Merge remote-tracking branch 'upstream/master' into zope4py2

component/jsoncpp/buildout.cfg

+[buildout]
+extends =
+  ../cmake/buildout.cfg
+  ../pkgconfig/buildout.cfg
+
+parts =
+  jsoncpp
+
+[jsoncpp]
+recipe = slapos.recipe.cmmi
+shared = true
+pre-configure =
+  mkdir jsoncpp-build
+configure-command =
+  cd jsoncpp-build && ${cmake:location}/bin/cmake ..
+configure-options =
+  -DCMAKE_INSTALL_PREFIX=@@LOCATION@@
+url = https://github.com/open-source-parsers/jsoncpp/archive/refs/tags/1.9.5.tar.gz
+md5sum = d6c8c609f2162eff373db62b90a051c7
+make-binary =
+  cd jsoncpp-build && make
+environment =
+  PATH=${pkgconfig:location}/bin:%(PATH)s

component/mavsdk/buildout.cfg

+[buildout]
+extends =
+  ../cmake/buildout.cfg
+  ../curl/buildout.cfg
+  ../git/buildout.cfg
+  ../jsoncpp/buildout.cfg
+  ../tinyxml2/buildout.cfg
+
+parts =
+  mavsdk
+
+[c-astral-headers]
+recipe = slapos.recipe.build:gitclone
+repository = https://lab.nexedi.com/nexedi/c-astral-c-library
+revision = v0.1
+git-executable = ${git:location}/bin/git
+
+[gcc]
+min_version = 7.1
+
+[mavsdk-source]
+recipe = slapos.recipe.build:gitclone
+repository = https://github.com/mavlink/MAVSDK.git
+revision = v0.37.0
+
+git-executable = ${git:location}/bin/git
+ignore-cloning-submodules = true
+
+[mavsdk]
+recipe = slapos.recipe.cmmi
+path = ${mavsdk-source:location}
+cmake = ${cmake:location}/bin/cmake
+pre-configure =
+  ${git:location}/bin/git submodule update --init --recursive
+  cp -r ${c-astral-headers:location}/* ${mavsdk-source:location}/src/third_party/mavlink/include/mavlink/v2.0/
+  sed -i 's#common/mavlink.h#CAstral/mavlink.h#' ${mavsdk-source:location}/src/core/mavlink_include.h
+configure-command =
+  ${:cmake}
+configure-options =
+  -DCMAKE_BUILD_TYPE=Release
+  -DCMAKE_C_FLAGS="${:CMAKE_CFLAGS}"
+  -DCMAKE_CXX_FLAGS="${:CMAKE_CFLAGS}"
+  -DCMAKE_INSTALL_PREFIX=@@LOCATION@@
+  -DCMAKE_INSTALL_RPATH=${:CMAKE_LIBRARY_PATH}
+  -DPKG_CONFIG_EXECUTABLE=${pkgconfig:location}/bin/pkg-config
+  -DSUPERBUILD=OFF
+  -Bbuild/default
+  -H.
+make-binary =
+  ${:cmake} --build build/default --target install
+environment =
+  CMAKE_INCLUDE_PATH=${curl:location}/include:${jsoncpp:location}/include:${tinyxml2:location}/include
+  CMAKE_LIBRARY_PATH=${:CMAKE_LIBRARY_PATH}
+  CMAKE_PROGRAM_PATH=${cmake:location}/bin
+  PATH=${pkgconfig:location}/bin/:%(PATH)s
+  LDFLAGS=-L${jsoncpp:location}/lib -Wl,-rpath=${jsoncpp:location}/lib
+
+CMAKE_CFLAGS=-I${tinyxml2:location}/include
+CMAKE_LIBRARY_PATH=${curl:location}/lib:${jsoncpp:location}/lib:${tinyxml2:location}/lib

component/open62541/buildout.cfg

@@ -4,14 +4,26 @@
 parts = open62541
 extends =
   ../cmake/buildout.cfg
+  ../patch/buildout.cfg
 
 [open62541]
 recipe = slapos.recipe.cmmi
 shared = true
-url = https://github.com/open62541/open62541/archive/refs/tags/v1.2.2.tar.gz
-md5sum = 2883bde165bc9bc3d459ccbb47acf7f4
-configure-command = ${cmake:location}/bin/cmake
+url = https://github.com/open62541/open62541/archive/refs/heads/pack/v1.3.zip
+md5sum = c2e9938f082b027110fba538de76684c
+patch-options = -p1
+patches =
+  ${:_profile_base_location_}/ipv6_bugfix.patch#355bec02adee4ea73ff5a56ba6971ad2
+configure-command =
+  ${cmake:location}/bin/cmake
 configure-options =
-  -Bbuild
+  -DBUILD_SHARED_LIBS=ON
+  -DCMAKE_BUILD_TYPE=Release
   -DCMAKE_INSTALL_PREFIX=@@LOCATION@@
-make-options = -C build
+  -DUA_ENABLE_PUBSUB=ON
+  -DUA_ENABLE_SUBSCRIPTIONS=ON
+  -DUA_NAMESPACE_ZERO=REDUCED
+post-install =
+  cp src/pubsub/*.h deps/open62541_queue.h @@LOCATION@@/include
+environement =
+  PATH=${patch:location}/bin:%(PATH)s

