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qjs-wrapper
Commit 2a933857 authored by Léo-Paul Géneau's avatar Léo-Paul Géneau 👾
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Add same compilation flags as open62541

parent cad10958
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Showing with 95 additions and 83 deletions
Makefile
View file @ 2a933857
CPPFLAGS=-g -Wall -Wno-array-bounds -Wno-format-truncation -std=c99 -Iinclude -O2 -fPIC
LDFLAGS+= -g
CFLAGS=-std=c99 -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 -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_mavlink_passthrough -lmavsdk_telemetry -lopen62541
LIB_NAME := libqjswrapper.so
......
include/mavsdk_wrapper.h
View file @ 2a933857
......@@ -12,19 +12,19 @@ int mavsdk_reboot(void);
// Flight state management functions
int mavsdk_arm(void);
int mavsdk_doParachute(int param);
int mavsdk_doParachute(float param);
int mavsdk_loiter();
int mavsdk_land(void);
int mavsdk_takeOff(void);
int mavsdk_takeOffAndWait(void);
// Flight management functions
int mavsdk_doReposition(double la, double lo, double a, double y);
int mavsdk_setAirspeed(double airspeed);
int mavsdk_setAltitude(double altitude);
int mavsdk_setTargetAltitude(double a);
int mavsdk_setTargetCoordinates(double la, double lo, double a, double y);
int mavsdk_setTargetCoordinatesXYZ(double x, double y, double z);
int mavsdk_doReposition(float la, float lo, float a, float y);
int mavsdk_setAirspeed(float airspeed);
int mavsdk_setAltitude(float altitude);
int mavsdk_setTargetAltitude(float a);
int mavsdk_setTargetCoordinates(double la, double lo, float a, float y);
int mavsdk_setTargetCoordinatesXYZ(double x, double y, float z);
int mavsdk_setTargetLatLong(double la, double lo);
// Information functions
......
include/pubsub.h
View file @ 2a933857
......@@ -4,13 +4,17 @@
#include <open62541/server.h>
#include <open62541/plugin/log_stdout.h>
#include <quickjs/quickjs.h>
#define DLL_PUBLIC __attribute__ ((visibility ("default")))
#define countof(x) (sizeof(x) / sizeof((x)[0]))
#define DATA_SET_WRITER_ID 1
#define WRITER_GROUP_ID 1
typedef struct {
int id;
UA_UInt16 id;
UA_Double latitude;
UA_UInt32 latitudeId;
UA_Double longitude;
......@@ -40,18 +44,26 @@ typedef struct {
int runPubsub(UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl,
VariableData *variableArray, int nbVariable,
int id, int nbReader,
void (*init_node_id)(UA_UInt32 id, int nb, int magic),
int (*get_reader_id)(int nb),
VariableData *variableArray, size_t nbVariable,
UA_UInt32 id, UA_UInt32 nbReader,
void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic),
UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
VariableData (*get_value)(UA_String identifier),
void (*update)(UA_UInt32 id, const UA_DataValue*),
UA_Boolean *running);
UA_UInt32 getLastCheckpoint(void);
UA_UInt16 get_drone_id(UA_UInt32 nb);
void init_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic);
void pubsub_update_coordinates(UA_UInt32 id, const UA_DataValue *var);
VariableData pubsub_get_value(UA_String identifier);
void stop_pubsub(void);
DLL_PUBLIC JSModuleDef *js_init_module(JSContext *ctx, const char *module_name);
#endif /* __PUBSUB_H__ */
mavsdk_wrapper.cpp
View file @ 2a933857
......@@ -214,7 +214,7 @@ int mavsdk_arm(void) {
return doAction(&Action::arm, "Arming failed");
