Commit c1ae9eee authored by Léo-Paul Géneau's avatar Léo-Paul Géneau 👾

component/qjs-wrapper: v↑ qjs-wrapper (2.1 -> 2.2)

parent e5ef7b00
...@@ -9,7 +9,7 @@ parts = qjs-wrapper ...@@ -9,7 +9,7 @@ parts = qjs-wrapper
[qjs-wrapper-source] [qjs-wrapper-source]
recipe = slapos.recipe.build:gitclone recipe = slapos.recipe.build:gitclone
repository = https://lab.nexedi.com/nexedi/qjs-wrapper.git repository = https://lab.nexedi.com/nexedi/qjs-wrapper.git
revision = v2.1 revision = b2ade15
git-executable = ${git:location}/bin/git git-executable = ${git:location}/bin/git
[qjs-wrapper] [qjs-wrapper]
......
...@@ -14,7 +14,6 @@ ...@@ -14,7 +14,6 @@
* autopilotIp: IPv4 address to identify the autopilot from the companion board * autopilotIp: IPv4 address to identify the autopilot from the companion board
* droneGuidList: List of computer id on which flight script must be deployed * droneGuidList: List of computer id on which flight script must be deployed
* droneNetIf: Drone network interface used for multicast traffic * droneNetIf: Drone network interface used for multicast traffic
* isASimulation: Must be set to 'true' to automatically take off during simulation
* debug: Must be set to 'true' to send drone logs through OPC-UA * debug: Must be set to 'true' to send drone logs through OPC-UA
* multicastIp: IPv6 of the multicast group of the swarm * multicastIp: IPv6 of the multicast group of the swarm
* flightScript: URL of user's script to execute to fly drone swarm * flightScript: URL of user's script to execute to fly drone swarm
......
...@@ -22,11 +22,11 @@ md5sum = 01425a1c77e79788e1948398b9136724 ...@@ -22,11 +22,11 @@ md5sum = 01425a1c77e79788e1948398b9136724
[instance-profile] [instance-profile]
filename = instance.cfg.in filename = instance.cfg.in
md5sum = 4733c63573e6812c124b356dc146ffcc md5sum = b9f2301782bee12f9ff257a8f0a192f5
[instance-root] [instance-root]
filename = instance-root.cfg.jinja2 filename = instance-root.cfg.jinja2
md5sum = 316f77c655540226f22dc7a6322624f1 md5sum = ed319ac31addb65842e38d5b20d2d8e7
[instance-subscriber] [instance-subscriber]
filename = instance-subscriber.cfg.in filename = instance-subscriber.cfg.in
...@@ -34,7 +34,7 @@ md5sum = 8559dc8c95e9232060be6db3e0af4379 ...@@ -34,7 +34,7 @@ md5sum = 8559dc8c95e9232060be6db3e0af4379
[main] [main]
_update_hash_filename_ = drone-scripts/main.js.jinja2 _update_hash_filename_ = drone-scripts/main.js.jinja2
md5sum = 60146505ec8ea50d881d033f63b6725c md5sum = 85135842e42a1f48a474467508723c0c
[pubsub] [pubsub]
_update_hash_filename_ = drone-scripts/pubsub.js.jinja2 _update_hash_filename_ = drone-scripts/pubsub.js.jinja2
...@@ -42,8 +42,8 @@ md5sum = 34a02101a607e60f4e422375beaf7fc2 ...@@ -42,8 +42,8 @@ md5sum = 34a02101a607e60f4e422375beaf7fc2
[script-js] [script-js]
_update_hash_filename_ = web-gui/script.js.jinja2 _update_hash_filename_ = web-gui/script.js.jinja2
md5sum = efd986b3685e50f73c17c9352804bae0 md5sum = c3858b5ec7373a0932fcda911a8177b5
[worker] [worker]
_update_hash_filename_ = drone-scripts/worker.js.jinja2 _update_hash_filename_ = drone-scripts/worker.js.jinja2
md5sum = 5fc7f9738d8230aeea9a9d25ea30f3f0 md5sum = f7f94c4e323a84796977f139b8ab4b9b
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */ /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
{% if isADrone -%} {% if isADrone -%}
