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Commit 84130f62 authored by Léo-Paul Géneau's avatar Léo-Paul Géneau 👾
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Separate root and subscriber SRs 

See merge request nexedi/slapos!1549
parents eae3a24e e5ef7b00
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    component/mavsdk/buildout.cfg
    View file @ 84130f62
    ...@@ -15,12 +15,6 @@ parts = ...@@ -15,12 +15,6 @@ parts =
    [gcc] [gcc]
    min_version = 7.1 min_version = 7.1
    [c-astral-xml-definition]
    recipe = slapos.recipe.build:gitclone
    repository = https://lab.nexedi.com/nexedi/c-astral-c-library.git
    revision = v2.1
    git-executable = ${git:location}/bin/git
    [mavsdk-source] [mavsdk-source]
    recipe = slapos.recipe.build:gitclone recipe = slapos.recipe.build:gitclone
    repository = https://github.com/mavlink/MAVSDK.git repository = https://github.com/mavlink/MAVSDK.git
    ...@@ -53,7 +47,6 @@ cmake = ${cmake:location}/bin/cmake ...@@ -53,7 +47,6 @@ cmake = ${cmake:location}/bin/cmake
    depends = ${mavsdk-pythonpath:recipe} depends = ${mavsdk-pythonpath:recipe}
    pre-configure = pre-configure =
    ${git:location}/bin/git submodule update --init --recursive ${git:location}/bin/git submodule update --init --recursive
    sed -i 's#message_definitions/v1.0#${c-astral-xml-definition:location}#' ${mavsdk-source:location}/third_party/mavlink/CMakeLists.txt
    configure-command = configure-command =
    ${:cmake} ${:cmake}
    configure-options = configure-options =
    ...@@ -72,12 +65,3 @@ make-binary = ...@@ -72,12 +65,3 @@ make-binary =
    environment = mavsdk-env environment = mavsdk-env
    CMAKE_CFLAGS=-I${tinyxml2:location}/include CMAKE_CFLAGS=-I${tinyxml2:location}/include
    [c-astral-wrapper]
    recipe = slapos.recipe.cmmi
    configure-command = true
    url = https://lab.nexedi.com/nexedi/c-astral-wrapper/-/archive/v2.0/c-astral-wrapper-v2.0.tar.gz
    md5sum = ee2d05d225a57d17318282ff595fd498
    environment =
    CPLUS_INCLUDE_PATH=${qjs-wrapper-source:location}/include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk
    LDFLAGS=-L${mavsdk:location}/lib -Wl,-rpath=${mavsdk:location}/lib
    component/qjs-wrapper/buildout.cfg
    View file @ 84130f62
    [buildout] [buildout]
    extends = extends =
    ../git/buildout.cfg ../git/buildout.cfg
    ../mavsdk/buildout.cfg
    ../open62541/buildout.cfg ../open62541/buildout.cfg
    ../quickjs/buildout.cfg ../quickjs/buildout.cfg
    ...@@ -10,13 +9,14 @@ parts = qjs-wrapper ...@@ -10,13 +9,14 @@ parts = qjs-wrapper
    [qjs-wrapper-source] [qjs-wrapper-source]
    recipe = slapos.recipe.build:gitclone recipe = slapos.recipe.build:gitclone
    repository = https://lab.nexedi.com/nexedi/qjs-wrapper.git repository = https://lab.nexedi.com/nexedi/qjs-wrapper.git
    revision = v2.0 revision = v2.1
    git-executable = ${git:location}/bin/git git-executable = ${git:location}/bin/git
    [qjs-wrapper] [qjs-wrapper]
    recipe = slapos.recipe.cmmi recipe = slapos.recipe.cmmi
    configure-command = true configure-command = true
    path = ${qjs-wrapper-source:location} path = ${qjs-wrapper-source:location}
    autopilot-wrapper =
    environment = environment =
    C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include
    LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${c-astral-wrapper:location}/lib -Wl,-rpath=${c-astral-wrapper:location}/lib LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${:autopilot-wrapper}/lib -Wl,-rpath=${:autopilot-wrapper}/lib
    software/js-drone/README.md
    View file @ 84130f62
    ...@@ -10,13 +10,17 @@ ...@@ -10,13 +10,17 @@
    ## Parameters ## ## Parameters ##
    * autopilotType: Select which autopilot wrapper should be used
    * autopilotIp: IPv4 address to identify the autopilot from the companion board * autopilotIp: IPv4 address to identify the autopilot from the companion board
    * droneGuidList: List of computer id on which flight script must be deployed * droneGuidList: List of computer id on which flight script must be deployed
    * droneNetIf: Drone network interface used for multicast traffic
    * isASimulation: Must be set to 'true' to automatically take off during simulation * isASimulation: Must be set to 'true' to automatically take off during simulation
    * debug: Must be set to 'true' to send drone logs through OPC-UA
    * multicastIp: IPv6 of the multicast group of the swarm * multicastIp: IPv6 of the multicast group of the swarm
    * netIf: Network interface used for multicast traffic
    * flightScript: URL of user's script to execute to fly drone swarm * flightScript: URL of user's script to execute to fly drone swarm
    * loopPeriod: Minimal period (in milliseconds) between 2 executions of the flight script loop
    * subscriberGuidList: List of computer id on which a GUI must be deployed * subscriberGuidList: List of computer id on which a GUI must be deployed
    * subscriberNetIf: Subscriber network interface used for multicast traffic
    ## How it works ## ## How it works ##
    ...@@ -46,6 +50,7 @@ For each drone is displayed: ...@@ -46,6 +50,7 @@ For each drone is displayed:
    * the yaw angle in degrees * the yaw angle in degrees
    * the speed (ground speed for multicopters, airspeed for fixed wings) in meters per second * the speed (ground speed for multicopters, airspeed for fixed wings) in meters per second
    * the climb rate in meters per second * the climb rate in meters per second
    * the timestamp of the position in format hh:mm:ss
    ### Buttons ### Buttons
    ......
    software/js-drone/buildout.hash.cfg
    View file @ 84130f62
    ...@@ -14,32 +14,36 @@ ...@@ -14,32 +14,36 @@
    # not need these here). # not need these here).
    [index-html] [index-html]
    _update_hash_filename_ = web-gui/index.html.jinja2 _update_hash_filename_ = web-gui/index.html.jinja2
    md5sum = 1eedc017ecc9d1a6761dc2fff3bbab9b md5sum = 1644d25ea48e35f4b50fbc31e899a74a
    [instance-peer-base]
    filename = instance-peer-base.cfg.in
    md5sum = 01425a1c77e79788e1948398b9136724
    [instance-profile] [instance-profile]
    filename = instance.cfg.in filename = instance.cfg.in
    md5sum = 80dae3e883663311d9814def78ee875a md5sum = 4733c63573e6812c124b356dc146ffcc
    [instance-default] [instance-root]
    filename = instance-default.cfg.jinja2 filename = instance-root.cfg.jinja2
    md5sum = 9db922cc0fcaa67006a2d6b9b95b95fe md5sum = 316f77c655540226f22dc7a6322624f1
    [instance-peer] [instance-subscriber]
    filename = instance-peer.cfg.jinja2.in filename = instance-subscriber.cfg.in
    md5sum = d12fbb134c587173ddff46ff1bc6ffe7 md5sum = 8559dc8c95e9232060be6db3e0af4379
    [main] [main]
    _update_hash_filename_ = drone-scripts/main.js.jinja2 _update_hash_filename_ = drone-scripts/main.js.jinja2
    md5sum = 9a8ec8a2778f63789f39291795f47e98 md5sum = 60146505ec8ea50d881d033f63b6725c
    [pubsub] [pubsub]
    _update_hash_filename_ = drone-scripts/pubsub.js.jinja2 _update_hash_filename_ = drone-scripts/pubsub.js.jinja2
    md5sum = 1555496ad591a31a845f33488d5c335d md5sum = 34a02101a607e60f4e422375beaf7fc2
    [script-js] [script-js]
    _update_hash_filename_ = web-gui/script.js.jinja2 _update_hash_filename_ = web-gui/script.js.jinja2
    md5sum = e28492276416c2d84e770217ae97a88f md5sum = efd986b3685e50f73c17c9352804bae0
    [worker] [worker]
    _update_hash_filename_ = drone-scripts/worker.js.jinja2 _update_hash_filename_ = drone-scripts/worker.js.jinja2
    md5sum = 48540afedd5437129196d84832d2ed40 md5sum = 5fc7f9738d8230aeea9a9d25ea30f3f0
    software/js-drone/drone-scripts/main.js.jinja2
    View file @ 84130f62
    /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */ /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
    {% if isADrone -%}
    /*global arm, console, close, dup2, exit, open, scriptArgs, setTimeout, start, /*global arm, console, close, dup2, exit, open, scriptArgs, setTimeout, start,
    stop, stopPubsub, takeOffAndWait, Worker, SIGINT, SIGTERM*/ stop, stopPubsub, takeOffAndWait, Worker, SIGINT, SIGTERM*/
    {% else -%}
    /*global console, close, dup2, exit, open, scriptArgs, setTimeout, stopPubsub,
    Worker, SIGINT, SIGTERM*/
    {% endif -%}
    import { import {
    {% if isADrone -%}
    arm, arm,
    start, start,
    stop, stop,
    {% endif -%}
    stopPubsub, stopPubsub,
    {% if isADrone -%}
    takeOffAndWait takeOffAndWait
    } from {{ json_module.dumps(qjs_wrapper) }}; {% endif -%}
    } from "{{ qjs_wrapper }}";
    import { import {
    Worker, Worker,
    SIGINT,
    SIGTERM, SIGTERM,
    dup2, dup2,
    setTimeout, setTimeout,
    ...@@ -17,30 +27,37 @@ import { ...@@ -17,30 +27,37 @@ import {
    } from "os"; } from "os";
    import { err, exit, open, out } from "std"; import { err, exit, open, out } from "std";
    (function (arm, console, dup2, err, exit, open, out, scriptArgs, {% if isADrone -%}
    setTimeout, start, stop, stopPubsub, takeOffAndWait, Worker, (function (arm, console, dup2, err, exit, open, out, scriptArgs, setTimeout,
