software/js-drone: Comply with JSLint

software/js-drone/buildout.hash.cfg

@@ -26,12 +26,12 @@ md5sum = 1ff50063f5a54712a0bc0ff38fa74630
 
 [main]
 filename = main.js
-md5sum = c22879bb553a0932dd145a58acdf37e6
+md5sum = 2118d7908a909c585e03531147b1d540
 
 [pubsub]
 filename = pubsub.js
-md5sum = c732be66f8ec97bd16cd34d06a0c0a0b
+md5sum = 1555496ad591a31a845f33488d5c335d
 
 [worker]
 filename = worker.js
-md5sum = d919ce35d42561bc38a06273781cb702
+md5sum = bb067644bb1ee2e8eda1324718e317b1

software/js-drone/main.js

-/* global console */
+/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
+/*global arm, console, exit, open, scriptArgs, setTimeout, start, stop,
+  stopPubsub, takeOffAndWait, Worker*/
 import {
   arm,
   start,
@@ -9,16 +11,23 @@ import {
 import { setTimeout, Worker } from "os";
 import { open, exit } from "std";
 
-(function (console, setTimeout, Worker) {
+(function (arm, console, exit, open, scriptArgs, setTimeout, start, stop,
+           stopPubsub, takeOffAndWait, Worker) {
   "use strict";
-  const CONF_PATH = {{ json_module.dumps(configuration) }};
 
-  var conf_file = open(CONF_PATH, "r");
-  const configuration = JSON.parse(conf_file.readAsString());
-  conf_file.close();
+  var CONF_PATH = {{ json_module.dumps(configuration) }},
+    conf_file = open(CONF_PATH, "r"),
+    configuration = JSON.parse(conf_file.readAsString()),
+    URL = "udp://" + configuration.autopilotIp + ":7909",
+    LOG_FILE = "{{ log_dir }}/mavsdk-log",
+    pubsubWorker,
+    worker,
+    user_script = scriptArgs[1],
+    FPS = 50, // Minimum sampling interval for open62541 monitored items
+    previous_timestamp,
+    can_update = false;
 
-  const  URL = "udp://" + configuration.autopilotIp + ":7909",
-    LOG_FILE = "{{ log_dir }}/mavsdk-log";
+  conf_file.close();
 
   // Use a Worker to ensure the user script
   // does not block the main script
@@ -26,17 +35,14 @@ import { open, exit } from "std";
 
   // Create the update loop in the main script
   // to prevent it to finish (and so, exit the quickjs process)
-  var pubsubWorker,
-    worker = new Worker("{{ worker_script }}"),
-    user_script = scriptArgs[1],
-    // Minimum sampling interval for open62541 monitored items
-    FPS = 50,
-    previous_timestamp,
-    can_update = false;
+  worker = new Worker("{{ worker_script }}");
 
-  function connect() {
-    console.log("Will connect to", URL);
-    exitOnFail(start(URL, LOG_FILE, 60), "Failed to connect to " + URL);
+  function quit(is_a_drone, exit_code) {
+    stopPubsub();
+    if (is_a_drone) {
+      stop();
+    }
+    exit(exit_code);
   }
 
   function exitOnFail(ret, msg) {
@@ -46,12 +52,9 @@ import { open, exit } from "std";
     }
   }
 
-  function quit(is_a_drone, exit_code) {
-    stopPubsub();
-    if (is_a_drone) {
-      stop();
-    }
-    exit(exit_code);
+  function connect() {
+    console.log("Will connect to", URL);
+    exitOnFail(start(URL, LOG_FILE, 60), "Failed to connect to " + URL);
   }
 
   if (configuration.isADrone) {
@@ -60,11 +63,11 @@ import { open, exit } from "std";
   }
 
   pubsubWorker = new Worker("{{ pubsub_script }}");
-  pubsubWorker.onmessage = function(e) {
+  pubsubWorker.onmessage = function (e) {
     if (!e.data.publishing) {
       pubsubWorker.onmessage = null;
     }
-  }
+  };
 
   worker.postMessage({type: "initPubsub"});
 
@@ -91,7 +94,7 @@ import { open, exit } from "std";
   }
 
   function loop() {
-    let timestamp = Date.now(),
+    var timestamp = Date.now(),
       timeout;
     if (can_update) {
       if (FPS <= (timestamp - previous_timestamp)) {
@@ -117,7 +120,7 @@ import { open, exit } from "std";
   }
 
   worker.onmessage = function (e) {
-    let type = e.data.type;
+    var type = e.data.type;
     if (type === 'initialized') {
       pubsubWorker.postMessage({
         action: "run",
@@ -141,4 +144,5 @@ import { open, exit } from "std";
       quit(configuration.isADrone, 1);
     }
   };
-}(console, setTimeout, Worker));
+}(arm, console, exit, open, scriptArgs, setTimeout, start, stop, stopPubsub, 
+  takeOffAndWait, Worker));

software/js-drone/pubsub.js

+/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
+/*global console, open, runPubsub, Worker*/
 import {runPubsub} from {{ json_module.dumps(qjs_wrapper) }};
 import {Worker} from "os";
 import {open} from "std";
 