/*global arm, console, close, dup2, exit, open, scriptArgs, setTimeout, start, /*global arm, console, dup2, err, exec, exit, kill, open, out, pipe, read,
stop, stopPubsub, takeOffAndWait, Worker, SIGINT, SIGTERM*/ scriptArgs, setLog, setReadHandler, setTimeout, signal, start, stop,
stopPubsub, waitpid, ArrayBuffer, Uint8Array, Worker, SIGINT, SIGTERM,
WNOHANG*/
{% else -%} {% else -%}
/*global console, close, dup2, exit, open, scriptArgs, setTimeout, stopPubsub, /*global console, dup2, err, exec, exit, kill, open, out, pipe, read,
Worker, SIGINT, SIGTERM*/ scriptArgs, setReadHandler, setTimeout, signal, stopPubsub, waitpid,
ArrayBuffer, Uint8Array, Worker, SIGINT, SIGTERM, WNOHANG*/
{% endif -%} {% endif -%}
import { import {
{% if isADrone -%} {% if isADrone -%}
arm, arm,
setLog,
start, start,
stop, stop,
{% endif -%} {% endif -%}
stopPubsub, stopPubsub,
{% if isADrone -%}
takeOffAndWait
{% endif -%}
} from "{{ qjs_wrapper }}"; } from "{{ qjs_wrapper }}";
import { import {
Worker, Worker,
SIGINT, SIGINT,
SIGTERM, SIGTERM,
WNOHANG,
dup2, dup2,
exec,
kill,
pipe,
read,
setReadHandler,
setTimeout, setTimeout,
signal signal,
waitpid
} from "os"; } from "os";
import { err, exit, open, out } from "std"; import { err, exit, open, out } from "std";
{% if isADrone -%} {% if isADrone -%}
(function (arm, console, dup2, err, exit, open, out, scriptArgs, setTimeout, (function (arm, console, dup2, err, exec, exit, kill, open, out, pipe, read,
start, stop, stopPubsub, takeOffAndWait, Worker, SIGINT, SIGTERM) { scriptArgs, setLog, setReadHandler, setTimeout, signal, start, stop,
{% else -%} stopPubsub, waitpid, Worker, SIGINT, SIGTERM, WNOHANG) {
(function (console, dup2, err, exit, open, out, scriptArgs, setTimeout, {% else %}
stopPubsub, Worker, SIGINT, SIGTERM) { (function (console, dup2, err, exec, exit, kill, open, out, pipe, read,
{% endif -%} scriptArgs, setReadHandler, setTimeout, signal, stopPubsub, waitpid,
Worker, SIGINT, SIGTERM, WNOHANG) {
{% endif %}
"use strict"; "use strict";
var CONF_PATH = "{{ configuration }}", var CONF_PATH = "{{ configuration }}",
...@@ -42,11 +52,13 @@ import { err, exit, open, out } from "std"; ...@@ -42,11 +52,13 @@ import { err, exit, open, out } from "std";
AUTOPILOT_CONNECTION_TIMEOUT = 5, AUTOPILOT_CONNECTION_TIMEOUT = 5,
MAVSDK_LOG_FILE_PATH = MAVSDK_LOG_FILE_PATH =
"{{ log_dir }}/mavsdk_" + new Date().toISOString() + ".log", "{{ log_dir }}/mavsdk_" + new Date().toISOString() + ".log",
MAX_STR_SIZE = 1024,
QUICKJS_LOG_FILE_PATH = QUICKJS_LOG_FILE_PATH =
"{{ log_dir }}/quickjs_" + new Date().toISOString() + ".log", "{{ log_dir }}/quickjs_" + new Date().toISOString() + ".log",
QUICKJS_LOG_FILE = QUICKJS_LOG_FILE = open(QUICKJS_LOG_FILE_PATH, "w"),
open(QUICKJS_LOG_FILE_PATH, "w"), log_r_pipe,
pubsubWorker, pubsubWorker,
tail_pid,
worker, worker,
user_script = scriptArgs[1], user_script = scriptArgs[1],
LOOP_EXECUTION_PERIOD = configuration.loopPeriod, LOOP_EXECUTION_PERIOD = configuration.loopPeriod,
...@@ -58,6 +70,23 @@ import { err, exit, open, out } from "std"; ...@@ -58,6 +70,23 @@ import { err, exit, open, out } from "std";
// redirect stdout and stderr // redirect stdout and stderr
dup2(QUICKJS_LOG_FILE.fileno(), out.fileno()); dup2(QUICKJS_LOG_FILE.fileno(), out.fileno());
dup2(QUICKJS_LOG_FILE.fileno(), err.fileno()); dup2(QUICKJS_LOG_FILE.fileno(), err.fileno());
