component/mavsdk: v↑ mavsdk (0.39.0 -> 1.4.13)

component/mavsdk/buildout.cfg

@@ -4,9 +4,12 @@ extends =
   ../curl/buildout.cfg
   ../git/buildout.cfg
   ../jsoncpp/buildout.cfg
+  ../lxml-python/buildout.cfg
+  ../macros/macro.pythonpath.eggs.cfg
   ../qjs-wrapper/buildout.hash.cfg
   ../tinyxml2/buildout.cfg
   ../zlib/buildout.cfg
+  buildout.hash.cfg
 
 parts =
   mavsdk
@@ -16,11 +19,10 @@ recipe = slapos.recipe.build:download
 shared = true
 url = ${:_profile_base_location_}/../qjs-wrapper/${:filename}
 
-[c-astral-headers]
-recipe = slapos.recipe.build:gitclone
-repository = https://lab.nexedi.com/nexedi/c-astral-c-library
-revision = v2.0
-git-executable = ${git:location}/bin/git
+[message-definition]
+recipe = slapos.recipe.build:download
+shared = true
+url = ${:_profile_base_location_}/${:filename}
 
 [gcc]
 min_version = 7.1
@@ -28,18 +30,37 @@ min_version = 7.1
 [mavsdk-source]
 recipe = slapos.recipe.build:gitclone
 repository = https://github.com/mavlink/MAVSDK.git
-revision = v0.39.0
+revision = v1.4.13
 
 git-executable = ${git:location}/bin/git
 ignore-cloning-submodules = true
 
+[future]
+recipe = zc.recipe.egg:custom
+egg = future
+
+[mavsdk-env]
+CMAKE_INCLUDE_PATH=${curl:location}/include:${jsoncpp:location}/include:${tinyxml2:location}/include
+CMAKE_LIBRARY_PATH=${curl:location}/lib:${jsoncpp:location}/lib:${tinyxml2:location}/lib:${zlib:location}/lib
+CMAKE_PROGRAM_PATH=${cmake:location}/bin
+PATH=${pkgconfig:location}/bin/:%(PATH)s
+LDFLAGS=-L${curl:location}/lib -Wl,-rpath=${curl:location}/lib -L${jsoncpp:location}/lib -Wl,-rpath=${jsoncpp:location}/lib -L${tinyxml2:location}/lib -Wl,-rpath=${tinyxml2:location}/lib -L${zlib:location}/lib -Wl,-rpath=${zlib:location}/lib -Wl,-rpath=@@LOCATION@@/lib
+
+[mavsdk-pythonpath]
+<= macro.pythonpath.eggs
+environment = mavsdk-env
+eggs =
+  ${future:egg}
+  ${lxml-python:egg}
+
 [mavsdk]
 recipe = slapos.recipe.cmmi
 path = ${mavsdk-source:location}
 cmake = ${cmake:location}/bin/cmake
+depends = ${mavsdk-pythonpath:recipe}
 pre-configure =
   ${git:location}/bin/git submodule update --init --recursive
-  cp -r ${c-astral-headers:location}/mavlink/v2.0/* ${mavsdk-source:location}/src/third_party/mavlink/include/mavlink/v2.0/
+  sed -i 's#message_definitions/v1.0#${message-definition:location}#' ${mavsdk-source:location}/third_party/mavlink/CMakeLists.txt
 configure-command =
   ${:cmake}
 configure-options =
@@ -47,22 +68,16 @@ configure-options =
   -DCMAKE_C_FLAGS="${:CMAKE_CFLAGS}"
   -DCMAKE_CXX_FLAGS="${:CMAKE_CFLAGS}"
   -DCMAKE_INSTALL_PREFIX=@@LOCATION@@
-  -DCMAKE_INSTALL_RPATH=${:CMAKE_LIBRARY_PATH}:@@LOCATION@@/lib
+  -DCMAKE_INSTALL_RPATH=${mavsdk-env:CMAKE_LIBRARY_PATH}:@@LOCATION@@/lib
   -DPKG_CONFIG_EXECUTABLE=${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=${pkgconfig:location}/bin/:%(PATH)s
-  LDFLAGS=-L${curl:location}/lib -Wl,-rpath=${curl:location}/lib -L${jsoncpp:location}/lib -Wl,-rpath=${jsoncpp:location}/lib -L${tinyxml2:location}/lib -Wl,-rpath=${tinyxml2:location}/lib -L${zlib:location}/lib -Wl,-rpath=${zlib:location}/lib -Wl,-rpath=@@LOCATION@@/lib
+environment = mavsdk-env
 
