support subscriber instance

See merge request !9

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 -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
+LIBS=-lopen62541
+
+ifeq ($(WITH_AUTOPILOT),y)
+LIBS+= -lautopilotwrapper
+CFLAGS+= -DWITH_AUTOPILOT
+endif
 
 LIB_NAME := libqjswrapper.so
 

include/autopilot_wrapper.h → include/autopilot_API.h

-#ifndef __AUTOPILOT_H__
-#define __AUTOPILOT_H__
+#ifndef __AUTOPILOT_API_H__
+#define __AUTOPILOT_API_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
@@ -59,4 +44,4 @@ DLL_PUBLIC void updateLogAndProjection(void);
 }
 #endif
 
-#endif /* __AUTOPILOT_H__ */
+#endif /* __AUTOPILOT__API_H__ */

include/dronedge.h

-#ifndef __DRONEDGE_H__
-#define __DRONEDGE_H__
-
-#include <open62541/server.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;
-};
-typedef struct {
-  struct messageNode *head;
-  struct messageNode *tail;
-} MessageQueue;
-
-UA_Int64 positionArray[POSITION_ARRAY_SIZE] = { 0 };
-UA_UInt32 positionArrayDims[] = {POSITION_ARRAY_SIZE};
-
-UA_Double speedArray[SPEED_ARRAY_SIZE] = { 0 };
-UA_UInt32 speedArrayDims[] = {SPEED_ARRAY_SIZE};
-
-UA_String message = {
-    .length = 0,
-    .data = NULL,
-};
-
-VariableData droneVariableArray[] = {
-    {
-        .name = "positionArray",
-        .typeName = "Position Array Type",
-        .description = "Position Array",
-        .value = &positionArray,
-        .type = UA_TYPES_INT64,
-        .builtInType = UA_NS0ID_INT64,
-        .valueRank = UA_VALUERANK_ONE_DIMENSION,
-        .arrayDimensionsSize = 1,
-        .arrayDimensions = positionArrayDims,
-        .getter.getArray = getPositionArray,
-    },
-    {
-        .name = "speedArray",
-        .typeName = "Speed Array Type",
-        .description = "Speed Array",
-        .value = &speedArray,
-        .type = UA_TYPES_FLOAT,
-        .builtInType = UA_NS0ID_FLOAT,
-        .valueRank = UA_VALUERANK_ONE_DIMENSION,
-        .arrayDimensionsSize = 1,
-        .arrayDimensions = speedArrayDims,
-        .getter.getArray = getSpeedArray,
-    },
-    {
-        .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 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/dronedge_protocol.h

+#ifndef __DRONEDGE_PROTOCOL_H__
+#define __DRONEDGE_PROTOCOL_H__
+
+#define POSITION_ARRAY_SIZE 5
+#define SPEED_ARRAY_SIZE 3
+
+/*
+ * 0. latitude (double, degrees)
+ * 1. longitude (double, degrees)
+ * 2. absolute altitude (double, meters)
+ * 3. relative altitude (double, meters)
+ * 4. timestamp (double, milliseconds)
+*/
+typedef enum
+{
+  LATITUDE = 0x0,
+  LONGITUDE,
+  ABS_ALTITUDE,
+  REL_ALTITUDE,
+  TIMESTAMP,
+} POSITION_ENUM;
+
+/*
+ * 0. yaw angle (float, degrees)
+ * 1. air speed (float, m/s)
+ * 2. climb rate (float, m/s)
+*/
+typedef enum
+{
+  YAW = 0x0,
+  SPEED,
+  CLIMB_RATE,
+} SPEED_ENUM;
+
+#endif /* __DRONEDGE_PROTOCOL_H__ */

include/pubsub.h

@@ -15,7 +15,7 @@
 #define DATA_SET_WRITER_ID 1
 #define WRITER_GROUP_ID 1
 
-#define MAX_MESSAGE_SIZE 1024
+#define MAX_STR_SIZE 1024
 
 typedef struct {
     UA_UInt16 id;
@@ -29,8 +29,10 @@ typedef struct {
     UA_Float  yaw;
     UA_Float  speed;
     UA_Float  climbRate;
-    char      message[MAX_MESSAGE_SIZE];
+    char      message[MAX_STR_SIZE];
     UA_UInt32 messageId;
+    char      log[MAX_STR_SIZE];
+    UA_UInt32 logId;
 } JSDroneData;
 
 typedef struct {
@@ -79,6 +81,8 @@ int runPubsub(const UA_Logger *logger, UA_String *transportProfile,
 
 UA_String get_message(void);
 
+UA_String get_log(void);
+
 UA_UInt16 get_drone_id(UA_UInt32 nb);
 
 void init_drone_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic);