software/js-drone: add software-type drone

Now the default software-type request a list of drone software-type

software/js-drone/README.md

@@ -2,26 +2,29 @@
 
 ## Presentation ##
 
-* Deploy `user.js` script on a drone to fly it
+* Deploy `user.js` flight script on a drone swarm
 
-* Compile all required libraries to run flight scripts
+* Compile all required libraries to run the flight script
 
 ## Parameters ##
 
-* autopilot-ip: IPv4 address to identify the autpilot from the companion board
+* autopilot-ip: IPv4 address to identify the autopilot from the companion board
 
-* id: User chosen ID for the drone (must be unique in a swarm, will be used as an identifier in multicast communications)
+* drone-guid-list: List of computer id on which flight script must be deployed
 
 * is-a-simulation: Must be set to 'true' to automatically take off during simulation
 
-* multicast-ipv6: IPv6 of the multicast group of the swarm
+* multicast-ip: IPv6 of the multicast group of the swarm
 
 * net-if: Network interface used for multicast traffic
 
-* drone-id-list: List of the drone IDs of the swarm (recommended to add the current drone ID)
+* flight-script: URL of user's script to execute to fly drone swarm
 
-* flight-script: User script to execute to fly drone swarm
+* subscriber-guid-list: List of computer id on which subscription script must be deployed
 
 ## How it works ##
 
-Run `quickjs binary location` `scripts location`/main.js `scripts location`/user.js
+For each computer listed in `drone-guid-list` and `subscriber-guid-list` a drone SR will be instanciated.
+Each instance will return a `instance-path`. Under this path one will find `quickjs binary` in `bin` folder
+and `scripts` in `etc` folder.
+Run `quickjs binary location` `scripts location`/main.js `scripts location`/user.js .

software/js-drone/buildout.hash.cfg

@@ -14,16 +14,24 @@
 # not need these here).
 [instance-profile]
 filename = instance.cfg
-md5sum = 7d4969239eb9d46bb44d57fc32b68c44
+md5sum = 360b58007c25727b7bd8a9154d5cafd4
+
+[instance-default]
+filename = instance-default.cfg
+md5sum = b26633b118cddd7c7b8dfd61b360999c
+
+[instance-drone]
+filename = instance-drone.cfg
+md5sum = 1ff50063f5a54712a0bc0ff38fa74630
 
 [main]
 filename = main.js
-md5sum = 4b1b27ea3e06b8d40cbc33f0ec617601
+md5sum = c381d2a6c4008a9ef69dd176d3a06028
 
 [pubsub]
 filename = pubsub.js
-md5sum = 4a0c63f9e088fa525a3699484d193c4d
+md5sum = c732be66f8ec97bd16cd34d06a0c0a0b
 
 [worker]
 filename = worker.js
-md5sum = 5ed534e9ca56b9c0ee321b96b5d7c458
+md5sum = d919ce35d42561bc38a06273781cb702

software/js-drone/instance-default.cfg

+{% set autopilot_ip = slapparameter_dict.get('autopilotIp', '192.168.27.1') -%}
+{% set flight_script = slapparameter_dict.get('flightScript', 'https://lab.nexedi.com/nexedi/flight-scripts/raw/master/default.js') -%}
+{% set is_a_simulation = slapparameter_dict.get('isASimulation', False) -%}
+{% set multicast_ip = slapparameter_dict.get('multicastIp', 'ff15::1111') -%}
+{% set net_if = slapparameter_dict.get('netIf', 'eth0') -%}
+
+{% set drone_guid_list = slapparameter_dict.get('droneGuidList', []) -%}
+{% set subscriber_guid_list = slapparameter_dict.get('subscriberGuidList', []) -%}
+{% set guid_list = drone_guid_list + subscriber_guid_list -%}
+{% set nb_peer = len(guid_list) -%}
+{% set drone_id_list = [] -%}
+{% set subscriber_id_list = [] -%}
+
+{% set part_list = ['publish-connection-information'] -%}
+
+{% for id, guid in enumerate(guid_list) -%}
+{%   set request_drone_section_title = 'request-drone' ~ id -%}
+{%   do part_list.append(request_drone_section_title) %}
+[{{ request_drone_section_title }}]
+<= slap-connection
+recipe = slapos.cookbook:request.serialised
+name = Drone{{ id }}
+software-url = $${:software-release-url}
+software-type = drone
+return = instance-path
+sla-computer_guid = {{ guid }}
+config-autopilotIp = {{ autopilot_ip }}
+config-numberOfPeers = {{ dumps(nb_peer) }}
+config-id = {{ dumps(id) }}
+config-isASimulation = {{ dumps(is_a_simulation) }}
+{% if guid in drone_guid_list -%}
+{%   do drone_id_list.append(id) %}
+config-isADrone = {{ dumps(True) }}
+config-flightScript = {{ flight_script }}
+{% else -%}
+{%   do subscriber_id_list.append(id) %}
+config-isADrone = {{ dumps(False) }}
+config-flightScript = https://lab.nexedi.com/nexedi/flight-scripts/raw/master/subscribe.js
+{% endif -%}
+config-multicastIp = {{ multicast_ip }}
+config-netIf = {{ net_if }}
+{% endfor %}
+
+[publish-connection-information]
+recipe = slapos.cookbook:publish.serialised
+drone-id-list = {{ dumps(drone_id_list) }}
+subscriber-id-list = {{ dumps(subscriber_id_list) }}
+
+[buildout]
+parts =
+{%- for part in part_list %}
+  {{ part }}
+{%- endfor -%}