if (configuration.debug && configuration.isADrone) {
log_r_pipe = pipe();
tail_pid = exec([
"tail",
"-f",
QUICKJS_LOG_FILE_PATH
], {
block: false,
stdout: log_r_pipe[1]
});
setReadHandler(log_r_pipe[0], function () {
var data = new ArrayBuffer(MAX_STR_SIZE);
if (read(log_r_pipe[0], data, 0, MAX_STR_SIZE) > 0) {
setLog(String.fromCharCode.apply(null, new Uint8Array(data)));
}
});
}
// Use a Worker to ensure the user script // Use a Worker to ensure the user script
// does not block the main script // does not block the main script
...@@ -70,10 +99,15 @@ import { err, exit, open, out } from "std"; ...@@ -70,10 +99,15 @@ import { err, exit, open, out } from "std";
function quit(exit_code) { function quit(exit_code) {
worker.onmessage = null; worker.onmessage = null;
stopPubsub(); stopPubsub();
{% if isADrone -%} {% if isADrone %}
stop(); stop();
{% endif -%} {% endif %}
QUICKJS_LOG_FILE.close(); QUICKJS_LOG_FILE.close();
if (log_r_pipe) {
setReadHandler(log_r_pipe[0], null);
kill(tail_pid, SIGTERM);
waitpid(tail_pid, WNOHANG);
}
exit(exit_code); exit(exit_code);
} }
...@@ -94,7 +128,7 @@ import { err, exit, open, out } from "std"; ...@@ -94,7 +128,7 @@ import { err, exit, open, out } from "std";
} }
} }
{% if isADrone -%} {% if isADrone %}
function connect() { function connect() {
var address = configuration.autopilotIp + ":" + configuration.autopilotPort; var address = configuration.autopilotIp + ":" + configuration.autopilotPort;
console.log("Will connect to", address); console.log("Will connect to", address);
...@@ -103,9 +137,7 @@ import { err, exit, open, out } from "std"; ...@@ -103,9 +137,7 @@ import { err, exit, open, out } from "std";
configuration.autopilotIp, configuration.autopilotIp,
configuration.autopilotPort, configuration.autopilotPort,
MAVSDK_LOG_FILE_PATH, MAVSDK_LOG_FILE_PATH,
QUICKJS_LOG_FILE_PATH, AUTOPILOT_CONNECTION_TIMEOUT
AUTOPILOT_CONNECTION_TIMEOUT,
configuration.debug
), ),
"Failed to connect to " + address "Failed to connect to " + address
); );
...@@ -113,7 +145,7 @@ import { err, exit, open, out } from "std"; ...@@ -113,7 +145,7 @@ import { err, exit, open, out } from "std";
console.log("Connecting to aupilot\n"); console.log("Connecting to aupilot\n");
connect(); connect();
{% endif -%} {% endif %}
pubsubWorker = new Worker("{{ pubsub_script }}"); pubsubWorker = new Worker("{{ pubsub_script }}");
pubsubWorker.onmessage = function (e) { pubsubWorker.onmessage = function (e) {
...@@ -124,19 +156,10 @@ import { err, exit, open, out } from "std"; ...@@ -124,19 +156,10 @@ import { err, exit, open, out } from "std";
worker.postMessage({type: "initPubsub"}); worker.postMessage({type: "initPubsub"});
{% if isADrone -%}
function takeOff() {
exitOnFail(arm(), "Failed to arm");
takeOffAndWait();
}
{% endif -%}
function load() { function load() {
{% if isADrone -%} {% if isADrone %}
if (configuration.isASimulation) { exitOnFail(arm(), "Failed to arm");
takeOff(); {% endif %}
}
{% endif -%}
// First argument must provide the user script path // First argument must provide the user script path
if (user_script === undefined) { if (user_script === undefined) {
...@@ -192,9 +215,9 @@ import { err, exit, open, out } from "std"; ...@@ -192,9 +215,9 @@ import { err, exit, open, out } from "std";
// Start the update loop // Start the update loop
loop(); loop();
