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qjs-wrapper
Commit 744e3ca1 authored by Léo-Paul Géneau's avatar Léo-Paul Géneau 👾
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Pub/Sub: remove subscribeOnly function 

Merge subscribeOnly function into runPubsub
parent 2dfbda47
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Showing with 70 additions and 109 deletions
include/dronedge.h
View file @ 744e3ca1
......@@ -63,5 +63,4 @@ VariableData droneVariableArray[] = {
},
};
#endif /* __DRONEDGE_H__ */
include/pubsub.h
View file @ 744e3ca1
......@@ -46,15 +46,6 @@ typedef struct {
} getter;
} VariableData;
int subscribeOnly(UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl,
VariableData *variableArray, size_t nbVariable,
UA_UInt32 id, UA_UInt32 nbReader, UA_Duration interval,
void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic),
UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
void (*update)(UA_UInt32 id, const UA_DataValue*),
UA_Boolean *running);
int runPubsub(UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl,
VariableData *variableArray, size_t nbVariable,
......@@ -62,8 +53,8 @@ int runPubsub(UA_String *transportProfile,
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);
void (*update)(UA_UInt32 id, const UA_DataValue*, bool print),
bool publish, UA_Boolean *running);
UA_String get_message(void);
......@@ -71,10 +62,6 @@ 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);
void pubsub_print_coordinates(UA_UInt32 id, const UA_DataValue *var);
VariableData pubsub_get_value(UA_String identifier);
DLL_PUBLIC JSModuleDef *js_init_module(JSContext *ctx, const char *module_name);
......
mavsdk_wrapper.cpp
View file @ 744e3ca1
......@@ -427,8 +427,8 @@ double *mavsdk_getPositionArray(void) {
float *mavsdk_getDirectionArray(void) {
float *directionArray = (float*) malloc(DIRECTION_ARRAY_SIZE * sizeof(float));
positionArray[0] = mavsdk_getYaw();
positionArray[1] = mavsdk_getSpeed();
directionArray[0] = mavsdk_getYaw();
directionArray[1] = mavsdk_getSpeed();
return directionArray;
}
......
pubsub.c
View file @ 744e3ca1
......@@ -10,9 +10,10 @@ UA_NodeId connectionIdent, publishedDataSetIdent, writerGroupIdent,
readerGroupIdent, readerIdent;
UA_DataSetReaderConfig readerConfig;
bool isPublisher;
VariableData (*pubsubGetValue)(UA_String identifier);
static void (*callbackUpdate)(UA_UInt32, const UA_DataValue*);
static void (*callbackUpdate)(UA_UInt32, const UA_DataValue*, bool print);
static void fillDataSetMetaData(UA_DataSetMetaDataType *pMetaData,
VariableData *variableArray,
......@@ -251,7 +252,7 @@ dataChangeNotificationCallback(UA_Server *server, UA_UInt32 monitoredItemId,
void *monitoredItemContext, const UA_NodeId *nodeId,
void *nodeContext, UA_UInt32 attributeId,
const UA_DataValue *var) {
callbackUpdate(nodeId->identifier.numeric, var);
callbackUpdate(nodeId->identifier.numeric, var, !isPublisher);
}
/**
......@@ -437,7 +438,7 @@ subscribe(UA_Server *server,
UA_UInt32 id, UA_UInt32 nbReader, UA_Duration interval,
void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic),
UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
void (*update)(UA_UInt32 id, const UA_DataValue*)) {
void (*update)(UA_UInt32 id, const UA_DataValue*, bool print)) {
UA_UInt16 publisherIdent;
UA_StatusCode retval;
char readerName[19];
......@@ -472,28 +473,6 @@ subscribe(UA_Server *server,
return retval;
}
int subscribeOnly(UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl,
VariableData *variableArray, size_t nbVariable,
UA_UInt32 id, UA_UInt32 nbReader, UA_Duration interval,
void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic),
UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
void (*update)(UA_UInt32 id, const UA_DataValue*),
UA_Boolean *running) {
UA_Server *server;
UA_StatusCode retval;
server = setServer(transportProfile, networkAddressUrl, id);
setVariableType(server, variableArray, nbVariable);
subscribe(server, variableArray, nbVariable, id, nbReader, interval,
init_node_id, get_reader_id, update);
retval = UA_Server_run(server, running);
UA_Server_delete(server);
return retval == UA_STATUSCODE_GOOD ? EXIT_SUCCESS : EXIT_FAILURE;
}
int runPubsub(UA_String *transportProfile,
UA_NetworkAddressUrlDataType *networkAddressUrl,
VariableData *variableArray, size_t nbVariable,
......@@ -501,8 +480,8 @@ int runPubsub(UA_String *transportProfile,
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) {
void (*update)(UA_UInt32 id, const UA_DataValue*, bool print),
bool publish, UA_Boolean *running) {
UA_Server *server;
UA_StatusCode retval;
......@@ -511,21 +490,24 @@ int runPubsub(UA_String *transportProfile,
/* Publishing */
pubsubGetValue = get_value;
isPublisher = publish;
if (isPublisher) {
pubsubGetValue = get_value;
addPublishedDataSet(server, id);
for(UA_UInt32 i = 0; i < nbVariable; i++) {
retval = addDataSourceVariable(server, variableArray[i]);
addPublishedDataSet(server, id);
for(UA_UInt32 i = 0; i < nbVariable; i++) {
retval = addDataSourceVariable(server, variableArray[i]);
if (retval != UA_STATUSCODE_GOOD)
return EXIT_FAILURE;
addDataSetField(server, variableArray[i]);
}
addWriterGroup(server, interval);
retval = addDataSetWriter(server);
if (retval != UA_STATUSCODE_GOOD)
return EXIT_FAILURE;
addDataSetField(server, variableArray[i]);
}
addWriterGroup(server, interval);
retval = addDataSetWriter(server);
if (retval != UA_STATUSCODE_GOOD)
return EXIT_FAILURE;
/* Subscribing */
subscribe(server, variableArray, nbVariable, id, nbReader, interval,
......
