Merge branch 'devel'

akru · Jan 8, 2016 · 1f29186 · 1f29186
2 parents 9ce252a + 47da6cd
commit 1f29186
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Showing 64 changed files with 2,901 additions and 41 deletions.
diff --git a/Ethereum smart contracts/example/motherbase.sol b/Ethereum smart contracts/example/motherbase.sol
@@ -0,0 +1,34 @@
+contract motherbase {
+    address creator;
+    int256  public homebaseLongitude;
+    int256  public homebaseLatitude;
+    mapping (address => bool) droneActiveOf;
+    address public airwayAdminAddr;
+
+
+    modifier creatorCheck { if (msg.sender == creator) _ }
+
+    /* Functions */
+    function motherbase(int256 _homebaseLongitude,
+                        int256 _homebaseLatitude,
+                        address _airwayAdminAddr) {
+        creator = msg.sender;
+        homebaseLatitude = _homebaseLatitude;
+        homebaseLongitude = _homebaseLongitude;
+        airwayAdminAddr = _airwayAdminAddr;
+    }
+
+    function setDrone(address _droneAddr) creatorCheck returns(bool result) {
+        droneActiveOf[_droneAddr] = true;
+        result true;
+    }
+
+    function inactiveDrone(address _droneAddr) creatorCheck returns(bool result) {
+        droneActiveOf[_droneAddr] = false;
+        result true;
+    }
+
+
+
+
+}
diff --git a/ROS/aira_ros_bridge/lib/aira_bridge.js b/ROS/aira_ros_bridge/lib/aira_bridge.js
@@ -10,8 +10,7 @@ var ROSMSG = require('./rosmsg');
 var web3 = new Web3();
 web3.setProvider(new web3.providers.HttpProvider('http://localhost:8545'));
 
-var ros = new ROSLIB.Ros({url : 'ws://localhost:9090'});
-ros.on('connection', function() {console.log('Connected to websocket server.')});
+var ros;
 
 /*** Functions ***/
 function topicOn(accessor, contract_abi, fun) {
@@ -32,7 +31,11 @@ function topicOn(accessor, contract_abi, fun) {
     }
 }
 
-function bridge(contract_address) {
+function bridge(contract_address, port) {
+    /* Init ROS connection instance */
+    ros = new ROSLIB.Ros({url : 'ws://localhost:'+port});
+    ros.on('connection', function() {console.log('Connected to websocket server.')});
+
     /* Load publishers */
     var ros_contract = web3.eth.contract(ABI.ros_compatible).at(contract_address);
 

