component/qjs-wrapper: v↑ qjs-wrapper (1.3 -> 2.0)

component/mavsdk: v↑ mavsdk (0.39.0 -> 1.4.13)
component/gwsocket: add gwsocket websocket server
software/js-drone: add frontend for subscriber
software/js-drone: use WebSocket for subscriber
slapos/software: run quickjs as a service

component/gwsocket/buildout.cfg

+# simple, standalone, language-agnostic, RFC6455 compliant WebSocket Server, written in C. https://gwsocket.io
+
+[buildout]
+parts = gwsocket
+
+[gwsocket]
+recipe = slapos.recipe.cmmi
+shared = true
+url = https://tar.gwsocket.io/gwsocket-0.4.tar.gz
+md5sum = 1367e77c47cb6379025e64deb85fb066

component/mavsdk/buildout.cfg

@@ -4,37 +4,56 @@ extends =
   ../curl/buildout.cfg
   ../git/buildout.cfg
   ../jsoncpp/buildout.cfg
+  ../lxml-python/buildout.cfg
+  ../macros/macro.pythonpath.eggs.cfg
   ../tinyxml2/buildout.cfg
   ../zlib/buildout.cfg
 
 parts =
   mavsdk
 
-[c-astral-headers]
-recipe = slapos.recipe.build:gitclone
-repository = https://lab.nexedi.com/nexedi/c-astral-c-library
-revision = v1.0
-git-executable = ${git:location}/bin/git
-
 [gcc]
 min_version = 7.1
 
+[c-astral-xml-definition]
+recipe = slapos.recipe.build:gitclone
+repository = https://lab.nexedi.com/nexedi/c-astral-c-library.git
+revision = v2.1
+git-executable = ${git:location}/bin/git
+
 [mavsdk-source]
 recipe = slapos.recipe.build:gitclone
 repository = https://github.com/mavlink/MAVSDK.git
-revision = v0.39.0
-
+revision = v1.4.13
 git-executable = ${git:location}/bin/git
 ignore-cloning-submodules = true
 
+[future]
+recipe = zc.recipe.egg:custom
+egg = future
+
+[mavsdk-env]
+CMAKE_INCLUDE_PATH=${curl:location}/include:${jsoncpp:location}/include:${tinyxml2:location}/include
+CMAKE_LIBRARY_PATH=${curl:location}/lib:${jsoncpp:location}/lib:${tinyxml2:location}/lib:${zlib:location}/lib
+CMAKE_PROGRAM_PATH=${cmake:location}/bin
+PATH=${pkgconfig:location}/bin/:${git:location}/bin/:%(PATH)s
+LDFLAGS=-L${curl:location}/lib -Wl,-rpath=${curl:location}/lib -L${jsoncpp:location}/lib -Wl,-rpath=${jsoncpp:location}/lib -L${tinyxml2:location}/lib -Wl,-rpath=${tinyxml2:location}/lib -L${zlib:location}/lib -Wl,-rpath=${zlib:location}/lib -Wl,-rpath=@@LOCATION@@/lib
+
+[mavsdk-pythonpath]
+<= macro.pythonpath.eggs
+environment = mavsdk-env
+eggs =
+  ${future:egg}
+  ${lxml-python:egg}
+
 [mavsdk]
 recipe = slapos.recipe.cmmi
 path = ${mavsdk-source:location}
 cmake = ${cmake:location}/bin/cmake
+depends = ${mavsdk-pythonpath:recipe}
 pre-configure =
   ${git:location}/bin/git submodule update --init --recursive
-  cp -r ${c-astral-headers:location}/* ${mavsdk-source:location}/src/third_party/mavlink/include/mavlink/v2.0/
-  sed -i 's#common/mavlink.h#CAstral/mavlink.h#' ${mavsdk-source:location}/src/core/mavlink_include.h
+  sed -i 's#message_definitions/v1.0#${c-astral-xml-definition:location}#' ${mavsdk-source:location}/third_party/mavlink/CMakeLists.txt
 configure-command =
   ${:cmake}
 configure-options =
@@ -42,19 +61,23 @@ configure-options =
   -DCMAKE_C_FLAGS="${:CMAKE_CFLAGS}"
   -DCMAKE_CXX_FLAGS="${:CMAKE_CFLAGS}"
   -DCMAKE_INSTALL_PREFIX=@@LOCATION@@
-  -DCMAKE_INSTALL_RPATH=${:CMAKE_LIBRARY_PATH}:@@LOCATION@@/lib
+  -DCMAKE_INSTALL_RPATH=${mavsdk-env:CMAKE_LIBRARY_PATH}:@@LOCATION@@/lib
   -DPKG_CONFIG_EXECUTABLE=${pkgconfig:location}/bin/pkg-config
   -DSUPERBUILD=OFF
   -Bbuild/default
   -H.
+  -Wno-dev
 make-binary =
   ${:cmake} --build build/default --target install
-environment =
-  CMAKE_INCLUDE_PATH=${curl:location}/include:${jsoncpp:location}/include:${tinyxml2:location}/include
-  CMAKE_LIBRARY_PATH=${:CMAKE_LIBRARY_PATH}
-  CMAKE_PROGRAM_PATH=${cmake:location}/bin
-  PATH=${pkgconfig:location}/bin/:%(PATH)s
-  LDFLAGS=-L${curl:location}/lib -Wl,-rpath=${curl:location}/lib -L${jsoncpp:location}/lib -Wl,-rpath=${jsoncpp:location}/lib -L${tinyxml2:location}/lib -Wl,-rpath=${tinyxml2:location}/lib -L${zlib:location}/lib -Wl,-rpath=${zlib:location}/lib -Wl,-rpath=@@LOCATION@@/lib
+environment = mavsdk-env
 
 CMAKE_CFLAGS=-I${tinyxml2:location}/include
-CMAKE_LIBRARY_PATH=${curl:location}/lib:${jsoncpp:location}/lib:${tinyxml2:location}/lib:${zlib:location}/lib
+
+[c-astral-wrapper]
+recipe = slapos.recipe.cmmi
+configure-command = true
+url = https://lab.nexedi.com/nexedi/c-astral-wrapper/-/archive/v2.0/c-astral-wrapper-v2.0.tar.gz
+md5sum = ee2d05d225a57d17318282ff595fd498
+environment =
+  CPLUS_INCLUDE_PATH=${qjs-wrapper-source:location}/include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk
+  LDFLAGS=-L${mavsdk:location}/lib -Wl,-rpath=${mavsdk:location}/lib

component/qjs-wrapper/buildout.cfg

 [buildout]
 extends =
+  ../git/buildout.cfg
   ../mavsdk/buildout.cfg
   ../open62541/buildout.cfg
   ../quickjs/buildout.cfg
 
 parts = qjs-wrapper
 
+[qjs-wrapper-source]
+recipe = slapos.recipe.build:gitclone
+repository = https://lab.nexedi.com/nexedi/qjs-wrapper.git
+revision = v2.0
+git-executable = ${git:location}/bin/git
+
 [qjs-wrapper]
 recipe = slapos.recipe.cmmi
 configure-command = true
-url = https://lab.nexedi.com/nexedi/qjs-wrapper/-/archive/v1.3/qjs-wrapper-v1.3.tar.gz
-md5sum = 5f63356c6a10bf227e2641ea4f78c7a2
+path = ${qjs-wrapper-source:location}
 environment =
   C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include
-  CPLUS_INCLUDE_PATH=include:${mavsdk:location}/include:${mavsdk:location}/include/mavsdk
-  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${mavsdk:location}/lib -Wl,-rpath=${mavsdk:location}/lib
+  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${c-astral-wrapper:location}/lib -Wl,-rpath=${c-astral-wrapper:location}/lib

software/js-drone/README.md

 # Javascript drone #
 
+
 ## Presentation ##
 
 * Deploy `user.js` flight script on a drone swarm
+* Deploy a GUI on subscribers
+* Run the flight script or the GUI as a SlapOS service
 
-* Compile all required libraries to run the flight script
 
 ## Parameters ##
 
-* autopilot-ip: IPv4 address to identify the autopilot from the companion board
+* autopilotIp: IPv4 address to identify the autopilot from the companion board
+* droneGuidList: List of computer id on which flight script must be deployed
+* isASimulation: Must be set to 'true' to automatically take off during simulation
+* multicastIp: IPv6 of the multicast group of the swarm
+* netIf: Network interface used for multicast traffic
+* flightScript: URL of user's script to execute to fly drone swarm
+* subscriberGuidList: List of computer id on which a GUI must be deployed
+
 
-* drone-guid-list: List of computer id on which flight script must be deployed
+## How it works ##
 
-* is-a-simulation: Must be set to 'true' to automatically take off during simulation
+For each computer listed in `droneGuidList` and `subscriberGuidList` the `peer` SR type will be instanciated.
 
