software/js-drone: print pubsub logs in the GUI

software/js-drone/buildout.hash.cfg

@@ -14,7 +14,7 @@
 # not need these here).
 [index-html]
 _update_hash_filename_ = web-gui/index.html.jinja2
-md5sum = 1eedc017ecc9d1a6761dc2fff3bbab9b
+md5sum = 94479f7e7299650fc41878fab06e6555
 
 [instance-profile]
 filename = instance.cfg.in
@@ -38,8 +38,8 @@ md5sum = 1555496ad591a31a845f33488d5c335d
 
 [script-js]
 _update_hash_filename_ = web-gui/script.js.jinja2
-md5sum = e28492276416c2d84e770217ae97a88f
+md5sum = a88028c1248d2b6a91b7d3cb03047196
 
 [worker]
 _update_hash_filename_ = drone-scripts/worker.js.jinja2
-md5sum = 48540afedd5437129196d84832d2ed40
+md5sum = 06a322cc711830262fbbfdc1bfe7947a

software/js-drone/drone-scripts/worker.js.jinja2

@@ -11,6 +11,7 @@ import {
   getClimbRate,
   getInitialAltitude,
   gpsIsOk,
+  getLog,
   getPosition,
   getYaw,
   initPubsub,
@@ -36,8 +37,8 @@ import { evalScript, fdopen, loadFile, open } from "std";
 
 (function (Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
            fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition,
-           getYaw, initPubsub, kill, isLanding, loadFile, loiter, open, pipe,
-           setAirSpeed, setMessage, setReadHandler, setTargetCoordinates,
+           getLog, getYaw, initPubsub, isLanding, kill, loadFile, loiter, open,
+           pipe, setAirSpeed, setMessage, setReadHandler, setTargetCoordinates,
            triggerParachute, updateLogAndProjection, waitpid) {
   // Every script is evaluated per drone
   "use strict";
@@ -200,7 +201,7 @@ import { evalScript, fdopen, loadFile, open } from "std";
   }
 
   function handleMainMessage(evt) {
-    var type = evt.data.type, message, peer_id;
+    var type = evt.data.type, message, peer_id, log;
 
     switch (type) {
 
@@ -234,7 +235,15 @@ import { evalScript, fdopen, loadFile, open } from "std";
           }
         }
       });
-      // Call the drone onStart function
+
+      if (clientId !== undefined) {
+        log = getLog();
+        if (log.length > 0) {
+          user_me.writeWebsocketMessage(JSON.stringify({log: log}));
+        }
+      }
+
+      // Call the drone onUpdate function
       if (user_me.hasOwnProperty("onUpdate")) {
         user_me.onUpdate(evt.data.timestamp);
       }
@@ -267,7 +276,7 @@ import { evalScript, fdopen, loadFile, open } from "std";
     }
   };
 }(Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
-  fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition, getYaw,
+  fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition, getLog, getYaw,
   initPubsub, isLanding, kill, loadFile, loiter, open, pipe, setAirSpeed,
   setMessage, setReadHandler, setTargetCoordinates, triggerParachute,
   updateLogAndProjection, waitpid));

