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qjs-wrapper
Commit 460a8cf2 authored by Thomas Gambier's avatar Thomas Gambier 🚴🏼
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Comply with simulator API 

See merge request !3
parents 3ea4a41c 598b5b79
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Showing with 440 additions and 402 deletions
Makefile
View file @ 460a8cf2
CFLAGS=-std=c99 -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
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 -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
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_manual_control -lmavsdk_mavlink_passthrough -lmavsdk_telemetry -lopen62541
LIB_NAME := libqjswrapper.so
......
include/dronedge.h
View file @ 460a8cf2
......@@ -5,11 +5,23 @@
#include "mavsdk_wrapper.h"
#include "pubsub.h"
struct messageNode {
char *message;
struct messageNode *next;
};
typedef struct {
struct messageNode *head;
struct messageNode *tail;
} MessageQueue;
UA_Double latitude = 0;
UA_Double longitude = 0;
UA_Float altitude_abs = 0;
UA_Float altitude_rel = 0;
UA_UInt32 last_checkpoint = 0;
UA_String message = {
.length = 0,
.data = NULL,
};
VariableData droneVariableArray[] = {
{
......@@ -45,12 +57,12 @@ VariableData droneVariableArray[] = {
.getter.getFloat = mavsdk_getAltitudeRel,
},
{
.name = "last_checkpoint",
.description = "Last checkpoint flown over",
.value = &last_checkpoint,
.type = UA_TYPES_UINT32,
.builtInType = UA_NS0ID_UINT32,
.getter.getUint32 = getLastCheckpoint
.name = "message",
.description = "Message to send to the other drones",
.value = &message,
.type = UA_TYPES_STRING,
.builtInType = UA_NS0ID_STRING,
.getter.getString = get_message
},
};
......
include/mavsdk_wrapper.h
View file @ 460a8cf2
......@@ -12,20 +12,17 @@ int mavsdk_reboot(void);
// Flight state management functions
int mavsdk_arm(void);
int mavsdk_doParachute(float param);
int mavsdk_loiter();
int mavsdk_land(void);
int mavsdk_takeOff(void);
int mavsdk_takeOffAndWait(void);
int mavsdk_triggerParachute(void);
// Flight management functions
int mavsdk_doReposition(float la, float lo, float a, float y);
int mavsdk_loiter(float radius);
int mavsdk_setAirspeed(float airspeed);
int mavsdk_setAltitude(float altitude);
int mavsdk_setTargetAltitude(float a);
int mavsdk_setTargetCoordinates(double la, double lo, float a, float y);
int mavsdk_setTargetCoordinatesXYZ(double x, double y, float z);
int mavsdk_setTargetLatLong(double la, double lo);
int mavsdk_setTargetCoordinates(double la, double lo, float a);
int mavsdk_setManualControlInput(void);
// Information functions
float mavsdk_getAltitude(void);
......@@ -35,15 +32,10 @@ double mavsdk_getInitialLatitude(void);
double mavsdk_getInitialLongitude(void);
double mavsdk_getLatitude(void);
double mavsdk_getLongitude(void);
uint64_t mavsdk_getTimestamp(void);
double mavsdk_getTakeOffAltitude(void);
float mavsdk_getPitch(void);
float mavsdk_getRoll(void);
float mavsdk_getYaw(void);
float mavsdk_getAirspeed(void);
float mavsdk_getClimbRate(void);
float mavsdk_getThrottle(void);
int mavsdk_healthAllOk(void);
bool mavsdk_isInManualMode(void);
int mavsdk_landed(void);
#ifdef __cplusplus
}
......
include/pubsub.h
View file @ 460a8cf2
......@@ -13,6 +13,8 @@
#define DATA_SET_WRITER_ID 1
#define WRITER_GROUP_ID 1
#define MAX_MESSAGE_SIZE 1024
typedef struct {
UA_UInt16 id;
UA_Double latitude;
......@@ -23,8 +25,8 @@ typedef struct {
UA_UInt32 altitudeAbsId;
UA_Float altitudeRel;
UA_UInt32 altitudeRelId;
UA_UInt32 lastCheckpoint;
UA_UInt32 lastCheckpointId;
char message[MAX_MESSAGE_SIZE];
UA_UInt32 messageId;
} JSDroneData;
typedef struct {
......@@ -34,10 +36,11 @@ typedef struct {
int type;
UA_Byte builtInType;
union {
UA_UInt32 (*getUint32)(void);
UA_Float (*getFloat)(void);
UA_Double (*getDouble)(void);
UA_DateTime (*getTimestamp)(void);
UA_Double (*getDouble)(void);
UA_Float (*getFloat)(void);
UA_String (*getString)(void);
UA_UInt32 (*getUint32)(void);
} getter;
} VariableData;
......@@ -45,7 +48,7 @@ typedef struct {
int subscribeOnly(UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl,
VariableData *variableArray, size_t nbVariable,
UA_UInt32 id, UA_UInt32 nbReader,
UA_UInt32 id, UA_UInt32 nbReader, UA_Duration interval,
void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic),
UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
void (*update)(UA_UInt32 id, const UA_DataValue*),
......@@ -54,14 +57,14 @@ int subscribeOnly(UA_String *transportProfile,
int runPubsub(UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl,
VariableData *variableArray, size_t nbVariable,
UA_UInt32 id, UA_UInt32 nbReader,
UA_UInt32 id, UA_UInt32 nbReader, UA_Duration interval,
void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic),
UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
VariableData (*get_value)(UA_String identifier),
void (*update)(UA_UInt32 id, const UA_DataValue*),
UA_Boolean *running);
UA_UInt32 getLastCheckpoint(void);
UA_String get_message(void);
UA_UInt16 get_drone_id(UA_UInt32 nb);
......@@ -73,8 +76,6 @@ void pubsub_print_coordinates(UA_UInt32 id, const UA_DataValue *var);
VariableData pubsub_get_value(UA_String identifier);
void stop_pubsub(void);
DLL_PUBLIC JSModuleDef *js_init_module(JSContext *ctx, const char *module_name);
#endif /* __PUBSUB_H__ */
mavsdk_wrapper.cpp
View file @ 460a8cf2
This diff is collapsed.