component/open62541/ipv6_bugfix.patch

+commit ccdde2eddfd2e0937ba0b452063c60c214f5f2f5 (HEAD -> master)
+Author: Thomas Gambier <thomas.gambier@nexedi.com>
+Date:   Sat May 28 19:18:02 2022 +0200
+
+    BUGFIX: UA_PubSubChannelUDPMC_regist supports different interface in IPv6
+
+diff --git a/plugins/ua_pubsub_udp.c b/plugins/ua_pubsub_udp.c
+index 2c6ea480..f66f5860 100644
+--- a/plugins/ua_pubsub_udp.c
++++ b/plugins/ua_pubsub_udp.c
+@@ -319,6 +319,7 @@ UA_PubSubChannelUDPMC_open(const UA_PubSubConnectionConfig *connectionConfig) {
+                              "Interface configuration preparation failed.");
+                 goto cleanup;
+             }
++            memcpy(&channelDataUDPMC->intf_addr, &group.ipv6.ipv6mr_interface, sizeof(group.ipv6.ipv6mr_interface));
+         }
+ #endif
+     }
+@@ -432,6 +433,7 @@ UA_PubSubChannelUDPMC_regist(UA_PubSubChannel *channel, UA_ExtensionObject *tran
+         memcpy(&groupV6.ipv6mr_multiaddr,
+                &((const struct sockaddr_in6 *) &connectionConfig->ai_addr)->sin6_addr,
+                sizeof(struct in6_addr));
++        memcpy(&groupV6.ipv6mr_interface, &connectionConfig->intf_addr, sizeof(int));
+ 
+         if(UA_setsockopt(channel->sockfd,
+             connectionConfig->ai_family == PF_INET6 ? IPPROTO_IPV6 : IPPROTO_IP,
+

component/qjs-wrapper/buildout.cfg

+[buildout]
+extends =
+  ../mavsdk/buildout.cfg
+  ../open62541/buildout.cfg
+  ../quickjs/buildout.cfg
+
+parts = qjs-wrapper
+
+[qjs-wrapper]
+recipe = slapos.recipe.cmmi
+shared = true
+configure-command = true
+url = https://lab.nexedi.com/nexedi/qjs-wrapper/-/archive/v0.1/qjs-wrapper-v0.1.tar.gz
+md5sum = 4f0eb6f3bc5719a8ec043ce4f4d20747
+environment =
+  C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include
+  CPLUS_INCLUDE_PATH=include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk
+  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${mavsdk:location}/lib -Wl,-rpath=${mavsdk:location}/lib

component/quickjs/buildout.cfg

@@ -5,8 +5,9 @@ parts = quickjs
 
 [quickjs]
 recipe = slapos.recipe.cmmi
+shared = true
 configure-command = true
-url = https://bellard.org/quickjs/quickjs-2020-09-06.tar.xz
-md5sum = 47cb6def3263d6a631b647b268b1c554
+url = https://bellard.org/quickjs/quickjs-2021-03-27.tar.xz
+md5sum = 135182a626aa0c87a49aa2bf58fd39bf
 environment =
   PATH=${xz-utils:location}/bin:%(PATH)s

component/tinyxml2/buildout.cfg

+[buildout]
+extends =
+  ../cmake/buildout.cfg
+
+parts =
+  tinyxml2
+
+[tinyxml2]
+recipe = slapos.recipe.cmmi
+shared = true
+configure-command =
+  ${cmake:location}/bin/cmake
+configure-options =
+  -DCMAKE_INSTALL_PREFIX=@@LOCATION@@
+  -Dtinyxml2_SHARED_LIBS=ON
+url = https://github.com/leethomason/tinyxml2/archive/refs/tags/9.0.0.tar.gz
+md5sum = afecd941107a8e74d3d1b4363cf52bd7

software/caddy-frontend/test/test.py

@@ -33,7 +33,7 @@ from requests_toolbelt.adapters import source
 import json
 import multiprocessing
 import subprocess
-from unittest import skip
+from unittest import skip, expectedFailure
 import ssl
 from http.server import HTTPServer
 from http.server import BaseHTTPRequestHandler
@@ -302,7 +302,8 @@ class TestDataMixin(object):
     except IOError:
       test_data = ''
 
-    for replacement, value in list(data_replacement_dict.items()):
+    for replacement in sorted(data_replacement_dict.keys()):
+      value = data_replacement_dict[replacement]
       runtime_data = runtime_data.replace(value, replacement)
 
     maxDiff = self.maxDiff
@@ -443,7 +444,8 @@ class TestDataMixin(object):
         self.another_server_ca.certificate_pem.decode()),
       '@@another_server_ca.certificate_pem_double@@': unicode_escape(
         unicode_escape(self.another_server_ca.certificate_pem.decode())),
-      '@@getSoftwareURL@@': self.getSoftwareURL(),
+      # self.getSoftwareURL can contain other replacements so do it first
+      '@@00getSoftwareURL@@': self.getSoftwareURL(),
       '@@test_server_ca.certificate_pem@@': unicode_escape(
         self.test_server_ca.certificate_pem.decode()),
       '@@test_server_ca.certificate_pem_double@@': unicode_escape(
@@ -4446,6 +4448,7 @@ class TestSlave(SlaveHttpFrontendTestCase, TestDataMixin):
         curl_command, out, err))
     return out, err
 
+  @expectedFailure
   def test_disabled_cookie_list(self):
     parameter_dict = self.assertSlaveBase('disabled-cookie-list')
     out, err = self._curl(

software/caddy-frontend/test/test_data/test.TestEnableHttp2ByDefaultDefaultSlave.test00cluster_request_instance_parameter_dict.txt

@@ -20,7 +20,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -93,7 +93,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -130,7 +130,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestEnableHttp2ByDefaultDefaultSlaveGlobalDisableHttp2.test00cluster_request_instance_parameter_dict.txt

@@ -21,7 +21,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -94,7 +94,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -132,7 +132,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestEnableHttp2ByDefaultFalseSlave.test00cluster_request_instance_parameter_dict.txt

