Format logging and stop manual control

See merge request !7

Makefile

 CFLAGS=-std=c99 -D_POSIX_C_SOURCE=200809L -pipe -Wall -Wextra -Wpedantic -Werror -Wno-overlength-strings -Wno-unused-parameter -Wc++-compat -Wformat -Wformat-security -Wformat-nonliteral -Wmissing-prototypes -Wstrict-prototypes -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wnested-externs -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fPIC -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden -fPIC
 CXXFLAGS=-pipe -Wall -Wextra -Wpedantic -Werror -Wno-overlength-strings -Wno-unused-parameter -Wformat -Wformat-security -Wformat-nonliteral -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fPIC -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden -fPIC
 LDFLAGS+= -std=c99 -D_POSIX_C_SOURCE=200809L -pipe -Wall -Wextra -Wpedantic -Werror -Wno-static-in-inline -Wno-overlength-strings -Wno-unused-parameter -Wc++-compat -Wformat -Wformat-security -Wformat-nonliteral -Wmissing-prototypes -Wstrict-prototypes -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wnested-externs -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fPIC -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden -fPIC
-LIBS=-lstdc++ -lmavsdk -lmavsdk_action -lmavsdk_manual_control -lmavsdk_mavlink_passthrough -lmavsdk_telemetry -lopen62541
+LIBS=-lstdc++ -lmavsdk -lmavsdk_action -lmavsdk_mavlink_passthrough -lmavsdk_telemetry -lopen62541
 
 LIB_NAME := libqjswrapper.so
 

include/mavsdk_wrapper.h

@@ -20,13 +20,12 @@ extern "C" {
 #endif
 #include <stdint.h>
 // Connexion management functions
-int mavsdk_start(const char * url, const char * log_file, int timeout);
+int mavsdk_start(const char * ip, int port, const char * log_file, int timeout);
 int mavsdk_stop(void);
 int mavsdk_reboot(void);
 
 // Flight state management functions
 int mavsdk_arm(void);
-int mavsdk_land(void);
 int mavsdk_takeOff(void);
 int mavsdk_takeOffAndWait(void);
 int mavsdk_triggerParachute(void);
@@ -34,9 +33,7 @@ int mavsdk_triggerParachute(void);
 // Flight management functions
 int mavsdk_loiter(float radius);
 int mavsdk_setAirspeed(float airspeed);
-int mavsdk_setAltitude(float altitude);
 int mavsdk_setTargetCoordinates(double la, double lo, float a);
-int mavsdk_setManualControlInput(void);
 
 // Information functions
 float mavsdk_getAltitude(void);
@@ -53,7 +50,6 @@ float mavsdk_getYaw(void);
 float mavsdk_getSpeed(void);
 float mavsdk_getClimbRate(void);
 int mavsdk_healthAllOk(void);
-bool mavsdk_isInManualMode(void);
 int mavsdk_landed(void);
 #ifdef __cplusplus
 }

qjs_wrapper.c

@@ -405,18 +405,21 @@ static JSValue js_stop_pubsub(JSContext *ctx, JSValueConst thisVal,
 static JSValue js_mavsdk_start(JSContext *ctx, JSValueConst thisVal,
                                int argc, JSValueConst *argv)
 {
-    const char *url;
+    const char *ip;
     const char *log_file;
+    int port;
     int timeout;
     int res;
 
-    url = JS_ToCString(ctx, argv[0]);
-    log_file = JS_ToCString(ctx, argv[1]);
-    if (JS_ToInt32(ctx, &timeout, argv[2]))
+    ip = JS_ToCString(ctx, argv[0]);
+    if (JS_ToInt32(ctx, &port, argv[1]))
+        return JS_EXCEPTION;
+    log_file = JS_ToCString(ctx, argv[2]);
+    if (JS_ToInt32(ctx, &timeout, argv[3]))
         return JS_EXCEPTION;
 
-    res = mavsdk_start(url, log_file, timeout);
-    JS_FreeCString(ctx, url);
+    res = mavsdk_start(ip, port, log_file, timeout);
+    JS_FreeCString(ctx, ip);
     JS_FreeCString(ctx, log_file);
 
     return JS_NewInt32(ctx, res);
@@ -442,12 +445,6 @@ static JSValue js_mavsdk_arm(JSContext *ctx, JSValueConst this_val,
     return JS_NewInt32(ctx, mavsdk_arm());
 }
 
-static JSValue js_mavsdk_land(JSContext *ctx, JSValueConst thisVal,
-                              int argc, JSValueConst *argv)
-{
-    return JS_NewInt32(ctx, mavsdk_land());
-}
-
 static JSValue js_mavsdk_takeOff(JSContext *ctx, JSValueConst thisVal,
                                  int argc, JSValueConst *argv)
 {
@@ -489,17 +486,6 @@ static JSValue js_mavsdk_setAirspeed(JSContext *ctx, JSValueConst thisVal,
     return JS_NewInt32(ctx, mavsdk_setAirspeed((float)altitude));
 }
 