    SIGTERM) { start, stop, stopPubsub, takeOffAndWait, Worker, SIGINT, SIGTERM) {
    {% else -%}
    (function (console, dup2, err, exit, open, out, scriptArgs, setTimeout,
    stopPubsub, Worker, SIGINT, SIGTERM) {
    {% endif -%}
    "use strict"; "use strict";
    var CONF_PATH = {{ json_module.dumps(configuration) }}, var CONF_PATH = "{{ configuration }}",
    conf_file = open(CONF_PATH, "r"), conf_file = open(CONF_PATH, "r"),
    configuration = JSON.parse(conf_file.readAsString()), configuration = JSON.parse(conf_file.readAsString()),
    AUTOPILOT_CONNECTION_TIMEOUT = 5,
    MAVSDK_LOG_FILE_PATH = MAVSDK_LOG_FILE_PATH =
    "{{ log_dir }}/mavsdk_" + new Date().toISOString() + ".log", "{{ log_dir }}/mavsdk_" + new Date().toISOString() + ".log",
    LOG_FILE = QUICKJS_LOG_FILE_PATH =
    open("{{ log_dir }}/quickjs_" + new Date().toISOString() + ".log", "w"), "{{ log_dir }}/quickjs_" + new Date().toISOString() + ".log",
    QUICKJS_LOG_FILE =
    open(QUICKJS_LOG_FILE_PATH, "w"),
    pubsubWorker, pubsubWorker,
    worker, worker,
    user_script = scriptArgs[1], user_script = scriptArgs[1],
    FPS = 50, // Minimum sampling interval for open62541 monitored items LOOP_EXECUTION_PERIOD = configuration.loopPeriod,
    previous_timestamp, previous_timestamp,
    can_update = false; can_update = false;
    conf_file.close(); conf_file.close();
    // redirect stdout and stderr // redirect stdout and stderr
    dup2(LOG_FILE.fileno(), out.fileno()); dup2(QUICKJS_LOG_FILE.fileno(), out.fileno());
    dup2(LOG_FILE.fileno(), err.fileno()); dup2(QUICKJS_LOG_FILE.fileno(), err.fileno());
    // Use a Worker to ensure the user script // Use a Worker to ensure the user script
    // does not block the main script // does not block the main script
    ...@@ -50,13 +67,13 @@ import { err, exit, open, out } from "std"; ...@@ -50,13 +67,13 @@ import { err, exit, open, out } from "std";
    // to prevent it to finish (and so, exit the quickjs process) // to prevent it to finish (and so, exit the quickjs process)
    worker = new Worker("{{ worker_script }}"); worker = new Worker("{{ worker_script }}");
    function quit(is_a_drone, exit_code) { function quit(exit_code) {
    worker.onmessage = null; worker.onmessage = null;
    stopPubsub(); stopPubsub();
    if (is_a_drone) { {% if isADrone -%}
    stop(); stop();
    } {% endif -%}
    LOG_FILE.close(); QUICKJS_LOG_FILE.close();
    exit(exit_code); exit(exit_code);
    } }
    ...@@ -68,6 +85,7 @@ import { err, exit, open, out } from "std"; ...@@ -68,6 +85,7 @@ import { err, exit, open, out } from "std";
    } }
    signal(SIGTERM, exitWorker.bind(null, 0)); signal(SIGTERM, exitWorker.bind(null, 0));
    signal(SIGINT, exitWorker.bind(null, 0));
    function exitOnFail(ret, msg) { function exitOnFail(ret, msg) {
    if (ret) { if (ret) {
    ...@@ -76,6 +94,7 @@ import { err, exit, open, out } from "std"; ...@@ -76,6 +94,7 @@ import { err, exit, open, out } from "std";
    } }
    } }
    {% if isADrone -%}
    function connect() { function connect() {
    var address = configuration.autopilotIp + ":" + configuration.autopilotPort; var address = configuration.autopilotIp + ":" + configuration.autopilotPort;
    console.log("Will connect to", address); console.log("Will connect to", address);
    ...@@ -84,16 +103,17 @@ import { err, exit, open, out } from "std"; ...@@ -84,16 +103,17 @@ import { err, exit, open, out } from "std";
    configuration.autopilotIp, configuration.autopilotIp,
    configuration.autopilotPort, configuration.autopilotPort,
    MAVSDK_LOG_FILE_PATH, MAVSDK_LOG_FILE_PATH,
    60 QUICKJS_LOG_FILE_PATH,
    AUTOPILOT_CONNECTION_TIMEOUT,
    configuration.debug
    ), ),
    "Failed to connect to " + address "Failed to connect to " + address
    ); );
    } }
    if (configuration.isADrone) {
    console.log("Connecting to aupilot\n"); console.log("Connecting to aupilot\n");
    connect(); connect();
    } {% endif -%}
    pubsubWorker = new Worker("{{ pubsub_script }}"); pubsubWorker = new Worker("{{ pubsub_script }}");
    pubsubWorker.onmessage = function (e) { pubsubWorker.onmessage = function (e) {
    ...@@ -104,15 +124,19 @@ import { err, exit, open, out } from "std"; ...@@ -104,15 +124,19 @@ import { err, exit, open, out } from "std";
    worker.postMessage({type: "initPubsub"}); worker.postMessage({type: "initPubsub"});
    {% if isADrone -%}
    function takeOff() { function takeOff() {
    exitOnFail(arm(), "Failed to arm"); exitOnFail(arm(), "Failed to arm");
    takeOffAndWait(); takeOffAndWait();
    } }
    {% endif -%}
    function load() { function load() {
    if (configuration.isADrone && configuration.isASimulation) { {% if isADrone -%}
    if (configuration.isASimulation) {
    takeOff(); takeOff();
    } }
    {% endif -%}
    // First argument must provide the user script path // First argument must provide the user script path
    if (user_script === undefined) { if (user_script === undefined) {
    ...@@ -130,23 +154,23 @@ import { err, exit, open, out } from "std"; ...@@ -130,23 +154,23 @@ import { err, exit, open, out } from "std";
    var timestamp = Date.now(), var timestamp = Date.now(),
    timeout; timeout;
    if (can_update) { if (can_update) {
    if (FPS <= (timestamp - previous_timestamp)) { if (LOOP_EXECUTION_PERIOD <= (timestamp - previous_timestamp)) {
    // Expected timeout between every update // Expected timeout between every update
    can_update = false; can_update = false;
    worker.postMessage({ worker.postMessage({
    type: "update", type: "update",
    timestamp: timestamp timestamp: timestamp
    }); });
    // Try to stick to the expected FPS // Try to stick to the expected LOOP_EXECUTION_PERIOD
    timeout = FPS - (timestamp - previous_timestamp - FPS); timeout = LOOP_EXECUTION_PERIOD - (timestamp - previous_timestamp - LOOP_EXECUTION_PERIOD);
    previous_timestamp = timestamp; previous_timestamp = timestamp;
    } else { } else {
    timeout = FPS - (timestamp - previous_timestamp); timeout = LOOP_EXECUTION_PERIOD - (timestamp - previous_timestamp);
    } }
    } else { } else {
    // If timeout occurs, but update is not yet finished // If timeout occurs, but update is not yet finished
    // wait a bit // wait a bit
    timeout = FPS / 4; timeout = LOOP_EXECUTION_PERIOD / 4;
    } }
    // Ensure loop is not done with timeout < 1ms // Ensure loop is not done with timeout < 1ms
    setTimeout(loop, Math.max(1, timeout)); setTimeout(loop, Math.max(1, timeout));
    ...@@ -158,12 +182,12 @@ import { err, exit, open, out } from "std"; ...@@ -158,12 +182,12 @@ import { err, exit, open, out } from "std";
    pubsubWorker.postMessage({ pubsubWorker.postMessage({
    action: "run", action: "run",
    id: configuration.id, id: configuration.id,
    interval: FPS, interval: LOOP_EXECUTION_PERIOD,
    publish: configuration.isADrone publish: configuration.isADrone
    }); });
    load(); load();
    } else if (type === 'loaded') { } else if (type === 'loaded') {
    previous_timestamp = -FPS; previous_timestamp = -LOOP_EXECUTION_PERIOD;
    can_update = true; can_update = true;
    // Start the update loop // Start the update loop
    loop(); loop();
    ...@@ -173,11 +197,16 @@ import { err, exit, open, out } from "std"; ...@@ -173,11 +197,16 @@ import { err, exit, open, out } from "std";
    can_update = true; can_update = true;
    } else if (type === 'exited') { } else if (type === 'exited') {
    worker.onmessage = null; worker.onmessage = null;
    quit(configuration.isADrone, e.data.exit); quit(e.data.exit);
    } else { } else {
    console.log('Unsupported message type', type); console.log('Unsupported message type', type);
    exitWorker(1); exitWorker(1);
    } }
    }; };
    {% if isADrone -%}
    }(arm, console, dup2, err, exit, open, out, scriptArgs, setTimeout, start, stop, }(arm, console, dup2, err, exit, open, out, scriptArgs, setTimeout, start, stop,
    stopPubsub, takeOffAndWait, Worker, SIGTERM)); stopPubsub, takeOffAndWait, Worker, SIGINT, SIGTERM));
    {% else -%}
    }(console, dup2, err, exit, open, out, scriptArgs, setTimeout, stopPubsub,
    Worker, SIGINT, SIGTERM));
    {% endif -%}
    software/js-drone/drone-scripts/pubsub.js.jinja2
    View file @ 84130f62
    /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */ /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
    /*global console, open, runPubsub, Worker*/ /*global console, open, runPubsub, Worker*/
    import {runPubsub} from {{ json_module.dumps(qjs_wrapper) }}; import {runPubsub} from "{{ qjs_wrapper }}";
    import {Worker} from "os"; import {Worker} from "os";
    import {open} from "std"; import {open} from "std";
    (function (console, open, runPubsub, Worker) { (function (console, open, runPubsub, Worker) {
    "use strict"; "use strict";
    var CONF_PATH = {{ json_module.dumps(configuration) }}, var CONF_PATH = "{{ configuration }}",
    PORT = "4840", PORT = "4840",
    parent = Worker.parent, parent = Worker.parent,
    conf_file = open(CONF_PATH, "r"), conf_file = open(CONF_PATH, "r"),
    ......