@@ -21,7 +21,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -94,7 +94,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -132,7 +132,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestEnableHttp2ByDefaultFalseSlaveGlobalDisableHttp2.test00cluster_request_instance_parameter_dict.txt

@@ -22,7 +22,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -95,7 +95,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -134,7 +134,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestMasterAIKCDisabledAIBCCDisabledRequest.test00cluster_request_instance_parameter_dict.txt

@@ -21,7 +21,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -52,7 +52,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -88,7 +88,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestMasterRequest.test00cluster_request_instance_parameter_dict.txt

@@ -19,7 +19,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -50,7 +50,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -86,7 +86,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestMasterRequestDomain.test00cluster_request_instance_parameter_dict.txt

@@ -20,7 +20,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -51,7 +51,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -88,7 +88,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestRe6stVerificationUrlDefaultSlave.test00cluster_request_instance_parameter_dict.txt

@@ -20,7 +20,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -65,7 +65,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -102,7 +102,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestRe6stVerificationUrlSlave.test00cluster_request_instance_parameter_dict.txt

@@ -20,7 +20,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -65,7 +65,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -102,7 +102,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestReplicateSlave.test00cluster_request_instance_parameter_dict.txt

@@ -24,7 +24,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -69,7 +69,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -106,7 +106,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -143,7 +143,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-3",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestSlave.test00cluster_request_instance_parameter_dict.txt

@@ -22,7 +22,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -763,7 +763,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -802,7 +802,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestSlaveCiphers.test00cluster_request_instance_parameter_dict.txt

@@ -22,7 +22,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -81,7 +81,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -120,7 +120,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestSlaveGlobalDisableHttp2.test00cluster_request_instance_parameter_dict.txt

@@ -23,7 +23,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -764,7 +764,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -804,7 +804,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestSlaveHealthCheck.test00cluster_request_instance_parameter_dict.txt

@@ -22,7 +22,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -269,7 +269,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -308,7 +308,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestSlaveHostHaproxyClash.test00cluster_request_instance_parameter_dict.txt

@@ -22,7 +22,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -79,7 +79,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -118,7 +118,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestSlaveSlapOSMasterCertificateCompatibility.test00cluster_request_instance_parameter_dict.txt

@@ -23,7 +23,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -228,7 +228,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -268,7 +268,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestSlaveSlapOSMasterCertificateCompatibilityOverrideMaster.test00cluster_request_instance_parameter_dict.txt

@@ -23,7 +23,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -68,7 +68,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -108,7 +108,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/caddy-frontend/test/test_data/test.TestSlaveSlapOSMasterCertificateCompatibilityUpdate.test00cluster_request_instance_parameter_dict.txt

@@ -23,7 +23,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-0",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "RootSoftwareInstance",
     "slave_instance_list": [
       {
@@ -68,7 +68,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-1",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "kedifa",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"
@@ -108,7 +108,7 @@
     "root_instance_title": "testing partition 0",
     "slap_computer_id": "local",
     "slap_computer_partition_id": "T-2",
-    "slap_software_release_url": "@@getSoftwareURL@@",
+    "slap_software_release_url": "@@00getSoftwareURL@@",
     "slap_software_type": "single-custom-personal",
     "slave_instance_list": [],
     "timestamp": "@@TIMESTAMP@@"

software/js-drone/README.md

+# Javascript drone #
+
+## Presentation ##
+
+* Deploy 3 different scripts (`cli.js`, `demo.js` and `manual-flight.js`) on a drone to fly it
+
+* Compile all required libraries to run flight scripts
+
+## Parameters ##
+
+* autopilot-ip: IPv4 address to identify the autpilot from the companion board
+
+* id: User chosen ID for the drone (must be unique in a swarm, will be used as an identifier in multicast communications)
+
+* is-a-simulation: Must be set to 'true' to automatically take off during simulation
+
+* leader-id: Id of the drone chosen to be the leader of the swarm
+
+* multicast-ipv6: IPv6 of the multicast group of the swarm
+
+* drone-id-list: Comma seperated list of the drone IDs of the swarm (recommanded to add the current drone ID)
+
+## How it works ##
+
+Run `quickjs binary location` `desired script location`

software/js-drone/buildout.hash.cfg

+# THIS IS NOT A BUILDOUT FILE, despite purposedly using a compatible syntax.
+# The only allowed lines here are (regexes):
+# - "^#" comments, copied verbatim
+# - "^[" section beginings, copied verbatim
+# - lines containing an "=" sign which must fit in the following categorie.
+#   - "^\s*filename\s*=\s*path\s*$" where "path" is relative to this file
+#     Copied verbatim.
+#   - "^\s*hashtype\s*=.*" where "hashtype" is one of the values supported
+#     by the re-generation script.
+#     Re-generated.
+# - other lines are copied verbatim
+# Substitution (${...:...}), extension ([buildout] extends = ...) and
+# section inheritance (< = ...) are NOT supported (but you should really
+# not need these here).
+[instance-profile]
+filename = instance.cfg
+md5sum = 99017d061d3be30746f6daef3a7bd8c4
+
+[cli]
+filename = cli.js
+md5sum = 33271aeec124301604fdd406f0b339d1
+
+[common]
+filename = common.js
+md5sum = bacc70f2683c279ba4e0751de616d4ff
+
+[demo]
+filename = demo.js
+md5sum = 31d8511e6d297643e65febe9a3ed2428
+
+[manual-flight]
+filename = manual-flight.js
+md5sum = 175813fc8b2f19f91dae27ad4e14ab03
+
+[pubsub]
+filename = pubsub.js
+md5sum = d949c9a6cdaaa94e7bdd22df5e52fbf4