pubsub.c
View file @ 460a8cf2
......@@ -135,13 +135,13 @@ addDataSetField(UA_Server *server, VariableData varDetails) {
* The WriterGroup (WG) is part of the connection and contains the primary
* configuration parameters for the message creation. */
static void
addWriterGroup(UA_Server *server) {
addWriterGroup(UA_Server *server, UA_Duration publishingInterval) {
/* Now we create a new WriterGroupConfig and add the group to the existing
* PubSubConnection. */
UA_WriterGroupConfig writerGroupConfig;
memset(&writerGroupConfig, 0, sizeof(UA_WriterGroupConfig));
writerGroupConfig.name = UA_STRING("Demo WriterGroup");
writerGroupConfig.publishingInterval = 100;
writerGroupConfig.publishingInterval = publishingInterval;
writerGroupConfig.enabled = UA_FALSE;
writerGroupConfig.writerGroupId = WRITER_GROUP_ID;
writerGroupConfig.encodingMimeType = UA_PUBSUB_ENCODING_UADP;
......@@ -245,7 +245,8 @@ dataChangeNotificationCallback(UA_Server *server, UA_UInt32 monitoredItemId,
* Set SubscribedDataSet type to TargetVariables data type.
* Add subscribedvariables to the DataSetReader */
static UA_StatusCode
addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId, UA_UInt32 nb,
addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId,
UA_UInt32 nb, UA_Duration samplingInterval,
void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic)) {
if(server == NULL)
return UA_STATUSCODE_BADINTERNALERROR;
......@@ -302,6 +303,7 @@ addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId, UA_UInt32 n
/*monitor variable*/
UA_MonitoredItemCreateRequest monRequest = UA_MonitoredItemCreateRequest_default(newNode);
init_node_id(newNode.identifier.numeric, nb, i);
monRequest.requestedParameters.samplingInterval = samplingInterval;
UA_Server_createDataChangeMonitoredItem(server, UA_TIMESTAMPSTORETURN_SOURCE,
monRequest, NULL, dataChangeNotificationCallback);
......@@ -375,7 +377,7 @@ setServer(UA_String *transportProfile,
static UA_StatusCode
subscribe(UA_Server *server,
VariableData *variableArray, size_t nbVariable,
UA_UInt32 id, UA_UInt32 nbReader,
UA_UInt32 id, UA_UInt32 nbReader, UA_Duration interval,
void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic),
UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
void (*update)(UA_UInt32 id, const UA_DataValue*)) {
......@@ -405,7 +407,7 @@ subscribe(UA_Server *server,
return EXIT_FAILURE;
/* Add SubscribedVariables to the created DataSetReader */
retval = addSubscribedVariables(server, readerIdent, i, init_node_id);
retval = addSubscribedVariables(server, readerIdent, i, interval, init_node_id);
if (retval != UA_STATUSCODE_GOOD)
return EXIT_FAILURE;
}
......@@ -416,7 +418,7 @@ subscribe(UA_Server *server,
int subscribeOnly(UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl,
VariableData *variableArray, size_t nbVariable,
UA_UInt32 id, UA_UInt32 nbReader,
UA_UInt32 id, UA_UInt32 nbReader, UA_Duration interval,
void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic),
UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
void (*update)(UA_UInt32 id, const UA_DataValue*),
......@@ -426,8 +428,8 @@ int subscribeOnly(UA_String *transportProfile,
server = setServer(transportProfile, networkAddressUrl, id);
subscribe(server, variableArray, nbVariable, id, nbReader, init_node_id,
get_reader_id, update);
subscribe(server, variableArray, nbVariable, id, nbReader, interval,
init_node_id, get_reader_id, update);
retval = UA_Server_run(server, running);
UA_Server_delete(server);
......@@ -437,7 +439,7 @@ int subscribeOnly(UA_String *transportProfile,
int runPubsub(UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl,
VariableData *variableArray, size_t nbVariable,
UA_UInt32 id, UA_UInt32 nbReader,
UA_UInt32 id, UA_UInt32 nbReader, UA_Duration interval,
void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic),
UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
VariableData (*get_value)(UA_String identifier),
......@@ -460,15 +462,15 @@ int runPubsub(UA_String *transportProfile,
addDataSetField(server, variableArray[i]);
}
addWriterGroup(server);
addWriterGroup(server, interval);
retval = addDataSetWriter(server);
if (retval != UA_STATUSCODE_GOOD)
return EXIT_FAILURE;
/* Subscribing */
subscribe(server, variableArray, nbVariable, id, nbReader, init_node_id,
get_reader_id, update);
subscribe(server, variableArray, nbVariable, id, nbReader, interval,
init_node_id, get_reader_id, update);
retval = UA_Server_run(server, running);
UA_Server_delete(server);
......
qjs_wrapper.c
View file @ 460a8cf2
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