diff --git a/ROS/aira_ros_bridge/lib/msg/dron_common_msgs/RouteRequest.js b/ROS/aira_ros_bridge/lib/msg/dron_common_msgs/RouteRequest.js
@@ -0,0 +1,51 @@
+// Init libs
+var ROSLIB = require('roslib');
+var Helpers = require('../helpers');
+var SatFix = require('../dron_common_msgs/SatFix');
+// Solidity message definition
+var bytecode = '606060405260405161016f38038061016f83398101604052805160805191019060605182516000805482825581805290927f290decd9548b62a8d60345a988386fc84ba6bc95484008f6362f93160ef3e563918201929190608001821560bc579160200282015b8281111560bc5782518254600160a060020a03191617825560209290920191600191909101906066565b505080600160006101000a81548163ffffffff021916908302179055505050608c806100e36000396000f35b5060909291505b8082111560df578054600160a060020a031916815560010160c3565b509056606060405260e060020a6000350463af640d0f81146024578063b8a24252146032575b005b608260015463ffffffff1681565b60826004356000805482908110156002575080527f290decd9548b62a8d60345a988386fc84ba6bc95484008f6362f93160ef3e563015473ffffffffffffffffffffffffffffffffffffffff1681565b6060908152602090f3';
+var abi = [{"constant":true,"inputs":[],"name":"id","outputs":[{"name":"","type":"uint32"}],"type":"function"},{"constant":true,"inputs":[{"name":"","type":"uint256"}],"name":"checkpoints","outputs":[{"name":"","type":"address"}],"type":"function"},{"inputs":[{"name":"_checkpoints","type":"address[]"},{"name":"_id","type":"uint32"}],"type":"constructor"}];
+// JSON message converter
+function eth2json(address, web3) {
+    var msg = Helpers.getContract(abi, address, web3);
+    var route = [];
+    var ix = 0;
+    while (msg.checkpoints(ix) != "0x")
+        route.push(SatFix.eth2json(msg.checkpoints(ix++), web3));
+    return {
+        // Message fields START
+        id: parseInt(msg.id()),
+        checkpoints: route
+        // Message fields END
+    }
+}
+function mkArray(arr, obj, web3, fn) {
+    var count = 0;
+    arr.forEach(function(e, i, a) {
+        obj.ros2eth(e, web3, function(err, r) {
+            arr[i] = r;
+            ++count;
+        });
+    });
+    while (count != arr.length);
+    return arr;
+}
+// Setup exports
+module.exports = {
+/*
+ * This message converter should be autogenerated from
+ * ROS message definition language.
+ * TODO: converter implementation.
+ */
+    abi: abi,
+    eth2json: eth2json,
+    eth2ros: function(msg, web3) {return new ROSLIB.Message(eth2json(msg, web3))},
+    ros2eth: function(msg, web3, fun) {
+        var id = msg.id;
+
+        mkArray(msg.checkpoints, SatFix, web3, function(checkpoints) {
+            var args = [id, checkpoints];
+            Helpers.newContract(abi, bytecode, web3, args, fun);
+        });
+    }
+}
diff --git a/ROS/aira_ros_bridge/lib/msg/dron_common_msgs/RouteResponse.js b/ROS/aira_ros_bridge/lib/msg/dron_common_msgs/RouteResponse.js
@@ -0,0 +1,62 @@
+// Init libs
+var ROSLIB = require('roslib');
+var Helpers = require('../helpers');
+var SatFix = require('../dron_common_msgs/SatFix');
+// Solidity message definition
+var bytecode = '606060405260405161019038038061019083398101604052805160805160a051919290910160a05160008054610100850264ffffffff001960ff1990921687179190911617815582516001805482825592819052927fb10e2d527612073b26eecdfd717e6a320cf44b4afac2b0732d9fcbe2b7fa0cf69283019290608001821560c2579160200282015b8281111560c25782518254600160a060020a03191617825560209290920191908401906089565b505050505060a8806100e86000396000f35b5060b09291505b8082111560e4578054600160a060020a0319168155830160c9565b509056606060405260e060020a6000350463af640d0f8114602e578063b980c78f146042578063c1991219146093575b005b609e60005463ffffffff6101009091041681565b609e600435600180548290811015600257506000527fb10e2d527612073b26eecdfd717e6a320cf44b4afac2b0732d9fcbe2b7fa0cf6015473ffffffffffffffffffffffffffffffffffffffff1681565b609e60005460ff1681565b6060908152602090f3';
+var abi = [{"constant":true,"inputs":[],"name":"id","outputs":[{"name":"","type":"uint32"}],"type":"function"},{"constant":true,"inputs":[{"name":"","type":"uint256"}],"name":"route","outputs":[{"name":"","type":"address"}],"type":"function"},{"constant":true,"inputs":[],"name":"valid","outputs":[{"name":"","type":"bool"}],"type":"function"},{"inputs":[{"name":"_valid","type":"bool"},{"name":"_id","type":"uint32"},{"name":"_route","type":"address[]"}],"type":"constructor"}];
+// JSON message converter
+function eth2json(address, web3) {
+    var msg = Helpers.getContract(abi, address, web3);
+    var route = [];
+    var val = true;
+    var ix = 0;
+    while (msg.route(ix) != "0x")
+        route.push(SatFix.eth2json(msg.route(ix++), web3));
+    if (msg.valid() == "False")
+        val = false; // TODO: check
+    return {
+        // Message fields START
+        valid: val,
+        id: parseInt(msg.id()),
+        route: route
+        // Message fields END
+    }
+}
+function mkArray(arr, obj, web3, fn) {
+    var count = 0;
+    arr.forEach(function(e, i, a) {
+        console.log("Make new message: " + i); 
+        obj.ros2eth(e, web3, function(err, r) {
+            arr[i] = r;
+            ++count;
+            console.log("Message created: " + i);
+        });
+    });
+    setTimeout(function cb() {
+        if (count == arr.length)
+            fn(arr);
+        else
+           setTimeout(cb, 1000);
+    }, 1000);
+}
+// Setup exports
+module.exports = {
+/*
+ * This message converter should be autogenerated from
+ * ROS message definition language.
+ * TODO: converter implementation.
+ */
+    abi: abi,
+    eth2json: eth2json,
+    eth2ros: function(msg, web3) {return new ROSLIB.Message(eth2json(msg, web3))},
+    ros2eth: function(msg, web3, fun) {
+        var valid = msg.valid;
+        var id = msg.id;
+
+        mkArray(msg.route, SatFix, web3, function(route) {
+            var args = [valid, id, route];
+            Helpers.newContract(abi, bytecode, web3, args, fun);
+        });
+    }
+}
diff --git a/ROS/aira_ros_bridge/lib/msg/dron_common_msgs/SatFix.js b/ROS/aira_ros_bridge/lib/msg/dron_common_msgs/SatFix.js
@@ -0,0 +1,35 @@
+// Init libs
+var ROSLIB = require('roslib');
+var Helpers = require('../helpers');
+// Solidity message definition
+var bytecode = '6060604052604051606080608683395060c06040525160805160a05160009283556001919091556002556050908190603690396000f3606060405260e060020a60003504634fd7d76a8114602e578063589af69c146036578063d906896a14603e575b005b604660005481565b604660015481565b604660025481565b6060908152602090f3'; 
+var abi = [{"constant":true,"inputs":[],"name":"latitude","outputs":[{"name":"","type":"int256"}],"type":"function"},{"constant":true,"inputs":[],"name":"longitude","outputs":[{"name":"","type":"int256"}],"type":"function"},{"constant":true,"inputs":[],"name":"altitude","outputs":[{"name":"","type":"int256"}],"type":"function"},{"inputs":[{"name":"_latitude","type":"int256"},{"name":"_longitude","type":"int256"},{"name":"_altitude","type":"int256"}],"type":"constructor"}];
+// JSON message converter
+function eth2json(address, web3) {
+    var msg = Helpers.getContract(abi, address, web3);
+    return {
+        // Message fields START
+        latitude: parseInt(msg.latitude()) / 1000000.0,
+        longitude: parseInt(msg.longitude()) / 1000000.0,
+        altitude: parseInt(msg.altitude()) / 1000000.0
+        // Message fields END
+    };
+}
+// Setup exports
+module.exports = {
+/*
+ * This message converter should be autogenerated from
+ * ROS message definition language.
+ * TODO: converter implementation.
+ */
+    abi: abi,
+    eth2json: eth2json,
+    eth2ros: function(address, web3) {return new ROSLIB.Message(eth2json(address, web3))},
+    ros2eth: function(msg, web3, fun) {
+    var latitude = msg.latitude * 1000000;
+    var longitude = msg.longitude * 1000000;
+    var altitude = msg.altitude * 1000000;
+    var args = [latitude, longitude, altitude];
+    Helpers.newContract(abi, bytecode, web3, args, fun);
+}
+}
diff --git a/ROS/aira_ros_bridge/lib/msg/std_msgs/Int64.js b/ROS/aira_ros_bridge/lib/msg/std_msgs/Int64.js
@@ -4,6 +4,11 @@ var Helpers = require('../helpers');
 // Solidity data
 var bytecode = '60606040526040516020806085833950608060405251600080547801000000000000000000000000000000000000000000000000808402046001604060020a03199091161790555060328060536000396000f3606060405260e060020a600035046373d4a13a8114601a575b005b602560005460070b81565b60070b6060908152602090f3';
 var abi = [{"constant":true,"inputs":[],"name":"data","outputs":[{"name":"","type":"int64"}],"type":"function"},{"inputs":[{"name":"_data","type":"int64"}],"type":"constructor"}]; 
+// JSON serialization
+function eth2json(address, web3) {
+    var msg = Helpers.getContract(abi, address, web3);
+    return {data: parseInt(msg.data())}
+}
 // Setup exports
 module.exports = {
 /*
@@ -12,7 +17,8 @@ module.exports = {
  * TODO: converter implementation.
  */
     abi: abi,
-    eth2ros: function(msg) {return new ROSLIB.Message({data: parseInt(msg.data())})},
+    eth2json: eth2json,
+    eth2ros: function(msg, web3) {return new ROSLIB.Message(eth2json(msg, web3))},
     ros2eth: function(msg, web3, fun) {
         //
         var msg_data = msg.data;

diff --git a/ROS/aira_ros_bridge/lib/msg/std_msgs/String.js b/ROS/aira_ros_bridge/lib/msg/std_msgs/String.js
@@ -4,6 +4,11 @@ var Helpers = require('../helpers');
 // Solidity data
 var bytecode = '60606040526040516101d53803806101d5833981016040528051018060006000509080519060200190828054600181600116156101000203166002900490600052602060002090601f016020900481019282601f10608d57805160ff19168380011785555b50607c9291505b8082111560ba57838155600101606b565b505050610117806100be6000396000f35b828001600101855582156064579182015b828111156064578251826000505591602001919060010190609e565b509056606060405260e060020a600035046373d4a13a811461001b575b005b6100766000805460806020601f6002600019610100600187161502019094169390930492830181900402810160405260608281529291908282801561010f5780601f106100e45761010080835404028352916020019161010f565b60405180806020018281038252838181518152602001915080519060200190808383829060006004602084601f0104600f02600301f150905090810190601f1680156100d65780820380516001836020036101000a031916815260200191505b509250505060405180910390f35b820191906000526020600020905b8154815290600101906020018083116100f257829003601f168201915b50505050508156';
 var abi = [{"constant":true,"inputs":[],"name":"data","outputs":[{"name":"","type":"string"}],"type":"function"},{"inputs":[{"name":"_data","type":"string"}],"type":"constructor"}];
+function eth2json(address, web3) {
+    var msg = Helpers.getContract(abi, address, web3);
+    return {data: msg.data()}
+}
+
 // Setup exports
 module.exports = {
 /*
@@ -12,7 +17,8 @@ module.exports = {
  * TODO: converter implementation.
  */
     abi: abi,
-    eth2ros: function(msg) {return new ROSLIB.Message({data: msg.data()})},
+    eth2json: eth2json,
+    eth2ros: function(msg, web3) {return new ROSLIB.Message(eth2json(msg, web3))},
     ros2eth: function(msg, web3, fun) {
     var args = [msg.data];
     Helpers.newContract(abi, bytecode, web3, args, fun);