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

+{
+  "$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"
+    },
+    "numberOfPeers": {
+      "title": "Number of Peers",
+      "description": "Number of drones and subscribers in 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-drone-output-schema.json

+{
+  "$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-drone.cfg

+[buildout]
+parts =
+  main
+  symlink-quickjs-binary
+  publish-connection-information
+
+[directory]
+recipe = slapos.cookbook:mkdirectory
+home = $${buildout:directory}
+bin = $${:home}/bin
+etc = $${:home}/etc
+var = $${:home}/var
+log = $${:var}/log
+
+[js-dynamic-template]
+recipe = slapos.recipe.template:jinja2
+rendered = $${directory:etc}/$${:_buildout_section_name_}.js
+template = ${buildout:directory}/$${:_buildout_section_name_}.js
+extra-context =
+context =
+  import json_module json
+  raw qjs_wrapper ${qjs-wrapper:location}/lib/libqjswrapper.so
+  raw configuration {{ configuration }}
+  $${:extra-context}
+
+[main]
+<= js-dynamic-template
+extra-context =
+  key log_dir directory:log
+  key pubsub_script pubsub:rendered
+  key worker_script worker:rendered
+
+[pubsub]
+<= js-dynamic-template
+
+[worker]
+<= js-dynamic-template
+
+[symlink-quickjs-binary]
+recipe = slapos.recipe.build
+binary-path = ${quickjs:location}/bin/qjs
+target = $${directory:bin}/qjs
+init =
+  import os
+  if not os.path.exists(options['target']):
+    os.symlink(options['binary-path'], options['target'])
+
+[publish-connection-information]
+recipe = slapos.cookbook:publish.serialised
+instance-path = $${directory:home}

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

@@ -4,47 +4,47 @@
   "description": "Parameters to instantiate JS drone",
   "additionalProperties": false,
   "properties": {
-    "autopilot-ip": {
+    "autopilotIp": {
       "title": "IP address of the drone's autopilot",
       "description": "IP used to create a connection with the autopilot.",
       "type": "string",
       "default": "192.168.27.1"
     },
-    "id": {
-      "title": "Drone ID",
-      "description": "Unique identifier of the drone.",
-      "type": "integer",
-      "default": 1
+    "droneGuidList": {
+      "title": "List of drones computer ID",
+      "description": "List of computer ID of drones in the swarm",
+      "type": "array",
+      "default": []
     },
-    "is-a-simulation": {
+    "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",
       "default": false
     },
-    "multicast-ipv6": {
+    "multicastIpv6": {
       "title": "IP of the multicast group",
       "description": "IP address used to communicate with the other drones.",
       "type": "string",
       "default": "ff15::1111"
     },
-    "net-if": {
+    "netIf": {
       "title": "Network interface",
       "description": "Interface used for multicast traffic.",
       "type": "string",
       "default": "eth0"
     },
-    "drone-id-list": {
-      "title": "List of drones IDs",
-      "description": "List of identifiers of drones.",
+    "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 the drone can fetch the script.",
+      "type": "string",
+      "default": "https://lab.nexedi.com/nexedi/flight-scripts/raw/master/default.js"
+    },
+    "subscriberGuidList": {
+      "title": "List of subscribers computer ID",
+      "description": "List of computer ID of swarms subscribers",
       "type": "array",
       "default": []
-    },
-    "flight-script": {
-      "title": "Script of the flight",
-      "description": "Script which will be executed for the flight",
-      "type": "string",
-      "textarea": true
     }
   }
 }

