Remove mavsdk dependence

See merge request !8

Makefile

-CFLAGS=-std=c99 -D_POSIX_C_SOURCE=200809L -pipe -Wall -Wextra -Wpedantic -Werror -Wno-overlength-strings -Wno-unused-parameter -Wc++-compat -Wformat -Wformat-security -Wformat-nonliteral -Wmissing-prototypes -Wstrict-prototypes -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wnested-externs -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fPIC -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden -fPIC
-CXXFLAGS=-pipe -Wall -Wextra -Wpedantic -Werror -Wno-overlength-strings -Wno-unused-parameter -Wformat -Wformat-security -Wformat-nonliteral -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fPIC -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden -fPIC
-LDFLAGS+= -std=c99 -D_POSIX_C_SOURCE=200809L -pipe -Wall -Wextra -Wpedantic -Werror -Wno-static-in-inline -Wno-overlength-strings -Wno-unused-parameter -Wc++-compat -Wformat -Wformat-security -Wformat-nonliteral -Wmissing-prototypes -Wstrict-prototypes -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wnested-externs -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fPIC -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden -fPIC
-LIBS=-lstdc++ -lmavsdk -lmavsdk_action -lmavsdk_mavlink_passthrough -lmavsdk_telemetry -lopen62541
+CFLAGS=-std=c99 -D_POSIX_C_SOURCE=200809L -pipe -Wall -Wextra -Wpedantic -Werror -Wno-overlength-strings -Wno-unused-parameter -Wc++-compat -Wformat -Wformat-security -Wformat-nonliteral -Wmissing-prototypes -Wstrict-prototypes -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wnested-externs -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden
+LIBS=-lautopilotwrapper -lopen62541
 
 LIB_NAME := libqjswrapper.so
 
-SRCS := mavsdk_wrapper.cpp pubsub.c qjs_wrapper.c
-OBJS := mavsdk_wrapper.o pubsub.o qjs_wrapper.o
+SRCS := pubsub.c qjs_wrapper.c
+OBJS := pubsub.o qjs_wrapper.o
 
 all: $(LIB_NAME)
 

README

-This project is holding the source code for QuickJS component that will wrap the functions from MAVSDK and open62541.
+# qjs-wrapper
+
+This project is holding the source code for QuickJS component that will wrap the functions from open62541 and a drone
+control SDK (MAVSDK for example).

include/autopilot_wrapper.h

+#ifndef __AUTOPILOT_H__
+#define __AUTOPILOT_H__
+
+#ifndef DLL_PUBLIC
+#define DLL_PUBLIC __attribute__ ((visibility ("default")))
+#endif
+
+/*
+ * 0. latitude (double, degrees)
+ * 1. longitude (double, degrees)
+ * 2. absolute altitude (double, meters)
+ * 3. relative altitude (double, meters)
+ * 4. timestamp (double, milliseconds)
+*/
+#define POSITION_ARRAY_SIZE 5
+/*
+ * 0. yaw angle (float, degrees)
+ * 1. air speed (float, m/s)
+ * 2. climb rate (float, m/s)
+*/
+#define SPEED_ARRAY_SIZE 3
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include <stdint.h>
+// Connexion management functions
+DLL_PUBLIC int start(const char * ip, int port, const char * log_file, int timeout);
+DLL_PUBLIC int stop();
+DLL_PUBLIC int reboot(void);
+
+// Flight state management functions
+DLL_PUBLIC int arm(void);
+DLL_PUBLIC int takeOff(void);
+DLL_PUBLIC int takeOffAndWait(void);
+DLL_PUBLIC int triggerParachute(void);
+
+// Flight management functions
+DLL_PUBLIC void loiter(double la, double lo, float a, float radius);
+DLL_PUBLIC void setAirSpeed_async(float airspeed);
+DLL_PUBLIC void setTargetCoordinates(double la, double lo, float a);
+
+// Information functions
+DLL_PUBLIC float getAltitude(void);
+DLL_PUBLIC float getInitialAltitude(void);
+DLL_PUBLIC double getInitialLatitude(void);
+DLL_PUBLIC double getInitialLongitude(void);
+DLL_PUBLIC int64_t *getPositionArray(void);
+DLL_PUBLIC float *getSpeedArray(void);
+DLL_PUBLIC double getTakeOffAltitude(void);
+DLL_PUBLIC float getYaw(void);
+DLL_PUBLIC float getSpeed(void);
+DLL_PUBLIC float getClimbRate(void);
+DLL_PUBLIC int gpsIsOk(void);
+DLL_PUBLIC int healthAllOk(void);
+DLL_PUBLIC int isLanding(void);
+DLL_PUBLIC void updateLogAndProjection(void);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __AUTOPILOT_H__ */