software/js-drone/test/test.py

@@ -284,6 +284,49 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
       b'Unknown instruction %s' % ws.sock.getsockname()[0].encode(),
       ws.recv_frame().data
     )
+    self.assertIn(
+      b'\\u001b[32minfo/userland\\u001b[0m\\tfieldsSize 3\\n"}',
+      ws.recv_frame().data,
+    )
+    self.assertEqual(
+      ws.recv_frame().data,
+      b''.join((
+        b'{"drone_dict":{"0":{"latitude":',
+        b'"%.6f","longitude":"%.6f","altitude":"%.2f",' % (0, 0, 0),
+        b'"yaw":"%.2f","speed":"%.2f","climbRate":"%.2f",' % (0, 0, 0),
+        b'"timestamp":%d}}}' % 0,
+      ))
+    )
+    self.assertIn(
+      b'\\u001b[32minfo/client\\u001b[0m\\tReceived position of drone 0: %.6f ? %.6f ? %.2f m %.2f m\\n"}' % (0, 0 , 0, 0),
+      ws.recv_frame().data,
+    )
+    self.assertEqual(
+      ws.recv_frame().data,
+      b''.join((
+        b'{"drone_dict":{"0":{"latitude":',
+        b'"%.6f","longitude":"%.6f","altitude":"%.2f",' % (0, 0, 0),
+        b'"yaw":"%.2f","speed":"%.2f","climbRate":"%.2f",' % (0, 0, 0),
+        b'"timestamp":%d}}}' % 0,
+      ))
+    )
+    self.assertIn(
+      b'\\u001b[32minfo/client\\u001b[0m\\tReceived speed of drone 0: %.2f ? %.2f m/s %.2f m/s\\n"}' % (0, 0 , 0),
+      ws.recv_frame().data,
+    )
+    self.assertEqual(
+      ws.recv_frame().data,
+      b''.join((
+        b'{"drone_dict":{"0":{"latitude":',
+        b'"%.6f","longitude":"%.6f","altitude":"%.2f",' % (0, 0, 0),
+        b'"yaw":"%.2f","speed":"%.2f","climbRate":"%.2f",' % (0, 0, 0),
+        b'"timestamp":%d}}}' % 0,
+      ))
+    )
+    self.assertIn(
+      b'\\u001b[32minfo/userland\\u001b[0m\\tfieldsSize 1\\n"}',
+      ws.recv_frame().data,
+    )
     self.assertEqual(
       ws.recv_frame().data,
       b''.join((
@@ -296,6 +339,10 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
     self.send_ua_networkMessage()
     time.sleep(0.1)
     self.assertEqual(ws.recv_frame().data, MESSAGE_CONTENT.replace(b'\\', b''))
+    self.assertIn(
+      b'\\u001b[32minfo/client\\u001b[0m\\tReceived position of drone 0: %.6f ? %.6f ? %.2f m %.2f m\\n"}' % POSITION_ARRAY_OUTPUT_VALUES,
+      ws.recv_frame().data,
+    )
     self.assertEqual(
       ws.recv_frame().data,
       b''.join((
@@ -305,4 +352,8 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
         b'"timestamp":%d}}}' % POSITION_ARRAY_INPUT_VALUES[-1],
       ))
     )
+    self.assertIn(
+      b'\\u001b[32minfo/client\\u001b[0m\\tReceived speed of drone 0: %.2f ? %.2f m/s %.2f m/s\\n"}' % SPEED_ARRAY_VALUES,
+      ws.recv_frame().data,
+    )
     ws.close()

software/js-drone/web-gui/index.html.jinja2

@@ -9,7 +9,8 @@
 
   <style>
     button {
-      padding: 0.5%;
+      margin: 2vh;
+      padding: 2vh;
       font-size: 24px;
       cursor: pointer;
       border: none;
@@ -20,38 +21,60 @@
       box-shadow: 0 2px #666;
       transform: translateY(4px);
     }
-    div > * {margin: 1%}
-    label {margin: 2%}
-    table {width: 30%}
+    label {margin: auto 2%}
+    table {
+      min-width: 1028px;
+      height: max-content;
+    }
     th, td{
       padding: 1%;
       text-align: center;
       vertical-align: middle;
     }
+    .blue-text {color: blue}
     .connected {color: green}  
     .container {
       display: flex;
       align-items: center;
       justify-content: center;
     }
+    .cyan-text {color: cyan}
     .disconnected {color: red}
     .gray-button {background-color: lightgray}
     .gray-button:hover {background-color: gray}
+    .green-text {color: green}
     .green-button {background-color: #4caf50}
     .green-button:hover {background-color: #3e8e41}
+    .magenta-text {color: magenta}
     .red-button {background-color: red}
-    .red-button {background-color: #e42828}
+    .red-button:hover {background-color: #e42828}
+    .red-text {color: red}
+    .white-text {color: white}
+    .yellow-text {color: yellow}
+    #drones-status {height: 50vh}
+    #prompt {
+      background-color: rgb(18, 19, 20);
+      max-width: 1028px;
+      height: 20vh;
+      margin: auto;
+    }
+    #prompt-div {
+      height: max-content;
+    }
   </style>
 
 </head>
 <body>
 
-  <header class="container">
+  <div id="prompt-div">
+    <div class="container">
       <label for="web-socket-status">web socket status:</label>
       <output class="disconnected" id="web-socket-status">Disconnected</output>
-  </header>
+    </div>
+    <pre id="prompt"></pre>
+  </div>
 