}
int mavsdk_doParachute(int param) {
int mavsdk_doParachute(float param) {
if(!mavsdk_started)
return -1;
......@@ -251,9 +251,9 @@ int mavsdk_loiter() {
if(!mavsdk_started)
return -1;
return mavsdk_doReposition((float)position.latitude_deg,
(float)position.longitude_deg,
position.absolute_altitude_m, 0);
return mavsdk_doReposition((float)mavsdk_getLatitude(),
(float)mavsdk_getLongitude(),
mavsdk_getAltitude(), 0);
}
int mavsdk_takeOff(void) {
......@@ -282,7 +282,7 @@ int mavsdk_takeOffAndWait(void) {
// Flight management functions
int mavsdk_doReposition(double la, double lo, double a, double y) {
int mavsdk_doReposition(float la, float lo, float a, float y) {
if(!mavsdk_started)
return -1;
......@@ -300,7 +300,7 @@ int mavsdk_doReposition(double la, double lo, double a, double y) {
return doMavlinkCommand(command, "Reposition failed");
}
int mavsdk_setAirspeed(double airspeed) {
int mavsdk_setAirspeed(float airspeed) {
if(!mavsdk_started)
return -1;
......@@ -308,14 +308,14 @@ int mavsdk_setAirspeed(double airspeed) {
command.command = MAV_CMD_DO_OVERRIDE;
command.param1 = 1 | 2 | 4 | 8;
command.param2 = 2 | 4 | 8;
command.param3 = (float) airspeed;
command.param3 = airspeed;
command.target_sysid = mavlink_passthrough->get_target_sysid();
command.target_compid = mavlink_passthrough->get_target_compid();
return doMavlinkCommand(command, "Setting airspeed failed");
}
int mavsdk_setAltitude(double altitude) {
int mavsdk_setAltitude(float altitude) {
if(!mavsdk_started)
return -1;
......@@ -323,14 +323,14 @@ int mavsdk_setAltitude(double altitude) {
command.command = MAV_CMD_DO_OVERRIDE;
command.param1 = 1 | 2 | 4 | 8;
command.param2 = 1 | 2 | 8;
command.param3 = (float) altitude;
command.param3 = altitude;
command.target_sysid = mavlink_passthrough->get_target_sysid();
command.target_compid = mavlink_passthrough->get_target_compid();
return doMavlinkCommand(command, "Setting altitude failed");
}
int mavsdk_setTargetAltitude(double a) {
int mavsdk_setTargetAltitude(float a) {
if(!mavsdk_started)
return -1;
......@@ -345,13 +345,13 @@ int mavsdk_setTargetAltitude(double a) {
return 0;
}
int mavsdk_setTargetCoordinates(double la, double lo, double a, double y) {
int mavsdk_setTargetCoordinates(double la, double lo, float a, float y) {
if(!mavsdk_started)
return -1;
std::cout << "Going to location (" << la << " , " << lo << ") "
<< a << " m " << std::endl;
const Action::Result result = action->goto_location(la, lo, (float) a, (float) y);
const Action::Result result = action->goto_location(la, lo, a, y);
if (result != Action::Result::Success) {
log_error_from_result("Goto location failed", result);
return -1;
......@@ -359,7 +359,7 @@ int mavsdk_setTargetCoordinates(double la, double lo, double a, double y) {
return 0;
}
int mavsdk_setTargetCoordinatesXYZ(double x, double y, double z) {
int mavsdk_setTargetCoordinatesXYZ(double x, double y, float z) {
double la, lo;
la = ((origin.latitude_deg + y / EARTH_RADIUS) * 180.F) / M_PI;
......@@ -369,7 +369,7 @@ int mavsdk_setTargetCoordinatesXYZ(double x, double y, double z) {
}
int mavsdk_setTargetLatLong(double la, double lo) {
return mavsdk_setTargetCoordinates(la, lo, position.absolute_altitude_m, 0);
return mavsdk_setTargetCoordinates(la, lo, mavsdk_getAltitude(), 0);
}
// Information functions
......