software/js-drone/cli.js

+/*jslint indent2 */
+/*global console, std */
+
+import {
+  loiter,
+  setAirspeed,
+  setAltitude,
+  setTargetLatLong,
+  reboot
+} from "{{ qjs_wrapper }}"; //jslint-quiet
+import {
+  connect,
+  displayDronePositions,
+  land,
+  quit,
+  startPubsub,
+  takeOff
+} from "{{ common }}"; //jslint-quiet
+/*jslint-disable*/
+import * as std from "std";
+/*jslint-enable*/
+
+var running = false;
+const wrongParameters = displayMessage.bind(null, "Wrong parameters");
+
+function checkNumber(value, toExecute) {
+  return (
+    Number.isNaN(value)
+    ? wrongParameters
+    : toExecute.bind(null, value)
+  );
+}
+
+function displayMessage(message) {
+  console.log(message);
+  return 0;
+}
+
+function exit() {
+  running = false;
+  quit();
+  return 0;
+}
+
+function getInput() {
+  let undefined_cmd;
+  let altitude;
+  let cmd;
+  let latitude;
+  let longitude;
+  let s;
+  let speed;
+  
+  const help = `
+    connect
+    takeoff
+    land
+    goto(point)
+    gotoCoord(latitude, longitude)
+    altitude(altitude)
+    speed(speed)
+    positions
+    reboot
+    exit
+    help
+  `;
+
+  const f = std.fdopen(std.in, "r");
+  running = true;
+  while (running) {
+    std.printf("> ");
+    s = f.getline();
+    undefined_cmd = false;
+  
+    switch (s) {
+    case "altitude":
+      std.printf("Altitude: ");
+      altitude = parseFloat(f.getline());
+      cmd = checkNumber(altitude, setAltitude);
+      break;
+  
+    case "connect":
+      cmd = connect;
+      startPubsub();
+      break;
+  
+    case "exit":
+      cmd = exit;
+      break;
+  
+    case "gotoCoord":
+      std.printf("Latitude: ");
+      latitude = parseFloat(f.getline());
+      std.printf("Longitude: ");
+      longitude = parseFloat(f.getline());
+      cmd = checkNumber(longitude, checkNumber(latitude, setTargetLatLong));
+      break;
+  
+    case "help":
+      cmd = displayMessage.bind(null, help);
+      break;
+  
+    case "land":
+      cmd = land;
+      break;
+  
+    case "loiter":
+      cmd = loiter;
+      break;
+  
+    case "positions":
+      cmd = displayDronePositions;
+      break;
+  
+    case "reboot":
+      cmd = reboot;
+      break;
+  
+    case "speed":
+      std.printf("Speed: ");
+      speed = parseFloat(f.getline());
+      cmd = checkNumber(speed, setAirspeed);
+      break;
+  
+    case "takeoff":
+      cmd = takeOff.bind(null, 60);
+      break;
+  
+    default:
+      undefined_cmd = true;
+      cmd = displayMessage.bind(null, "    Undefined command");
+    }
+  
+    let ret = cmd();
+    if (ret) {
+      console.log("    [ERROR] function:\n", cmd, "\nreturn value:", ret);
+    }
+    else if (s !== "help" && !undefined_cmd) {
+      console.log("    Command successful");
+    }
+  };
+
+  f.close();
+}
+
+getInput();