-* multicast-ip: IPv6 of the multicast group of the swarm
+Each instance will return a `instance-path`. Under this path one will find `quickjs binary` in `bin` folder
+and `scripts` in `etc` folder. Subcribers also return a `httpd-url` (the GUI address) and a `websocket-url` (used by the
+GUI).
 
-* net-if: Network interface used for multicast traffic
+`quickjs binary location` `scripts location`/main.js `scripts location`/user.js is run as a SlapOS service. This allows
+each instance to communicate with the others through OPC-UA pub/sub. For the drones it also establishes a connexion with
+the UAV autopilot, for a subscriber it sends the pub/sub messages through the websocket.
 
-* flight-script: URL of user's script to execute to fly drone swarm
 
-* subscriber-guid-list: List of computer id on which subscription script must be deployed
+## Web GUI (subcribers)
 
-## How it works ##
 
-For each computer listed in `drone-guid-list` and `subscriber-guid-list` a drone SR will be instanciated.
-Each instance will return a `instance-path`. Under this path one will find `quickjs binary` in `bin` folder
-and `scripts` in `etc` folder.
-Run `quickjs binary location` `scripts location`/main.js `scripts location`/user.js .
+### Drones informations
+
+For each drone is displayed:
+* the user script and autopilot logs
+* the flight state (ready, flying, landing)
+* the latitude in degrees
+* the longitude in degrees
+* the relative altitude in meters
+* the yaw angle in degrees
+* the speed (ground speed for multicopters, airspeed for fixed wings) in meters per second
+* the climb rate in meters per second
+
+
+### Buttons
+
+* Start: sends a "start" message to the swarm and changes into a stop button
+* Stop: sends a "stop" message to the swarm
+* Switch leader: sends a "switch" message to the swarm, it is usually used to change the leader
+* Quit: exits (closes websocket and stops pub/sub)
+
+
+![GUI screenshot](images/js-drone_GUI_screenshot.png)

software/js-drone/buildout.hash.cfg

@@ -12,26 +12,34 @@
 # Substitution (${...:...}), extension ([buildout] extends = ...) and
 # section inheritance (< = ...) are NOT supported (but you should really
 # not need these here).
+[index-html]
+_update_hash_filename_ = web-gui/index.html.jinja2
+md5sum = 1eedc017ecc9d1a6761dc2fff3bbab9b
+
 [instance-profile]
-filename = instance.cfg
-md5sum = 360b58007c25727b7bd8a9154d5cafd4
+filename = instance.cfg.in
+md5sum = 80dae3e883663311d9814def78ee875a
 
 [instance-default]
-filename = instance-default.cfg
-md5sum = 903939308701b11b1ff751784a9be110
+filename = instance-default.cfg.jinja2
+md5sum = 9db922cc0fcaa67006a2d6b9b95b95fe
 
-[instance-drone]
-filename = instance-drone.cfg
-md5sum = 1ff50063f5a54712a0bc0ff38fa74630
+[instance-peer]
+filename = instance-peer.cfg.jinja2.in
+md5sum = d12fbb134c587173ddff46ff1bc6ffe7
 
 [main]
-filename = main.js
-md5sum = d0bfcc79cdd7c1e5b8f5d264cc59074e
+_update_hash_filename_ = drone-scripts/main.js.jinja2
+md5sum = 9a8ec8a2778f63789f39291795f47e98
 
 [pubsub]
-filename = pubsub.js
+_update_hash_filename_ = drone-scripts/pubsub.js.jinja2
 md5sum = 1555496ad591a31a845f33488d5c335d
 
+[script-js]
+_update_hash_filename_ = web-gui/script.js.jinja2
+md5sum = e28492276416c2d84e770217ae97a88f
+
 [worker]
-filename = worker.js
-md5sum = e4b4ca3bde1a21f1dbfc4ff7fa3b872c
+_update_hash_filename_ = drone-scripts/worker.js.jinja2
+md5sum = 48540afedd5437129196d84832d2ed40

software/js-drone/main.js → software/js-drone/drone-scripts/main.js.jinja2

 /*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
-/*global arm, console, exit, open, scriptArgs, setTimeout, start, stop,
-  stopPubsub, takeOffAndWait, Worker*/
+/*global arm, console, close, dup2, exit, open, scriptArgs, setTimeout, start,
+  stop, stopPubsub, takeOffAndWait, Worker, SIGINT, SIGTERM*/
 import {
   arm,
   start,
@@ -8,17 +8,27 @@ import {
   stopPubsub,
   takeOffAndWait
 } from {{ json_module.dumps(qjs_wrapper) }};
-import { setTimeout, Worker } from "os";
-import { open, exit } from "std";
-
-(function (arm, console, exit, open, scriptArgs, setTimeout, start, stop,
-           stopPubsub, takeOffAndWait, Worker) {
+import {
+  Worker,
+  SIGTERM,
+  dup2,
+  setTimeout,
+  signal
+} from "os";
+import { err, exit, open, out } from "std";
+
+(function (arm, console, dup2, err, exit, open, out, scriptArgs,
+           setTimeout, start, stop, stopPubsub, takeOffAndWait, Worker,
+           SIGTERM) {
   "use strict";
 
   var CONF_PATH = {{ json_module.dumps(configuration) }},
     conf_file = open(CONF_PATH, "r"),
     configuration = JSON.parse(conf_file.readAsString()),
-    LOG_FILE = "{{ log_dir }}/mavsdk-log",
+    MAVSDK_LOG_FILE_PATH =
+      "{{ log_dir }}/mavsdk_" + new Date().toISOString() + ".log",
+    LOG_FILE =
+      open("{{ log_dir }}/quickjs_" + new Date().toISOString() + ".log", "w"),
     pubsubWorker,
     worker,
     user_script = scriptArgs[1],
@@ -28,6 +38,10 @@ import { open, exit } from "std";
 
   conf_file.close();
 
+  // redirect stdout and stderr
+  dup2(LOG_FILE.fileno(), out.fileno());
+  dup2(LOG_FILE.fileno(), err.fileno());
+
   // Use a Worker to ensure the user script
   // does not block the main script
   // (preventing it to be stopped for example)
@@ -37,17 +51,28 @@ import { open, exit } from "std";
   worker = new Worker("{{ worker_script }}");
 
   function quit(is_a_drone, exit_code) {
+    worker.onmessage = null;
     stopPubsub();
     if (is_a_drone) {
       stop();
     }
+    LOG_FILE.close();
     exit(exit_code);
   }
 
+  function exitWorker(exit_code) {
+    worker.postMessage({
+      type: "exit",
+      code: exit_code
+    });
+  }
+
+  signal(SIGTERM, exitWorker.bind(null, 0));
+
   function exitOnFail(ret, msg) {
     if (ret) {
       console.log(msg);
-      quit(1);
+      exitWorker(1);
     }
   }
 