} else if (type === 'updated') { } else if (type === 'updated') {
can_update = true;
err.flush(); err.flush();
out.flush(); out.flush();
can_update = true;
} else if (type === 'exited') { } else if (type === 'exited') {
worker.onmessage = null; worker.onmessage = null;
quit(e.data.exit); quit(e.data.exit);
...@@ -204,9 +227,11 @@ import { err, exit, open, out } from "std"; ...@@ -204,9 +227,11 @@ import { err, exit, open, out } from "std";
} }
}; };
{% if isADrone -%} {% if isADrone -%}
}(arm, console, dup2, err, exit, open, out, scriptArgs, setTimeout, start, stop, }(arm, console, dup2, err, exec, exit, kill, open, out, pipe, read, scriptArgs,
stopPubsub, takeOffAndWait, Worker, SIGINT, SIGTERM)); setLog, setReadHandler, setTimeout, signal, start, stop, stopPubsub, waitpid,
Worker, SIGINT, SIGTERM, WNOHANG));
{% else -%} {% else -%}
}(console, dup2, err, exit, open, out, scriptArgs, setTimeout, stopPubsub, }(console, dup2, err, exec, exit, kill, open, out, pipe, read, scriptArgs,
Worker, SIGINT, SIGTERM)); setReadHandler, setTimeout, signal, stopPubsub, waitpid, Worker, SIGINT,
SIGTERM, WNOHANG));
{% endif -%} {% endif -%}
/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */ /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
/*global console, getAltitude, getAltitudeRel, getInitialAltitude, gpsIsOk, {% if isADrone -%}
getLatitude, getLongitude, getYaw, execUserScript, initPubsub, loiter, /*global console, execUserScript, getAltitude, getClimbRate, getInitialAltitude,
setAirSpeed, setMessage, setTargetCoordinates, std, triggerParachute, gpsIsOk, getPosition, getSpeed, getYaw, initPubsub, isLanding, isReadyToFly,
updateLogAndProjection, Drone, Worker*/ land, loiter, setMessage, setTargetCoordinates, std, takeOff,
updateLogAndProjection, ArrayBuffer, Drone, Uint8Array, Worker*/
{% else -%}
/*global console, execUserScript, initPubsub, setMessage, setTargetCoordinates,
std, updateLogAndProjection, Drone, Worker*/
{% endif -%}
import { import {
Drone, Drone,
{% if isADrone -%} {% if isADrone -%}
triggerParachute,
getAirspeed,
getAltitude, getAltitude,
getClimbRate, getClimbRate,
getInitialAltitude, getInitialAltitude,
gpsIsOk, gpsIsOk,
getPosition, getPosition,
getSpeed,
getYaw, getYaw,
{% endif -%} {% endif -%}
initPubsub, initPubsub,
{% if isADrone -%} {% if isADrone -%}
isLanding, isLanding,
isReadyToFly,
land,
loiter, loiter,
setAirSpeed,
{% endif -%} {% endif -%}
setMessage, setMessage,
{% if isADrone -%} {% if isADrone -%}
setTargetCoordinates, setTargetCoordinates,
takeOff,
updateLogAndProjection updateLogAndProjection
{% endif -%} {% endif -%}
} from "{{ qjs_wrapper }}"; } from "{{ qjs_wrapper }}";
...@@ -44,8 +50,8 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -44,8 +50,8 @@ import { evalScript, fdopen, loadFile, open } from "std";
(function (Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec, (function (Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition, fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition,
getYaw, initPubsub, isLanding, kill, loadFile, loiter, open, getYaw, initPubsub, isLanding, kill, loadFile, loiter, open,
pipe, setAirSpeed, setMessage, setReadHandler, setTargetCoordinates, pipe, setMessage, setReadHandler, setTargetCoordinates,
triggerParachute, updateLogAndProjection, waitpid) { land, updateLogAndProjection, waitpid) {
{% else -%} {% else -%}