-static JSValue js_mavsdk_setAltitude(JSContext *ctx, JSValueConst thisVal,
-                                     int argc, JSValueConst *argv)
-{
-    double altitude;
-
-    if (JS_ToFloat64(ctx, &altitude, argv[0]))
-        return JS_EXCEPTION;
-
-    return JS_NewInt32(ctx, mavsdk_setAltitude((float)altitude));
-}
-
 static JSValue js_mavsdk_setTargetCoordinates(JSContext *ctx,
                                               JSValueConst thisVal,
                                               int argc, JSValueConst *argv)
@@ -520,13 +506,6 @@ static JSValue js_mavsdk_setTargetCoordinates(JSContext *ctx,
                                                         (float)a_arg_double));
 }
 
-static JSValue js_mavsdk_setManualControlInput(JSContext *ctx,
-                                               JSValueConst thisVal,
-                                               int argc, JSValueConst *argv)
-{
-    return JS_NewInt32(ctx, mavsdk_setManualControlInput());
-}
-
 // Information functions
 
 static JSValue js_mavsdk_getAltitude(JSContext *ctx, JSValueConst thisVal,
@@ -605,12 +584,6 @@ static JSValue js_mavsdk_healthAllOk(JSContext *ctx, JSValueConst this_val,
     return JS_NewBool(ctx, mavsdk_healthAllOk());
 }
 
-static JSValue js_mavsdk_isInManualMode(JSContext *ctx, JSValueConst thisVal,
-                                        int argc, JSValueConst *argv)
-{
-    return JS_NewBool(ctx, mavsdk_isInManualMode());
-}
-
 static JSValue js_mavsdk_landed(JSContext *ctx, JSValueConst this_val,
                                 int argc, JSValueConst *argv)
 {
@@ -621,19 +594,16 @@ static const JSCFunctionListEntry js_mavsdk_funcs[] = {
     JS_CFUNC_DEF("setMessage", 1, js_drone_set_message ),
     JS_CFUNC_DEF("runPubsub", 6, js_run_pubsub ),
     JS_CFUNC_DEF("stopPubsub", 0, js_stop_pubsub ),
-    JS_CFUNC_DEF("start", 3, js_mavsdk_start ),
+    JS_CFUNC_DEF("start", 4, js_mavsdk_start ),
     JS_CFUNC_DEF("stop", 0, js_mavsdk_stop ),
     JS_CFUNC_DEF("reboot", 0, js_mavsdk_reboot ),
     JS_CFUNC_DEF("arm", 0, js_mavsdk_arm ),
-    JS_CFUNC_DEF("land", 0, js_mavsdk_land ),
     JS_CFUNC_DEF("takeOff", 0, js_mavsdk_takeOff ),
     JS_CFUNC_DEF("takeOffAndWait", 0, js_mavsdk_takeOffAndWait ),
     JS_CFUNC_DEF("triggerParachute", 0, js_mavsdk_triggerParachute ),
     JS_CFUNC_DEF("loiter", 1, js_mavsdk_loiter ),
     JS_CFUNC_DEF("setAirspeed", 1, js_mavsdk_setAirspeed ),
-    JS_CFUNC_DEF("setAltitude", 1, js_mavsdk_setAltitude ),
     JS_CFUNC_DEF("setTargetCoordinates", 3, js_mavsdk_setTargetCoordinates ),
-    JS_CFUNC_DEF("setManualControlInput", 0, js_mavsdk_setManualControlInput ),
     JS_CFUNC_DEF("getAltitude", 0, js_mavsdk_getAltitude ),
     JS_CFUNC_DEF("getAltitudeRel", 0, js_mavsdk_getAltitudeRel ),
     JS_CFUNC_DEF("getInitialAltitude", 0, js_mavsdk_getInitialAltitude ),
@@ -645,7 +615,6 @@ static const JSCFunctionListEntry js_mavsdk_funcs[] = {
     JS_CFUNC_DEF("getYaw", 0, js_mavsdk_getYaw ),
     JS_CFUNC_DEF("getAirspeed", 0, js_mavsdk_getSpeed ),
     JS_CFUNC_DEF("getClimbRate", 0, js_mavsdk_getClimbRate ),
-    JS_CFUNC_DEF("isInManualMode", 0, js_mavsdk_isInManualMode ),
     JS_CFUNC_DEF("healthAllOk", 0, js_mavsdk_healthAllOk ),
     JS_CFUNC_DEF("landed", 0, js_mavsdk_landed ),
     JS_CFUNC_DEF("initPubsub", 1, js_init_pubsub ),