software/js-drone/common.js

+/*jslint-disable*/
+{% set comma_separated_drone_id_list = ', '.join(drone_id_list.split()) -%}
+/*jslint-enable*/
+
+import {
+  arm,
+  doParachute,
+  getAltitude,
+  getLatitude,
+  getLongitude,
+  getYaw,
+  initPubsub,
+  setAltitude,
+  setTargetLatLong,
+  start,
+  stop,
+  stopPubsub,
+  takeOffAndWait,
+  Drone
+} from "{{ qjs_wrapper }}"; //jslint-quiet
+import {exit} from "std";
+import {sleep, Worker} from "os";
+
+const IP = "{{ autopilot_ip }}";
+const PORT = "7909";
+
+export const IS_LEADER = {{ is_leader }};
+export const LEADER_ID = {{ leader_id }};
+export const SIMULATION = {{ is_a_simulation }};
+
+export const EPSILON = 105;
+const EPSILON_YAW = 6;
+const EPSILON_ALTITUDE = 5;
+const TARGET_YAW = 0;
+export const ALTITUDE_DIFF = 30;
+
+const URL = "udp://" + IP + ":" + PORT;
+const LOG_FILE = "{{ log_dir }}/mavsdk-log";
+
+const droneIdList = [{{ comma_separated_drone_id_list }}];
+const droneDict = {};
+
+var pubsubRunning = false;
+var pubsubWorker;
+
+export function connect() {
+  console.log("Will connect to", URL);
+  exit_on_fail(start(URL, LOG_FILE, 60), "Failed to connect to " + URL);
+}
+
+export function distance(lat1, lon1, lat2, lon2) {
+  const R = 6371e3; // meters
+  const la1 = lat1 * Math.PI/180; // la, lo in radians
+  const la2 = lat2 * Math.PI/180;
+  const lo1 = lon1 * Math.PI/180;
+  const lo2 = lon2 * Math.PI/180;
+
+  //haversine formula
+  const sinLat = Math.sin((la2 - la1)/2);
+  const sinLon = Math.sin((lo2 - lo1)/2);
+  const h = sinLat*sinLat + Math.cos(la1)*Math.cos(la2)*sinLon*sinLon
+  return 2*R*Math.asin(Math.sqrt(h));
+}
+
+export function displayDronePositions() {
+  if(!pubsubRunning)
+    console.log("You must start pubsub first !");
+  else {
+    for (const [id, drone] of Object.entries(droneDict)) {
+      console.log(id, drone.latitude, drone.longitude, drone.altitudeAbs, drone.altitudeRel);
+    }
+  }
+  return 0;
+}
+
+function exit_on_fail(ret, msg) {
+  if(ret) {
+    console.log(msg);
+    quit();
+    exit(-1);
+  }
+}
+
+export function quit() {
+  stop();
+  if(pubsubRunning) {
+    stopPubsub();
+  }
+}
+
+export function goToAltitude(target_altitude, wait, go) {
+  if(go) {
+    exit_on_fail(
+      setAltitude(target_altitude),
+      `Failed to go to altitude ${target_altitude} m`
+    );
+  }
+
+  if(wait) {
+    waitForAltitude(target_altitude);
+  }
+}
+
+export function land() {
+  var yaw;
+
+  while(true) {
+    yaw = getYaw();
+    console.log(`[DEMO] Waiting for yaw... (${yaw} , ${TARGET_YAW})`);
+    if(Math.abs(yaw - TARGET_YAW) < EPSILON_YAW) {
+      break;
+    }
+    sleep(250);
+  }
+
+  console.log("[DEMO] Deploying parachute...");
+  exit_on_fail(doParachute(2), "Failed to deploy parachute");
+}
+
+export function setLatLong(latitude, longitude, target_altitude) {
+  var cur_latitude;
+  var cur_longitude;
+  var d;
+
+  if(target_altitude !== 0) {
+    setAltitude(target_altitude, false, true);
+  }
+
+  console.log(`Going to (${latitude}, ${longitude}) from
+                (${getLatitude()}, ${getLongitude()})`);
+  exit_on_fail(
+    setTargetLatLong(latitude, longitude),
+    `Failed to go to (${latitude}, ${longitude})`
+  );
+  sleep(500);
+
+  while(true) {
+    cur_latitude = getLatitude();
+    cur_longitude = getLongitude();
+    d = distance(cur_latitude, cur_longitude, latitude, longitude);
+    console.log(`Waiting for drone to get to destination (${d} m),
+    (${cur_latitude} , ${cur_longitude}), (${latitude}, ${longitude})`);
+    if(d < EPSILON) {
+      sleep(6000);
+      return;
+    }
+    sleep(1000);
+  }
+}
+
+export function startPubsub() {
+  pubsubWorker = new Worker("{{ pubsub_script }}");
+  pubsubWorker.onmessage = function(e) {
+    if (!e.data.publishing)
+      pubsubWorker.onmessage = null;
+  }
+
+  initPubsub(droneIdList.length);
+  for (let i = 0; i < droneIdList.length; i++) {
+    let id = droneIdList[i]
+    droneDict[id] = new Drone(id);
+    droneDict[id].init(i);
+  }
+
+  pubsubWorker.postMessage({ action: "run" });
+  pubsubRunning = true;
+  return droneDict;
+}
+
+export function takeOff(altitude) {
+  exit_on_fail(arm(), "Failed to arm");
+  takeOffAndWait();
+  goToAltitude(altitude, true, true);
+}
+
+function waitForAltitude(target_altitude) {
+  var altitude = getAltitude();
+  while(Math.abs(altitude - target_altitude) > EPSILON_ALTITUDE) {
+    console.log(
+      `[DEMO] Waiting for altitude... (${altitude} , ${target_altitude})`);
+    sleep(1000);
+    altitude = getAltitude();
+  }
+}