@@ -55,7 +80,12 @@ import { open, exit } from "std";
     var address = configuration.autopilotIp + ":" + configuration.autopilotPort;
     console.log("Will connect to", address);
     exitOnFail(
-      start(configuration.autopilotIp, configuration.autopilotPort, LOG_FILE, 60),
+      start(
+        configuration.autopilotIp,
+        configuration.autopilotPort,
+        MAVSDK_LOG_FILE_PATH,
+        60
+      ),
       "Failed to connect to " + address
     );
   }
@@ -87,7 +117,7 @@ import { open, exit } from "std";
     // First argument must provide the user script path
     if (user_script === undefined) {
       console.log('Please provide the user_script path.');
-      quit(1);
+      exitWorker(1);
     }
 
     worker.postMessage({
@@ -138,14 +168,16 @@ import { open, exit } from "std";
       // Start the update loop
       loop();
     } else if (type === 'updated') {
+      err.flush();
+      out.flush();
       can_update = true;
     } else if (type === 'exited') {
       worker.onmessage = null;
       quit(configuration.isADrone, e.data.exit);
     } else {
       console.log('Unsupported message type', type);
-      quit(configuration.isADrone, 1);
+      exitWorker(1);
     }
   };
-}(arm, console, exit, open, scriptArgs, setTimeout, start, stop, stopPubsub, 
-  takeOffAndWait, Worker));
+}(arm, console, dup2, err, exit, open, out, scriptArgs, setTimeout, start, stop,
+  stopPubsub, takeOffAndWait, Worker, SIGTERM));

software/js-drone/drone-scripts/worker.js.jinja2

+/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
+/*global console, getAltitude, getAltitudeRel, getInitialAltitude, gpsIsOk,
+  getLatitude, getLongitude, getYaw, execUserScript, initPubsub, loiter,
+  setAirSpeed, setMessage, setTargetCoordinates, std, triggerParachute,
+  updateLogAndProjection, Drone, Worker*/
+import {
+  Drone,
+  triggerParachute,
+  getAirspeed,
+  getAltitude,
+  getClimbRate,
+  getInitialAltitude,
+  gpsIsOk,
+  getPosition,
+  getYaw,
+  initPubsub,
+  isLanding,
+  loiter,
+  setAirSpeed,
+  setMessage,
+  setTargetCoordinates,
+  updateLogAndProjection
+} from {{ json_module.dumps(qjs_wrapper) }};
+import {
+  SIGTERM,
+  WNOHANG,
+  Worker,
+  close,
+  exec,
+  kill,
+  pipe,
+  setReadHandler,
+  waitpid
+} from "os";
+import { evalScript, fdopen, loadFile, open } from "std";
+
+(function (Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
+           fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition,
+           getYaw, initPubsub, kill, isLanding, loadFile, loiter, open, pipe,
+           setAirSpeed, setMessage, setReadHandler, setTargetCoordinates,
+           triggerParachute, updateLogAndProjection, waitpid) {
+  // Every script is evaluated per drone
+  "use strict";
+
+  var CONF_PATH = {{ json_module.dumps(configuration) }},
+    conf_file = open(CONF_PATH, "r"),
+    configuration = JSON.parse(conf_file.readAsString()),
+    clientId,
+    drone_dict = {},
+    gwsocket_pid,
+    gwsocket_r_pipe_fd,
+    gwsocket_w_pipe_fd,
+    handleWebSocketMessage,
+    last_message_timestamp = 0,
+    last_log_timestamp = 0,
+    parent = Worker.parent,
+    peer_dict = {},
+    user_me = {
+      //required to fly
+      triggerParachute: triggerParachute,
+      exit: exitWorker,
+      getDroneDict: function () { return drone_dict; },
+      getAltitudeAbs: getAltitude,
+      getCurrentPosition: getPosition,
+      getInitialAltitude: getInitialAltitude,
+      gpsIsOk: gpsIsOk,
+      getYaw: getYaw,
+      getSpeed: getAirspeed,
+      getClimbRate: getClimbRate,
+      id: configuration.id,
+      isLanding: isLanding,
+      loiter: loiter,
+      sendMsg: function (msg, id) {
+        if (id === undefined) { id = -1; }
+        setMessage(JSON.stringify({
+          content: msg,
+          timestamp: Date.now(),
+          dest_id: id
+        }));
+      },
+      setAirSpeed: setAirSpeed,
+      setTargetCoordinates: setTargetCoordinates
+    };
+  conf_file.close();
+
+  function exitWorker(exit_code) {
+    if (user_me.hasOwnProperty("onWebSocketMessage")) {
+      stopGwsocket();
+    }
+    parent.postMessage({type: "exited", exit: exit_code});
+    parent.onmessage = null;
+  }
+
+  function readMessage(rd) {
+    function read4() {
+      var b1, b2, b3, b4;
+      b1 = rd.getByte();
+      b2 = rd.getByte();
+      b3 = rd.getByte();
+      b4 = rd.getByte();
+      return (b1 << 24) | (b2 << 16) | (b3 << 8) | b4;
+    }
+    clientId = read4();
+    var type = read4();
+    var len = read4();
+    var data = new ArrayBuffer(len);
+    rd.read(data, 0, len);
+    return {
+      client: clientId,
+      type:   type,
+      data:   String.fromCharCode.apply(null, new Uint8Array(data)).trim()
+    };
+  }
+
+  function writeMessage(wr, m) {
+    function write4(v) {
+      wr.putByte((v >> 24) & 0xFF);
+      wr.putByte((v >> 16) & 0xFF);
+      wr.putByte((v >> 8) & 0xFF);
+      wr.putByte(v & 0xFF);
+    }
+    write4(m.client);
+    write4(m.type);
+    write4(m.data.byteLength);
+    wr.write(m.data, 0, m.data.byteLength);
+    wr.flush();
+  }
+
+  function runGwsocket(onMessage) {
+    var gwsocket_w_pipe = pipe(),
+      gwsocket_r_pipe = pipe();
+
+    gwsocket_pid = exec([
+        "gwsocket",
+        "--port=" + configuration.websocketPort,
+        "--addr=" + configuration.websocketIp,
+        "--std",
+        "--strict"
+      ], {
+        block:   false,
+        usePath: false,
+        file:    {{ json_module.dumps(gwsocket_bin) }},
+        stdin:   gwsocket_w_pipe[0],
+        stdout:  gwsocket_r_pipe[1]
+      });
+
+    gwsocket_w_pipe_fd = fdopen(gwsocket_w_pipe[1], "w");
+    gwsocket_r_pipe_fd = fdopen(gwsocket_r_pipe[0], "r");
+
+    handleWebSocketMessage = function () {
+      var message = readMessage(gwsocket_r_pipe_fd).data;
+      if (message.includes(configuration.websocketIp)) {
+        return;
+      }
+      onMessage(message);
+    };
+    user_me.writeWebsocketMessage = function (message) {
+      var buf = new ArrayBuffer(message.length);
+      var bufView = new Uint8Array(buf);
+      for (var i=0; i<message.length; i++) {
+        bufView[i] = message.charCodeAt(i);
+      }
+      writeMessage(gwsocket_w_pipe_fd, {client: clientId, type: 1, data: buf});
+    }
+    setReadHandler(gwsocket_r_pipe[0], handleWebSocketMessage);
+  }
+
+  function stopGwsocket() {
+    handleWebSocketMessage = null;
+    close(gwsocket_w_pipe_fd);
+    close(gwsocket_r_pipe_fd);
+    kill(gwsocket_pid, SIGTERM);
+    waitpid(gwsocket_pid, WNOHANG);
+  }
+
+  function loadUserScript(path) {
+    var script_content = loadFile(path);
+    if (script_content === null) {
+      console.log("Failed to load user script " + path);
+      exitWorker(1);
+    }
+    try {
+      evalScript(
+        "function execUserScript(from, me) {" + script_content + "};"
+      );
+    } catch (e) {
+      console.log("Failed to evaluate user script", e);
+      exitWorker(1);
+    }
+    execUserScript(null, user_me);
+
+    if (user_me.hasOwnProperty("onWebSocketMessage")) {
+      runGwsocket(user_me.onWebSocketMessage);
+    }
+
+    // Call the drone onStart function
+    if (user_me.hasOwnProperty("onStart")) {
+      user_me.onStart();
+    }
+  }
+
+  function handleMainMessage(evt) {
+    var type = evt.data.type, message, peer_id;
+
+    switch (type) {
+
+    case "initPubsub":
+      initPubsub(configuration.numberOfDrone, configuration.numberOfSubscriber);
+      for (peer_id = 0; peer_id < configuration.numberOfDrone + configuration.numberOfSubscriber; peer_id++) {
+        peer_dict[peer_id] = new Drone(peer_id);
+        peer_dict[peer_id].init(peer_id);
+        if (peer_id < configuration.numberOfDrone) {
+          drone_dict[peer_id] = peer_dict[peer_id];
+        }
+      }
+      parent.postMessage({type: "initialized"});
+      break;
+
+    case "load":
+      loadUserScript(evt.data.path);
+      parent.postMessage({type: "loaded"});
+      break;
+
+    case "update":
+      Object.entries(peer_dict).forEach(function ([id, peer]) {
+        message = peer.message;
+        if (user_me.id !== Number(id) && message.length > 0) {
+          message = JSON.parse(message);
+          if (message.timestamp != last_message_timestamp &&
+              user_me.hasOwnProperty("onGetMsg") &&
+              [-1, user_me.id].includes(message.dest_id)) {
+            last_message_timestamp = message.timestamp;
+            user_me.onGetMsg(message.content);
+          }
+        }
+      });
+      // Call the drone onStart function
+      if (user_me.hasOwnProperty("onUpdate")) {
+        user_me.onUpdate(evt.data.timestamp);
+      }
+
+      if (evt.data.timestamp - last_log_timestamp >= 1000) {
+        updateLogAndProjection();
+        last_log_timestamp = evt.data.timestamp; 
+      }
+
+      parent.postMessage({type: "updated"});
+      break;
+
+    case "exit":
+      exitWorker(evt.data.code);
+      break;
+
+    default:
+      throw new Error("Unsupported message type", type);
+    };
+  }
+
+  parent.onmessage = function (evt) {
+    try {
+      handleMainMessage(evt);
+    } catch (error) {
+      // Catch all potential bug to exit the main process
+      // if it occurs
+      console.log(error);
+      exitWorker(1);
+    }
+  };
+}(Drone, SIGTERM, WNOHANG, Worker, close, console, evalScript, exec,
+  fdopen, getAltitude, getInitialAltitude, gpsIsOk, getPosition, getYaw,
+  initPubsub, isLanding, kill, loadFile, loiter, open, pipe, setAirSpeed,
+  setMessage, setReadHandler, setTargetCoordinates, triggerParachute,
+  updateLogAndProjection, waitpid));

software/js-drone/instance-default.cfg → software/js-drone/instance-default.cfg.jinja2

-{% 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') -%}
-{% set net_if = slapparameter_dict.get('netIf', 'eth0') -%}
-
-{% set drone_guid_list = slapparameter_dict.get('droneGuidList', []) -%}
-{% set subscriber_guid_list = slapparameter_dict.get('subscriberGuidList', []) -%}
-{% set guid_list = drone_guid_list + subscriber_guid_list -%}
-{% set nb_peer = len(guid_list) -%}
+{% set parameter_dict = dict(default_parameter_dict, **parameter_dict) -%}
+{% set guid_list = parameter_dict['droneGuidList'] + parameter_dict['subscriberGuidList'] -%}
 {% set drone_id_list = [] -%}
 {% set subscriber_id_list = [] -%}
-
 {% set part_list = ['publish-connection-information'] -%}
 
 {% for id, guid in enumerate(guid_list) -%}
-{%   set request_drone_section_title = 'request-drone' ~ id -%}
-{%   do part_list.append(request_drone_section_title) %}
-[{{ request_drone_section_title }}]
+{%   set request_peer_section_title = 'request-peer' ~ id -%}
+{%   do part_list.append(request_peer_section_title) %}
+[{{ request_peer_section_title }}]
 <= slap-connection
 recipe = slapos.cookbook:request.serialised
-name = Drone{{ id }}
-software-url = $${:software-release-url}
-software-type = drone
+name = Peer{{ id }}
+software-url = ${:software-release-url}
+software-type = peer
 return = instance-path
 sla-computer_guid = {{ guid }}
-config-autopilotIp = {{ autopilot_ip }}
-config-autopilotPort = {{ dumps(autopilot_port) }}
-config-numberOfPeers = {{ dumps(nb_peer) }}
+config-autopilotIp = {{ parameter_dict['autopilotIp'] }}
+config-autopilotPort = {{ dumps(parameter_dict['autopilotPort']) }}
+config-numberOfDrone = {{ dumps(len(parameter_dict['droneGuidList'])) }}
+config-numberOfSubscriber = {{ dumps(len(parameter_dict['subscriberGuidList'])) }}
 config-id = {{ dumps(id) }}
-config-isASimulation = {{ dumps(is_a_simulation) }}
-{% if guid in drone_guid_list -%}
+config-isASimulation = {{ dumps(parameter_dict['isASimulation']) }}
+{% if id < len(parameter_dict['droneGuidList']) -%}
 {%   do drone_id_list.append(id) %}
 config-isADrone = {{ dumps(True) }}
-config-flightScript = {{ flight_script }}
+config-flightScript = {{ parameter_dict['flightScript'] }}
 {% else -%}
 {%   do subscriber_id_list.append(id) %}
 config-isADrone = {{ dumps(False) }}
-config-flightScript = https://lab.nexedi.com/nexedi/flight-scripts/raw/master/subscribe.js
+config-flightScript = https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/subscribe.js
 {% endif -%}
-config-multicastIp = {{ multicast_ip }}
-config-netIf = {{ net_if }}
+config-multicastIp = {{ parameter_dict['multicastIp'] }}
+config-netIf = {{ parameter_dict['netIf'] }}
 {% endfor %}
 
 [publish-connection-information]
@@ -50,6 +41,6 @@ subscriber-id-list = {{ dumps(subscriber_id_list) }}
 
 [buildout]
 parts =
-{%- for part in part_list %}
+{% for part in part_list %}
   {{ part }}
-{%- endfor -%}
+{% endfor %}

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

@@ -14,7 +14,7 @@
       "title": "Port of the drone's autopilot",
       "description": "Port on which autopilot service is running.",
       "type": "integer",
-      "default": "7909"
+      "default": 7909
     },
     "droneGuidList": {
       "title": "List of drones computer ID",
@@ -44,7 +44,7 @@
       "title": "Script's URL of the flight",
       "description": "URL of the script which will be executed for the flight. This URL must be publicly accesible so that the drone can fetch the script.",
       "type": "string",
-      "default": "https://lab.nexedi.com/nexedi/flight-scripts/raw/master/default.js"
+      "default": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js"
     },
     "subscriberGuidList": {
       "title": "List of subscribers computer ID",

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

@@ -14,9 +14,14 @@
       "description": "Port on which autopilot service is running.",
       "type": "integer"
     },
-    "numberOfPeers": {
-      "title": "Number of Peers",
-      "description": "Number of drones and subscribers in the swarm",
+    "numberOfDrone": {
+      "title": "Number of drone",
+      "description": "Number of drone in the swarm",
+      "type": "integer"
+    },
+    "numberOfSubscriber": {
+      "title": "Number of subscriber",
+      "description": "Number of subscriber of the swarm",
       "type": "integer"
     },
     "id": {

software/js-drone/instance-drone.cfg → software/js-drone/instance-peer.cfg.jinja2.in

 [buildout]
 parts =
-  main
-  symlink-quickjs-binary
+  qjs-launcher
   publish-connection-information
 
 [directory]
 recipe = slapos.cookbook:mkdirectory
+
 home = $${buildout:directory}
 bin = $${:home}/bin
 etc = $${:home}/etc
+srv = $${:home}/srv
 var = $${:home}/var
+
 log = $${:var}/log
+public = $${:srv}/public
+service = $${:etc}/service
 
 [js-dynamic-template]
 recipe = slapos.recipe.template:jinja2
 rendered = $${directory:etc}/$${:_buildout_section_name_}.js
-template = ${buildout:directory}/$${:_buildout_section_name_}.js
 extra-context =
 context =
   import json_module json
+  raw gwsocket_bin ${gwsocket:location}/bin/gwsocket
   raw qjs_wrapper ${qjs-wrapper:location}/lib/libqjswrapper.so
   raw configuration {{ configuration }}
   $${:extra-context}
 
 [main]
 <= js-dynamic-template
+template = ${main:target}
 extra-context =
   key log_dir directory:log
   key pubsub_script pubsub:rendered
@@ -32,19 +37,58 @@ extra-context =
 
 [pubsub]
 <= js-dynamic-template
+template = ${pubsub:target}
 
 [worker]
 <= js-dynamic-template
+template = ${worker:target}
+
+[user]
+recipe = slapos.recipe.build:download
+url = {{ parameter_dict['flightScript'] }}
+destination = $${directory:etc}/user.js
+offline = false
+
+[qjs-launcher]
+recipe = slapos.cookbook:wrapper
+wrapper-path = $${directory:service}/qjs-launcher
+command-line = ${quickjs:location}/bin/qjs $${main:rendered} $${user:target}
+
+[script-js]
+recipe = slapos.recipe.template:jinja2
+template = ${script-js:target}
+rendered = $${directory:public}/script.js
+websocket-url = [{{ ipv6 }}]:{{ websocket_port }}
+context =
+  raw websocket_url $${:websocket-url}
+
+[index-html]
+recipe = slapos.recipe.template:jinja2
+template = ${index-html:target}
+rendered = $${directory:public}/index.html
+context =
+  raw nb_drones {{ parameter_dict['numberOfDrone'] }}
+
+[httpd-port]
+recipe = slapos.cookbook:free_port
+minimum = 8080
+maximum = 8090
+ip = {{ ipv6 }}
 
-[symlink-quickjs-binary]
-recipe = slapos.recipe.build
-binary-path = ${quickjs:location}/bin/qjs
-target = $${directory:bin}/qjs
-init =
-  import os
-  if not os.path.exists(options['target']):
-    os.symlink(options['binary-path'], options['target'])
+[httpd]
+recipe = slapos.cookbook:simplehttpserver
+host = {{ ipv6 }}
+port = $${httpd-port:port}
+base-path = $${directory:public}
+wrapper = $${directory:service}/http-server
+log-file = $${directory:log}/httpd.log
+use-hash-url = false
+depends = $${index-html:rendered}
 
 [publish-connection-information]
 recipe = slapos.cookbook:publish.serialised
 instance-path = $${directory:home}
+{% if not parameter_dict['isADrone'] -%}
+httpd-url = [$${httpd:host}]:$${httpd:port}
+websocket-url = ws://$${script-js:websocket-url}
+{% endif -%}

software/js-drone/instance.cfg → software/js-drone/instance.cfg.in

@@ -9,7 +9,7 @@ offline = true
 [switch-softwaretype]
 recipe = slapos.cookbook:switch-softwaretype
 default = instance-default:output
-drone = instance-drone:output
+peer = instance-peer:output
 RootSoftwareInstance = $${:default}
 
 [slap-configuration]
@@ -22,36 +22,58 @@ cert = $${slap_connection:cert_file}
 
 [dynamic-template-base]
 recipe = slapos.recipe.template:jinja2
-url = ${buildout:directory}/$${:_buildout_section_name_}.cfg
-output = $${buildout:directory}/$${:_buildout_section_name_}
+output = $${buildout:directory}/$${:_buildout_section_name_}.cfg
+extra-context =
+context =
+  jsonkey default_parameter_dict :default-parameters
+  key parameter_dict slap-configuration:configuration
+  $${:extra-context}
+default-parameters =
+  {
+    "autopilotIp": "192.168.27.1",
+    "autopilotPort": 7909,
+    "flightScript": "https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/default.js",
+    "isASimulation": false,
+    "multicastIp": "ff15::1111",
+    "netIf": "eth0",
+    "droneGuidList": [],
+    "subscriberGuidList":[]
+  }
 
 [instance-default]
 <= dynamic-template-base
+url = ${instance-default:target}
 extensions = jinja2.ext.do
-context =
-  key slapparameter_dict slap-configuration:configuration
 
-[instance-drone]
-<= dynamic-template-base
-context =
-  key configuration drone-configuration:output
-  key user-script user:destination
+[directory]
+recipe = slapos.cookbook:mkdirectory
+home = $${buildout:directory}
+etc = $${:home}/etc
 
-[drone-configuration]
+[gwsocket-port]
+recipe = slapos.cookbook:free_port
+minimum = 6789
+maximum = 6799
+ip = $${slap-configuration:ipv6-random}
+
+[peer-configuration]
 recipe = slapos.recipe.template:jinja2
 output = $${directory:etc}/configuration.json
+extensions = jinja2.ext.do
 context =
   import json_module json
-  key slapparameter_dict slap-configuration:configuration
-inline = {{ json_module.dumps(slapparameter_dict) }}
+  key websocket_ip gwsocket-port:ip
+  key websocket_port gwsocket-port:port
+  key parameter_dict slap-configuration:configuration
+inline =
+  {% do parameter_dict.__setitem__('websocketIp', websocket_ip) -%}
+  {% do parameter_dict.__setitem__('websocketPort', websocket_port) -%}
+  {{ json_module.dumps(parameter_dict) }}
 
-[user]
-recipe = slapos.recipe.build:download
-url = $${slap-configuration:configuration.flightScript}
-destination = $${directory:etc}/user.js
-offline = false
-
-[directory]
-recipe = slapos.cookbook:mkdirectory
-home = $${buildout:directory}
-etc = $${:home}/etc
+[instance-peer]
+<= dynamic-template-base
+url = ${instance-peer:output}
+extra-context =
+  key configuration peer-configuration:output
+  key ipv6 slap-configuration:ipv6-random
+  key websocket_port gwsocket-port:port

software/js-drone/software-sqdr.cfg

@@ -5,16 +5,18 @@ extends =
 [sqdr-source]
 recipe = slapos.recipe.build:gitclone
 repository = https://lab.nexedi.com/slaposdrone/squadrone.git
-revision = v1.0
+revision = v2.0
 git-executable = ${git:location}/bin/git
 
-[qjs-wrapper]
+[sqdr-wrapper]
 recipe = slapos.recipe.cmmi
 configure-command = true
-url =
 path = ${sqdr-source:location}
-md5sum =
+environment =
+  CPLUS_INCLUDE_PATH=include:${qjs-wrapper-source:location}/include
+  LDFLAGS=-L${sqdr-source:location}/lib -Wl,-rpath=${sqdr-source:location}/lib
+
+[qjs-wrapper]
 environment =
   C_INCLUDE_PATH=include:${open62541:location}/include:${open62541:location}/deps:${open62541:location}/src/pubsub:${quickjs:location}/include
-  CPLUS_INCLUDE_PATH=include
-  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${sqdr-source:location}/lib -Wl,-rpath=${sqdr-source:location}/lib
+  LDFLAGS=-L${open62541:location}/lib -Wl,-rpath=${open62541:location}/lib -L${sqdr-wrapper:location}/lib -Wl,-rpath=${sqdr-wrapper:location}/lib

software/js-drone/software.cfg

@@ -3,42 +3,43 @@ extends =
   buildout.hash.cfg
   ../../stack/slapos.cfg
   ../../component/qjs-wrapper/buildout.cfg
+  ../../component/gwsocket/buildout.cfg
 
 parts =
     instance-profile
-    instance-default
-    instance-drone
-    main
-    pubsub
-    worker
     slapos-cookbook
 
-[instance-profile]
-recipe = slapos.recipe.template
+[instance-default]
+recipe = slapos.recipe.build:download
 url = ${:_profile_base_location_}/${:filename}
-output = ${buildout:directory}/template.cfg
 
-[jinja-template-base]
+[template-base]
 recipe = slapos.recipe.template
-url = ${:_profile_base_location_}/${:_buildout_section_name_}.cfg
-output = ${buildout:directory}/${:_buildout_section_name_}.cfg
+url = ${:_profile_base_location_}/${:filename}
 
-[instance-default]
-<= jinja-template-base
+[instance-peer]
+<= template-base
+output = ${buildout:directory}/${:_buildout_section_name_}
 
-[instance-drone]
-<= jinja-template-base
+[instance-profile]
+<= template-base
+output = ${buildout:directory}/template.cfg
 
-[download-file-base]
+[download]
 recipe = slapos.recipe.build:download
-url = ${:_profile_base_location_}/${:filename}
-destination = ${buildout:directory}/${:filename}
+url = ${:_profile_base_location_}/${:_update_hash_filename_}
+
+[index-html]
+<= download
 
 [main]
-<= download-file-base
+<= download
 
 [pubsub]
-<= download-file-base
+<= download
+
+[script-js]
+<= download
 
 [worker]
-<= download-file-base
+<= download

software/js-drone/software.cfg.json

@@ -12,11 +12,11 @@
       "index": 0
     },
     "drone": {
-      "title": "Drone",
-      "software-type": "drone",
-      "description": "Drone Instance",
-      "request": "instance-drone-input-schema.json",
-      "response": "instance-drone-output-schema.json",
+      "title": "Peer",
+      "software-type": "peer",
+      "description": "Peer Instance",
+      "request": "instance-peer-input-schema.json",
+      "response": "instance-peer-output-schema.json",
       "index": 1
     }
   }

software/js-drone/test/setup.py

@@ -43,7 +43,8 @@ setup(name=name,
       install_requires=[
         'slapos.core',
         'slapos.libnetworkcache',
-        'erp5.util'
+        'erp5.util',
+        'websocket-client',
       ],
       zip_safe=True,
       test_suite='test',

software/js-drone/test/test.py

@@ -30,12 +30,11 @@ import json
 import os
 import socket
 import struct
-import subprocess
 import time
+import websocket
 
 from slapos.testing.testcase import makeModuleSetUpAndTestCaseClass
 
-MAIN_SCRIPT_NAME = 'main.js'
 '''
   0. positionArray
     0.1 latitude
@@ -52,7 +51,6 @@ MONITORED_ITEM_NB = 3
 OPC_UA_PORT = 4840
 OPC_UA_NET_IF = 'lo'
 MCAST_GRP = 'ff15::1111'
-USER_SCRIPT_NAME = 'user.js'
 
 # OPC UA Pub/Sub related constants
 VERSION = 1
@@ -98,63 +96,47 @@ UA_DATETIME_UNIX_EPOCH = 11644473600 * UA_DATETIME_SEC
 CONFIG_VERSION_MAJOR_VERSION = 1690792766
 CONFIG_VERSION_MINOR_VERSION = 1690781976
 
-POSITION_ARRAY_TYPE = 11 #double
-POSITION_ARRAY_VALUES = (45.64, 14.25, 686.61, 91.24)
+POSITION_ARRAY_TYPE = 8 #int64
+POSITION_ARRAY_INPUT_VALUES = (456400000, 142500000, 686000, 91000, 1697878907)
+POSITION_ARRAY_OUTPUT_COEFS = (1e7, 1e7, 1000, 1000)
+POSITION_ARRAY_OUTPUT_VALUES = tuple(value / coef for value, coef in zip(POSITION_ARRAY_INPUT_VALUES[:-1], POSITION_ARRAY_OUTPUT_COEFS))
 
 SPEED_ARRAY_TYPE = 10 #float
 SPEED_ARRAY_VALUES = (-72.419998, 15.93, -0.015)
 
 STRING_TYPE = 12
-TEST_MESSAGE = b'{"content":"{\\"next_checkpoint\\":1}","dest_id":-1}'
+MESSAGE_CONTENT = b'{\\"next_checkpoint\\":1}'
+TEST_MESSAGE = b'{"content":"' + MESSAGE_CONTENT + b'","dest_id":-1}'
 
 setUpModule, SlapOSInstanceTestCase = makeModuleSetUpAndTestCaseClass(
     os.path.abspath(
         os.path.join(os.path.dirname(__file__), '..', 'software.cfg')))
 
 
-class JSDroneTestCase(SlapOSInstanceTestCase):
-
+class SubscriberTestCase(SlapOSInstanceTestCase):
   @classmethod
   def getInstanceParameterDict(cls):
     return {
       '_': json.dumps({
+        'droneGuidList': [cls.slap._computer_id],
         'netIf': OPC_UA_NET_IF,
         'subscriberGuidList': [cls.slap._computer_id],
       })
     }
 
-  def get_partition(self, instance_type):
+  def get_partition(self, partition_id):
     software_url = self.getSoftwareURL()
     for computer_partition in self.slap.computer.getComputerPartitionList():
-      partition_url = computer_partition.getSoftwareRelease()._software_release
-      partition_type = computer_partition.getType()
-      if partition_url == software_url and partition_type == instance_type:
+      if computer_partition.getId() == partition_id:
         return computer_partition
-    raise Exception("JS-drone %s partition not found" % instance_type)
+    raise Exception("Partition %s not found" % partition_id)
 
   def setUp(self):
     super().setUp()
-    subscriber_partition = self.get_partition('drone')
-    instance_path = json.loads(
-      subscriber_partition.getConnectionParameterDict()['_'])['instance-path']
-    quickjs_bin = os.path.join(instance_path, 'bin', 'qjs')
-    script_dir = os.path.join(instance_path, 'etc')
-    self.qjs_process = subprocess.Popen(
-      [
-        quickjs_bin,
-        os.path.join(script_dir, MAIN_SCRIPT_NAME),
-        os.path.join(script_dir, USER_SCRIPT_NAME),
-      ],
-      stdin=subprocess.PIPE,
-      stdout=subprocess.PIPE,
-    )
-    time.sleep(0.1)
-
-  def tearDown(self):
-    if self.qjs_process.returncode == None:
-      self.qjs_process.kill()
-      self.qjs_process.communicate()
-    super().tearDown()
+    subscriber_partition = self.get_partition('SubscriberTestCase-2')
+    self.websocket_server_address = json.loads(
+      subscriber_partition.getConnectionParameterDict()['_'])['websocket-url']
+    time.sleep(0.5)
 
   def ua_networkMessage_encodeHeader(self):
     ua_byte1 = int(VERSION)
@@ -224,8 +206,8 @@ class JSDroneTestCase(SlapOSInstanceTestCase):
     data_set_message += struct.pack('H', MONITORED_ITEM_NB)
     data_set_message += self.ua_array_encode(
       POSITION_ARRAY_TYPE,
-      'd',
-      POSITION_ARRAY_VALUES,
+      'q',
+      POSITION_ARRAY_INPUT_VALUES,
     )
     data_set_message += self.ua_array_encode(
       SPEED_ARRAY_TYPE,
@@ -244,25 +226,39 @@ class JSDroneTestCase(SlapOSInstanceTestCase):
       s.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_TTL, 2)
       s.sendto(ua_message, ('::1', OPC_UA_PORT))
 
