component/qjs-wrapper: v↑ qjs-wrapper (1.2 -> 1.3)

component/qjs-wrapper/buildout.cfg

@@ -9,8 +9,8 @@ parts = qjs-wrapper
 [qjs-wrapper]
 recipe = slapos.recipe.cmmi
 configure-command = true
-url = https://lab.nexedi.com/nexedi/qjs-wrapper/-/archive/v1.2/qjs-wrapper-v1.2.tar.gz
-md5sum = e335fc2251610c09dde3e74787317d98
+url = https://lab.nexedi.com/nexedi/qjs-wrapper/-/archive/v1.3/qjs-wrapper-v1.3.tar.gz
+md5sum = 5f63356c6a10bf227e2641ea4f78c7a2
 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/buildout.hash.cfg

@@ -18,7 +18,7 @@ md5sum = 360b58007c25727b7bd8a9154d5cafd4
 
 [instance-default]
 filename = instance-default.cfg
-md5sum = b26633b118cddd7c7b8dfd61b360999c
+md5sum = 903939308701b11b1ff751784a9be110
 
 [instance-drone]
 filename = instance-drone.cfg
@@ -26,7 +26,7 @@ md5sum = 1ff50063f5a54712a0bc0ff38fa74630
 
 [main]
 filename = main.js
-md5sum = 2118d7908a909c585e03531147b1d540
+md5sum = d0bfcc79cdd7c1e5b8f5d264cc59074e
 
 [pubsub]
 filename = pubsub.js
@@ -34,4 +34,4 @@ md5sum = 1555496ad591a31a845f33488d5c335d
 
 [worker]
 filename = worker.js
-md5sum = 3893fb9228603e8c74f803476ec64dec
+md5sum = e4b4ca3bde1a21f1dbfc4ff7fa3b872c

software/js-drone/instance-default.cfg

 {% set autopilot_ip = slapparameter_dict.get('autopilotIp', '192.168.27.1') -%}
+{% set autopilot_port = slapparameter_dict.get('autopilotPort', 7909) -%}
 {% set flight_script = slapparameter_dict.get('flightScript', 'https://lab.nexedi.com/nexedi/flight-scripts/raw/master/default.js') -%}
 {% set is_a_simulation = slapparameter_dict.get('isASimulation', False) -%}
 {% set multicast_ip = slapparameter_dict.get('multicastIp', 'ff15::1111') -%}
@@ -25,6 +26,7 @@ software-type = drone
 return = instance-path
 sla-computer_guid = {{ guid }}
 config-autopilotIp = {{ autopilot_ip }}
+config-autopilotPort = {{ dumps(autopilot_port) }}
 config-numberOfPeers = {{ dumps(nb_peer) }}
 config-id = {{ dumps(id) }}
 config-isASimulation = {{ dumps(is_a_simulation) }}

software/js-drone/instance-drone-input-schema.json

@@ -9,6 +9,11 @@
       "description": "IP used to create a connection with the autopilot.",
       "type": "string"
     },
+    "autopilotPort": {
+      "title": "Port of the drone's autopilot",
+      "description": "Port on which autopilot service is running.",
+      "type": "integer"
+    },
     "numberOfPeers": {
       "title": "Number of Peers",
       "description": "Number of drones and subscribers in the swarm",

software/js-drone/instance-input-schema.json

@@ -10,6 +10,12 @@
       "type": "string",
       "default": "192.168.27.1"
     },
+    "autopilotPort": {
+      "title": "Port of the drone's autopilot",
+      "description": "Port on which autopilot service is running.",
+      "type": "integer",
+      "default": "7909"
+    },
     "droneGuidList": {
       "title": "List of drones computer ID",
       "description": "List of computer ID of drones in the swarm",

software/js-drone/main.js

@@ -18,7 +18,6 @@ import { open, exit } from "std";
   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,
@@ -53,8 +52,12 @@ import { open, exit } from "std";
   }
 
   function connect() {
-    console.log("Will connect to", URL);
-    exitOnFail(start(URL, LOG_FILE, 60), "Failed to connect to " + URL);
+    var address = configuration.autopilotIp + ":" + configuration.autopilotPort;
+    console.log("Will connect to", address);
+    exitOnFail(
+      start(configuration.autopilotIp, configuration.autopilotPort, LOG_FILE, 60),
+      "Failed to connect to " + address
+    );
   }
 
   if (configuration.isADrone) {

software/js-drone/test/test.py

@@ -255,6 +255,7 @@ class JSDroneTestCase(SlapOSInstanceTestCase):
       json.loads(self.get_partition('drone').getInstanceParameterDict()['_']),
       {
         'autopilotIp': '192.168.27.1',
+        'autopilotPort': 7909,
         'id': 0,
         'isASimulation': False,
         'isADrone': False,

software/js-drone/worker.js

 /*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*/
+  getLongitude, getYaw, execUserScript, initPubsub, landed, loiter, setAirspeed,
+  setMessage, setTargetCoordinates, std, triggerParachute, Drone, Worker*/
 import {
   Drone,
   triggerParachute,
@@ -15,12 +14,9 @@ import {
   getLongitude,
   getYaw,
   initPubsub,
-  isInManualMode,
   landed,
   loiter,
   setAirspeed,
-  setAltitude,
-  setManualControlInput,
   setMessage,
   setTargetCoordinates
 } from {{ json_module.dumps(qjs_wrapper) }};
@@ -28,10 +24,9 @@ import * as std from "std";
 import { Worker } from "os";
 
 (function (console, getAltitude, getAltitudeRel, getInitialAltitude,
-           getLatitude, getLongitude, getYaw, initPubsub, isInManualMode,
-           landed, loiter, setAirspeed, setAltitude, setManualControlInput,
-           setMessage, setTargetCoordinates, std, triggerParachute, Drone,
-           Worker) {
+           getLatitude, getLongitude, getYaw, initPubsub, landed, loiter,
+           setAirspeed, setMessage, setTargetCoordinates, std, triggerParachute,
+           Drone, Worker) {
   // Every script is evaluated per drone
   "use strict";
 
@@ -70,7 +65,6 @@ import { Worker } from "os";
         setMessage(JSON.stringify({ content: msg, dest_id: id }));
       },
       setAirspeed: setAirspeed,
-      setAltitude: setAltitude,
       setTargetCoordinates: setTargetCoordinates
     };
   conf_file.close();
@@ -123,9 +117,6 @@ import { Worker } from "os";
       });
       // Call the drone onStart function
       if (user_me.hasOwnProperty("onUpdate")) {
-        if (configuration.isADrone && isInManualMode()) {
-          setManualControlInput();
-        }
         user_me.onUpdate(evt.data.timestamp);
       }
       parent.postMessage({type: "updated"});
@@ -145,6 +136,5 @@ import { Worker } from "os";
     }
   };
 }(console, getAltitude, getAltitudeRel, getInitialAltitude, getLatitude,
-  getLongitude, getYaw, initPubsub, isInManualMode, landed, loiter, setAirspeed,
-  setAltitude, setManualControlInput, setMessage, setTargetCoordinates, std,
-  triggerParachute, Drone, Worker));
+  getLongitude, getYaw, initPubsub, landed, loiter, setAirspeed, setMessage,
+  setTargetCoordinates, std, triggerParachute, Drone, Worker));