pubsub.c
View file @ 2a933857
......@@ -6,7 +6,6 @@
#include "ua_pubsub.h"
#include "pubsub.h"
static UA_Server *server;
UA_NodeId connectionIdent, publishedDataSetIdent, writerGroupIdent,
readerGroupIdent, readerIdent;
......@@ -17,12 +16,12 @@ static void (*callbackUpdate)(UA_UInt32, const UA_DataValue*);
static void fillDataSetMetaData(UA_DataSetMetaDataType *pMetaData,
VariableData *variableArray,
int nbVariable, int id);
size_t nbVariable, int id);
static UA_StatusCode
addPubSubConnection(UA_Server *server, UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl,
int id){
UA_UInt32 id){
// 18 characters for "UDPMC Connection " + 10 characters for id <= UINT32_MAX
char name[28];
if((server == NULL) || (transportProfile == NULL) ||
......@@ -33,7 +32,7 @@ addPubSubConnection(UA_Server *server, UA_String *transportProfile,
UA_PubSubConnectionConfig connectionConfig;
memset(&connectionConfig, 0, sizeof(connectionConfig));
UA_snprintf(name, sizeof(name - 1), "UDPMC Connection %d", id);
UA_snprintf(name, sizeof(name) - 1, "UDPMC Connection %d", id);
connectionConfig.name = UA_STRING(name);
connectionConfig.transportProfileUri = *transportProfile;
......@@ -52,11 +51,11 @@ addPubSubConnection(UA_Server *server, UA_String *transportProfile,
* other PubSub elements are directly or indirectly linked with the PDS or
* connection. */
static void
addPublishedDataSet(UA_Server *server, int id) {
addPublishedDataSet(UA_Server *server, UA_UInt32 id) {
/* The PublishedDataSetConfig contains all necessary public
* information for the creation of a new PublishedDataSet */
char name[8];
UA_snprintf(name, sizeof(name - 1), "PDS %d", id);
UA_snprintf(name, sizeof(name) - 1, "PDS %d", id);
UA_PublishedDataSetConfig publishedDataSetConfig;
memset(&publishedDataSetConfig, 0, sizeof(UA_PublishedDataSetConfig));
publishedDataSetConfig.publishedDataSetType = UA_PUBSUB_DATASET_PUBLISHEDITEMS;
......@@ -220,7 +219,7 @@ addReaderGroup(UA_Server *server) {
/* Add DataSetReader to the ReaderGroup */
static UA_StatusCode
addDataSetReader(UA_Server *server, VariableData *variableArray,
int nbVariable, int id) {
size_t nbVariable, int id) {
if(server == NULL) {
return UA_STATUSCODE_BADINTERNALERROR;
}
......@@ -250,8 +249,8 @@ dataChangeNotificationCallback(UA_Server *server, UA_UInt32 monitoredItemId,
* Set SubscribedDataSet type to TargetVariables data type.
* Add subscribedvariables to the DataSetReader */
static UA_StatusCode
addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId, int nb,
void (*init_node_id)(UA_UInt32 id, int nb, int magic)) {
addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId, UA_UInt32 nb,
void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic)) {
if(server == NULL)
return UA_STATUSCODE_BADINTERNALERROR;
......@@ -286,7 +285,7 @@ addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId, int nb,
/* Create the TargetVariables with respect to DataSetMetaData fields */
UA_FieldTargetVariable *targetVars = (UA_FieldTargetVariable *)
UA_calloc(readerConfig.dataSetMetaData.fieldsSize, sizeof(UA_FieldTargetVariable));
for(size_t i = 0; i < readerConfig.dataSetMetaData.fieldsSize; i++) {
for(UA_UInt32 i = 0; i < readerConfig.dataSetMetaData.fieldsSize; i++) {
/* Variable to subscribe data */
UA_VariableAttributes vAttr = UA_VariableAttributes_default;
UA_LocalizedText_copy(&readerConfig.dataSetMetaData.fields[i].description,
......@@ -336,9 +335,9 @@ addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId, int nb,
/* Define MetaData for TargetVariables */
static void fillDataSetMetaData(UA_DataSetMetaDataType *pMetaData,
VariableData *variableArray,
int nbVariable, int id) {
size_t nbVariable, int id) {
char name[12];
UA_snprintf(name, sizeof(name - 1), "DataSet %d", id);
UA_snprintf(name, sizeof(name) - 1, "DataSet %d", id);
if(pMetaData == NULL) {
return;
......@@ -366,13 +365,14 @@ static void fillDataSetMetaData(UA_DataSetMetaDataType *pMetaData,
int runPubsub(UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl,
VariableData *variableArray, int nbVariable,
int id, int nbReader,
void (*init_node_id)(UA_UInt32 id, int nb, int magic),
int (*get_reader_id)(int nb),
VariableData *variableArray, size_t nbVariable,
UA_UInt32 id, UA_UInt32 nbReader,
void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic),
UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
VariableData (*get_value)(UA_String identifier),
void (*update)(UA_UInt32 id, const UA_DataValue*),
UA_Boolean *running) {
UA_Server *server;
UA_UInt16 publisherIdent;
char readerName[19];
......@@ -392,7 +392,7 @@ int runPubsub(UA_String *transportProfile,
/* Publishing */
addPublishedDataSet(server, id);
for(size_t i = 0; i < nbVariable; i++) {
for(UA_UInt32 i = 0; i < nbVariable; i++) {
retval |= addDataSourceVariable(server, variableArray[i]);
if (retval != UA_STATUSCODE_GOOD)
return EXIT_FAILURE;
......@@ -415,9 +415,9 @@ int runPubsub(UA_String *transportProfile,
readerConfig.writerGroupId = WRITER_GROUP_ID;
readerConfig.dataSetWriterId = DATA_SET_WRITER_ID;
for (size_t i = 0; i < nbReader; i++) {
for (UA_UInt32 i = 0; i < nbReader; i++) {
publisherIdent = get_reader_id(i);
UA_snprintf(readerName, sizeof(readerName - 1), "DataSet Reader %d", publisherIdent);
UA_snprintf(readerName, sizeof(readerName) - 1, "DataSet Reader %d", publisherIdent);
readerConfig.name = UA_STRING(readerName);
readerConfig.publisherId.data = &publisherIdent;
......
qjs_wrapper.c
View file @ 2a933857
#include <quickjs/quickjs.h>
#include "dronedge.h"
static JSClassID js_drone_class_id;
static UA_Boolean pubsub_running = true;
int nbDrone;
static UA_UInt32 nbDrone;
static JSValueConst *drone_object_id_list;
static UA_UInt32 lastCheckpoint = 0;
static inline int JS_ToUint16(JSContext *ctx, uint16_t *pres, JSValueConst val)
{
return JS_ToInt32(ctx, (int32_t*)pres, val);
}
static void js_drone_finalizer(JSRuntime *rt, JSValue val)
{
JSDroneData *s = JS_GetOpaque(val, js_drone_class_id);
JSDroneData *s = (JSDroneData *) JS_GetOpaque(val, js_drone_class_id);
js_free_rt(rt, s);
}
......@@ -27,12 +21,14 @@ static JSValue js_drone_ctor(JSContext *ctx, JSValueConst new_target,
JSDroneData *s;
JSValue obj = JS_UNDEFINED;
JSValue proto;
uint32_t uint32;
s = js_mallocz(ctx, sizeof(*s));
s = (JSDroneData *) js_mallocz(ctx, sizeof(*s));
if (!s)
return JS_EXCEPTION;
if (JS_ToInt32(ctx, &s->id, argv[0]))
if (JS_ToUint32(ctx, &uint32, argv[0]))
goto fail;
s->id = (uint16_t)uint32;
proto = JS_GetPropertyStr(ctx, new_target, "prototype");
if (JS_IsException(proto))
......@@ -53,7 +49,7 @@ static JSValue js_drone_init(JSContext *ctx, JSValueConst this_val,
int argc, JSValueConst *argv)
{
int nb;
JSDroneData *s = JS_GetOpaque2(ctx, this_val, js_drone_class_id);
JSDroneData *s = (JSDroneData *) JS_GetOpaque2(ctx, this_val, js_drone_class_id);
if (!s)
return JS_EXCEPTION;
if (JS_ToInt32(ctx, &nb, argv[0]))
......@@ -64,12 +60,12 @@ static JSValue js_drone_init(JSContext *ctx, JSValueConst this_val,
static JSValue js_drone_get(JSContext *ctx, JSValueConst this_val, int magic)
{
JSDroneData *s = JS_GetOpaque2(ctx, this_val, js_drone_class_id);
JSDroneData *s = (JSDroneData *) JS_GetOpaque2(ctx, this_val, js_drone_class_id);
if (!s)
return JS_EXCEPTION;
switch(magic) {
case 0:
return JS_NewInt32(ctx, s->id);
return JS_NewUint32(ctx, s->id);
case 1:
return JS_NewFloat64(ctx, s->latitude);
case 2:
......@@ -88,10 +84,10 @@ static JSValue js_drone_get(JSContext *ctx, JSValueConst this_val, int magic)
static JSValue js_drone_set_checkpoint(JSContext *ctx, JSValueConst this_val,
int argc, JSValueConst *argv)
{
UA_UInt16 checkpoint;
if (JS_ToUint16(ctx, &checkpoint, argv[0]))
uint32_t uint32;
if (JS_ToUint32(ctx, &uint32, argv[0]))
return JS_EXCEPTION;
lastCheckpoint = checkpoint;
lastCheckpoint = (uint16_t)uint32;
return JS_UNDEFINED;
}
......@@ -115,8 +111,8 @@ static const JSCFunctionListEntry js_drone_proto_funcs[] = {
JS_CFUNC_DEF("init", 1, js_drone_init),
};
int get_drone_id(int nb) {
JSDroneData *s = JS_GetOpaque(drone_object_id_list[nb], js_drone_class_id);
UA_UInt16 get_drone_id(UA_UInt32 nb) {
JSDroneData *s = (JSDroneData *) JS_GetOpaque(drone_object_id_list[nb], js_drone_class_id);
return s->id;
}
......@@ -158,8 +154,8 @@ VariableData pubsub_get_value(UA_String identifier) {
return var_details;
}
void init_node_id(UA_UInt32 id, int nb, int magic) {
JSDroneData *s = JS_GetOpaque(drone_object_id_list[nb], js_drone_class_id);
void init_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
JSDroneData *s = (JSDroneData *) JS_GetOpaque(drone_object_id_list[nb], js_drone_class_id);
switch(magic) {
case 0:
s->latitudeId = id;
......@@ -184,8 +180,8 @@ void init_node_id(UA_UInt32 id, int nb, int magic) {
void pubsub_update_coordinates(UA_UInt32 id, const UA_DataValue *var)
{
JSDroneData *s;
for(size_t i = 0; i < nbDrone; i++) {
s = JS_GetOpaque(drone_object_id_list[i], js_drone_class_id);
for(UA_UInt32 i = 0; i < nbDrone; i++) {
s = (JSDroneData *) JS_GetOpaque(drone_object_id_list[i], js_drone_class_id);
if (s->latitudeId == id) {
s->latitude = *(UA_Double*) var->value.data;
return;
......@@ -212,8 +208,9 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
const char *ipv6;
const char *port;
const char *net_iface;
char *not_const_net_iface;
char urlBuffer[44];
int id;
UA_UInt32 id;
int res;
ipv6 = JS_ToCString(ctx, argv[0]);
......@@ -225,10 +222,11 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp");
UA_NetworkAddressUrlDataType networkAddressUrl;
networkAddressUrl.networkInterface = UA_STRING(net_iface);
not_const_net_iface = strdup(net_iface);
networkAddressUrl.networkInterface = UA_STRING(not_const_net_iface);