+  def test_process(self):
+    expected_process_name_list = [
+      'qjs-launcher-on-watch',
+      'http-server-on-watch',
+    ]
+    with self.slap.instance_supervisor_rpc as supervisor:
+      process_names = [process['name']
+                       for process in supervisor.getAllProcessInfo()]
+
+    for expected_process_name in expected_process_name_list:
+      self.assertIn(expected_process_name, process_names)
+
+
   def test_requested_instances(self):
     connection_parameter_dict = json.loads(
       self.computer_partition.getConnectionParameterDict()['_'])
-    self.assertEqual(connection_parameter_dict['drone-id-list'], [])
-    self.assertEqual(connection_parameter_dict['subscriber-id-list'], [0])
+    self.assertEqual(connection_parameter_dict['drone-id-list'], [0])
+    self.assertEqual(connection_parameter_dict['subscriber-id-list'], [1])
 
   def test_subscriber_instance_parameter_dict(self):
     self.assertEqual(
-      json.loads(self.get_partition('drone').getInstanceParameterDict()['_']),
+      json.loads(self.get_partition('SubscriberTestCase-2').getInstanceParameterDict()['_']),
       {
         'autopilotIp': '192.168.27.1',
         'autopilotPort': 7909,
-        'id': 0,
+        'numberOfDrone': 1,
+        'numberOfSubscriber': 1,
+        'id': 1,
         'isASimulation': False,
         'isADrone': False,
-        'flightScript': 'https://lab.nexedi.com/nexedi/flight-scripts/raw/master/subscribe.js',
-        'multicastIp': MCAST_GRP,
-        'numberOfPeers': 1,
-        'netIf': OPC_UA_NET_IF
+        'flightScript': 'https://lab.nexedi.com/nexedi/flight-scripts/-/raw/v2.0/subscribe.js',
+        'netIf': OPC_UA_NET_IF,
+        'multicastIp': MCAST_GRP
       }
     )
 
@@ -281,14 +277,32 @@ class JSDroneTestCase(SlapOSInstanceTestCase):
       self.assertIn(expected_string, f.readlines())
 
   def test_pubsub_subscription(self):
+    ws = websocket.WebSocket()
+    ws.connect(self.websocket_server_address, timeout=5)
+    # Check if first message is 'Unknown instruction IP' where IP is client IPv6 address
+    self.assertIn(
+      b'Unknown instruction %s' % ws.sock.getsockname()[0].encode(),
+      ws.recv_frame().data
+    )
+    self.assertEqual(
+      ws.recv_frame().data,
+      b''.join((
+        b'{"drone_dict":{"0":{"latitude":',
+        b'"%.6f","longitude":"%.6f","altitude":"%.2f",' % (0, 0, 0),
+        b'"yaw":"%.2f","speed":"%.2f","climbRate":"%.2f",' % (0, 0, 0),
+        b'"timestamp":%d}}}' % 0,
+      ))
+    )
     self.send_ua_networkMessage()
     time.sleep(0.1)
-    outs, _ = self.qjs_process.communicate(b'q\n', timeout=15)
-    decoded_out = outs.decode()
-    for line in (
-      'Subscription 0 | MonitoredItem %s' % MONITORED_ITEM_NB,
-      'Received position of drone 0: %f° %f° %fm %fm' % POSITION_ARRAY_VALUES,
-      'Received speed of drone 0: %f° %fm/s %fm/s' % SPEED_ARRAY_VALUES,
-      'Received message for drone 0: %s' % TEST_MESSAGE.decode(),
-    ):
-      self.assertIn(line, decoded_out)
+    self.assertEqual(ws.recv_frame().data, MESSAGE_CONTENT.replace(b'\\', b''))
+    self.assertEqual(
+      ws.recv_frame().data,
+      b''.join((
+        b'{"drone_dict":{"0":{"latitude":',
+        b'"%.6f","longitude":"%.6f","altitude":"%.2f",' % POSITION_ARRAY_OUTPUT_VALUES[:-1],
+        b'"yaw":"%.2f","speed":"%.2f","climbRate":"%.2f",' % SPEED_ARRAY_VALUES,
+        b'"timestamp":%d}}}' % POSITION_ARRAY_INPUT_VALUES[-1],
+      ))
+    )
+    ws.close()

software/js-drone/web-gui/index.html.jinja2

+<!DOCTYPE html>
+<html lang="en-GB">
+<head>
+
+  <meta charset="utf-8">
+  <title>JS-Drone GUI</title>
+
+  <script src="script.js"></script>
+
+  <style>
+    button {
+      padding: 0.5%;
+      font-size: 24px;
+      cursor: pointer;
+      border: none;
+      border-radius: 10px;
+      box-shadow: 0 4px #999;
+    }
+    button:active {
+      box-shadow: 0 2px #666;
+      transform: translateY(4px);
+    }
+    div > * {margin: 1%}
+    label {margin: 2%}
+    table {width: 30%}
+    th, td{
+      padding: 1%;
+      text-align: center;
+      vertical-align: middle;
+    }
+    .connected {color: green}  
+    .container {
+      display: flex;
+      align-items: center;
+      justify-content: center;
+    }
+    .disconnected {color: red}
+    .gray-button {background-color: lightgray}
+    .gray-button:hover {background-color: gray}
+    .green-button {background-color: #4caf50}
+    .green-button:hover {background-color: #3e8e41}
+    .red-button {background-color: red}
+    .red-button {background-color: #e42828}
+  </style>
+
+</head>
+<body>
+
+  <header class="container">
+    <label for="web-socket-status">web socket status:</label>
+    <output class="disconnected" id="web-socket-status">Disconnected</output>
+  </header>
+
+  <div class="container">
+    <table>
+      <tr>
+        <th></th>
+        {% for i in range(int(nb_drones)) -%}
+        <th>Drone {{ i }}</th>
+        {% endfor %}
+      </tr>
+      <tr>
+        <th>Flight state</th>
+        {% for i in range(int(nb_drones)) -%}
+        <td class="disconnected" id="flight_state_{{ i }}">Unknown</td>
+        {% endfor %}
+      </tr>
+      <tr>
+        <th>Latitude (°)</th>
+        {% for i in range(int(nb_drones)) -%}
+        <td id="latitude_{{ i }}"></td>
+        {% endfor %}
+      </tr>
+      <tr>
+        <th>Longitude (°)</th>
+        {% for i in range(int(nb_drones)) -%}
+        <td id="longitude_{{ i }}"></td>
+        {% endfor %}
+      </tr>
+      <tr>
+        <th>Altitude (m)</th>
+        {% for i in range(int(nb_drones)) -%}
+        <td id="altitude_{{ i }}"></td>
+        {% endfor %}
+      </tr>
+      <tr>
+        <th>Yaw (°)</th>
+        {% for i in range(int(nb_drones)) -%}
+        <td id="yaw_{{ i }}"></td>
+        {% endfor %}
+      </tr>
+      <tr>
+        <th>Speed (m/s)</th>
+        {% for i in range(int(nb_drones)) -%}
+        <td id="speed_{{ i }}"></td>
+        {% endfor %}
+      </tr>
+      <tr>
+        <th>Climb rate (m/s)</th>
+        {% for i in range(int(nb_drones)) -%}
+        <td id="climb_rate_{{ i }}"></td>
+        {% endfor %}
+      </tr>
+    </table>
+  </div>
+
+  <div class="container">
+    <button id="flight-btn" class="green-button" type="button">
+      Start
+    </button>
+    <button id="switch-btn" class="gray-button" type="button">
+      Switch leader
+    </button>
+    <button id="quit-btn" class="red-button" type="button">
+      Quit
+    </button>
+  </div>
+
+</body>
+</html>