diff --git a/ROS/aira_ros_bridge/lib/msg/std_msgs/UInt32.js b/ROS/aira_ros_bridge/lib/msg/std_msgs/UInt32.js
@@ -0,0 +1,29 @@
+// Init libs
+var ROSLIB = require('roslib');
+var Helpers = require('../helpers');
+// Solidity data
+var bytecode = '606060405260405160208060638339506080604052516000805463ffffffff1916821790555060328060316000396000f3606060405260e060020a600035046373d4a13a8114601a575b005b602860005463ffffffff1681565b6060908152602090f3';
+var abi = [{"constant":true,"inputs":[],"name":"data","outputs":[{"name":"","type":"uint32"}],"type":"function"},{"inputs":[{"name":"_data","type":"uint32"}],"type":"constructor"}];
+// JSON serialization
+function eth2json(address, web3) {
+    var msg = Helpers.getContract(abi, address, web3);
+    return {data: parseInt(msg.data())}
+}
+// Setup exports
+module.exports = {
+/*
+ * This message converter should be autogenerated from
+ * ROS message definition language.
+ * TODO: converter implementation.
+ */
+    abi: abi,
+    eth2json: eth2json,
+    eth2ros: function(msg, web3) {return new ROSLIB.Message(eth2json(msg, web3))},
+    ros2eth: function(msg, web3, fun) {
+        //
+        var msg_data = msg.data;
+        var args = [msg_data];
+        //
+        Helpers.newContract(abi, bytecode, web3, args, fun);
+}
+}
diff --git a/ROS/aira_ros_bridge/start.js b/ROS/aira_ros_bridge/start.js
@@ -1,4 +1,4 @@
 if (process.argv.length < 3)
-    console.log("Usage: " + process.argv[0] + " " + process.argv[1] + " ADDRESS");
+    console.log("Usage: " + process.argv[0] + " " + process.argv[1] + " CONTRACT_ADDRESS BRIDGE_PORT");
 else
-    require('./lib/aira_bridge')(process.argv[2])
+    require('./lib/aira_bridge')(process.argv[2], process.argv[3])