qjs_wrapper.c
View file @ 744e3ca1
......@@ -257,7 +257,24 @@ void init_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
}
}
void pubsub_update_coordinates(UA_UInt32 id, const UA_DataValue *var)
static void print_variable(char* varName, UA_UInt32 id, char* value) {
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT,
"Received %s of drone %d: %s", varName, id, value);
}
static void print_uadouble(char* varName, UA_UInt32 id, UA_Double value, char* unit) {
char str_value[16];
snprintf(str_value, sizeof(str_value), "%f%s", value, unit);
print_variable(varName, id, str_value);
}
static void print_uafloat(char* varName, UA_UInt32 id, UA_Float value, char* unit) {
char str_value[16];
snprintf(str_value, sizeof(str_value), "%f%s", value, unit);
print_variable(varName, id, str_value);
}
static void pubsub_update_variables(UA_UInt32 id, const UA_DataValue *var, bool print)
{
JSDroneData* s;
UA_String uaStr;
......@@ -272,58 +289,41 @@ void pubsub_update_coordinates(UA_UInt32 id, const UA_DataValue *var)
s->longitude = positionArray[1];
s->altitudeAbs = positionArray[2];
s->altitudeRel = positionArray[3];
if (print) {
print_uadouble("latitude", s->id, s->latitude, "°");
print_uadouble("longitude", s->id, s->longitude, "°");
print_uadouble("altitude", s->id, s->altitudeAbs, "m");
print_uadouble("altitude", s->id, s->altitudeRel, "m");
}
return;
} else if (s->directionArrayId == id) {
directionArray = (UA_Float*) var->value.data;
s->yaw = directionArray[0];
s->speed = directionArray[1];
if (print) {
print_uafloat("yaw", s->id, s->yaw, "°");
print_uafloat("yaw", s->id, s->speed, "m/s");
}
return;
} else if (s->messageId == id) {
uaStr = *(UA_String*) var->value.data;
pthread_mutex_lock(&mutex);
while(strlen(s->message) != 0)
pthread_cond_wait(&threadCond, &mutex);
memcpy(s->message, uaStr.data, uaStr.length);
s->message[uaStr.length] = '\0';
pthread_mutex_unlock(&mutex);
return;
}
}
UA_LOG_ERROR(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "NodeId not found");
}
void pubsub_print_coordinates(UA_UInt32 id, const UA_DataValue *var)
{
JSDroneData* s;
UA_String uaStr;
UA_Double* positionArray;
UA_Float* directionArray;
for(UA_UInt32 i = 0; i < nbDrone; i++) {
s = (JSDroneData *) JS_GetOpaque(droneObjectIdList[i], jsDroneClassId);
if (s->positionArrayId == id) {
positionArray = *(UA_Double**) var->value.data;
s->latitude = positionArray[0];
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Received latitude of drone %d: %f°", s->id, s->latitude);
s->longitude = positionArray[1];
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Received longitude of drone %d: %f°", s->id, s->longitude);
s->altitudeAbs = positionArray[2];
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Received absolute altitude of drone %d: %fm", s->id, s->altitudeAbs);
s->altitudeRel = positionArray[3];
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Received relative altitude of drone %d: %fm", s->id, s->altitudeRel);
s->altitudeAbs = *(UA_Float*) var->value.data;
return;
} else if (s->directionArrayId == id) {
directionArray = (UA_Float*) var->value.data;
s->yaw = directionArray[0];
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Received yaw angle of drone %d: %f°", s->id, s->yaw);
s->speed = directionArray[1];
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Received airspeed of drone %d: %fm/s", s->id, s->speed);
return;
}else if (s->messageId == id) {
uaStr = *(UA_String*) var->value.data;
if (!print) {
pthread_mutex_lock(&mutex);
while(strlen(s->message) != 0)
pthread_cond_wait(&threadCond, &mutex);
}
memcpy(s->message, uaStr.data, uaStr.length);
s->message[uaStr.length] = '\0';
UA_LOG_INFO(UA_Log_Stdout, UA_LOGCATEGORY_CLIENT, "Received message of drone %d: %s", s->id, s->message);
if (print) {
print_variable("message", s->id, s->message);
} else {
pthread_mutex_unlock(&mutex);
}
return;
}
}
......@@ -369,18 +369,11 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
if (JS_ToFloat64(ctx, &interval, argv[4]))
return JS_EXCEPTION;
if (JS_ToBool(ctx, argv[5])) {
res = runPubsub(&transportProfile, &networkAddressUrl,
droneVariableArray, countof(droneVariableArray), id,
nbDrone, interval, init_node_id, get_drone_id,
pubsub_get_value, pubsub_update_coordinates,
&pubsubShouldRun);
} else {
res = subscribeOnly(&transportProfile, &networkAddressUrl,
droneVariableArray, countof(droneVariableArray), id,
nbDrone, interval, init_node_id, get_drone_id,
pubsub_print_coordinates, &pubsubShouldRun);
}
res = runPubsub(&transportProfile, &networkAddressUrl, droneVariableArray,
countof(droneVariableArray), id, nbDrone, interval,
init_node_id, get_drone_id, pubsub_get_value,
pubsub_update_variables, JS_ToBool(ctx, argv[5]),
&pubsubShouldRun);
pubsubExited = true;
JS_FreeCString(ctx, ipv6);
......
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