networkAddressUrl.url = UA_STRING(urlBuffer);
if (JS_ToInt32(ctx, &id, argv[3]))
if (JS_ToUint32(ctx, &id, argv[3]))
return JS_EXCEPTION;
res = runPubsub(&transportProfile, &networkAddressUrl, droneVariableArray,
......@@ -238,6 +236,7 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
JS_FreeCString(ctx, ipv6);
JS_FreeCString(ctx, port);
free(not_const_net_iface);
JS_FreeCString(ctx, net_iface);
return JS_NewInt32(ctx, res);
}
......@@ -245,10 +244,10 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
static JSValue js_init_pubsub(JSContext *ctx, JSValueConst this_val,
int argc, JSValueConst *argv)
{
if (JS_ToInt32(ctx, &nbDrone, argv[0]))
if (JS_ToUint32(ctx, &nbDrone, argv[0]))
return JS_EXCEPTION;
drone_object_id_list = malloc(nbDrone * sizeof(JSValueConst));
drone_object_id_list = (JSValue *) malloc(nbDrone * sizeof(JSValueConst));
return JS_NewInt32(ctx, 0);
}
......@@ -330,8 +329,8 @@ static JSValue js_mavsdk_setTargetCoordinates(JSContext *ctx,
return JS_NewInt32(ctx, mavsdk_setTargetCoordinates(la_arg_double,
lo_arg_double,
a_arg_double,
y_arg_double));
(float)a_arg_double,
(float)y_arg_double));
}
static JSValue js_mavsdk_setTargetLatLong(JSContext *ctx, JSValueConst this_val,
......@@ -357,7 +356,7 @@ static JSValue js_mavsdk_setAltitude(JSContext *ctx, JSValueConst this_val,
if (JS_ToFloat64(ctx, &altitude, argv[0]))
return JS_EXCEPTION;
return JS_NewInt32(ctx, mavsdk_setAltitude(altitude));
return JS_NewInt32(ctx, mavsdk_setAltitude((float)altitude));
}
static JSValue js_mavsdk_setAirspeed(JSContext *ctx, JSValueConst this_val,
......@@ -368,7 +367,7 @@ static JSValue js_mavsdk_setAirspeed(JSContext *ctx, JSValueConst this_val,
if (JS_ToFloat64(ctx, &altitude, argv[0]))
return JS_EXCEPTION;
return JS_NewInt32(ctx, mavsdk_setAirspeed(altitude));
return JS_NewInt32(ctx, mavsdk_setAirspeed((float)altitude));
}
static JSValue js_mavsdk_getYaw(JSContext *ctx, JSValueConst this_val,
......@@ -438,12 +437,12 @@ static JSValue js_mavsdk_loiter(JSContext *ctx, JSValueConst this_val,
static JSValue js_mavsdk_doParachute(JSContext *ctx, JSValueConst this_val,
int argc, JSValueConst *argv)
{
int param;
double param;
if (JS_ToInt32(ctx, &param, argv[0]))
if (JS_ToFloat64(ctx, &param, argv[0]))
return JS_EXCEPTION;
return JS_NewInt32(ctx, mavsdk_doParachute(param));
return JS_NewInt32(ctx, mavsdk_doParachute((float)param));
}
static JSValue js_mavsdk_setTargetCoordinatesXYZ(JSContext *ctx,
......@@ -463,7 +462,7 @@ static JSValue js_mavsdk_setTargetCoordinatesXYZ(JSContext *ctx,
return JS_NewInt32(ctx, mavsdk_setTargetCoordinatesXYZ(x_arg_double,
y_arg_double,
z_arg_double));
(float)z_arg_double));
}
static JSValue js_mavsdk_setTargetAltitude(JSContext *ctx, JSValueConst this_val,
......@@ -474,7 +473,7 @@ static JSValue js_mavsdk_setTargetAltitude(JSContext *ctx, JSValueConst this_val
if (JS_ToFloat64(ctx, &a_arg_double, argv[0]))
return JS_EXCEPTION;
return JS_NewInt32(ctx, mavsdk_setTargetAltitude(a_arg_double));
return JS_NewInt32(ctx, mavsdk_setTargetAltitude((float)a_arg_double));
}
static JSValue js_mavsdk_takeOff(JSContext *ctx, JSValueConst this_val,
......
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