software/js-drone: add operator script

Handle operator script parameter.

software/js-drone/README.md

@@ -16,6 +16,8 @@
 * droneNetIf: Drone network interface used for multicast traffic
 * debug: Must be set to 'true' to send drone logs through OPC-UA
 * multicastIp: IPv6 of the multicast group of the swarm
+* operatorScript: URL of operator's script to prepare the flight
+* mapJson: URL of terrain's map used by the operator script
 * flightScript: URL of user's script to execute to fly drone swarm
 * loopPeriod: Minimal period (in milliseconds) between 2 executions of the flight script loop
 * subscriberGuidList: List of computer id on which a GUI must be deployed
@@ -54,7 +56,7 @@ For each drone is displayed:
 
 ### Buttons
 
-* Start: sends a "start" message to the swarm and changes into a stop button
+* Start: loads operator script and changes into a stop button
 * Stop: sends a "stop" message to the swarm
 * Switch leader: sends a "switch" message to the swarm, it is usually used to change the leader
 * Quit: exits (closes websocket and stops pub/sub)

software/js-drone/buildout.hash.cfg

@@ -22,19 +22,19 @@ md5sum = 01425a1c77e79788e1948398b9136724
 
 [instance-profile]
 filename = instance.cfg.in
-md5sum = b9f2301782bee12f9ff257a8f0a192f5
+md5sum = 44d78f9ee8bb4475d521bce8694cc963
 
 [instance-root]
 filename = instance-root.cfg.jinja2
-md5sum = ed319ac31addb65842e38d5b20d2d8e7
+md5sum = 2bec05e86d88d27c3c672a6be9a0d0b4
 
 [instance-subscriber]
 filename = instance-subscriber.cfg.in
-md5sum = 8559dc8c95e9232060be6db3e0af4379
+md5sum = 9418396fc75e820b9dd5e913855aafe2
 
 [main]
 _update_hash_filename_ = drone-scripts/main.js.jinja2
-md5sum = 85135842e42a1f48a474467508723c0c
+md5sum = 4d13e382ba6462e19b67aa67207324dc
 
 [pubsub]
 _update_hash_filename_ = drone-scripts/pubsub.js.jinja2
@@ -46,4 +46,4 @@ md5sum = c3858b5ec7373a0932fcda911a8177b5
 
 [worker]
 _update_hash_filename_ = drone-scripts/worker.js.jinja2
-md5sum = f7f94c4e323a84796977f139b8ab4b9b
+md5sum = 4624b7a0a71c6abe6086b0c628074498

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

@@ -39,11 +39,11 @@ import { err, exit, open, out } from "std";
 (function (arm, console, dup2, err, exec, exit, kill, open, out, pipe, read,
            scriptArgs, setLog, setReadHandler, setTimeout, signal, start, stop,
            stopPubsub, waitpid, Worker, SIGINT, SIGTERM, WNOHANG) {
-{% else %}
+{% else -%}
 (function (console, dup2, err, exec, exit, kill, open, out, pipe, read,
            scriptArgs, setReadHandler, setTimeout, signal, stopPubsub, waitpid,
            Worker, SIGINT, SIGTERM, WNOHANG) {
-{% endif %}
+{% endif -%}
   "use strict";
 
   var CONF_PATH = "{{ configuration }}",
@@ -61,6 +61,10 @@ import { err, exit, open, out } from "std";
     tail_pid,
     worker,
     user_script = scriptArgs[1],
+{% if not isADrone -%}
+    operator_script = scriptArgs[2],
+    map_json = scriptArgs[3],
+{% endif -%}
     LOOP_EXECUTION_PERIOD = configuration.loopPeriod,
     previous_timestamp,
     can_update = false;
@@ -99,9 +103,9 @@ import { err, exit, open, out } from "std";
   function quit(exit_code) {
     worker.onmessage = null;
     stopPubsub();
-{% if isADrone %}
+{% if isADrone -%}
     stop();
-{% endif %}
+{% endif -%}
     QUICKJS_LOG_FILE.close();
     if (log_r_pipe) {
       setReadHandler(log_r_pipe[0], null);
@@ -128,7 +132,7 @@ import { err, exit, open, out } from "std";
     }
   }
 