include/dronedge.h

@@ -2,9 +2,11 @@
 #define __DRONEDGE_H__
 
 #include <open62541/server.h>
-#include "mavsdk_wrapper.h"
+#include "autopilot_wrapper.h"
 #include "pubsub.h"
 
+#define DRONE_VARIABLE_NB 3
+#define SUBSCRIBER_VARIABLE_NB 1
 struct messageNode {
   char *message;
   struct messageNode *next;
@@ -14,7 +16,7 @@ typedef struct {
   struct messageNode *tail;
 } MessageQueue;
 
-UA_Double positionArray[POSITION_ARRAY_SIZE] = { 0 };
+UA_Int64 positionArray[POSITION_ARRAY_SIZE] = { 0 };
 UA_UInt32 positionArrayDims[] = {POSITION_ARRAY_SIZE};
 
 UA_Double speedArray[SPEED_ARRAY_SIZE] = { 0 };
@@ -31,12 +33,12 @@ VariableData droneVariableArray[] = {
         .typeName = "Position Array Type",
         .description = "Position Array",
         .value = &positionArray,
-        .type = UA_TYPES_DOUBLE,
-        .builtInType = UA_NS0ID_DOUBLE,
+        .type = UA_TYPES_INT64,
+        .builtInType = UA_NS0ID_INT64,
         .valueRank = UA_VALUERANK_ONE_DIMENSION,
         .arrayDimensionsSize = 1,
         .arrayDimensions = positionArrayDims,
-        .getter.getArray = mavsdk_getPositionArray,
+        .getter.getArray = getPositionArray,
     },
     {
         .name = "speedArray",
@@ -48,7 +50,7 @@ VariableData droneVariableArray[] = {
         .valueRank = UA_VALUERANK_ONE_DIMENSION,
         .arrayDimensionsSize = 1,
         .arrayDimensions = speedArrayDims,
-        .getter.getArray = mavsdk_getSpeedArray,
+        .getter.getArray = getSpeedArray,
     },
     {
         .name = "message",
@@ -63,4 +65,31 @@ VariableData droneVariableArray[] = {
     },
 };
 
+VariableStruct droneVariables = {
+    .nbVariable = DRONE_VARIABLE_NB,
+    .variableArray = droneVariableArray,
+};
+
+VariableData subscriberVariableArray[] = {
+    {
+        .name = "message",
+        .description = "Message to send to the other drones",
+        .value = &message,
+        .type = UA_TYPES_STRING,
+        .builtInType = UA_NS0ID_STRING,
+        .valueRank = UA_VALUERANK_SCALAR,
+        .arrayDimensionsSize = 0,
+        .arrayDimensions = NULL,
+        .getter.getString = get_message,
+    },
+};
+
+VariableStruct subscriberVariables = {
+    .nbVariable = SUBSCRIBER_VARIABLE_NB,
+    .variableArray = subscriberVariableArray,
+};
+
+void Subscriber_log(void *context, UA_LogLevel level, UA_LogCategory category,
+                    const char *msg, va_list args);
+
 #endif /* __DRONEDGE_H__ */