-  <div class="container">
+  <div class="container" id="drones-status">
     <table>
       <tr>
         <th></th>

software/js-drone/web-gui/script.js.jinja2

@@ -13,6 +13,9 @@
     GREEN_BTN_CLASS_NAME = "green-button",
     LATITUDE_BASE_ID = "latitude_",
     LONGITUDE_BASE_ID = "longitude_",
+    PROMPT_COLOR_RE = /\u001b.{2,3}m/g,
+    PROMPT_ID = "prompt",
+    PROMPT_MAX_MSG,
     QUIT_BTN_ID = "quit-btn",
     RED_BTN_CLASS_NAME = "red-button",
     SWITCH_BTN_ID = "switch-btn",
@@ -21,8 +24,12 @@
     socket;
 
   function updateConnexionClass(element, status) {
-    element.classList.remove(status ? DISCONNECTED_CLASS_NAME : CONNECTED_CLASS_NAME);
-    element.classList.add(status ? CONNECTED_CLASS_NAME : DISCONNECTED_CLASS_NAME);    
+    element.classList.remove(
+      status ? DISCONNECTED_CLASS_NAME : CONNECTED_CLASS_NAME
+    );
+    element.classList.add(
+      status ? CONNECTED_CLASS_NAME : DISCONNECTED_CLASS_NAME
+    );
   }
 
   function setWebSocketStatus(connected, status) {
@@ -49,15 +56,22 @@
 
   socket = new WebSocket('ws://{{ websocket_url }}');
 
-  socket.onopen = function(event) {
+  socket.onopen = function (event) {
     setWebSocketStatus(true, "Connected");
   };
 
-  socket.onmessage = function(event) {
-    var message = JSON.parse(event.data),
-      flight_state_cell;
+  socket.onmessage = function (event) {
+    var color_array,
+      flight_state_cell,
+      i,
+      message = JSON.parse(event.data),
+      prompt,
+      new_div,
+      new_span,
+      text_array;
+
     if (message.hasOwnProperty("drone_dict")) {
-      Object.entries(message["drone_dict"]).forEach(function ([id, drone]) {
+      Object.entries(message.drone_dict).forEach(function ([id, drone]) {
         document.getElementById(LATITUDE_BASE_ID + id).innerHTML = drone["latitude"];
         document.getElementById(LONGITUDE_BASE_ID + id).innerHTML = drone["longitude"];
         document.getElementById(ALTITUDE_BASE_ID + id).innerHTML = drone["altitude"];
@@ -69,6 +83,56 @@
       flight_state_cell = document.getElementById(FLIGHT_STATUS_BASE_ID + message['id']);
       flight_state_cell.innerHTML = message['state'];
       updateConnexionClass(flight_state_cell, message['inAir']);
+    } else if(message.hasOwnProperty("log")) {
+      prompt = document.getElementById(PROMPT_ID);
+      if (PROMPT_MAX_MSG === undefined && prompt.children.length > 0) {
+        PROMPT_MAX_MSG = Math.trunc(
+          prompt.offsetHeight / prompt.children[0].offsetHeight
+        );
+      }
+
+      new_div = document.createElement("div");
+      text_array = message['log'].split(PROMPT_COLOR_RE);
+      color_array = message['log'].match(PROMPT_COLOR_RE);
+
+      for (i = 0; i < text_array.length; i++) {
+        new_span = document.createElement("span");
+        new_span.appendChild(document.createTextNode(text_array[i]));
+
+        if (i > 0 && i < color_array.length + 1) {
+          switch (color_array[i - 1]) {
+          case "\u001b[31m":
+            new_span.classList.add('red-text');
+            break;
+          case "\u001b[32m":
+            new_span.classList.add('green-text');
+            break;
+          case "\u001b[33m":
+            new_span.classList.add('yellow-text');
+            break;
+          case "\u001b[34m":
+            new_span.classList.add('blue-text');
+            break;
+          case "\u001b[35m":
+            new_span.classList.add('magenta-text');
+            break;
+          case "\u001b[36m":
+            new_span.classList.add('cyan-text');
+            break;
+          default:
+            new_span.classList.add('white-text');
+            break;
+          };
+        } else {
+          new_span.classList.add('white-text');
+        }
+        new_div.appendChild(new_span);
+      }
+
+      if (prompt.children.length === PROMPT_MAX_MSG) {
+        prompt.removeChild(prompt.firstElementChild);
+      }
+      prompt.appendChild(new_div);
     } else {
       console.info(message);
     }