software/js-drone/web-gui/script.js.jinja2

+/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
+
+(function () {
+  "use strict";
+
+  var ALTITUDE_BASE_ID = "altitude_",
+    SPEED_BASE_ID = "speed_",
+    CONNECTED_CLASS_NAME = "connected",
+    CLIMB_RATE_BASE_ID = "climb_rate_",
+    DISCONNECTED_CLASS_NAME = "disconnected",
+    FLIGHT_BTN_ID = "flight-btn",
+    FLIGHT_STATUS_BASE_ID = "flight_state_",
+    GREEN_BTN_CLASS_NAME = "green-button",
+    LATITUDE_BASE_ID = "latitude_",
+    LONGITUDE_BASE_ID = "longitude_",
+    QUIT_BTN_ID = "quit-btn",
+    RED_BTN_CLASS_NAME = "red-button",
+    SWITCH_BTN_ID = "switch-btn",
+    WEB_SOCKET_STATUS_OUTPUT_ID = "web-socket-status",
+    YAW_BASE_ID = "yaw_",
+    socket;
+
+  function updateConnexionClass(element, status) {
+    element.classList.remove(status ? DISCONNECTED_CLASS_NAME : CONNECTED_CLASS_NAME);
+    element.classList.add(status ? CONNECTED_CLASS_NAME : DISCONNECTED_CLASS_NAME);    
+  }
+
+  function setWebSocketStatus(connected, status) {
+    var status_output = document.getElementById(WEB_SOCKET_STATUS_OUTPUT_ID);
+    updateConnexionClass(status_output, connected);
+    status_output.value = status;
+  }
+
+  function stopFlight(event) {
+    socket.send("stop");
+    event.target.removeEventListener('click', stopFlight);
+  }
+
+  function startFlight(event) {
+    var button = event.target;
+
+    socket.send("start");
+    button.removeEventListener('click', startFlight);
+    button.innerHTML = "Stop";
+    button.classList.remove(GREEN_BTN_CLASS_NAME);
+    button.classList.add(RED_BTN_CLASS_NAME);
+    button.addEventListener('click', stopFlight);
+  }
+
+  socket = new WebSocket('ws://{{ websocket_url }}');
+
+  socket.onopen = function(event) {
+    setWebSocketStatus(true, "Connected");
+  };
+
+  socket.onmessage = function(event) {
+    var message = JSON.parse(event.data),
+      flight_state_cell;
+    if (message.hasOwnProperty("drone_dict")) {
+      Object.entries(message["drone_dict"]).forEach(function ([id, drone]) {
+        document.getElementById(LATITUDE_BASE_ID + id).innerHTML = drone["latitude"];
+        document.getElementById(LONGITUDE_BASE_ID + id).innerHTML = drone["longitude"];
+        document.getElementById(ALTITUDE_BASE_ID + id).innerHTML = drone["altitude"];
+        document.getElementById(YAW_BASE_ID + id).innerHTML = drone["yaw"];
+        document.getElementById(SPEED_BASE_ID + id).innerHTML = drone["speed"];
+        document.getElementById(CLIMB_RATE_BASE_ID + id).innerHTML = drone["climbRate"];
+      });
+    } else if (message.hasOwnProperty("state") && message.hasOwnProperty("id")) {
+      flight_state_cell = document.getElementById(FLIGHT_STATUS_BASE_ID + message['id']);
+      flight_state_cell.innerHTML = message['state'];
+      updateConnexionClass(flight_state_cell, message['inAir']);
+    } else {
+      console.info(message);
+    }
+  };
+
+  socket.onclose = function(event) {
+    setWebSocketStatus(false, "Closed");
+  };
+
+  socket.onerror = function(event) {
+    console.error(event.reason);
+  };
+
+  document.addEventListener("DOMContentLoaded", () => {
+    document.getElementById(FLIGHT_BTN_ID).addEventListener('click', startFlight);
+    document.getElementById(SWITCH_BTN_ID).addEventListener('click', event => {
+      
+      socket.send("switch");
+    });
+    document.getElementById(QUIT_BTN_ID).addEventListener('click', event => {
+      socket.send("quit");
+    });
+  });
+}());

software/js-drone/worker.js

-/*jslint nomen: true, indent: 2, maxerr: 3, maxlen: 80 */
-/*global console, getAltitude, getAltitudeRel, getInitialAltitude, getLatitude,
-  getLongitude, getYaw, execUserScript, initPubsub, landed, loiter, setAirspeed,
-  setMessage, setTargetCoordinates, std, triggerParachute, Drone, Worker*/
-import {
-  Drone,
-  triggerParachute,
-  getAirspeed,
-  getAltitude,
-  getAltitudeRel,
-  getClimbRate,
-  getInitialAltitude,
-  getLatitude,
-  getLongitude,
-  getYaw,
-  initPubsub,
-  landed,
-  loiter,
-  setAirspeed,
-  setMessage,
-  setTargetCoordinates
-} from {{ json_module.dumps(qjs_wrapper) }};
-import * as std from "std";
-import { Worker } from "os";
-
-(function (console, getAltitude, getAltitudeRel, getInitialAltitude,
-           getLatitude, getLongitude, getYaw, initPubsub, landed, loiter,
-           setAirspeed, setMessage, setTargetCoordinates, std, triggerParachute,
-           Drone, Worker) {
-  // Every script is evaluated per drone
-  "use strict";
-
-  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,
-      in: std.in,
-      //required to fly
-      triggerParachute: triggerParachute,
-      drone_dict: {},
-      exit: function (exit_code) {
-        parent.postMessage({type: "exited", exit: exit_code});
-        parent.onmessage = null;
-      },
-      getAltitudeAbs: getAltitude,
-      getCurrentPosition: function () {
-        return {
-          x: getLatitude(),
-          y: getLongitude(),
-          z: getAltitudeRel()
-        };
-      },
-      getInitialAltitude: getInitialAltitude,
-      getYaw: getYaw,
-      getSpeed: getAirspeed,
-      getClimbRate: getClimbRate,
-      id: configuration.id,
-      landed: landed,
-      loiter: loiter,
-      sendMsg: function (msg, id) {
-        if (id === undefined) { id = -1; }
-        setMessage(JSON.stringify({ content: msg, dest_id: id }));
-      },
-      setAirspeed: setAirspeed,
-      setTargetCoordinates: setTargetCoordinates
-    };
-  conf_file.close();
-
-  function loadUserScript(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 + "};"
-      );
-    } catch (e) {
-      console.log("Failed to evaluate user script", e);
-      std.exit(1);
-    }
-    execUserScript(null, user_me);
-
-    // Call the drone onStart function
-    if (user_me.hasOwnProperty("onStart")) {
-      user_me.onStart();
-    }
-  }
-
-  function handleMainMessage(evt) {
-    var type = evt.data.type, message, drone_id;
-
-    if (type === "initPubsub") {
-      initPubsub(configuration.numberOfPeers);
-      for (drone_id = 0; drone_id < configuration.numberOfPeers; drone_id++) {
-        user_me.drone_dict[drone_id] = new Drone(drone_id);
-        user_me.drone_dict[drone_id].init(drone_id);
-      }
-      parent.postMessage({type: "initialized"});
-    } else if (type === "load") {
-      loadUserScript(evt.data.path);
-      parent.postMessage({type: "loaded"});
-    } else if (type === "update") {
-      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.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")) {
-        user_me.onUpdate(evt.data.timestamp);
-      }
-      parent.postMessage({type: "updated"});
-    } else {
-      throw new Error("Unsupported message type", type);
-    }
-  }
-
-  parent.onmessage = function (evt) {
-    try {
-      handleMainMessage(evt);
-    } catch (error) {
-      // Catch all potential bug to exit the main process
-      // if it occurs
-      console.log(error);
-      std.exit(1);
-    }
-  };
-}(console, getAltitude, getAltitudeRel, getInitialAltitude, getLatitude,
-  getLongitude, getYaw, initPubsub, landed, loiter, setAirspeed, setMessage,
-  setTargetCoordinates, std, triggerParachute, Drone, Worker));

stack/slapos.cfg

@@ -194,6 +194,7 @@ Flask = 3.0.0:whl
 frozenlist = 1.4.0:whl
 funcsigs = 1.0.2
 functools32 = 3.2.3.post2
+future = 0.18.3
 gevent = 23.9.1
 geventmp = 0.0.1
 gitdb = 4.0.10