    software/js-drone/drone-scripts/worker.js.jinja2
    View file @ 84130f62
    ...@@ -5,6 +5,7 @@ ...@@ -5,6 +5,7 @@
    updateLogAndProjection, Drone, Worker*/ updateLogAndProjection, Drone, Worker*/
    import { import {
    Drone, Drone,
    {% if isADrone -%}
    triggerParachute, triggerParachute,
    getAirspeed, getAirspeed,
    getAltitude, getAltitude,
    ...@@ -13,14 +14,19 @@ import { ...@@ -13,14 +14,19 @@ import {
    gpsIsOk, gpsIsOk,
    getPosition, getPosition,
    getYaw, getYaw,
    {% endif -%}
    initPubsub, initPubsub,
    {% if isADrone -%}
    isLanding, isLanding,
    loiter, loiter,
    setAirSpeed, setAirSpeed,
    {% endif -%}
    setMessage, setMessage,
    {% if isADrone -%}
    setTargetCoordinates, setTargetCoordinates,
    updateLogAndProjection updateLogAndProjection
    } from {{ json_module.dumps(qjs_wrapper) }}; {% endif -%}
    } from "{{ qjs_wrapper }}";
    import { import {
    SIGTERM, SIGTERM,
    WNOHANG, WNOHANG,
    ...@@ -34,15 +40,21 @@ import { ...@@ -34,15 +40,21 @@ import {
    } from "os"; } from "os";
    import { evalScript, fdopen, loadFile, open } from "std"; import { evalScript, fdopen, loadFile, open } from "std";
    {% if isADrone -%}
    (function (Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec, (function (Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
    fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition, fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition,
    getYaw, initPubsub, kill, isLanding, loadFile, loiter, open, pipe, getYaw, initPubsub, isLanding, kill, loadFile, loiter, open,
    setAirSpeed, setMessage, setReadHandler, setTargetCoordinates, pipe, setAirSpeed, setMessage, setReadHandler, setTargetCoordinates,
    triggerParachute, updateLogAndProjection, waitpid) { triggerParachute, updateLogAndProjection, waitpid) {
    {% else -%}
    (function (Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
    fdopen, initPubsub, kill, loadFile, open, pipe, setMessage,
    setReadHandler, waitpid) {
    {% endif -%}
    // Every script is evaluated per drone // Every script is evaluated per drone
    "use strict"; "use strict";
    var CONF_PATH = {{ json_module.dumps(configuration) }}, var CONF_PATH = "{{ configuration }}",
    conf_file = open(CONF_PATH, "r"), conf_file = open(CONF_PATH, "r"),
    configuration = JSON.parse(conf_file.readAsString()), configuration = JSON.parse(conf_file.readAsString()),
    clientId, clientId,
    ...@@ -57,9 +69,12 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -57,9 +69,12 @@ import { evalScript, fdopen, loadFile, open } from "std";
    peer_dict = {}, peer_dict = {},
    user_me = { user_me = {
    //required to fly //required to fly
    {% if isADrone -%}
    triggerParachute: triggerParachute, triggerParachute: triggerParachute,
    {% endif -%}
    exit: exitWorker, exit: exitWorker,
    getDroneDict: function () { return drone_dict; }, getDroneDict: function () { return drone_dict; },
    {% if isADrone -%}
    getAltitudeAbs: getAltitude, getAltitudeAbs: getAltitude,
    getCurrentPosition: getPosition, getCurrentPosition: getPosition,
    getInitialAltitude: getInitialAltitude, getInitialAltitude: getInitialAltitude,
    ...@@ -67,9 +82,14 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -67,9 +82,14 @@ import { evalScript, fdopen, loadFile, open } from "std";
    getYaw: getYaw, getYaw: getYaw,
    getSpeed: getAirspeed, getSpeed: getAirspeed,
    getClimbRate: getClimbRate, getClimbRate: getClimbRate,
    {% endif -%}
    id: configuration.id, id: configuration.id,
    {% if isADrone -%}
    isLanding: isLanding, isLanding: isLanding,
    loiter: loiter, loiter: loiter,
    setAirSpeed: setAirSpeed,
    setTargetCoordinates: setTargetCoordinates,
    {% endif -%}
    sendMsg: function (msg, id) { sendMsg: function (msg, id) {
    if (id === undefined) { id = -1; } if (id === undefined) { id = -1; }
    setMessage(JSON.stringify({ setMessage(JSON.stringify({
    ...@@ -77,9 +97,7 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -77,9 +97,7 @@ import { evalScript, fdopen, loadFile, open } from "std";
    timestamp: Date.now(), timestamp: Date.now(),
    dest_id: id dest_id: id
    })); }));
    }, }
    setAirSpeed: setAirSpeed,
    setTargetCoordinates: setTargetCoordinates
    }; };
    conf_file.close(); conf_file.close();
    ...@@ -139,7 +157,7 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -139,7 +157,7 @@ import { evalScript, fdopen, loadFile, open } from "std";
    ], { ], {
    block: false, block: false,
    usePath: false, usePath: false,
    file: {{ json_module.dumps(gwsocket_bin) }}, file: "{{ gwsocket_bin }}",
    stdin: gwsocket_w_pipe[0], stdin: gwsocket_w_pipe[0],
    stdout: gwsocket_r_pipe[1] stdout: gwsocket_r_pipe[1]
    }); });
    ...@@ -149,9 +167,6 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -149,9 +167,6 @@ import { evalScript, fdopen, loadFile, open } from "std";
    handleWebSocketMessage = function () { handleWebSocketMessage = function () {
    var message = readMessage(gwsocket_r_pipe_fd).data; var message = readMessage(gwsocket_r_pipe_fd).data;
    if (message.includes(configuration.websocketIp)) {
    return;
    }
    onMessage(message); onMessage(message);
    }; };
    user_me.writeWebsocketMessage = function (message) { user_me.writeWebsocketMessage = function (message) {
    ...@@ -200,16 +215,16 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -200,16 +215,16 @@ import { evalScript, fdopen, loadFile, open } from "std";
    } }
    function handleMainMessage(evt) { function handleMainMessage(evt) {
    var type = evt.data.type, message, peer_id; var type = evt.data.type, message, peer_id, log;
    switch (type) { switch (type) {
    case "initPubsub": case "initPubsub":
    initPubsub(configuration.numberOfDrone, configuration.numberOfSubscriber); initPubsub(configuration.numberOfDrones, configuration.numberOfSubscribers);
    for (peer_id = 0; peer_id < configuration.numberOfDrone + configuration.numberOfSubscriber; peer_id++) { for (peer_id = 0; peer_id < configuration.numberOfDrones + configuration.numberOfSubscribers; peer_id++) {
    peer_dict[peer_id] = new Drone(peer_id); peer_dict[peer_id] = new Drone(peer_id);
    peer_dict[peer_id].init(peer_id); peer_dict[peer_id].init(peer_id);
    if (peer_id < configuration.numberOfDrone) { if (peer_id < configuration.numberOfDrones) {
    drone_dict[peer_id] = peer_dict[peer_id]; drone_dict[peer_id] = peer_dict[peer_id];
    } }
    } }
    ...@@ -234,13 +249,16 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -234,13 +249,16 @@ import { evalScript, fdopen, loadFile, open } from "std";
    } }
    } }
    }); });
    // Call the drone onStart function
    // Call the drone onUpdate function
    if (user_me.hasOwnProperty("onUpdate")) { if (user_me.hasOwnProperty("onUpdate")) {
    user_me.onUpdate(evt.data.timestamp); user_me.onUpdate(evt.data.timestamp);
    } }
    if (evt.data.timestamp - last_log_timestamp >= 1000) { if (evt.data.timestamp - last_log_timestamp >= 1000) {
    {% if isADrone -%}
    updateLogAndProjection(); updateLogAndProjection();
    {% endif -%}
    last_log_timestamp = evt.data.timestamp; last_log_timestamp = evt.data.timestamp;
    } }
    ...@@ -266,8 +284,14 @@ import { evalScript, fdopen, loadFile, open } from "std"; ...@@ -266,8 +284,14 @@ import { evalScript, fdopen, loadFile, open } from "std";