include/mavsdk_wrapper.h

-#ifndef __MAVSDK_H__
-#define __MAVSDK_H__
-
-/*
- * 0. latitude (double, degrees)
- * 1. longitude (double, degrees)
- * 2. absolute altitude (double, meters)
- * 3. relative altitude (double, meters)
-*/
-#define POSITION_ARRAY_SIZE 4
-/*
- * 0. yaw angle (float, degrees)
- * 1. air speed (float, m/s)
- * 2. climb rate (float, m/s)
-*/
-#define SPEED_ARRAY_SIZE 3
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-#include <stdint.h>
-// Connexion management functions
-int mavsdk_start(const char * ip, int port, const char * log_file, int timeout);
-int mavsdk_stop(void);
-int mavsdk_reboot(void);
-
-// Flight state management functions
-int mavsdk_arm(void);
-int mavsdk_takeOff(void);
-int mavsdk_takeOffAndWait(void);
-int mavsdk_triggerParachute(void);
-
-// Flight management functions
-int mavsdk_loiter(float radius);
-int mavsdk_setAirspeed(float airspeed);
-int mavsdk_setTargetCoordinates(double la, double lo, float a);
-
-// Information functions
-float mavsdk_getAltitude(void);
-float mavsdk_getAltitudeRel(void);
-float mavsdk_getInitialAltitude(void);
-double mavsdk_getInitialLatitude(void);
-double mavsdk_getInitialLongitude(void);
-double mavsdk_getLatitude(void);
-double mavsdk_getLongitude(void);
-double *mavsdk_getPositionArray(void);
-float *mavsdk_getSpeedArray(void);
-double mavsdk_getTakeOffAltitude(void);
-float mavsdk_getYaw(void);
-float mavsdk_getSpeed(void);
-float mavsdk_getClimbRate(void);
-int mavsdk_healthAllOk(void);
-int mavsdk_landed(void);
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MAVSDK_H__ */

include/pubsub.h

@@ -6,7 +6,9 @@
 
 #include <quickjs/quickjs.h>
 
+#ifndef DLL_PUBLIC
 #define DLL_PUBLIC __attribute__ ((visibility ("default")))
+#endif
 
 #define countof(x) (sizeof(x) / sizeof((x)[0]))
 
@@ -23,6 +25,7 @@ typedef struct {
     UA_Double longitude;
     UA_Double altitudeAbs;
     UA_Double altitudeRel;
+    UA_Int64 timestamp;
     UA_Float  yaw;
     UA_Float  speed;
     UA_Float  climbRate;
@@ -30,6 +33,13 @@ typedef struct {
     UA_UInt32 messageId;
 } JSDroneData;
 
+typedef struct {
+    UA_Double x;
+    UA_Double y;
+    UA_Double z;
+    UA_Int64 timestamp;
+} JSPositionData;
+
 typedef struct {
     char*       name;
     char*       typeName;
@@ -47,21 +57,33 @@ typedef struct {
     } getter;
 } VariableData;
 
-int runPubsub(UA_String *transportProfile,
+typedef struct {
+    size_t nbVariable;
+    VariableData *variableArray;
+} VariableStruct;
+
+typedef struct {
+    VariableStruct variables;
+    void          (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic);
+} InstanceData;
+
+int runPubsub(const UA_Logger *logger, UA_String *transportProfile,
               UA_NetworkAddressUrlDataType *networkAddressUrl,
-              VariableData *variableArray, size_t nbVariable, 
-              UA_UInt32 id, UA_UInt32 nbReader, UA_Duration interval,
-              void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic),
+              VariableStruct variables, UA_UInt32 id,
+              InstanceData *readerArray, UA_UInt32 nbReader,
+              UA_UInt32 maxVariableNb, UA_Duration interval,
               UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
               VariableData (*get_value)(UA_String identifier),
               void (*update)(UA_UInt32 id, const UA_DataValue*, bool print),
-              bool publish, UA_Boolean *running);
+              UA_Boolean *running);
 
 UA_String get_message(void);
 
 UA_UInt16 get_drone_id(UA_UInt32 nb);
 
-void init_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic);
+void init_drone_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic);
+
+void init_subscriber_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic);
 
 VariableData pubsub_get_value(UA_String identifier);