software/js-drone/demo.js

+/*jslint indent2 */
+/*global console */
+import {
+  getAltitude,
+  getAltitudeRel,
+  getInitialAltitude,
+  getLatitude,
+  getLongitude,
+  landed,
+  loiter,
+  setCheckpoint,
+  setTargetCoordinates
+} from "{{ qjs_wrapper }}"; //jslint-quiet
+import {sleep} from "os";
+import {
+  connect,
+  distance,
+  goToAltitude,
+  land,
+  quit,
+  setLatLong,
+  startPubsub,
+  takeOff,
+  ALTITUDE_DIFF,
+  IS_LEADER,
+  LEADER_ID,
+  SIMULATION
+} from "{{ common }}"; //jslint-quiet
+
+const FLIGH_ALTITUDE = 100;
+const PARACHUTE_ALTITUDE = 35;
+
+const checkpointList = [
+  {
+    "latitude": 45.64492790560583,
+    "longitude": 14.25334942966329,
+    "altitude": 585.1806861589965
+  },
+  {
+    "latitude": 45.64316335436476,
+    "longitude": 14.26332880184475,
+    "altitude": 589.8802607573035
+  },
+  {
+    "latitude": 45.64911917196595,
+    "longitude": 14.26214792790128,
+    "altitude": 608.6648153348965
+  },
+  {
+    "latitude": 45.64122685351364,
+    "longitude": 14.26590493128597,
+    "altitude": 606.1448368129072
+  },
+  {
+    "latitude": 45.64543355564817,
+    "longitude": 14.27242391207985,
+    "altitude": 630.0829598206344
+  },
+  {
+    "latitude": 45.6372792927328,
+    "longitude": 14.27533492411138,
+    "altitude": 616.1839898415284
+  },
+  {
+    "latitude": 45.64061299543953,
+    "longitude": 14.26161958465814,
+    "altitude": 598.0603137354178
+  },
+  {
+    "latitude": 45.64032340702919,
+    "longitude": 14.2682896662383,
+    "altitude": 607.1243119862851
+  }
+];
+
+const landingPoint = [
+  {
+    "latitude": 45.6398451,
+    "longitude": 14.2699217
+  }
+];
+
+let INITIAL_ALTITUDE;
+let START_ALTITUDE;
+
+var nextCheckpoint = 0;
+
+var distanceToLandingPoint = 100;
+
+var leaderAltitudeAbs;
+var leaderAltitudeRel;
+var leaderLatitude;
+var leaderLongitude;
+
+function followLeader(leaderId, initialAltitude, altitudeDiff) {
+  goToAltitude(START_ALTITUDE + ALTITUDE_DIFF, false, true);
+
+  while(droneDict[leaderId].altitudeAbs == 0) {
+    console.log("[DEMO] Waiting for leader to send its altitude");
+    sleep(1000);
+  }
+
+  while(droneDict[leaderId].altitudeAbs < initialAltitude) {
+    console.log(`[DEMO] Waiting for leader to reach altitude ${initialAltitude} (currently ${droneDict[leaderId].altitudeAbs})`);
+    sleep(1000);
+  }
+
+  console.log("[DEMO] Switching to following mode...\n");
+  do {
+    leaderAltitudeAbs = droneDict[leaderId].altitudeAbs;
+    leaderAltitudeRel = droneDict[leaderId].altitudeRel;
+    leaderLatitude = droneDict[leaderId].latitude;
+    leaderLongitude = droneDict[leaderId].longitude;
+
+    setTargetCoordinates(
+      leaderLatitude,
+      leaderLongitude,
+      leaderAltitudeAbs + altitudeDiff,
+      0
+    );
+    sleep(500);
+  } while(leaderAltitudeRel > PARACHUTE_ALTITUDE);
+
+  console.log("[DEMO] Stop following...\n");
+  nextCheckpoint = droneDict[leaderId].lastCheckpoint + 1;
+}
+
+function waitForAltitude(altitude) {
+  var curAltitude;
+  do {
+    sleep(1000);
+    curAltitude = getAltitude();
+    console.log(
+      `[DEMO] Waiting for altitude... (${curAltitude} , ${altitude})`);
+  }
+  while(curAltitude < altitude);
+}
+
+function waitForLanding() {
+  while(!landed()) {
+    sleep(1000);
+  }
+}
+
+console.log("[DEMO] Connecting...\n");
+connect();
+
+const droneDict = startPubsub();
+
+INITIAL_ALTITUDE = getInitialAltitude();
+START_ALTITUDE = INITIAL_ALTITUDE + FLIGH_ALTITUDE;
+
+if(SIMULATION) {
+  takeOff(START_ALTITUDE + 1);
+}
+
+waitForAltitude(START_ALTITUDE);
+
+console.log("[DEMO] Setting loiter mode...\n");
+loiter();
+sleep(3000);
+
+if(!IS_LEADER) {
+  followLeader(LEADER_ID, START_ALTITUDE, ALTITUDE_DIFF);
+}
+
+for (let i = nextCheckpoint; i < checkpointList.length; i++) {
+  console.log(`[DEMO] Going to Checkpoint ${i}\n`);
+  setLatLong(checkpointList[i].latitude, checkpointList[i].longitude, checkpointList[i].altitude + FLIGH_ALTITUDE);
+  console.log(`[DEMO] Reached Checkpoint ${i}\n`);
+  setCheckpoint(i);
+  sleep(30000);
+}
+
+console.log("[DEMO] Setting altitude...\n");
+goToAltitude(getAltitude() - getAltitudeRel() + PARACHUTE_ALTITUDE, true, true);
+
+if(!IS_LEADER) {
+  setLatLong(
+    checkpointList[checkpointList.length - 1].latitude,
+    checkpointList[checkpointList.length - 1].longitude,
+    0
+  );
+}
+
+while(distanceToLandingPoint > 20) {
+  console.log(`[DEMO] Waiting to reache landing point (current distance is ${distanceToLandingPoint})`);
+  distanceToLandingPoint = distance(getLatitude(), getLongitude(), landingPoint.latitude, landingPoint.longitude);
+}
+
+console.log("[DEMO] Landing...\n");
+land();
+
+waitForLanding();
+quit();

software/js-drone/instance.cfg

+[buildout]
+parts =
+  cli
+  demo
+  manual-flight
+
+eggs-directory = ${buildout:eggs-directory}
+develop-eggs-directory = ${buildout:develop-eggs-directory}
+offline = true
+
+[directory]
+recipe = slapos.cookbook:mkdirectory
+home = $${buildout:directory}
+etc = $${:home}/etc
+var = $${:home}/var
+log = $${:var}/log
+
+[slap-configuration]
+recipe = slapos.cookbook:slapconfiguration
+computer = $${slap_connection:computer_id}
+partition = $${slap_connection:partition_id}
+url = $${slap_connection:server_url}
+key = $${slap_connection:key_file}
+cert = $${slap_connection:cert_file}
+
+[drone]
+recipe = slapos.recipe.build
+slapparameter-dict = $${slap-configuration:configuration}
+init =
+  options['autopilot-ip'] = options['slapparameter-dict'].get('autopilot_ip', '192.168.27.1')
+  options['id'] = options['slapparameter-dict'].get('id', '1')
+  options['is-a-simulation'] = options['slapparameter-dict'].get('is_a_simulation', 'false')
+  options['leader-id'] = options['slapparameter-dict'].get('leader_id', '1')
+  options['is-leader'] = 'true' if options['id'] == options['leader-id'] else 'false'
+  options['multicast-ipv6'] = options['slapparameter-dict'].get('multicast_ip', 'ff15::1111')
+  options['drone-id-list'] = options['slapparameter-dict'].get('drone_id_list', '')
+
+[js-dynamic-template]
+recipe = slapos.recipe.template:jinja2
+rendered = $${directory:etc}/$${:_buildout_section_name_}
+template = ${buildout:directory}/$${:_buildout_section_name_}.js
+extra-context =
+context =
+  raw qjs_wrapper ${qjs-wrapper:location}/lib/libqjswrapper.so
+  $${:extra-context}
+
+[common]
+<= js-dynamic-template
+extra-context =
+  key autopilot_ip drone:autopilot-ip
+  key drone_id_list drone:drone-id-list
+  key is_a_simulation drone:is-a-simulation
+  key is_leader drone:is-leader
+  key leader_id drone:leader-id
+  key log_dir directory:log
+  key pubsub_script pubsub:rendered
+
+[cli]
+<= js-dynamic-template
+extra-context =
+  key common common:rendered
+
+[demo]
+<= js-dynamic-template
+extra-context =
+  key common common:rendered
+
+[manual-flight]
+<= js-dynamic-template
+extra-context =
+  key common common:rendered
+
+[pubsub]
+<= js-dynamic-template
+extra-context =
+  key id drone:id
+  key ipv6 drone:multicast-ipv6

software/js-drone/manual-flight.js

+/*jslint indent2 */
+/*global console */
+import {
+  getAltitude,
+  getInitialAltitude,
+  landed,
+  loiter,
+  setTargetCoordinates
+} from "{{ qjs_wrapper }}"; //jslint-quiet
+import {sleep} from "os";
+import {
+  connect,
+  goToAltitude,
+  quit,
+  startPubsub,
+  takeOff,
+  ALTITUDE_DIFF,
+  IS_LEADER,
+  LEADER_ID,
+  SIMULATION
+} from "{{ common }}"; //jslint-quiet
+
+const FLIGH_ALTITUDE = 100;
+const PARACHUTE_ALTITUDE = 35;
+
+let INITIAL_ALTITUDE;
+let START_ALTITUDE;
+
+var leaderAltitudeAbs;
+var leaderAltitudeRel;
+var leaderLatitude;
+var leaderLongitude;
+
+function followLeader(leaderId, initialAltitude, altitudeDiff) {
+  goToAltitude(START_ALTITUDE + ALTITUDE_DIFF, false, true);
+
+  while(droneDict[leaderId].altitudeAbs == 0) {
+    console.log("[DEMO] Waiting for leader to send its altitude");
+    sleep(1000);
+  }
+
+  while(droneDict[leaderId].altitudeAbs < initialAltitude) {
+    console.log(`[DEMO] Waiting for leader to reach altitude ${initialAltitude} (currently ${droneDict[leaderId].altitudeAbs})`);
+    sleep(1000);
+  }
+
+  console.log("[DEMO] Switching to following mode...\n");
+  do {
+    leaderAltitudeAbs = droneDict[leaderId].altitudeAbs;
+    leaderAltitudeRel = droneDict[leaderId].altitudeRel;
+    leaderLatitude = droneDict[leaderId].latitude;
+    leaderLongitude = droneDict[leaderId].longitude;
+
+    setTargetCoordinates(
+      leaderLatitude,
+      leaderLongitude,
+      leaderAltitudeAbs + altitudeDiff,
+      0
+    );
+    sleep(500);
+  } while(leaderAltitudeRel > PARACHUTE_ALTITUDE);
+
+  console.log("[DEMO] Stop following...\n");
+}
+
+function waitForAltitude(altitude) {
+  var curAltitude;
+  do {
+    sleep(1000);
+    curAltitude = getAltitude();
+    console.log(
+      `[DEMO] Waiting for altitude... (${curAltitude} , ${altitude})`);
+  }
+  while(curAltitude < altitude);
+}
+
+function waitForLanding() {
+  while(!landed()) {
+    sleep(1000);
+  }
+}
+
+const droneDict = startPubsub();
+
+console.log("[DEMO] Connecting...\n");
+connect();
+
+while(getInitialAltitude() == 0) {
+  console.log("[DEMO] Waiting for first telemetry\n");
+  sleep(1000);
+}
+
+INITIAL_ALTITUDE = getInitialAltitude();
+START_ALTITUDE = INITIAL_ALTITUDE + FLIGH_ALTITUDE;
+
+if(SIMULATION) {
+  takeOff(START_ALTITUDE + 1);
+}
+
+waitForAltitude(START_ALTITUDE);
+
+console.log("[DEMO] Setting loiter mode...\n");
+loiter();
+sleep(3000);
+
+if(!IS_LEADER) {
+  followLeader(LEADER_ID, START_ALTITUDE, ALTITUDE_DIFF);
+}
+
+console.log("[DEMO] Loitering until manual intructions are given\n")
+
+waitForLanding();
+quit();

software/js-drone/pubsub.js

+import {runPubsub} from "{{ qjs_wrapper }}";
+import {Worker} from "os";
+
+const PORT = "4840";
+const IPV6 = "{{ ipv6 }}";
+
+var parent = Worker.parent;
+
+function handle_msg(e) {
+  switch(e.data.action) {
+    case "run":
+      runPubsub(IPV6, PORT, "eth0", {{ id }});
+      parent.postMessage({running: false});
+      parent.onmessage = null;
+      break;
+    default:
+      console.log("Undefined action from parent: ", e.data.action);
+  }
+}
+
+parent.onmessage = handle_msg;