 CMAKE_CFLAGS=-I${tinyxml2:location}/include
-CMAKE_LIBRARY_PATH=${curl:location}/lib:${jsoncpp:location}/lib:${tinyxml2:location}/lib:${zlib:location}/lib
 
 [mavsdk-wrapper]
 recipe = slapos.recipe.cmmi

component/mavsdk/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).
+[message-definition]
+filename = common.xml
+md5sum = 741068d99c27594d9b655caf125169f3

component/mavsdk/common.xml

@@ -5577,13 +5577,18 @@
       <field type="uint8_t" name="on_off">1 stream is enabled, 0 stream is stopped.</field>
     </message>
     <message id="69" name="MANUAL_CONTROL">
-      <description>This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled an buttons are also transmit as boolean values of their </description>
+      <description>This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled and buttons states are transmitted as individual on/off bits of a bitmask</description>
       <field type="uint8_t" name="target">The system to be controlled.</field>
-      <field type="int16_t" name="x">X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.</field>
-      <field type="int16_t" name="y">Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.</field>
-      <field type="int16_t" name="z">Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.</field>
-      <field type="int16_t" name="r">R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.</field>
-      <field type="uint16_t" name="buttons">A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.</field>
+      <field type="int16_t" name="x" invalid="INT16_MAX">X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.</field>
+      <field type="int16_t" name="y" invalid="INT16_MAX">Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.</field>
+      <field type="int16_t" name="z" invalid="INT16_MAX">Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.</field>
+      <field type="int16_t" name="r" invalid="INT16_MAX">R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.</field>
+      <field type="uint16_t" name="buttons">A bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.</field>
+      <extensions/>
+      <field type="uint16_t" name="buttons2">A bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16.</field>
+      <field type="uint8_t" name="enabled_extensions">Set bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll.</field>
+      <field type="int16_t" name="s">Pitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid.</field>
+      <field type="int16_t" name="t">Roll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid.</field>
     </message>
     <message id="70" name="RC_CHANNELS_OVERRIDE">
       <description>The RAW values of the RC channels sent to the MAV to override info received from the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.  Note carefully the semantic differences between the first 8 channels and the subsequent channels</description>
@@ -5707,6 +5712,8 @@
       <field type="float" name="body_pitch_rate" units="rad/s">Body pitch rate</field>
       <field type="float" name="body_yaw_rate" units="rad/s">Body yaw rate</field>
       <field type="float" name="thrust">Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)</field>
+      <extensions/>
+      <field type="float[3]" name="thrust_body">3D thrust setpoint in the body NED frame, normalized to -1 .. 1</field>
     </message>
     <message id="83" name="ATTITUDE_TARGET">
       <description>Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.</description>
@@ -6178,6 +6185,9 @@
       <field type="uint32_t" name="baudrate" units="bits/s">Baudrate of transfer. Zero means no change.</field>
       <field type="uint8_t" name="count" units="bytes">how many bytes in this transfer</field>
       <field type="uint8_t[70]" name="data">serial data</field>
+      <extensions/>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
     </message>
     <message id="127" name="GPS_RTK">
       <description>RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting</description>

software/js-drone/buildout.hash.cfg

@@ -18,7 +18,7 @@ md5sum = 360b58007c25727b7bd8a9154d5cafd4
 
 [instance-default]
 filename = instance-default.cfg
-md5sum = 696ec3cc5c7bcda336b9bb68ef1555bd
+md5sum = 1daf69cb5d9fbb3753a117d5b87ef8a9
 
 [instance-drone]
 filename = instance-drone.cfg

software/js-drone/instance-default.cfg

@@ -30,7 +30,7 @@ config-numberOfDrone = {{ dumps(len(drone_guid_list)) }}
 config-numberOfSubscriber = {{ dumps(len(subscriber_guid_list)) }}
 config-id = {{ dumps(id) }}
 config-isASimulation = {{ dumps(is_a_simulation) }}
-{% if guid in drone_guid_list -%}
+{% if id < len(drone_guid_list) -%}
 {%   do drone_id_list.append(id) %}
 config-isADrone = {{ dumps(True) }}
 config-flightScript = {{ flight_script }}

software/js-drone/test/test.py

@@ -118,23 +118,22 @@ class JSDroneTestCase(SlapOSInstanceTestCase):
   def getInstanceParameterDict(cls):
     return {
       '_': json.dumps({
+        'droneGuidList': [cls.slap._computer_id],
         'netIf': OPC_UA_NET_IF,
         'subscriberGuidList': [cls.slap._computer_id],
       })
     }
 
-  def get_partition(self, instance_type):
+  def get_partition(self, partition_id):
     software_url = self.getSoftwareURL()
     for computer_partition in self.slap.computer.getComputerPartitionList():
-      partition_url = computer_partition.getSoftwareRelease()._software_release
-      partition_type = computer_partition.getType()
-      if partition_url == software_url and partition_type == instance_type:
+      if computer_partition.getId() == partition_id:
         return computer_partition
-    raise Exception("JS-drone %s partition not found" % instance_type)
+    raise Exception("Partition %s not found" % partition_id)
 
   def setUp(self):
     super().setUp()
-    subscriber_partition = self.get_partition('drone')
+    subscriber_partition = self.get_partition('JSDroneTestCase-2')
     instance_path = json.loads(
       subscriber_partition.getConnectionParameterDict()['_'])['instance-path']
     quickjs_bin = os.path.join(instance_path, 'bin', 'qjs')
@@ -247,18 +246,18 @@ class JSDroneTestCase(SlapOSInstanceTestCase):
   def test_requested_instances(self):
     connection_parameter_dict = json.loads(
       self.computer_partition.getConnectionParameterDict()['_'])
-    self.assertEqual(connection_parameter_dict['drone-id-list'], [])
-    self.assertEqual(connection_parameter_dict['subscriber-id-list'], [0])
+    self.assertEqual(connection_parameter_dict['drone-id-list'], [0])
+    self.assertEqual(connection_parameter_dict['subscriber-id-list'], [1])
 
   def test_subscriber_instance_parameter_dict(self):
     self.assertEqual(
-      json.loads(self.get_partition('drone').getInstanceParameterDict()['_']),
+      json.loads(self.get_partition('JSDroneTestCase-2').getInstanceParameterDict()['_']),
       {
         'autopilotIp': '192.168.27.1',
         'autopilotPort': 7909,
-        'numberOfDrone': 0,
+        'numberOfDrone': 1,
         'numberOfSubscriber': 1,
-        'id': 0,
+        'id': 1,
         'isASimulation': False,
         'isADrone': False,
         'flightScript': 'https://lab.nexedi.com/nexedi/flight-scripts/raw/master/subscribe.js',

stack/slapos.cfg

@@ -186,6 +186,7 @@ Flask = 1.1.2
 frozenlist = 1.3.3:whl
 funcsigs = 1.0.2
 functools32 = 3.2.3.post2
+future = 0.18.3
 gevent = 20.9.0
 geventmp = 0.0.1
 gitdb = 4.0.10