(function (Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec, (function (Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
fdopen, initPubsub, kill, loadFile, open, pipe, setMessage, fdopen, initPubsub, kill, loadFile, open, pipe, setMessage,
...@@ -63,32 +69,30 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -63,32 +69,30 @@ import { evalScript, fdopen, loadFile, open } from "std";
gwsocket_r_pipe_fd, gwsocket_r_pipe_fd,
gwsocket_w_pipe_fd, gwsocket_w_pipe_fd,
handleWebSocketMessage, handleWebSocketMessage,
last_message_timestamp = 0,
last_log_timestamp = 0, last_log_timestamp = 0,
last_message_timestamp_list = [],
parent = Worker.parent, parent = Worker.parent,
peer_dict = {}, peer_dict = {},
user_me = { user_me = {
//required to fly
{% if isADrone -%}
triggerParachute: triggerParachute,
{% endif -%}
exit: exitWorker, exit: exitWorker,
getDroneDict: function () { return drone_dict; }, getDroneDict: function () { return drone_dict; },
{% if isADrone -%} {% if isADrone -%}
getAltitudeAbs: getAltitude, getAltitudeAbs: getAltitude,
getClimbRate: getClimbRate,
getCurrentPosition: getPosition, getCurrentPosition: getPosition,
getInitialAltitude: getInitialAltitude, getInitialAltitude: getInitialAltitude,
gpsIsOk: gpsIsOk, gpsIsOk: gpsIsOk,
getSpeed: getSpeed,
getYaw: getYaw, getYaw: getYaw,
getSpeed: getAirspeed,
getClimbRate: getClimbRate,
{% endif -%} {% endif -%}
id: configuration.id, id: configuration.id,
{% if isADrone -%} {% if isADrone -%}
isLanding: isLanding, isLanding: isLanding,
isReadyToFly: isReadyToFly,
land: land,
loiter: loiter, loiter: loiter,
setAirSpeed: setAirSpeed,
setTargetCoordinates: setTargetCoordinates, setTargetCoordinates: setTargetCoordinates,
takeOff: takeOff,
{% endif -%} {% endif -%}
sendMsg: function (msg, id) { sendMsg: function (msg, id) {
if (id === undefined) { id = -1; } if (id === undefined) { id = -1; }
...@@ -172,11 +176,11 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -172,11 +176,11 @@ import { evalScript, fdopen, loadFile, open } from "std";
user_me.writeWebsocketMessage = function (message) { user_me.writeWebsocketMessage = function (message) {
var buf = new ArrayBuffer(message.length); var buf = new ArrayBuffer(message.length);
var bufView = new Uint8Array(buf); var bufView = new Uint8Array(buf);
for (var i=0; i<message.length; i++) { for (var i = 0; i < message.length; i++) {
bufView[i] = message.charCodeAt(i); bufView[i] = message.charCodeAt(i);
} }
writeMessage(gwsocket_w_pipe_fd, {client: clientId, type: 1, data: buf}); writeMessage(gwsocket_w_pipe_fd, {client: clientId, type: 1, data: buf});
} };
setReadHandler(gwsocket_r_pipe[0], handleWebSocketMessage); setReadHandler(gwsocket_r_pipe[0], handleWebSocketMessage);
} }
...@@ -215,18 +219,20 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -215,18 +219,20 @@ import { evalScript, fdopen, loadFile, open } from "std";
} }
function handleMainMessage(evt) { function handleMainMessage(evt) {
var type = evt.data.type, message, peer_id, log; var type = evt.data.type, message, parsed_message, peer_id, log;
switch (type) { switch (type) {
case "initPubsub": case "initPubsub":
initPubsub(configuration.numberOfDrones, configuration.numberOfSubscribers); initPubsub(configuration.numberOfDrones,
configuration.numberOfSubscribers);