software/js-drone/software.cfg

+[buildout]
+extends =
+  buildout.hash.cfg
+  ../../stack/slapos.cfg
+  ../../component/qjs-wrapper/buildout.cfg
+
+parts =
+    instance-profile
+    common
+    cli
+    demo
+    manual-flight
+    pubsub
+    slapos-cookbook
+
+[download-file-base]
+recipe = slapos.recipe.build:download
+url = ${:_profile_base_location_}/${:filename}
+destination = ${buildout:directory}/${:filename}
+
+[instance-profile]
+recipe = slapos.recipe.template
+url = ${:_profile_base_location_}/${:filename}
+output = ${buildout:directory}/template.cfg
+
+[common]
+<= download-file-base
+
+[cli]
+<= download-file-base
+
+[demo]
+<= download-file-base
+
+[manual-flight]
+<= download-file-base
+
+[pubsub]
+<= download-file-base

software/kvm/buildout.hash.cfg

@@ -15,11 +15,11 @@
 
 [template]
 filename = instance.cfg.in
-md5sum = 7e90da1f6dac4233e1aa3248f48e357c
+md5sum = a7978940fb9cdcc4e1ec33015ba640ba
 
 [template-kvm]
 filename = instance-kvm.cfg.jinja2
-md5sum = ff9fb2378a48d1ca8c72f6a87d3a0221
+md5sum = 150285957daa256420d2d73519277420
 
 [template-kvm-cluster]
 filename = instance-kvm-cluster.cfg.jinja2.in
@@ -51,7 +51,7 @@ md5sum = e041e8011ad2ec7f104be173ef76f5e9
 
 [template-ansible-promise]
 filename = template/ansible-promise.in
-md5sum = a8cf453d20f01c707f02c4b4014580d8
+md5sum = 6328f99728284847b8dd1146aadeae1b
 
 [template-kvm-run]
 filename = template/template-kvm-run.in
@@ -78,16 +78,16 @@ filename = instance-kvm-http.cfg.in
 md5sum = 438192aab9f11e40dc521b46a4854dcf
 
 [image-download-controller]
-filename = template/image-download-controller.py
-md5sum = 3cc10323fd4d2db4cfbac536b66eae7c
+filename = template/image-download-controller.py.in
+md5sum = dc822ddd7dc987bf808a64a18ba11fd0
 
 [image-download-config-creator]
-filename = template/image-download-config-creator.py
-md5sum = 22ed19d9b8f7b983c97c52caa686bcd7
+filename = template/image-download-config-creator.py.in
+md5sum = b74b9d4829fe2c2f7122125cf87d29cd
 
 [whitelist-firewall-download-controller]
-filename = template/whitelist-firewall-download-controller.py
-md5sum = bc64e29546833817636261d1b28aa6dc
+filename = template/whitelist-firewall-download-controller.py.in
+md5sum = b4f6ffef08685bace1b9c01a3bd2620d
 
 [whitelist-domains-default]
 filename = template/whitelist-domains-default

software/kvm/instance-kvm.cfg.jinja2

@@ -1026,6 +1026,7 @@ extensions = jinja2.ext.do
 context =
   raw logs ${directory:public}/ansible
   raw name {{ name }}
+  raw python_executable ${buildout:executable}
 
 [ansible-vm-promise]
 <= monitor-promise-base

software/kvm/instance.cfg.in

@@ -83,9 +83,9 @@ extra-context =
   raw dcron_executable_location ${dcron:location}/sbin/crond
   raw debian_amd64_netinst_location ${debian-amd64-bullseye-netinst.iso:target}
   raw whitelist_domains_default ${whitelist-domains-default:target}
-  raw whitelist_firewall_download_controller ${whitelist-firewall-download-controller:target}
-  raw image_download_controller ${image-download-controller:target}
-  raw image_download_config_creator ${image-download-config-creator:target}
+  raw whitelist_firewall_download_controller ${whitelist-firewall-download-controller:output}
+  raw image_download_controller ${image-download-controller:output}
+  raw image_download_config_creator ${image-download-config-creator:output}
   raw logrotate_cfg ${template-logrotate-base:output}
   raw novnc_location ${noVNC:location}
   raw netcat_bin ${netcat:location}/bin/netcat

software/kvm/software.cfg

@@ -61,9 +61,16 @@ scripts =
 recipe = slapos.recipe.build:download
 url = ${:_profile_base_location_}/${:filename}
 
-[template]
+[template-base]
 recipe = slapos.recipe.template
 url = ${:_profile_base_location_}/${:filename}
+
+[template-base-python]
+<= template-base
+output = ${buildout:parts-directory}/${:_buildout_section_name_}/${:_buildout_section_name_}.py
+
+[template]
+<= template-base
 output = ${buildout:directory}/template.cfg
 
 [template-kvm]
@@ -118,13 +125,13 @@ context =
     key template_apache_conf template-apache-conf:target
 
 [image-download-controller]
-<= download-base
+<= template-base-python
 
 [image-download-config-creator]
-<= download-base
+<= template-base-python
 
 [whitelist-firewall-download-controller]
-<= download-base
+<= template-base-python
 
 [whitelist-domains-default]
 <= download-base

software/kvm/template/ansible-promise.in

-#!/usr/bin/env python
+#!{{ python_executable }}
 
 # Parse Ansible result log file and define if execution succeed or not
 

software/kvm/template/image-download-config-creator.py → software/kvm/template/image-download-config-creator.py.in

-#!/usr/bin/env python
+#!${buildout:executable}
 
 import hashlib
 import json

software/kvm/template/image-download-controller.py → software/kvm/template/image-download-controller.py.in

-#!/usr/bin/env python
+#!${buildout:executable}
 
 import hashlib
 import json

software/kvm/template/whitelist-firewall-download-controller.py → software/kvm/template/whitelist-firewall-download-controller.py.in

-#!/usr/bin/env python
+#!${buildout:executable}
 
 import os
 import subprocess