gitclone
@@ -17,6 +17,4 @@ environment =
   LDFLAGS=-L${sqdr-source:location}/lib -Wl,-rpath=${sqdr-source:location}/lib
 
 [qjs-wrapper]
-environment =
-  C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include
-  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${sqdr-wrapper:location}/lib -Wl,-rpath=${sqdr-wrapper:location}/lib
+autopilot-wrapper = ${sqdr-wrapper:location}

software/js-drone/software-sqdr.cfg.json

+{
+  "name": "JS Drone Squadrone",
+  "description": "JS Drone with Squadrone's autopilot",
+  "serialisation": "json-in-xml",
+  "software-type": {
+    "default": {
+      "title": "Default",
+      "software-type": "default",
+      "description": "Drone Swarm",
+      "request": "instance-input-schema.json",
+      "response": "instance-output-schema.json",
+      "index": 0
+    },
+    "drone": {
+      "title": "Peer",
+      "software-type": "peer",
+      "description": "Peer Instance",
+      "request": "instance-peer-input-schema.json",
+      "response": "instance-peer-output-schema.json",
+      "index": 1
+    }
+  }
+}

software/js-drone/test/test.py

@@ -110,7 +110,7 @@ TEST_MESSAGE = b'{"content":"' + MESSAGE_CONTENT + b'","dest_id":-1}'
 
 setUpModule, SlapOSInstanceTestCase = makeModuleSetUpAndTestCaseClass(
     os.path.abspath(
-        os.path.join(os.path.dirname(__file__), '..', 'software.cfg')))
+        os.path.join(os.path.dirname(__file__), '..', 'software-c-astral.cfg')))
 
 
 class SubscriberTestCase(SlapOSInstanceTestCase):