for (peer_id = 0; peer_id < configuration.numberOfDrones + configuration.numberOfSubscribers; peer_id++) { for (peer_id = 0; peer_id < configuration.numberOfDrones + configuration.numberOfSubscribers; peer_id++) {
peer_dict[peer_id] = new Drone(peer_id); peer_dict[peer_id] = new Drone(peer_id);
peer_dict[peer_id].init(peer_id); peer_dict[peer_id].init(peer_id);
if (peer_id < configuration.numberOfDrones) { if (peer_id < configuration.numberOfDrones) {
drone_dict[peer_id] = peer_dict[peer_id]; drone_dict[peer_id] = peer_dict[peer_id];
} }
last_message_timestamp_list[peer_id] = 0;
} }
parent.postMessage({type: "initialized"}); parent.postMessage({type: "initialized"});
break; break;
...@@ -239,13 +245,17 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -239,13 +245,17 @@ import { evalScript, fdopen, loadFile, open } from "std";
case "update": case "update":
Object.entries(peer_dict).forEach(function ([id, peer]) { Object.entries(peer_dict).forEach(function ([id, peer]) {
message = peer.message; message = peer.message;
if (user_me.id !== Number(id) && message.length > 0) { if (message.length > 0) {
message = JSON.parse(message); parsed_message = JSON.parse(message);
if (message.timestamp != last_message_timestamp && while (parsed_message.timestamp !== last_message_timestamp_list[id]) {
user_me.hasOwnProperty("onGetMsg") && if (user_me.hasOwnProperty("onGetMsg")
[-1, user_me.id].includes(message.dest_id)) { && [-1, user_me.id].includes(parsed_message.dest_id)) {
last_message_timestamp = message.timestamp; console.log("running on getMsg");
user_me.onGetMsg(message.content); user_me.onGetMsg(parsed_message.content);
}
last_message_timestamp_list[id] = parsed_message.timestamp;
parsed_message = JSON.parse(peer.message);
} }
} }
}); });
...@@ -259,7 +269,7 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -259,7 +269,7 @@ import { evalScript, fdopen, loadFile, open } from "std";
{% if isADrone -%} {% if isADrone -%}
updateLogAndProjection(); updateLogAndProjection();
{% endif -%} {% endif -%}
last_log_timestamp = evt.data.timestamp; last_log_timestamp = evt.data.timestamp;
} }
parent.postMessage({type: "updated"}); parent.postMessage({type: "updated"});
...@@ -271,7 +281,7 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -271,7 +281,7 @@ import { evalScript, fdopen, loadFile, open } from "std";
default: default:
throw new Error("Unsupported message type", type); throw new Error("Unsupported message type", type);
}; }
} }
parent.onmessage = function (evt) { parent.onmessage = function (evt) {
...@@ -287,8 +297,8 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -287,8 +297,8 @@ import { evalScript, fdopen, loadFile, open } from "std";
{% if isADrone -%} {% if isADrone -%}
}(Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec, }(Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition, getYaw, fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition, getYaw,
initPubsub, isLanding, kill, loadFile, loiter, open, pipe, setAirSpeed, initPubsub, isLanding, kill, loadFile, loiter, open, pipe, setMessage,
setMessage, setReadHandler, setTargetCoordinates, triggerParachute, setReadHandler, setTargetCoordinates, land,
updateLogAndProjection, waitpid)); updateLogAndProjection, waitpid));
{% else -%} {% else -%}
}(Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec, }(Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
......