    exitWorker(1); exitWorker(1);
    } }
    }; };
    {% if isADrone -%}
    }(Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec, }(Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
    fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition, getYaw, fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition, getYaw,
    initPubsub, isLanding, kill, loadFile, loiter, open, pipe, setAirSpeed, initPubsub, isLanding, kill, loadFile, loiter, open, pipe, setAirSpeed,
    setMessage, setReadHandler, setTargetCoordinates, triggerParachute, setMessage, setReadHandler, setTargetCoordinates, triggerParachute,
    updateLogAndProjection, waitpid)); updateLogAndProjection, waitpid));
    {% else -%}
    }(Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
    fdopen, initPubsub, kill, loadFile, open, pipe, setMessage, setReadHandler,
    waitpid));
    {% endif -%}
    software/js-drone/instance-input-schema.json
    View file @ 84130f62
    ...@@ -4,6 +4,16 @@ ...@@ -4,6 +4,16 @@
    "description": "Parameters to instantiate JS drone", "description": "Parameters to instantiate JS drone",
    "additionalProperties": false, "additionalProperties": false,
    "properties": { "properties": {
    "autopilotType": {
    "title": "Type of the drone's autopilot",
    "description": "Model of the autopilot used in the drones.",
    "type": "string",
    "default": "c-astral",
    "enum": [
    "c-astral",
    "sqdr"
    ]
    },
    "autopilotIp": { "autopilotIp": {
    "title": "IP address of the drone's autopilot", "title": "IP address of the drone's autopilot",
    "description": "IP used to create a connection with the autopilot.", "description": "IP used to create a connection with the autopilot.",
    ...@@ -22,35 +32,53 @@ ...@@ -22,35 +32,53 @@
    "type": "array", "type": "array",
    "default": [] "default": []
    }, },
    "droneNetIf": {
    "title": "Drones Network interface",
    "description": "Interface used for multicast traffic.",
    "type": "string",
    "default": "eth0"
    },
    "isASimulation": { "isASimulation": {
    "title": "Set the flight as a simulation", "title": "Set the flight as a simulation",
    "description": "The option used to determine if the flight is real or if it is a simulation. This affects the context of the flight (e.g. if the take off is manual or automatic).", "description": "The option used to determine if the flight is real or if it is a simulation. This affects the context of the flight (e.g. if the take off is manual or automatic).",
    "type": "boolean", "type": "boolean",
    "default": false "default": false
    }, },
    "debug": {
    "title": "Set debug mode",
    "description": "When debug mode is enabled, drone are publishing the script logs through OPC-UA.",
    "type": "boolean",
    "default": false
    },
    "multicastIpv6": { "multicastIpv6": {
    "title": "IP of the multicast group", "title": "IP of the multicast group",
    "description": "IP address used to communicate with the other drones.", "description": "IP address used to communicate with the other drones.",
    "type": "string", "type": "string",
    "default": "ff15::1111" "default": "ff15::1111"
    }, },
    "netIf": {
    "title": "Network interface",
    "description": "Interface used for multicast traffic.",
    "type": "string",
    "default": "eth0"
    },
    "flightScript": { "flightScript": {
    "title": "Script's URL of the flight", "title": "Script's URL of the flight",
    "description": "URL of the script which will be executed for the flight. This URL must be publicly accesible so that the drone can fetch the script.", "description": "URL of the script which will be executed for the flight. This URL must be publicly accesible so that the drone can fetch the script.",
    "type": "string", "type": "string",
    "default": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js" "default": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js"
    }, },
    "loopPeriod": {
    "title": "Loop execution period",
    "description": "Minimal period between 2 executions of flight script loop",
    "type": "integer",
    "default": 200
    },
    "subscriberGuidList": { "subscriberGuidList": {
    "title": "List of subscribers computer ID", "title": "List of subscribers computer ID",
    "description": "List of computer ID of swarms subscribers", "description": "List of computer ID of swarms subscribers (entities able to listen/send OPC-UA messages from/to the swarm)",
    "type": "array", "type": "array",
    "default": [] "default": []
    },
    "subscriberNetIf": {
    "title": "Subscribers Network interface",
    "description": "Interface used for multicast traffic.",
    "type": "string",
    "default": "eth0"
    } }
    } }
    } }
    software/js-drone/instance-peer.cfg.jinja2.in → software/js-drone/instance-peer-base.cfg.in
    View file @ 84130f62
    ...@@ -3,6 +3,18 @@ parts = ...@@ -3,6 +3,18 @@ parts =
    qjs-launcher qjs-launcher
    publish-connection-information publish-connection-information
    eggs-directory = ${buildout:eggs-directory}
    develop-eggs-directory = ${buildout:develop-eggs-directory}
    offline = true
    [slap-configuration]
    recipe = slapos.cookbook:slapconfiguration.serialised
    computer = $${slap_connection:computer_id}
    partition = $${slap_connection:partition_id}
    url = $${slap_connection:server_url}
    key = $${slap_connection:key_file}
    cert = $${slap_connection:cert_file}
    [directory] [directory]
    recipe = slapos.cookbook:mkdirectory recipe = slapos.cookbook:mkdirectory
    ...@@ -16,15 +28,26 @@ log = $${:var}/log ...@@ -16,15 +28,26 @@ log = $${:var}/log
    public = $${:srv}/public public = $${:srv}/public
    service = $${:etc}/service service = $${:etc}/service
    [peer-configuration]
    recipe = slapos.recipe.template:jinja2
    output = $${directory:etc}/configuration.json
    extensions = jinja2.ext.do
    extra-context =
    context =
    import json_module json
    key parameter_dict slap-configuration:configuration
    $${:extra-context}
    inline =
    {{ json_module.dumps(parameter_dict) }}
    [js-dynamic-template] [js-dynamic-template]
    recipe = slapos.recipe.template:jinja2 recipe = slapos.recipe.template:jinja2
    rendered = $${directory:etc}/$${:_buildout_section_name_}.js rendered = $${directory:etc}/$${:_buildout_section_name_}.js
    extra-context = extra-context =
    context = context =
    import json_module json key configuration peer-configuration:output
    raw gwsocket_bin ${gwsocket:location}/bin/gwsocket key isADrone slap-configuration:configuration.isADrone
    raw qjs_wrapper ${qjs-wrapper:location}/lib/libqjswrapper.so raw qjs_wrapper ${qjs-wrapper:location}/lib/libqjswrapper.so
    raw configuration {{ configuration }}
    $${:extra-context} $${:extra-context}
    [main] [main]
    ...@@ -42,10 +65,13 @@ template = ${pubsub:target} ...@@ -42,10 +65,13 @@ template = ${pubsub:target}
    [worker] [worker]
    <= js-dynamic-template <= js-dynamic-template
    template = ${worker:target} template = ${worker:target}
    gwsocket_bin =
    extra-context =
    key gwsocket_bin :gwsocket_bin
    [user] [user]
    recipe = slapos.recipe.build:download recipe = slapos.recipe.build:download
    url = {{ parameter_dict['flightScript'] }} url = $${slap-configuration:configuration.flightScript}
    destination = $${directory:etc}/user.js destination = $${directory:etc}/user.js