-const CONF_PATH = {{ json_module.dumps(configuration) }},
-  PORT = "4840";
+(function (console, open, runPubsub, Worker) {
+  "use strict";
 
-let parent = Worker.parent;
+  var CONF_PATH = {{ json_module.dumps(configuration) }},
+    PORT = "4840",
+    parent = Worker.parent,
+    conf_file = open(CONF_PATH, "r"),
+    configuration = JSON.parse(conf_file.readAsString());
+  conf_file.close();
 
-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) {
+  function handle_msg(e) {
+    switch (e.data.action) {
     case "run":
-      runPubsub(configuration.multicastIp, PORT, configuration.netIf, 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;
     default:
       console.log("Undefined action from parent: ", e.data.action);
     }
-}
+  }
 
-parent.onmessage = handle_msg;
+  parent.onmessage = handle_msg;
+}(console, open, runPubsub, Worker));
\ No newline at end of file

software/js-drone/worker.js

-/* global console, std */
+/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
+/*global console, getAltitude, getAltitudeRel, getInitialAltitude, getLatitude,
+  getLongitude, getYaw, execUserScript, initPubsub, isInManualMode, landed,
+  loiter, setAirspeed, setAltitude, setManualControlInput, setMessage,
+  setTargetCoordinates, std, triggerParachute, Drone, Worker*/
 import {
   Drone,
   triggerParachute,
@@ -21,17 +25,18 @@ import {
 import * as std from "std";
 import { Worker } from "os";
 
-(function (console, Worker) {
+(function (console, getAltitude, getAltitudeRel, getInitialAltitude,
+           getLatitude, getLongitude, getYaw, initPubsub, isInManualMode,
+           landed, loiter, setAirspeed, setAltitude, setManualControlInput,
+           setMessage, setTargetCoordinates, std, triggerParachute, Drone,
+           Worker) {
   // Every script is evaluated per drone
   "use strict";
-  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,
+  var CONF_PATH = {{ json_module.dumps(configuration) }},
+    conf_file = std.open(CONF_PATH, "r"),
+    configuration = JSON.parse(conf_file.readAsString()),
+    parent = Worker.parent,
     user_me = {
       //for debugging purpose
       fdopen: std.fdopen,
@@ -39,12 +44,12 @@ import { Worker } from "os";
       //required to fly
       triggerParachute: triggerParachute,
       drone_dict: {},
-      exit: function(exit_code) {
+      exit: function (exit_code) {
         parent.postMessage({type: "exited", exit: exit_code});
         parent.onmessage = null;
       },
       getAltitudeAbs: getAltitude,
-      getCurrentPosition: function() {
+      getCurrentPosition: function () {
         return {
           x: getLatitude(),
           y: getLongitude(),
@@ -56,25 +61,25 @@ import { Worker } from "os";
       id: configuration.id,
       landed: landed,
       loiter: loiter,
-      sendMsg: function(msg, id = -1) {
+      sendMsg: function (msg, id) {
+        if (id === undefined) { id = -1; }
         setMessage(JSON.stringify({ content: msg, dest_id: id }));
       },
       setAirspeed: setAirspeed,
       setAltitude: setAltitude,
       setTargetCoordinates: setTargetCoordinates
     };
+  conf_file.close();
 
   function loadUserScript(path) {
-    let script_content = std.loadFile(path);
+    var script_content = std.loadFile(path);
     if (script_content === null) {
       console.log("Failed to load user script " + path);
       std.exit(1);
     }
     try {
       std.evalScript(
-        "function execUserScript(from, me) {" +
-          script_content +
-        "};"
+        "function execUserScript(from, me) {" + script_content + "};"
       );
     } catch (e) {
       console.log("Failed to evaluate user script", e);
@@ -102,19 +107,16 @@ import { Worker } from "os";
       loadUserScript(evt.data.path);
       parent.postMessage({type: "loaded"});
     } else if (type === "update") {
-      for (const [id, drone] of Object.entries(user_me.drone_dict)) {
-        message = drone.message
-        if (message.length > 0) {
+      Object.entries(user_me.drone_dict).forEach(function ([id, drone]) {
+        message = drone.message;
+        if (user_me.id !== Number(id) && message.length > 0) {
           message = JSON.parse(message);
-          if (user_me.id === id) {
-            continue;
-          }
           if (user_me.hasOwnProperty("onGetMsg") &&
               [-1, user_me.id].includes(message.dest_id)) {
             user_me.onGetMsg(message.content);
           }
         }
-      }
+      });
       // Call the drone onStart function
       if (user_me.hasOwnProperty("onUpdate")) {
         if (configuration.isADrone && isInManualMode()) {
@@ -138,4 +140,7 @@ import { Worker } from "os";
       std.exit(1);
     }
   };
-}(console, Worker));
+}(console, getAltitude, getAltitudeRel, getInitialAltitude, getLatitude,
+  getLongitude, getYaw, initPubsub, isInManualMode, landed, loiter, setAirspeed,
+  setAltitude, setManualControlInput, setMessage, setTargetCoordinates, std,
+  triggerParachute, Drone, Worker));