...@@ -38,12 +38,6 @@ ...@@ -38,12 +38,6 @@
"type": "string", "type": "string",
"default": "eth0" "default": "eth0"
}, },
"isASimulation": {
"title": "Set the flight as a simulation",
"description": "The option used to determine if the flight is real or if it is a simulation. This affects the context of the flight (e.g. if the take off is manual or automatic).",
"type": "boolean",
"default": false
},
"debug": { "debug": {
"title": "Set debug mode", "title": "Set debug mode",
"description": "When debug mode is enabled, drone are publishing the script logs through OPC-UA.", "description": "When debug mode is enabled, drone are publishing the script logs through OPC-UA.",
......
...@@ -25,7 +25,6 @@ config-autopilotPort = {{ dumps(parameter_dict['autopilotPort']) }} ...@@ -25,7 +25,6 @@ config-autopilotPort = {{ dumps(parameter_dict['autopilotPort']) }}
config-numberOfDrones = {{ dumps(len(parameter_dict['droneGuidList'])) }} config-numberOfDrones = {{ dumps(len(parameter_dict['droneGuidList'])) }}
config-numberOfSubscribers = {{ dumps(len(parameter_dict['subscriberGuidList'])) }} config-numberOfSubscribers = {{ dumps(len(parameter_dict['subscriberGuidList'])) }}
config-id = {{ dumps(id) }} config-id = {{ dumps(id) }}
config-isASimulation = {{ dumps(parameter_dict['isASimulation']) }}
config-debug = {{ dumps(parameter_dict['debug']) }} config-debug = {{ dumps(parameter_dict['debug']) }}
config-loopPeriod = {{ dumps(parameter_dict['loopPeriod']) }} config-loopPeriod = {{ dumps(parameter_dict['loopPeriod']) }}
{% if id < len(parameter_dict['droneGuidList']) -%} {% if id < len(parameter_dict['droneGuidList']) -%}
......
...@@ -38,7 +38,6 @@ default-parameters = ...@@ -38,7 +38,6 @@ default-parameters =
"droneGuidList": [], "droneGuidList": [],
"droneNetIf": "eth0", "droneNetIf": "eth0",
"flightScript": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js", "flightScript": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js",
"isASimulation": false,
"loopPeriod": 200, "loopPeriod": 200,
"multicastIp": "ff15::1111", "multicastIp": "ff15::1111",
"subscriberGuidList":[], "subscriberGuidList":[],
......
...@@ -17,8 +17,8 @@ pre-configure += ...@@ -17,8 +17,8 @@ pre-configure +=
[c-astral-wrapper] [c-astral-wrapper]
recipe = slapos.recipe.cmmi recipe = slapos.recipe.cmmi
configure-command = true configure-command = true
url = https://lab.nexedi.com/nexedi/c-astral-wrapper/-/archive/v2.1/c-astral-wrapper-v2.1.tar.gz url = https://lab.nexedi.com/nexedi/c-astral-wrapper/-/archive/v2.2/c-astral-wrapper-v2.2.tar.gz
md5sum = cca66724e1b7a61c1b9559fde95c420b md5sum = 08cb41102f87475af0b6ec19e0c2965b
environment = environment =
CPLUS_INCLUDE_PATH=${qjs-wrapper-source:location}/include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk CPLUS_INCLUDE_PATH=${qjs-wrapper-source:location}/include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk
LDFLAGS=-L${mavsdk:location}/lib -Wl,-rpath=${mavsdk:location}/lib LDFLAGS=-L${mavsdk:location}/lib -Wl,-rpath=${mavsdk:location}/lib
......
...@@ -5,7 +5,7 @@ extends = ...@@ -5,7 +5,7 @@ extends =
[sqdr-source] [sqdr-source]
recipe = slapos.recipe.build:gitclone recipe = slapos.recipe.build:gitclone
repository = https://lab.nexedi.com/slaposdrone/squadrone.git repository = https://lab.nexedi.com/slaposdrone/squadrone.git
revision = v2.1 revision = 2318c56
git-executable = ${git:location}/bin/git git-executable = ${git:location}/bin/git
[sqdr-wrapper] [sqdr-wrapper]
......
