software/js-drone: Set loop execution period as an instance parameter

software/js-drone/README.md

@@ -18,6 +18,7 @@
 * debug: Must be set to 'true' to send drone logs through OPC-UA
 * multicastIp: IPv6 of the multicast group of the 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
 * subscriberNetIf: Subscriber network interface used for multicast traffic
 

software/js-drone/buildout.hash.cfg

@@ -22,11 +22,11 @@ md5sum = 01425a1c77e79788e1948398b9136724
 
 [instance-profile]
 filename = instance.cfg.in
-md5sum = 9c99b9b11e886eee41210e83be239a78
+md5sum = 4733c63573e6812c124b356dc146ffcc
 
 [instance-root]
 filename = instance-root.cfg.jinja2
-md5sum = 626a93a93c89e0fdcab5c25eec1343da
+md5sum = 316f77c655540226f22dc7a6322624f1
 
 [instance-subscriber]
 filename = instance-subscriber.cfg.in
@@ -34,7 +34,7 @@ md5sum = 8559dc8c95e9232060be6db3e0af4379
 
 [main]
 _update_hash_filename_ = drone-scripts/main.js.jinja2
-md5sum = cfdb011b995e976b750fc2c707fbec78
+md5sum = 60146505ec8ea50d881d033f63b6725c
 
 [pubsub]
 _update_hash_filename_ = drone-scripts/pubsub.js.jinja2

software/js-drone/drone-scripts/main.js.jinja2

@@ -49,7 +49,7 @@ import { err, exit, open, out } from "std";
     pubsubWorker,
     worker,
     user_script = scriptArgs[1],
-    FPS = 200, // Minimum value to not overflow radio network
+    LOOP_EXECUTION_PERIOD = configuration.loopPeriod,
     previous_timestamp,
     can_update = false;
 
@@ -154,23 +154,23 @@ import { err, exit, open, out } from "std";
     var timestamp = Date.now(),
       timeout;
     if (can_update) {
-      if (FPS <= (timestamp - previous_timestamp)) {
+      if (LOOP_EXECUTION_PERIOD <= (timestamp - previous_timestamp)) {
         // Expected timeout between every update
         can_update = false;
         worker.postMessage({
           type: "update",
           timestamp: timestamp
         });
-        // Try to stick to the expected FPS
-        timeout = FPS - (timestamp - previous_timestamp - FPS);
+        // Try to stick to the expected LOOP_EXECUTION_PERIOD
+        timeout = LOOP_EXECUTION_PERIOD - (timestamp - previous_timestamp - LOOP_EXECUTION_PERIOD);
         previous_timestamp = timestamp;
       } else {
-        timeout = FPS - (timestamp - previous_timestamp);
+        timeout = LOOP_EXECUTION_PERIOD - (timestamp - previous_timestamp);
       }
     } else {
       // If timeout occurs, but update is not yet finished
       // wait a bit
-      timeout = FPS / 4;
+      timeout = LOOP_EXECUTION_PERIOD / 4;
     }
     // Ensure loop is not done with timeout < 1ms
     setTimeout(loop, Math.max(1, timeout));
@@ -182,12 +182,12 @@ import { err, exit, open, out } from "std";
       pubsubWorker.postMessage({
         action: "run",
         id: configuration.id,
-        interval: FPS,
+        interval: LOOP_EXECUTION_PERIOD,
         publish: configuration.isADrone
       });
       load();
     } else if (type === 'loaded') {
-      previous_timestamp = -FPS;
+      previous_timestamp = -LOOP_EXECUTION_PERIOD;
       can_update = true;
       // Start the update loop
       loop();

software/js-drone/instance-input-schema.json

@@ -62,6 +62,12 @@
       "type": "string",
       "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": {
       "title": "List of subscribers computer ID",
       "description": "List of computer ID of swarms subscribers (entities able to listen/send OPC-UA messages from/to the swarm)",

software/js-drone/instance-root.cfg.jinja2

@@ -27,6 +27,7 @@ config-numberOfSubscribers = {{ dumps(len(parameter_dict['subscriberGuidList']))
 config-id = {{ dumps(id) }}
 config-isASimulation = {{ dumps(parameter_dict['isASimulation']) }}
 config-debug = {{ dumps(parameter_dict['debug']) }}
+config-loopPeriod = {{ dumps(parameter_dict['loopPeriod']) }}
 {% if id < len(parameter_dict['droneGuidList']) -%}
 {%   do drone_id_list.append(id) %}
 config-isADrone = {{ dumps(True) }}

software/js-drone/instance.cfg.in

@@ -35,11 +35,12 @@ default-parameters =
     "autopilotIp": "192.168.27.1",
     "autopilotPort": 7909,
     "debug": false,
+    "droneGuidList": [],
     "droneNetIf": "eth0",
     "flightScript": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js",
     "isASimulation": false,
+    "loopPeriod": 200,
     "multicastIp": "ff15::1111",
-    "droneGuidList": [],
     "subscriberGuidList":[],
     "subscriberNetIf": "eth0"
   }

software/js-drone/test/test.py

@@ -54,6 +54,7 @@ MONITORED_ITEM_NB = 4
 OPC_UA_PORT = 4840
 OPC_UA_NET_IF = 'lo'
 MCAST_GRP = 'ff15::1111'
+LOOP_PERIOD = 200
 
 # OPC UA Pub/Sub related constants
 VERSION = 1
@@ -280,6 +281,7 @@ class SubscriberTestCase(SlapOSInstanceTestCase):
         'id': 1,
         'debug': False,
         'isASimulation': False,
+        'loopPeriod': LOOP_PERIOD,
         'isADrone': False,
         'flightScript': 'https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/subscribe.js',
         'netIf': OPC_UA_NET_IF,