-{% if isADrone %}
+{% if isADrone -%}
   function connect() {
     var address = configuration.autopilotIp + ":" + configuration.autopilotPort;
     console.log("Will connect to", address);
@@ -145,7 +149,7 @@ import { err, exit, open, out } from "std";
 
   console.log("Connecting to aupilot\n");
   connect();
-{% endif %}
+{% endif -%}
 
   pubsubWorker = new Worker("{{ pubsub_script }}");
   pubsubWorker.onmessage = function (e) {
@@ -157,9 +161,9 @@ import { err, exit, open, out } from "std";
   worker.postMessage({type: "initPubsub"});
 
   function load() {
-{% if isADrone %}
+{% if isADrone -%}
     exitOnFail(arm(), "Failed to arm");
-{% endif %}
+{% endif -%}
 
     // First argument must provide the user script path
     if (user_script === undefined) {
@@ -169,7 +173,11 @@ import { err, exit, open, out } from "std";
 
     worker.postMessage({
       type: "load",
-      path: user_script
+{% if not isADrone -%}
+      operator_path: operator_script,
+      map_path: map_json,
+{% endif -%}
+      user_path: user_script
     });
   }
 

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

@@ -94,17 +94,19 @@ import { evalScript, fdopen, loadFile, open } from "std";
       setTargetCoordinates: setTargetCoordinates,
       takeOff: takeOff,
 {% endif -%}
-      sendMsg: function (msg, id) {
-        if (id === undefined) { id = -1; }
-        setMessage(JSON.stringify({
-          content: msg,
-          timestamp: Date.now(),
-          dest_id: id
-        }));
-      }
+      sendMsg: sendMsg
     };
   conf_file.close();
 
+  function sendMsg(msg, id) {
+    if (id === undefined) { id = -1; }
+    setMessage(JSON.stringify({
+      content: msg,
+      timestamp: Date.now(),
+      dest_id: id
+    }));
+  }
+
   function exitWorker(exit_code) {
     if (user_me.hasOwnProperty("onWebSocketMessage")) {
       stopGwsocket();
@@ -192,12 +194,17 @@ import { evalScript, fdopen, loadFile, open } from "std";
     waitpid(gwsocket_pid, WNOHANG);
   }
 
-  function loadUserScript(path) {
+  function getFileContent(path) {
     var script_content = loadFile(path);
     if (script_content === null) {
-      console.log("Failed to load user script " + path);
+      console.log("Failed to load script", path);
       exitWorker(1);
     }
+    return script_content;
+  }
+
+  function loadUserScript(path) {
+    var script_content = getFileContent(path);
     try {
       evalScript(
         "function execUserScript(from, me) {" + script_content + "};"
@@ -218,6 +225,22 @@ import { evalScript, fdopen, loadFile, open } from "std";
     }
   }
 
+  function loadOperatorScript(operator_path, map_path) {
+    var script_content = getFileContent(operator_path),
+      operator = {
+        getMapJSON: function () { return JSON.parse(getFileContent(map_path)); },
+        sendMsg: sendMsg
+      };
+    try {
+      evalScript(
+        "function execOperatorScript(operator) {" + script_content + "};"
+      );
+      user_me.execOperatorScript = execOperatorScript.bind(null, operator);
+    } catch (e) {
+      console.log("Failed to evaluate operator script", e);
+    }
+  }
+
   function handleMainMessage(evt) {
     var type = evt.data.type, message, parsed_message, peer_id, log;
 