...@@ -38,16 +38,16 @@ from websocket import create_connection ...@@ -38,16 +38,16 @@ from websocket import create_connection
from slapos.testing.testcase import installSoftwareUrlList, makeModuleSetUpAndTestCaseClass from slapos.testing.testcase import installSoftwareUrlList, makeModuleSetUpAndTestCaseClass
''' '''
0. positionArray 0. message
0.1 latitude 1. positionArray
0.2 longitude 1.1 latitude
0.3 absolute altitude 1.2 longitude
0.4 relative altitude 1.3 absolute altitude
1. speedArray 1.4 relative altitude
1.1 yaw angle 2. speedArray
1.2 air speed 2.1 yaw angle
1.3 climb rate 2.2 air speed
2. message 2.3 climb rate
3. log 3. log
''' '''
MONITORED_ITEM_NB = 4 MONITORED_ITEM_NB = 4
...@@ -231,6 +231,7 @@ class SubscriberTestCase(SlapOSInstanceTestCase): ...@@ -231,6 +231,7 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
def ua_dataSetMessage_encode(self): def ua_dataSetMessage_encode(self):
data_set_message = self.ua_dataSetMessageHeader_encode() data_set_message = self.ua_dataSetMessageHeader_encode()
data_set_message += struct.pack('H', MONITORED_ITEM_NB) data_set_message += struct.pack('H', MONITORED_ITEM_NB)
data_set_message += self.ua_string_encode(TEST_MESSAGE)
data_set_message += self.ua_array_encode( data_set_message += self.ua_array_encode(
POSITION_ARRAY_TYPE, POSITION_ARRAY_TYPE,
'q', 'q',
...@@ -241,7 +242,6 @@ class SubscriberTestCase(SlapOSInstanceTestCase): ...@@ -241,7 +242,6 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
'f', 'f',
SPEED_ARRAY_VALUES, SPEED_ARRAY_VALUES,
) )
data_set_message += self.ua_string_encode(TEST_MESSAGE)
data_set_message += self.ua_string_encode(LOG) data_set_message += self.ua_string_encode(LOG)
return data_set_message return data_set_message
...@@ -280,7 +280,6 @@ class SubscriberTestCase(SlapOSInstanceTestCase): ...@@ -280,7 +280,6 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
'numberOfSubscribers': 1, 'numberOfSubscribers': 1,
'id': 1, 'id': 1,
'debug': False, 'debug': False,
'isASimulation': False,
'loopPeriod': LOOP_PERIOD, 'loopPeriod': LOOP_PERIOD,
'isADrone': False, 'isADrone': False,
'flightScript': 'https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/subscribe.js', 'flightScript': 'https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/subscribe.js',
......
...@@ -64,6 +64,7 @@ ...@@ -64,6 +64,7 @@
date, date,
flight_state_cell, flight_state_cell,
i, i,
log_textarea,
message, message,
new_div, new_div,
new_span, new_span,
...@@ -81,7 +82,9 @@ ...@@ -81,7 +82,9 @@
document.getElementById(CLIMB_RATE_BASE_ID + id).innerHTML = drone["climbRate"]; document.getElementById(CLIMB_RATE_BASE_ID + id).innerHTML = drone["climbRate"];
document.getElementById(TIMESTAMP_BASE_ID + id).innerHTML = new Date(drone["timestamp"]).toLocaleTimeString('fr-FR'); document.getElementById(TIMESTAMP_BASE_ID + id).innerHTML = new Date(drone["timestamp"]).toLocaleTimeString('fr-FR');
{% if debug -%} {% if debug -%}
document.getElementById(LOG_BASE_ID + id).value += drone["log"]; log_textarea = document.getElementById(LOG_BASE_ID + id);
log_textarea.scrollTop = log_textarea.scrollHeight;
log_textarea.value += drone["log"];
{% endif -%} {% endif -%}
}); });
} else if (message.hasOwnProperty("state") && message.hasOwnProperty("id")) { } else if (message.hasOwnProperty("state") && message.hasOwnProperty("id")) {
......
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