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

@@ -2,6 +2,15 @@
   "$schema": "http://json-schema.org/draft-04/schema#",
   "description": "Values returned by drone swarm (default) instantiation",
   "additionalProperties": false,
-  "properties": {},
+  "properties": {
+    "drone-id-list": {
+      "description": "List of drones IDs",
+      "type": "array"
+    },
+    "subscriber-id-list": {
+      "description": "List of subscribers IDs",
+      "type": "array"
+    }
+  },
   "type": "object"
 }

software/js-drone/instance.cfg

 [buildout]
 parts =
-  main
-  user
+  switch-softwaretype
 
 eggs-directory = ${buildout:eggs-directory}
 develop-eggs-directory = ${buildout:develop-eggs-directory}
 offline = true
 
-[directory]
-recipe = slapos.cookbook:mkdirectory
-home = $${buildout:directory}
-etc = $${:home}/etc
-var = $${:home}/var
-log = $${:var}/log
+[switch-softwaretype]
+recipe = slapos.cookbook:switch-softwaretype
+default = instance-default:output
+drone = instance-drone:output
+RootSoftwareInstance = $${:default}
 
 [slap-configuration]
-recipe = slapos.cookbook:slapconfiguration
+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}
 
-[drone]
-recipe = slapos.recipe.build
-slapparameter-dict = $${slap-configuration:configuration}
-init =
-  options['autopilot-ip'] = options['slapparameter-dict'].get('autopilot-ip', '192.168.27.1')
-  options['id'] = options['slapparameter-dict'].get('id', 1)
-  options['is-a-simulation'] = options['slapparameter-dict'].get('is-a-simulation', False)
-  options['multicast-ipv6'] = options['slapparameter-dict'].get('multicast-ip', 'ff15::1111')
-  options['net-if'] = options['slapparameter-dict'].get('net-if', 'eth0')
-  options['drone-id-list'] = options['slapparameter-dict'].get('drone-id-list', [])
-  options['is-a-drone'] = 'flight-script' in options['slapparameter-dict']
-
-  subscription_script = '''
-  me.onStart = function() {
-    me.f = me.fdopen(me.in, "r");
-    console.log("Use q to quit");
-  };
+[dynamic-template-base]
+recipe = slapos.recipe.template:jinja2
+url = ${buildout:directory}/$${:_buildout_section_name_}.cfg
+output = $${buildout:directory}/$${:_buildout_section_name_}
 
-  me.onUpdate= function(timestamp) {
-    while(me.f.getline() != "q") {
-      continue;
-    }
-    try {
-      me.f.close();;
-    } catch (error) {
-      console.error(error);
-    }
-    me.exit(0);
-  };
-  '''
+[instance-default]
+<= dynamic-template-base
+extensions = jinja2.ext.do
+context =
+  key slapparameter_dict slap-configuration:configuration
 
-  options['flight-script'] = options['slapparameter-dict'].get('flight-script', subscription_script)
+[instance-drone]
+<= dynamic-template-base
+context =
+  key configuration drone-configuration:output
+  key user-script user:destination
 
-[js-dynamic-template]
+[drone-configuration]
 recipe = slapos.recipe.template:jinja2
-rendered = $${directory:etc}/$${:_buildout_section_name_}.js
-template = ${buildout:directory}/$${:_buildout_section_name_}.js
-extra-context =
+output = $${directory:etc}/configuration.json
 context =
-  raw qjs_wrapper ${qjs-wrapper:location}/lib/libqjswrapper.so
-  $${:extra-context}
-
-[main]
-<= js-dynamic-template
-extra-context =
-  key autopilot_ip drone:autopilot-ip
-  key id drone:id
-  key is_a_simulation drone:is-a-simulation
-  key is_a_drone drone:is-a-drone
-  key log_dir directory:log
-  key pubsub_script pubsub:rendered
-  key worker_script worker:rendered
-
-[pubsub]
-<= js-dynamic-template
-extra-context =
-  key ipv6 drone:multicast-ipv6
-  key net_if drone:net-if
+  import json_module json
+  key slapparameter_dict slap-configuration:configuration
+inline = {{ json_module.dumps(slapparameter_dict) }}
 
 [user]
-recipe = slapos.recipe.template:jinja2
-output = $${directory:etc}/user.js
-context =
-  key script drone:flight-script
-inline = {{ script }}
+recipe = slapos.recipe.build:download
+url = $${slap-configuration:configuration.flightScript}
+destination = $${directory:etc}/user.js
+offline = false
 
-[worker]
-<= js-dynamic-template
-extra-context =
-  key drone_id_list drone:drone-id-list
-  key id drone:id
-  key is_a_drone drone:is-a-drone
+[directory]
+recipe = slapos.cookbook:mkdirectory
+home = $${buildout:directory}
+etc = $${:home}/etc

software/js-drone/main.js

@@ -5,17 +5,20 @@ import {
   stop,
   stopPubsub,
   takeOffAndWait
-} from "{{ qjs_wrapper }}";
+} from {{ json_module.dumps(qjs_wrapper) }};
 import { setTimeout, Worker } from "os";
-import { exit } from "std";
+import { open, exit } from "std";
 
 (function (console, setTimeout, Worker) {
   "use strict";
-  const IP = "{{ autopilot_ip }}",
-    URL = "udp://" + IP + ":7909",
-    LOG_FILE = "{{ log_dir }}/mavsdk-log",
-    IS_A_DRONE = {{ 'true' if is_a_drone else 'false' }},
-    SIMULATION = {{ 'true' if is_a_simulation else 'false' }};
+  const CONF_PATH = {{ json_module.dumps(configuration) }};
+
+  var conf_file = open(CONF_PATH, "r");
+  const configuration = JSON.parse(conf_file.readAsString());
+  conf_file.close();
+
+  const  URL = "udp://" + configuration.autopilotIp + ":7909",
+    LOG_FILE = "{{ log_dir }}/mavsdk-log";
 
   // Use a Worker to ensure the user script
   // does not block the main script
@@ -51,7 +54,7 @@ import { exit } from "std";
     exit(exit_code);
   }
 
-  if (IS_A_DRONE) {
+  if (configuration.isADrone) {
     console.log("Connecting to aupilot\n");
     connect();
   }
@@ -71,7 +74,7 @@ import { exit } from "std";
   }
 
   function load() {
-    if (IS_A_DRONE && SIMULATION) {
+    if (configuration.isADrone && configuration.isASimulation) {
       takeOff();
     }
 
@@ -118,9 +121,9 @@ import { exit } from "std";
     if (type === 'initialized') {
       pubsubWorker.postMessage({
         action: "run",
-        id: {{ id }},
+        id: configuration.id,
         interval: FPS,
-        publish: IS_A_DRONE
+        publish: configuration.isADrone
       });
       load();
     } else if (type === 'loaded') {
@@ -132,10 +135,10 @@ import { exit } from "std";
       can_update = true;
     } else if (type === 'exited') {
       worker.onmessage = null;
-      quit(IS_A_DRONE, e.data.exit);
+      quit(configuration.isADrone, e.data.exit);
     } else {
       console.log('Unsupported message type', type);
-      quit(IS_A_DRONE, 1);
+      quit(configuration.isADrone, 1);
     }
   };
 }(console, setTimeout, Worker));

software/js-drone/pubsub.js

-import {runPubsub} from "{{ qjs_wrapper }}";
+import {runPubsub} from {{ json_module.dumps(qjs_wrapper) }};
 import {Worker} from "os";
+import {open} from "std";
 
-const PORT = "4840";
-const IPV6 = "{{ ipv6 }}";
+const CONF_PATH = {{ json_module.dumps(configuration) }},
+  PORT = "4840";
 
 let parent = Worker.parent;
 
+var conf_file = open(CONF_PATH, "r");
+const configuration = JSON.parse(conf_file.readAsString());
+conf_file.close();
+
 function handle_msg(e) {
   switch(e.data.action) {
     case "run":
-      runPubsub(IPV6, PORT, "{{ net_if }}", e.data.id, e.data.interval, e.data.publish);
+      runPubsub(configuration.multicastIp, PORT, configuration.netIf, e.data.id, e.data.interval, e.data.publish);
       parent.postMessage({running: false});
       parent.onmessage = null;
       break;

software/js-drone/software.cfg

@@ -6,21 +6,34 @@ extends =
 
 parts =
     instance-profile
+    instance-default
+    instance-drone
     main
     pubsub
     worker
     slapos-cookbook
 