    offline = false offline = false
    ...@@ -54,41 +80,6 @@ recipe = slapos.cookbook:wrapper ...@@ -54,41 +80,6 @@ recipe = slapos.cookbook:wrapper
    wrapper-path = $${directory:service}/qjs-launcher wrapper-path = $${directory:service}/qjs-launcher
    command-line = ${quickjs:location}/bin/qjs $${main:rendered} $${user:target} command-line = ${quickjs:location}/bin/qjs $${main:rendered} $${user:target}
    [script-js]
    recipe = slapos.recipe.template:jinja2
    template = ${script-js:target}
    rendered = $${directory:public}/script.js
    websocket-url = [{{ ipv6 }}]:{{ websocket_port }}
    context =
    raw websocket_url $${:websocket-url}
    [index-html]
    recipe = slapos.recipe.template:jinja2
    template = ${index-html:target}
    rendered = $${directory:public}/index.html
    context =
    raw nb_drones {{ parameter_dict['numberOfDrone'] }}
    [httpd-port]
    recipe = slapos.cookbook:free_port
    minimum = 8080
    maximum = 8090
    ip = {{ ipv6 }}
    [httpd]
    recipe = slapos.cookbook:simplehttpserver
    host = {{ ipv6 }}
    port = $${httpd-port:port}
    base-path = $${directory:public}
    wrapper = $${directory:service}/http-server
    log-file = $${directory:log}/httpd.log
    use-hash-url = false
    depends = $${index-html:rendered}
    [publish-connection-information] [publish-connection-information]
    recipe = slapos.cookbook:publish.serialised recipe = slapos.cookbook:publish.serialised
    instance-path = $${directory:home} instance-path = $${directory:home}
    {% if not parameter_dict['isADrone'] -%}
    httpd-url = [$${httpd:host}]:$${httpd:port}
    websocket-url = ws://$${script-js:websocket-url}
    {% endif -%}
    software/js-drone/instance-peer-input-schema.json deleted 100644 → 0
    View file @ eae3a24e
    {
    "$schema": "http://json-schema.org/draft-06/schema",
    "type": "object",
    "description": "Parameters to instantiate JS drone",
    "additionalProperties": false,
    "properties": {
    "autopilotIp": {
    "title": "IP address of the drone's autopilot",
    "description": "IP used to create a connection with the autopilot.",
    "type": "string"
    },
    "autopilotPort": {
    "title": "Port of the drone's autopilot",
    "description": "Port on which autopilot service is running.",
    "type": "integer"
    },
    "numberOfDrone": {
    "title": "Number of drone",
    "description": "Number of drone in the swarm",
    "type": "integer"
    },
    "numberOfSubscriber": {
    "title": "Number of subscriber",
    "description": "Number of subscriber of the swarm",
    "type": "integer"
    },
    "id": {
    "title": "drone ID",
    "description": "Drone unique identifier",
    "type": "integer"
    },
    "isADrone": {
    "title": "Set the requested instance as a drone",
    "description": "The option used to determine if the instance is a drone. This affects the context of the user script (e.g. if it should be linked to an autopilot or publish its GPS coordinates)",
    "type": "boolean"
    },
    "isASimulation": {
    "title": "Set the flight as a simulation",
    "description": "The option used to determine if the flight is real or if it is a simulation. This affects the context of the flight (e.g. if the take off is manual or automatic).",
    "type": "boolean"
    },
    "multicastIp": {
    "title": "IP of the multicast group",
    "description": "IP address used to communicate with the other drones.",
    "type": "string"
    },
    "netIf": {
    "title": "Network interface",
    "description": "Interface used for multicast traffic.",
    "type": "string"
    },
    "flightScript": {
    "title": "Script's URL of the flight",
    "description": "URL of the script which will be executed for the flight. This URL must be publicly accesible so that all drones can fetch the script.",
    "type": "string"
    }
    }
    }
    software/js-drone/instance-peer-output-schema.json deleted 100644 → 0
    View file @ eae3a24e
    {
    "$schema": "http://json-schema.org/draft-04/schema#",
    "description": "Values returned by drone instantiation",
    "additionalProperties": false,
    "properties": {
    "instance-path": {
    "description": "Path of the directory where the quickjs binary and the flight scripts are located",
    "type": "string"
    }
    },
    "type": "object"
    }
    software/js-drone/instance-default.cfg.jinja2 → software/js-drone/instance-root.cfg.jinja2
    View file @ 84130f62
    ...@@ -10,28 +10,36 @@ ...@@ -10,28 +10,36 @@
    [{{ request_peer_section_title }}] [{{ request_peer_section_title }}]
    <= slap-connection <= slap-connection
    recipe = slapos.cookbook:request.serialised recipe = slapos.cookbook:request.serialised
    name = Peer{{ id }} {% if id < len(parameter_dict['droneGuidList']) -%}
    software-url = ${:software-release-url} {% set sr_name = parameter_dict['autopilotType'] -%}
    software-type = peer name = Drone{{ id }}_{{ guid }}
    {% else -%}
    {% set sr_name = 'subscriber' -%}
    name = Subscriber{{ len(parameter_dict['droneGuidList']) - id }}_{{ guid }}
    {% endif -%}
    software-url = {{ '/'.join(software_url.split('/')[:-1]) + '/software-%s.cfg' % sr_name }}
    return = instance-path return = instance-path
    sla-computer_guid = {{ guid }} sla-computer_guid = {{ guid }}
    config-autopilotIp = {{ parameter_dict['autopilotIp'] }} config-autopilotIp = {{ parameter_dict['autopilotIp'] }}
    config-autopilotPort = {{ dumps(parameter_dict['autopilotPort']) }} config-autopilotPort = {{ dumps(parameter_dict['autopilotPort']) }}
    config-numberOfDrone = {{ dumps(len(parameter_dict['droneGuidList'])) }} config-numberOfDrones = {{ dumps(len(parameter_dict['droneGuidList'])) }}
    config-numberOfSubscriber = {{ dumps(len(parameter_dict['subscriberGuidList'])) }} config-numberOfSubscribers = {{ dumps(len(parameter_dict['subscriberGuidList'])) }}
    config-id = {{ dumps(id) }} config-id = {{ dumps(id) }}
    config-isASimulation = {{ dumps(parameter_dict['isASimulation']) }} config-isASimulation = {{ dumps(parameter_dict['isASimulation']) }}
    config-debug = {{ dumps(parameter_dict['debug']) }}
    config-loopPeriod = {{ dumps(parameter_dict['loopPeriod']) }}
    {% if id < len(parameter_dict['droneGuidList']) -%} {% if id < len(parameter_dict['droneGuidList']) -%}
    {% do drone_id_list.append(id) %} {% do drone_id_list.append(id) %}
    config-isADrone = {{ dumps(True) }} config-isADrone = {{ dumps(True) }}
    config-flightScript = {{ parameter_dict['flightScript'] }} config-flightScript = {{ parameter_dict['flightScript'] }}
    config-netIf = {{ parameter_dict['droneNetIf'] }}
    {% else -%} {% else -%}
    {% do subscriber_id_list.append(id) %} {% do subscriber_id_list.append(id) %}
    config-isADrone = {{ dumps(False) }} config-isADrone = {{ dumps(False) }}
    config-flightScript = https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/subscribe.js config-flightScript = https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/subscribe.js
    config-netIf = {{ parameter_dict['subscriberNetIf'] }}
    {% endif -%} {% endif -%}
    config-multicastIp = {{ parameter_dict['multicastIp'] }} config-multicastIp = {{ parameter_dict['multicastIp'] }}
    config-netIf = {{ parameter_dict['netIf'] }}
    {% endfor %} {% endfor %}
    [publish-connection-information] [publish-connection-information]
    ......
