software/js-drone: add subscribe script

component/qjs-wrapper/buildout.cfg

@@ -10,8 +10,8 @@ parts = qjs-wrapper
 recipe = slapos.recipe.cmmi
 shared = true
 configure-command = true
-url = https://lab.nexedi.com/nexedi/qjs-wrapper/-/archive/v0.1/qjs-wrapper-v0.1.tar.gz
-md5sum = 4f0eb6f3bc5719a8ec043ce4f4d20747
+url = https://lab.nexedi.com/nexedi/qjs-wrapper/-/archive/v0.2/qjs-wrapper-v0.2.tar.gz
+md5sum = fa78424e5314d6d3f76e9b0ec28f7878
 environment =
   C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include
   CPLUS_INCLUDE_PATH=include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk

software/js-drone/README.md

@@ -2,7 +2,7 @@
 
 ## Presentation ##
 
-* Deploy 3 different scripts (`cli.js`, `demo.js` and `manual-flight.js`) on a drone to fly it
+* Deploy 4 different scripts (`cli.js`, `demo.js`, `manual-flight.js` and `subscribe.js`) on a drone to fly it
 
 * Compile all required libraries to run flight scripts
 
@@ -18,6 +18,8 @@
 
 * multicast-ipv6: IPv6 of the multicast group of the swarm
 
+* net-if: Network interface used for multicast traffic
+
 * drone-id-list: Comma seperated list of the drone IDs of the swarm (recommanded to add the current drone ID)
 
 ## How it works ##

software/js-drone/buildout.hash.cfg

@@ -14,7 +14,7 @@
 # not need these here).
 [instance-profile]
 filename = instance.cfg
-md5sum = 99017d061d3be30746f6daef3a7bd8c4
+md5sum = 9c754abbc80f795229c3e79a8ede534b
 
 [cli]
 filename = cli.js
@@ -22,7 +22,7 @@ md5sum = 33271aeec124301604fdd406f0b339d1
 
 [common]
 filename = common.js
-md5sum = bacc70f2683c279ba4e0751de616d4ff
+md5sum = 1a43f5cf3db1256fee985f82d88930a0
 
 [demo]
 filename = demo.js
@@ -34,4 +34,8 @@ md5sum = 175813fc8b2f19f91dae27ad4e14ab03
 
 [pubsub]
 filename = pubsub.js
-md5sum = d949c9a6cdaaa94e7bdd22df5e52fbf4
+md5sum = 1d1a2be301d74a619b63a33c4b4039da
+
+[subscribe]
+filename = subscribe.js
+md5sum = 772e84f5584fc66c976778bbd8ae6a65

software/js-drone/common.js

@@ -162,7 +162,7 @@ export function startPubsub() {
     droneDict[id].init(i);
   }
 
-  pubsubWorker.postMessage({ action: "run" });
+  pubsubWorker.postMessage({ action: "run", publish: true });
   pubsubRunning = true;
   return droneDict;
 }

software/js-drone/instance.cfg

@@ -3,6 +3,7 @@ parts =
   cli
   demo
   manual-flight
+  subscribe
 
 eggs-directory = ${buildout:eggs-directory}
 develop-eggs-directory = ${buildout:develop-eggs-directory}
@@ -33,11 +34,12 @@ init =
   options['leader-id'] = options['slapparameter-dict'].get('leader_id', '1')
   options['is-leader'] = 'true' if options['id'] == options['leader-id'] else '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', '')
 
 [js-dynamic-template]
 recipe = slapos.recipe.template:jinja2
-rendered = $${directory:etc}/$${:_buildout_section_name_}
+rendered = $${directory:etc}/$${:_buildout_section_name_}.js
 template = ${buildout:directory}/$${:_buildout_section_name_}.js
 extra-context =
 context =
@@ -75,3 +77,10 @@ extra-context =
 extra-context =
   key id drone:id
   key ipv6 drone:multicast-ipv6
+  key net_if drone:net-if
+
+[subscribe]
+<= js-dynamic-template
+extra-context =
+  key drone_id_list drone:drone-id-list
+  key pubsub_script pubsub:rendered

software/js-drone/pubsub.js

@@ -9,7 +9,7 @@ var parent = Worker.parent;
 function handle_msg(e) {
   switch(e.data.action) {
     case "run":
-      runPubsub(IPV6, PORT, "eth0", {{ id }});
+      runPubsub(IPV6, PORT, "{{ net_if }}", {{ id }}, e.data.publish);
       parent.postMessage({running: false});
       parent.onmessage = null;
       break;

software/js-drone/software.cfg

@@ -11,6 +11,7 @@ parts =
     demo
     manual-flight
     pubsub
+    subscribe
     slapos-cookbook
 
 [download-file-base]
@@ -37,3 +38,6 @@ output = ${buildout:directory}/template.cfg
 
 [pubsub]
 <= download-file-base
+
+[subscribe]
+<= download-file-base

software/js-drone/subscribe.js

+/*jslint-disable*/
+{% set comma_separated_drone_id_list = ', '.join(drone_id_list.split()) -%}
+/*jslint-enable*/
+
+import {
+  initPubsub,
+  stopPubsub,
+  Drone
+} from "{{ qjs_wrapper }}"; //jslint-quiet
+import {Worker} from "os";
+/*jslint-disable*/
+import * as std from "std";
+/*jslint-enable*/
+
+const droneIdList = [{{ comma_separated_drone_id_list }}];
+const droneDict = {};
+
+var pubsubWorker = new Worker("{{ pubsub_script }}");
+pubsubWorker.onmessage = function(e) {
+  if (!e.data.publishing)
+    pubsubWorker.onmessage = null;
+}
+
+initPubsub(droneIdList.length);
+for (let i = 0; i < droneIdList.length; i++) {
+  let id = droneIdList[i]
+  droneDict[id] = new Drone(id);
+  droneDict[id].init(i);
+}
+
+pubsubWorker.postMessage({ action: "run", publish: false });
+
+const f = std.fdopen(std.in, "r");
+console.log("Use q to quit");
+while (f.getline() != "q") {
+  continue;
+}
+
+stopPubsub();
+f.close();