-[download-file-base]
-recipe = slapos.recipe.build:download
-url = ${:_profile_base_location_}/${:filename}
-destination = ${buildout:directory}/${:filename}
-
 [instance-profile]
 recipe = slapos.recipe.template
 url = ${:_profile_base_location_}/${:filename}
 output = ${buildout:directory}/template.cfg
 
+[jinja-template-base]
+recipe = slapos.recipe.template
+url = ${:_profile_base_location_}/${:_buildout_section_name_}.cfg
+output = ${buildout:directory}/${:_buildout_section_name_}.cfg
+
+[instance-default]
+<= jinja-template-base
+
+[instance-drone]
+<= jinja-template-base
+
+[download-file-base]
+recipe = slapos.recipe.build:download
+url = ${:_profile_base_location_}/${:filename}
+destination = ${buildout:directory}/${:filename}
+
 [main]
 <= download-file-base
 

software/js-drone/software.cfg.json

 {
   "name": "JS Drone",
   "description": "JS Drone",
-  "serialisation": "xml",
+  "serialisation": "json-in-xml",
   "software-type": {
     "default": {
       "title": "Default",
       "software-type": "default",
-      "description": "Default",
+      "description": "Drone Swarm",
       "request": "instance-input-schema.json",
       "response": "instance-output-schema.json",
       "index": 0
+    },
+    "drone": {
+      "title": "Drone",
+      "software-type": "drone",
+      "description": "Drone Instance",
+      "request": "instance-drone-input-schema.json",
+      "response": "instance-drone-output-schema.json",
+      "index": 1
     }
   }
 }

software/js-drone/worker.js

@@ -17,16 +17,19 @@ import {
   setManualControlInput,
   setMessage,
   setTargetCoordinates
-} from "{{ qjs_wrapper }}";
+} from {{ json_module.dumps(qjs_wrapper) }};
 import * as std from "std";
 import { Worker } from "os";
 
 (function (console, Worker) {
   // Every script is evaluated per drone
   "use strict";
-  const drone_dict = {},
-    drone_id_list = [{{ drone_id_list }}],
-    IS_A_DRONE = {{ 'true' if is_a_drone else 'false' }};
+  const CONF_PATH = {{ json_module.dumps(configuration) }},
+    drone_dict = {};
+
+  var conf_file = std.open(CONF_PATH, "r");
+  const configuration = JSON.parse(conf_file.readAsString());
+  conf_file.close();
 
   let parent = Worker.parent,
     user_me = {
@@ -50,7 +53,7 @@ import { Worker } from "os";
       },
       getInitialAltitude: getInitialAltitude,
       getYaw: getYaw,
-      id: {{ id }},
+      id: configuration.id,
       landed: landed,
       loiter: loiter,
       sendMsg: function(msg, id = -1) {
@@ -86,16 +89,13 @@ import { Worker } from "os";
   }
 
   function handleMainMessage(evt) {
-    let type = evt.data.type,
-      message,
-      drone_id;
+    var type = evt.data.type, message, drone_id;
 
     if (type === "initPubsub") {
-      initPubsub(drone_id_list.length);
-      for (let i = 0; i < drone_id_list.length; i++) {
-        drone_id = drone_id_list[i];
+      initPubsub(configuration.numberOfPeers);
+      for (drone_id = 0; drone_id < configuration.numberOfPeers; drone_id++) {
         user_me.drone_dict[drone_id] = new Drone(drone_id);
-        user_me.drone_dict[drone_id].init(i);
+        user_me.drone_dict[drone_id].init(drone_id);
       }
       parent.postMessage({type: "initialized"});
     } else if (type === "load") {
@@ -117,7 +117,7 @@ import { Worker } from "os";
       }
       // Call the drone onStart function
       if (user_me.hasOwnProperty("onUpdate")) {
-        if (IS_A_DRONE && isInManualMode()) {
+        if (configuration.isADrone && isInManualMode()) {
           setManualControlInput();
         }
         user_me.onUpdate(evt.data.timestamp);