    software/js-drone/instance-subscriber.cfg.in 0 → 100644
    View file @ 84130f62
    [buildout]
    extends =
    ${instance-peer-base:output}
    [worker]
    gwsocket_bin = ${gwsocket:location}/bin/gwsocket
    [gwsocket-port]
    recipe = slapos.cookbook:free_port
    minimum = 6789
    maximum = 6799
    ip = $${slap-configuration:ipv6-random}
    [peer-configuration]
    extra-context =
    key websocket_ip gwsocket-port:ip
    key websocket_port gwsocket-port:port
    inline =
    {% do parameter_dict.__setitem__('websocketIp', websocket_ip) -%}
    {% do parameter_dict.__setitem__('websocketPort', websocket_port) -%}
    {{ json_module.dumps(parameter_dict) }}
    [script-js]
    recipe = slapos.recipe.template:jinja2
    template = ${script-js:target}
    rendered = $${directory:public}/script.js
    websocket-url = [$${gwsocket-port:ip}]:$${gwsocket-port:port}
    context =
    key debug slap-configuration:configuration.debug
    key websocket_url :websocket-url
    [index-html]
    recipe = slapos.recipe.template:jinja2
    template = ${index-html:target}
    rendered = $${directory:public}/index.html
    context =
    key debug slap-configuration:configuration.debug
    key nb_drones slap-configuration:configuration.numberOfDrones
    [httpd-port]
    recipe = slapos.cookbook:free_port
    minimum = 8080
    maximum = 8090
    ip = $${slap-configuration:ipv6-random}
    [httpd]
    recipe = slapos.cookbook:simplehttpserver
    host = $${slap-configuration:ipv6-random}
    port = $${httpd-port:port}
    base-path = $${directory:public}
    wrapper = $${directory:service}/http-server
    log-file = $${directory:log}/httpd.log
    use-hash-url = false
    depends = $${index-html:rendered}
    [publish-connection-information]
    httpd-url = [$${httpd:host}]:$${httpd:port}
    websocket-url = ws://$${script-js:websocket-url}
    software/js-drone/instance.cfg.in
    View file @ 84130f62
    ...@@ -8,9 +8,8 @@ offline = true ...@@ -8,9 +8,8 @@ offline = true
    [switch-softwaretype] [switch-softwaretype]
    recipe = slapos.cookbook:switch-softwaretype recipe = slapos.cookbook:switch-softwaretype
    default = instance-default:output
    peer = instance-peer:output
    RootSoftwareInstance = $${:default} RootSoftwareInstance = $${:default}
    default = instance-root:output
    [slap-configuration] [slap-configuration]
    recipe = slapos.cookbook:slapconfiguration.serialised recipe = slapos.cookbook:slapconfiguration.serialised
    ...@@ -19,61 +18,29 @@ partition = $${slap_connection:partition_id} ...@@ -19,61 +18,29 @@ partition = $${slap_connection:partition_id}
    url = $${slap_connection:server_url} url = $${slap_connection:server_url}
    key = $${slap_connection:key_file} key = $${slap_connection:key_file}
    cert = $${slap_connection:cert_file} cert = $${slap_connection:cert_file}
    software = $${slap-connection:software-release-url}
    [dynamic-template-base] [instance-root]
    recipe = slapos.recipe.template:jinja2 recipe = slapos.recipe.template:jinja2
    url = ${instance-root:target}
    output = $${buildout:directory}/$${:_buildout_section_name_}.cfg output = $${buildout:directory}/$${:_buildout_section_name_}.cfg
    extra-context = extensions = jinja2.ext.do
    context = context =
    jsonkey default_parameter_dict :default-parameters jsonkey default_parameter_dict :default-parameters
    key parameter_dict slap-configuration:configuration key parameter_dict slap-configuration:configuration
    $${:extra-context} key software_url slap-configuration:software
    default-parameters = default-parameters =
    { {
    "autopilotType": "c-astral",
    "autopilotIp": "192.168.27.1", "autopilotIp": "192.168.27.1",
    "autopilotPort": 7909, "autopilotPort": 7909,
    "debug": false,
    "droneGuidList": [],
    "droneNetIf": "eth0",
    "flightScript": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js", "flightScript": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js",
    "isASimulation": false, "isASimulation": false,
    "loopPeriod": 200,
    "multicastIp": "ff15::1111", "multicastIp": "ff15::1111",
    "netIf": "eth0", "subscriberGuidList":[],
    "droneGuidList": [], "subscriberNetIf": "eth0"
    "subscriberGuidList":[]
    } }
    [instance-default]
    <= dynamic-template-base
    url = ${instance-default:target}
    extensions = jinja2.ext.do
    [directory]
    recipe = slapos.cookbook:mkdirectory
    home = $${buildout:directory}
    etc = $${:home}/etc
    [gwsocket-port]
    recipe = slapos.cookbook:free_port
    minimum = 6789
    maximum = 6799
    ip = $${slap-configuration:ipv6-random}
    [peer-configuration]
    recipe = slapos.recipe.template:jinja2
    output = $${directory:etc}/configuration.json
    extensions = jinja2.ext.do
    context =
    import json_module json
    key websocket_ip gwsocket-port:ip
    key websocket_port gwsocket-port:port
    key parameter_dict slap-configuration:configuration
    inline =
    {% do parameter_dict.__setitem__('websocketIp', websocket_ip) -%}
    {% do parameter_dict.__setitem__('websocketPort', websocket_port) -%}
    {{ json_module.dumps(parameter_dict) }}
    [instance-peer]
    <= dynamic-template-base
    url = ${instance-peer:output}
    extra-context =
    key configuration peer-configuration:output
    key ipv6 slap-configuration:ipv6-random
    key websocket_port gwsocket-port:port
    software/js-drone/software-c-astral.cfg 0 → 100644
    View file @ 84130f62
    [buildout]
    extends =
    ../../component/mavsdk/buildout.cfg
    software-peer-base.cfg
    [c-astral-xml-definition]
    recipe = slapos.recipe.build:gitclone
    repository = https://lab.nexedi.com/nexedi/c-astral-c-library.git
    revision = v2.1
    git-executable = ${git:location}/bin/git
    [mavsdk]
    pre-configure +=
    sed -i 's#message_definitions/v1.0#${c-astral-xml-definition:location}#' ${mavsdk-source:location}/third_party/mavlink/CMakeLists.txt
    [c-astral-wrapper]
    recipe = slapos.recipe.cmmi
    configure-command = true
    url = https://lab.nexedi.com/nexedi/c-astral-wrapper/-/archive/v2.1/c-astral-wrapper-v2.1.tar.gz
    md5sum = cca66724e1b7a61c1b9559fde95c420b
    environment =
    CPLUS_INCLUDE_PATH=${qjs-wrapper-source:location}/include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk
    LDFLAGS=-L${mavsdk:location}/lib -Wl,-rpath=${mavsdk:location}/lib
    [qjs-wrapper]
    autopilot-wrapper = ${c-astral-wrapper:location}
    make-options = WITH_AUTOPILOT=y
    software/js-drone/software.cfg → software/js-drone/software-peer-base.cfg
    View file @ 84130f62
    ...@@ -3,43 +3,25 @@ extends = ...@@ -3,43 +3,25 @@ extends =
    buildout.hash.cfg buildout.hash.cfg
    ../../stack/slapos.cfg ../../stack/slapos.cfg
    ../../component/qjs-wrapper/buildout.cfg ../../component/qjs-wrapper/buildout.cfg
    ../../component/gwsocket/buildout.cfg
    parts = parts =
    instance-profile instance-peer-base
    slapos-cookbook slapos-cookbook
    [instance-default] [instance-peer-base]
    recipe = slapos.recipe.build:download
    url = ${:_profile_base_location_}/${:filename}
    [template-base]
    recipe = slapos.recipe.template recipe = slapos.recipe.template
    url = ${:_profile_base_location_}/${:filename} url = ${:_profile_base_location_}/${:filename}
    [instance-peer]
    <= template-base
    output = ${buildout:directory}/${:_buildout_section_name_}
    [instance-profile]
    <= template-base
    output = ${buildout:directory}/template.cfg output = ${buildout:directory}/template.cfg
    [download] [download]
    recipe = slapos.recipe.build:download recipe = slapos.recipe.build:download
    url = ${:_profile_base_location_}/${:_update_hash_filename_} url = ${:_profile_base_location_}/${:_update_hash_filename_}
    [index-html]
    <= download
    [main] [main]
    <= download <= download
    [pubsub] [pubsub]
    <= download <= download
    [script-js]
    <= download
    [worker] [worker]
    <= download <= download
    software/js-drone/software-root.cfg 0 → 100644
    View file @ 84130f62
    [buildout]
    extends =
    buildout.hash.cfg
    ../../stack/slapos.cfg
    parts =
    instance-profile
    slapos-cookbook
    [instance-root]
    recipe = slapos.recipe.build:download
    url = ${:_profile_base_location_}/${:filename}
    [instance-profile]
    recipe = slapos.recipe.template
    url = ${:_profile_base_location_}/${:filename}
    output = ${buildout:directory}/template.cfg
    software/js-drone/software.cfg.json → software/js-drone/software-root.cfg.json
    View file @ 84130f62
    { {
    "name": "JS Drone", "name": "JS Drone Root",
    "description": "JS Drone", "description": "Root instance requesting drones and subscribers",
    "serialisation": "json-in-xml", "serialisation": "json-in-xml",
    "software-type": { "software-type": {
