Use int64_t for position array and timestamp values

Use an integer type to keep integrity of the data coming from the autopilot

include/dronedge.h

@@ -16,7 +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 };
@@ -33,8 +33,8 @@ 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,

include/pubsub.h

@@ -25,7 +25,7 @@ typedef struct {
     UA_Double longitude;
     UA_Double altitudeAbs;
     UA_Double altitudeRel;
-    UA_Double timestamp;
+    UA_Int64 timestamp;
     UA_Float  yaw;
     UA_Float  speed;
     UA_Float  climbRate;
@@ -37,7 +37,7 @@ typedef struct {
     UA_Double x;
     UA_Double y;
     UA_Double z;
-    UA_Double timestamp;
+    UA_Int64 timestamp;
 } JSPositionData;
 
 typedef struct {

qjs_wrapper.c

@@ -56,7 +56,7 @@ static JSValue js_new_position(JSContext *ctx, JSValueConst thisVal,
 {
     JSPositionData *s;
     JSValue obj;
-    UA_Double *positionArray;
+    UA_Int64 *positionArray;
     obj = JS_NewObjectClass(ctx, (int) jsPositionClassId);
     if (JS_IsException(obj))
         return obj;
@@ -66,9 +66,9 @@ static JSValue js_new_position(JSContext *ctx, JSValueConst thisVal,
         return JS_EXCEPTION;
     }
     positionArray = getPositionArray();
-    s->x = positionArray[0];
-    s->y = positionArray[1];
-    s->z = positionArray[3]; //relative altitude
+    s->x = (double)positionArray[0] / 1e7;
+    s->y = (double)positionArray[1] / 1e7;
+    s->z = (UA_Double)(positionArray[3] / 1000); //relative altitude
     s->timestamp = positionArray[4];
     JS_SetOpaque(obj, s);
     free(positionArray);
@@ -88,7 +88,7 @@ static JSValue js_position_get(JSContext *ctx, JSValueConst thisVal, int magic)
         case 2:
             return JS_NewFloat64(ctx, s->z);
         case 3:
-            return JS_NewFloat64(ctx, s->timestamp);
+            return JS_NewInt64(ctx, s->timestamp);
         default:
             return JS_EXCEPTION;
     }
@@ -188,7 +188,7 @@ static JSValue js_drone_get(JSContext *ctx, JSValueConst thisVal, int magic)
             pthread_mutex_unlock(&mutex);
             return res;
         case 9:
-            return JS_NewFloat64(ctx, s->timestamp);
+            return JS_NewInt64(ctx, s->timestamp);
         default:
             return JS_EXCEPTION;
     }
@@ -366,17 +366,17 @@ static void pubsub_update_variables(UA_UInt32 id, const UA_DataValue *var, bool
 {
     JSDroneData*  s;
     UA_String     uaStr;
-    UA_Double*    positionArray;
+    UA_Int64*    positionArray;
     UA_Float*     speedArray;
 
     for(UA_UInt32 i = 0; i < nbDrone + nbSubscriber; i++) {
         s = (JSDroneData *) JS_GetOpaque(droneObjectIdList[i], jsDroneClassId);
         if (s->positionArrayId == id) {
-            positionArray = (UA_Double*) var->value.data;
-            s->latitude = positionArray[0];
-            s->longitude = positionArray[1];
-            s->altitudeAbs = positionArray[2];
-            s->altitudeRel = positionArray[3];
+            positionArray = (UA_Int64*) var->value.data;
+            s->latitude = (double)positionArray[0] / 1e7;
+            s->longitude = (double)positionArray[1] / 1e7;
+            s->altitudeAbs = (UA_Double)(positionArray[2] / 1000);
+            s->altitudeRel = (UA_Double)(positionArray[3] / 1000);
             s->timestamp = positionArray[4];
 
             if (print) {