@@ -238,7 +261,10 @@ import { evalScript, fdopen, loadFile, open } from "std";
       break;
 
     case "load":
-      loadUserScript(evt.data.path);
+      loadUserScript(evt.data.user_path);
+      if (evt.data.hasOwnProperty("operator_path") && evt.data.hasOwnProperty("map_path")) {
+        loadOperatorScript(evt.data.operator_path, evt.data.map_path);
+      }
       parent.postMessage({type: "loaded"});
       break;
 

software/js-drone/instance-input-schema.json

@@ -50,11 +50,23 @@
       "type": "string",
       "default": "ff15::1111"
     },
+    "operatorScript": {
+      "title": "Script's URL to prepare the flight",
+      "description": "URL of the operator script. The operator script is used to send a first message to the swarm.\nThis can be useful to determine some path planning depending on map informations.\nThis URL must be publicly accesible so that the drone can fetch the script.",
+      "type": "string",
+      "default": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/operator_script/operator.js"
+    },
+    "mapJson": {
+      "title": "Map's URL",
+      "description": "URL of the terrain's map. It is used as a data source by the operator script.",
+      "type": "string",
+      "default": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/operator_script/map.json"
+    },
     "flightScript": {
       "title": "Script's URL of the flight",
       "description": "URL of the script which will be executed for the flight. This URL must be publicly accesible so that the drone can fetch the script.",
       "type": "string",
-      "default": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js"
+      "default": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/operator_script/default.js"
     },
     "loopPeriod": {
       "title": "Loop execution period",

software/js-drone/instance-root.cfg.jinja2

@@ -35,7 +35,9 @@ config-netIf = {{ parameter_dict['droneNetIf'] }}
 {% else -%}
 {%   do subscriber_id_list.append(id) %}
 config-isADrone = {{ dumps(False) }}
-config-flightScript = https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/subscribe.js
+config-operatorScript = {{ parameter_dict['operatorScript'] }}
+config-mapJson = {{ parameter_dict['mapJson'] }}
+config-flightScript = https://lab.nexedi.com/nexedi/flight-scripts/-/raw/operator_script/subscribe.js
 config-netIf = {{ parameter_dict['subscriberNetIf'] }}
 {% endif -%}
 config-multicastIp = {{ parameter_dict['multicastIp'] }}

software/js-drone/instance-subscriber.cfg.in

@@ -20,6 +20,21 @@ inline =
   {% do parameter_dict.__setitem__('websocketPort', websocket_port) -%}
   {{ json_module.dumps(parameter_dict) }}
 
+[operator]
+recipe = slapos.recipe.build:download
+url = $${slap-configuration:configuration.operatorScript}
+destination = $${directory:etc}/operator.js
+offline = false
+
+[map]
+recipe = slapos.recipe.build:download
+url = $${slap-configuration:configuration.mapJson}
+destination = $${directory:etc}/map.json
+offline = false
+
+[qjs-launcher]
+command-line += $${operator:target} $${map:target}
+
 [script-js]
 recipe = slapos.recipe.template:jinja2
 template = ${script-js:target}

software/js-drone/instance.cfg.in

@@ -37,7 +37,9 @@ default-parameters =
     "debug": false,
     "droneGuidList": [],
     "droneNetIf": "eth0",
-    "flightScript": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js",
+    "operatorScript": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/operator_script/operator.js",
+    "mapJson": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/operator_script/map.json",
+    "flightScript": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/operator_script/default.js",
     "loopPeriod": 200,
     "multicastIp": "ff15::1111",
     "subscriberGuidList":[],

software/js-drone/test/test.py

@@ -282,7 +282,9 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
         'debug': False,
         'loopPeriod': LOOP_PERIOD,
         'isADrone': False,
-        'flightScript': 'https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/subscribe.js',
+        'operatorScript': 'https://lab.nexedi.com/nexedi/flight-scripts/-/raw/operator_script/operator.js',
+        'mapJson': 'https://lab.nexedi.com/nexedi/flight-scripts/-/raw/operator_script/map.json',
+        'flightScript': 'https://lab.nexedi.com/nexedi/flight-scripts/-/raw/operator_script/subscribe.js',
         'netIf': OPC_UA_NET_IF,
         'multicastIp': MCAST_GRP
       }