    "default": { "default": {
    ...@@ -10,14 +10,6 @@ ...@@ -10,14 +10,6 @@
    "request": "instance-input-schema.json", "request": "instance-input-schema.json",
    "response": "instance-output-schema.json", "response": "instance-output-schema.json",
    "index": 0 "index": 0
    },
    "drone": {
    "title": "Peer",
    "software-type": "peer",
    "description": "Peer Instance",
    "request": "instance-peer-input-schema.json",
    "response": "instance-peer-output-schema.json",
    "index": 1
    } }
    } }
    } }
    software/js-drone/software-sqdr.cfg
    View file @ 84130f62
    [buildout] [buildout]
    extends = extends =
    software.cfg software-peer-base.cfg
    [sqdr-source] [sqdr-source]
    recipe = slapos.recipe.build:gitclone recipe = slapos.recipe.build:gitclone
    repository = https://lab.nexedi.com/slaposdrone/squadrone.git repository = https://lab.nexedi.com/slaposdrone/squadrone.git
    revision = v2.0 revision = v2.1
    git-executable = ${git:location}/bin/git git-executable = ${git:location}/bin/git
    [sqdr-wrapper] [sqdr-wrapper]
    ...@@ -17,6 +17,5 @@ environment = ...@@ -17,6 +17,5 @@ environment =
    LDFLAGS=-L${sqdr-source:location}/lib -Wl,-rpath=${sqdr-source:location}/lib LDFLAGS=-L${sqdr-source:location}/lib -Wl,-rpath=${sqdr-source:location}/lib
    [qjs-wrapper] [qjs-wrapper]
    environment = autopilot-wrapper = ${sqdr-wrapper:location}
    C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include make-options = WITH_AUTOPILOT=y
    LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${sqdr-wrapper:location}/lib -Wl,-rpath=${sqdr-wrapper:location}/lib
    software/js-drone/software-subscriber.cfg 0 → 100644
    View file @ 84130f62
    [buildout]
    extends =
    ../../component/gwsocket/buildout.cfg
    software-peer-base.cfg
    parts +=
    instance-subscriber
    [instance-subscriber]
    recipe = slapos.recipe.template
    url = ${:_profile_base_location_}/${:filename}
    output = ${buildout:directory}/template.cfg
    [instance-peer-base]
    output = ${buildout:directory}/template-base.cfg
    [index-html]
    <= download
    [script-js]
    <= download
    software/js-drone/test/test.py
    View file @ 84130f62
    ...@@ -31,9 +31,11 @@ import os ...@@ -31,9 +31,11 @@ import os
    import socket import socket
    import struct import struct
    import time import time
    import websocket
    from slapos.testing.testcase import makeModuleSetUpAndTestCaseClass from contextlib import closing
    from websocket import create_connection
    from slapos.testing.testcase import installSoftwareUrlList, makeModuleSetUpAndTestCaseClass
    ''' '''
    0. positionArray 0. positionArray
    ...@@ -46,11 +48,13 @@ from slapos.testing.testcase import makeModuleSetUpAndTestCaseClass ...@@ -46,11 +48,13 @@ from slapos.testing.testcase import makeModuleSetUpAndTestCaseClass
    1.2 air speed 1.2 air speed
    1.3 climb rate 1.3 climb rate
    2. message 2. message
    3. log
    ''' '''
    MONITORED_ITEM_NB = 3 MONITORED_ITEM_NB = 4
    OPC_UA_PORT = 4840 OPC_UA_PORT = 4840
    OPC_UA_NET_IF = 'lo' OPC_UA_NET_IF = 'lo'
    MCAST_GRP = 'ff15::1111' MCAST_GRP = 'ff15::1111'
    LOOP_PERIOD = 200
    # OPC UA Pub/Sub related constants # OPC UA Pub/Sub related constants
    VERSION = 1 VERSION = 1
    ...@@ -107,10 +111,27 @@ SPEED_ARRAY_VALUES = (-72.419998, 15.93, -0.015) ...@@ -107,10 +111,27 @@ SPEED_ARRAY_VALUES = (-72.419998, 15.93, -0.015)
    STRING_TYPE = 12 STRING_TYPE = 12
    MESSAGE_CONTENT = b'{\\"next_checkpoint\\":1}' MESSAGE_CONTENT = b'{\\"next_checkpoint\\":1}'
    TEST_MESSAGE = b'{"content":"' + MESSAGE_CONTENT + b'","dest_id":-1}' TEST_MESSAGE = b'{"content":"' + MESSAGE_CONTENT + b'","dest_id":-1}'
    LOG = b''
    root_software_release_url = os.path.abspath(
    os.path.join(os.path.dirname(__file__), '..', 'software-root.cfg'))
    subscriber_software_release_url = os.path.abspath(
    os.path.join(os.path.dirname(__file__), '..', 'software-subscriber.cfg'))
    c_astral_software_release_url = os.path.abspath(
    os.path.join(os.path.dirname(__file__), '..', 'software-c-astral.cfg'))
    setUpModule, SlapOSInstanceTestCase = makeModuleSetUpAndTestCaseClass( _, SlapOSInstanceTestCase = makeModuleSetUpAndTestCaseClass(
    os.path.abspath( os.path.abspath(root_software_release_url))
    os.path.join(os.path.dirname(__file__), '..', 'software.cfg')))
    def setUpModule():
    installSoftwareUrlList(
    SlapOSInstanceTestCase,
    [root_software_release_url, subscriber_software_release_url,
    c_astral_software_release_url],
    debug=bool(int(os.environ.get('SLAPOS_TEST_DEBUG', 0))),
    )
    class SubscriberTestCase(SlapOSInstanceTestCase): class SubscriberTestCase(SlapOSInstanceTestCase):
    ...@@ -119,8 +140,8 @@ class SubscriberTestCase(SlapOSInstanceTestCase): ...@@ -119,8 +140,8 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
    return { return {
    '_': json.dumps({ '_': json.dumps({
    'droneGuidList': [cls.slap._computer_id], 'droneGuidList': [cls.slap._computer_id],
    'netIf': OPC_UA_NET_IF,
    'subscriberGuidList': [cls.slap._computer_id], 'subscriberGuidList': [cls.slap._computer_id],
    'subscriberNetIf': OPC_UA_NET_IF
    }) })
    } }
    ...@@ -201,6 +222,12 @@ class SubscriberTestCase(SlapOSInstanceTestCase): ...@@ -201,6 +222,12 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
    ua_array += struct.pack(struct_type, value) ua_array += struct.pack(struct_type, value)
    return ua_array return ua_array
    def ua_string_encode(self, string):
    ua_string = struct.pack('B', STRING_TYPE)
    ua_string += struct.pack('I', len(string))
    ua_string += string
    return ua_string
    def ua_dataSetMessage_encode(self): def ua_dataSetMessage_encode(self):
    data_set_message = self.ua_dataSetMessageHeader_encode() data_set_message = self.ua_dataSetMessageHeader_encode()
    data_set_message += struct.pack('H', MONITORED_ITEM_NB) data_set_message += struct.pack('H', MONITORED_ITEM_NB)
    ...@@ -214,9 +241,8 @@ class SubscriberTestCase(SlapOSInstanceTestCase): ...@@ -214,9 +241,8 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
    'f', 'f',
    SPEED_ARRAY_VALUES, SPEED_ARRAY_VALUES,
    ) )
    data_set_message += struct.pack('B', STRING_TYPE) data_set_message += self.ua_string_encode(TEST_MESSAGE)
    data_set_message += struct.pack('I', len(TEST_MESSAGE)) data_set_message += self.ua_string_encode(LOG)
    data_set_message += TEST_MESSAGE
    return data_set_message return data_set_message
    def send_ua_networkMessage(self): def send_ua_networkMessage(self):
    ...@@ -238,7 +264,6 @@ class SubscriberTestCase(SlapOSInstanceTestCase): ...@@ -238,7 +264,6 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
    for expected_process_name in expected_process_name_list: for expected_process_name in expected_process_name_list:
    self.assertIn(expected_process_name, process_names) self.assertIn(expected_process_name, process_names)
    def test_requested_instances(self): def test_requested_instances(self):
    connection_parameter_dict = json.loads( connection_parameter_dict = json.loads(
    self.computer_partition.getConnectionParameterDict()['_']) self.computer_partition.getConnectionParameterDict()['_'])
    ...@@ -251,10 +276,12 @@ class SubscriberTestCase(SlapOSInstanceTestCase): ...@@ -251,10 +276,12 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
    { {
    'autopilotIp': '192.168.27.1', 'autopilotIp': '192.168.27.1',
    'autopilotPort': 7909, 'autopilotPort': 7909,
    'numberOfDrone': 1, 'numberOfDrones': 1,
    'numberOfSubscriber': 1, 'numberOfSubscribers': 1,
    'id': 1, 'id': 1,
    'debug': False,
    'isASimulation': False, 'isASimulation': False,
    'loopPeriod': LOOP_PERIOD,
    'isADrone': False, 'isADrone': False,
    'flightScript': 'https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/subscribe.js', 'flightScript': 'https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/subscribe.js',
    'netIf': OPC_UA_NET_IF, 'netIf': OPC_UA_NET_IF,
    ...@@ -277,32 +304,32 @@ class SubscriberTestCase(SlapOSInstanceTestCase): ...@@ -277,32 +304,32 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
    self.assertIn(expected_string, f.readlines()) self.assertIn(expected_string, f.readlines())
    def test_pubsub_subscription(self): def test_pubsub_subscription(self):
    ws = websocket.WebSocket() with closing(create_connection(self.websocket_server_address, timeout=5)) as conn:
    ws.connect(self.websocket_server_address, timeout=5)
    # Check if first message is 'Unknown instruction IP' where IP is client IPv6 address # Check if first message is 'Unknown instruction IP' where IP is client IPv6 address
    self.assertIn( self.assertIn(
    b'Unknown instruction %s' % ws.sock.getsockname()[0].encode(), b'Unknown instruction %s' % conn.sock.getsockname()[0].encode(),
    ws.recv_frame().data conn.recv_frame().data,
    ) )
    self.assertEqual( self.assertEqual(
    ws.recv_frame().data, conn.recv_frame().data,
    b''.join(( b''.join((
    b'{"drone_dict":{"0":{"latitude":', b'{"drone_dict":{"0":{"latitude":',
    b'"%.6f","longitude":"%.6f","altitude":"%.2f",' % (0, 0, 0), b'"%.6f","longitude":"%.6f","altitude":"%.2f",' % (0, 0, 0),
    b'"yaw":"%.2f","speed":"%.2f","climbRate":"%.2f",' % (0, 0, 0), b'"yaw":"%.2f","speed":"%.2f","climbRate":"%.2f",' % (0, 0, 0),
    b'"timestamp":%d}}}' % 0, b'"timestamp":%d,' % 0,
    )) b'"log":""}}}',
    )),
    ) )
    self.send_ua_networkMessage() self.send_ua_networkMessage()
    time.sleep(0.1) time.sleep(0.1)
    self.assertEqual(ws.recv_frame().data, MESSAGE_CONTENT.replace(b'\\', b'')) self.assertEqual(conn.recv_frame().data, MESSAGE_CONTENT.replace(b'\\', b''))
    self.assertEqual( self.assertEqual(
    ws.recv_frame().data, conn.recv_frame().data,
    b''.join(( b''.join((
    b'{"drone_dict":{"0":{"latitude":', b'{"drone_dict":{"0":{"latitude":',
    b'"%.6f","longitude":"%.6f","altitude":"%.2f",' % POSITION_ARRAY_OUTPUT_VALUES[:-1], b'"%.6f","longitude":"%.6f","altitude":"%.2f",' % POSITION_ARRAY_OUTPUT_VALUES[:-1],
    b'"yaw":"%.2f","speed":"%.2f","climbRate":"%.2f",' % SPEED_ARRAY_VALUES, b'"yaw":"%.2f","speed":"%.2f","climbRate":"%.2f",' % SPEED_ARRAY_VALUES,
    b'"timestamp":%d}}}' % POSITION_ARRAY_INPUT_VALUES[-1], b'"timestamp":%d,' % POSITION_ARRAY_INPUT_VALUES[-1],
    )) b'"log":""}}}',
    )),
    ) )
    ws.close()
    software/js-drone/web-gui/index.html.jinja2
    View file @ 84130f62
    ...@@ -9,7 +9,8 @@ ...@@ -9,7 +9,8 @@
    <style> <style>
    button { button {
    padding: 0.5%; margin: 2vh;
    padding: 2vh;
    font-size: 24px; font-size: 24px;
    cursor: pointer; cursor: pointer;
    border: none; border: none;
    ...@@ -20,38 +21,64 @@ ...@@ -20,38 +21,64 @@
    box-shadow: 0 2px #666; box-shadow: 0 2px #666;
    transform: translateY(4px); transform: translateY(4px);
    } }
    div > * {margin: 1%} label {margin: auto 2%}
    label {margin: 2%} table {
    table {width: 30%} min-width: 1028px;
    height: max-content;
    }
    textarea {
    resize: none;
    }
    th, td{ th, td{
    padding: 1%; padding: 1%;
    text-align: center; text-align: center;
    vertical-align: middle; vertical-align: middle;
    white-space: nowrap;
    } }
    .blue-text {color: blue}
    .connected {color: green} .connected {color: green}
    .container { .container {
    display: flex; display: flex;
    align-items: center; align-items: center;
    justify-content: center; justify-content: center;
    } }
    .cyan-text {color: cyan}
    .disconnected {color: red} .disconnected {color: red}
    .gray-button {background-color: lightgray} .gray-button {background-color: lightgray}
    .gray-button:hover {background-color: gray} .gray-button:hover {background-color: gray}
    .green-text {color: green}
    .green-button {background-color: #4caf50} .green-button {background-color: #4caf50}
    .green-button:hover {background-color: #3e8e41} .green-button:hover {background-color: #3e8e41}
    .magenta-text {color: magenta}
    .red-button {background-color: red} .red-button {background-color: red}
    .red-button {background-color: #e42828} .red-button:hover {background-color: #e42828}
    .red-text {color: red}
    .white-text {color: white}
    .yellow-text {color: yellow}
    #drones-status {height: 50vh}
    </style> </style>
    </head> </head>
    <body> <body>
    <div class="container">
    <header class="container">
    <label for="web-socket-status">web socket status:</label> <label for="web-socket-status">web socket status:</label>
    <output class="disconnected" id="web-socket-status">Disconnected</output> <output class="disconnected" id="web-socket-status">Disconnected</output>
    </header> </div>
    {% if debug -%}
    <div class="container"> <div class="container">
    <table>
    {% for i in range(int(nb_drones)) -%}
    <tr>
    <th>Drone {{ i }} logs</th>
    <td><textarea id="log_{{ i }}" rows="4" cols="100" readonly></textarea><td>
    </tr>
    {% endfor %}
    </table>
    </div>
    {% endif -%}
    <div class="container" id="drones-status">
    <table> <table>
    <tr> <tr>
    <th></th> <th></th>
    ...@@ -101,6 +128,12 @@ ...@@ -101,6 +128,12 @@
    <td id="climb_rate_{{ i }}"></td> <td id="climb_rate_{{ i }}"></td>
    {% endfor %} {% endfor %}
    </tr> </tr>
    <tr>
    <th>Timestamp (hh:mm:ss)</th>
    {% for i in range(int(nb_drones)) -%}
    <td id="timestamp_{{ i }}"></td>
    {% endfor %}
    </tr>
    </table> </table>
    </div> </div>
    ......
    software/js-drone/web-gui/script.js.jinja2
    View file @ 84130f62
    ...@@ -12,17 +12,23 @@ ...@@ -12,17 +12,23 @@
    FLIGHT_STATUS_BASE_ID = "flight_state_", FLIGHT_STATUS_BASE_ID = "flight_state_",
    GREEN_BTN_CLASS_NAME = "green-button", GREEN_BTN_CLASS_NAME = "green-button",
    LATITUDE_BASE_ID = "latitude_", LATITUDE_BASE_ID = "latitude_",
    LOG_BASE_ID = "log_",
    LONGITUDE_BASE_ID = "longitude_", LONGITUDE_BASE_ID = "longitude_",
    QUIT_BTN_ID = "quit-btn", QUIT_BTN_ID = "quit-btn",
    RED_BTN_CLASS_NAME = "red-button", RED_BTN_CLASS_NAME = "red-button",
    SWITCH_BTN_ID = "switch-btn", SWITCH_BTN_ID = "switch-btn",
    TIMESTAMP_BASE_ID = "timestamp_",
    WEB_SOCKET_STATUS_OUTPUT_ID = "web-socket-status", WEB_SOCKET_STATUS_OUTPUT_ID = "web-socket-status",
    YAW_BASE_ID = "yaw_", YAW_BASE_ID = "yaw_",
    socket; socket;
    function updateConnexionClass(element, status) { function updateConnexionClass(element, status) {
    element.classList.remove(status ? DISCONNECTED_CLASS_NAME : CONNECTED_CLASS_NAME); element.classList.remove(
    element.classList.add(status ? CONNECTED_CLASS_NAME : DISCONNECTED_CLASS_NAME); status ? DISCONNECTED_CLASS_NAME : CONNECTED_CLASS_NAME
    );
    element.classList.add(
    status ? CONNECTED_CLASS_NAME : DISCONNECTED_CLASS_NAME
    );
    } }
    function setWebSocketStatus(connected, status) { function setWebSocketStatus(connected, status) {
    ...@@ -49,21 +55,34 @@ ...@@ -49,21 +55,34 @@
    socket = new WebSocket('ws://{{ websocket_url }}'); socket = new WebSocket('ws://{{ websocket_url }}');
    socket.onopen = function(event) { socket.onopen = function (event) {
    setWebSocketStatus(true, "Connected"); setWebSocketStatus(true, "Connected");
    }; };
    socket.onmessage = function(event) { socket.onmessage = function (event) {
    var message = JSON.parse(event.data), var color_array,
    flight_state_cell; date,
    flight_state_cell,
    i,
    message,
    new_div,
    new_span,
    text_array;
    try {
    message = JSON.parse(event.data);
    if (message.hasOwnProperty("drone_dict")) { if (message.hasOwnProperty("drone_dict")) {
    Object.entries(message["drone_dict"]).forEach(function ([id, drone]) { Object.entries(message.drone_dict).forEach(function ([id, drone]) {
    document.getElementById(LATITUDE_BASE_ID + id).innerHTML = drone["latitude"]; document.getElementById(LATITUDE_BASE_ID + id).innerHTML = drone["latitude"];
    document.getElementById(LONGITUDE_BASE_ID + id).innerHTML = drone["longitude"]; document.getElementById(LONGITUDE_BASE_ID + id).innerHTML = drone["longitude"];
    document.getElementById(ALTITUDE_BASE_ID + id).innerHTML = drone["altitude"]; document.getElementById(ALTITUDE_BASE_ID + id).innerHTML = drone["altitude"];
    document.getElementById(YAW_BASE_ID + id).innerHTML = drone["yaw"]; document.getElementById(YAW_BASE_ID + id).innerHTML = drone["yaw"];
    document.getElementById(SPEED_BASE_ID + id).innerHTML = drone["speed"]; document.getElementById(SPEED_BASE_ID + id).innerHTML = drone["speed"];
    document.getElementById(CLIMB_RATE_BASE_ID + id).innerHTML = drone["climbRate"]; document.getElementById(CLIMB_RATE_BASE_ID + id).innerHTML = drone["climbRate"];
    document.getElementById(TIMESTAMP_BASE_ID + id).innerHTML = new Date(drone["timestamp"]).toLocaleTimeString('fr-FR');
    {% if debug -%}
    document.getElementById(LOG_BASE_ID + id).value += drone["log"];
    {% endif -%}
    }); });
    } else if (message.hasOwnProperty("state") && message.hasOwnProperty("id")) { } else if (message.hasOwnProperty("state") && message.hasOwnProperty("id")) {
    flight_state_cell = document.getElementById(FLIGHT_STATUS_BASE_ID + message['id']); flight_state_cell = document.getElementById(FLIGHT_STATUS_BASE_ID + message['id']);
    ...@@ -72,6 +91,9 @@ ...@@ -72,6 +91,9 @@
    } else { } else {
    console.info(message); console.info(message);
    } }
    } catch (error) {
    console.error(error, event.data);
    }
    }; };
    socket.onclose = function(event) { socket.onclose = function(event) {
    ......
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