Added route scheduling.

Author: akru

drone_employee/doc/scheduler.md

@@ -0,0 +1,22 @@
+# Simple scheduling for Drone Employee routes
+
+The case is making periodicaly routes with autonomous 
+decentralized administrative registration and releasing of route.
+
+## Scheduler
+
+For this case try to use UNIX Cron daemon and `run_route.js` script.
+Sample **crontab** file below:
+
+    0 * * * * node /path/to/run_route.js 0x7f43839b8e4c39d811da781ab191e885ca2b9508 '[[65.12, -39.17, 10], [65.11, -39.17, 10]]'
+
+* **run_route.js** script takes two arguments: *DroneEmployee* contract address and waypoint list in format [latitude, longitude, altitude];
+* the first five words is a crontab time format, in sample they says 'run every hour', detailed description available [there](https://en.wikipedia.org/wiki/Cron).
+
+## Enviroment
+
+**run_route.js** script require running *geth* or *eth* with enabled RPC port `8545`.
+
+The scheduller communicates with standart DroneEmployee contract by ethereum node and can be run separately or on robot computer.
+
+

drone_employee/scripts/quad_controller.py

@@ -20,7 +20,7 @@ def take_current(queue):
     return queue.get(True, None)
 
 def quad_controller(route_queue, position_queue, arming_queue):
-    flight_done_pub = Publisher('release', UInt32, queue_size=1) 
+    flight_done_pub = Publisher('remove', UInt32, queue_size=1) 
     while not is_shutdown():
         # Take a route
         route = route_queue.get(True, None)

drone_employee/scripts/run_route.js

@@ -5,15 +5,15 @@ if (process.argv.length < 4) {
 
 var address = process.argv[2];
 var points  = JSON.parse(process.argv[3]);
-var web3    = new require('web3')(); 
+var Web3    = require('web3'); 
+var web3 = new Web3();
 web3.setProvider(new web3.providers.HttpProvider('http://localhost:8545'));
 var drone_employee_abi = [{"constant":false,"inputs":[{"name":"_response","type":"address"}],"name":"setRoute","outputs":[],"type":"function"},{"constant":false,"inputs":[{"name":"_route_id","type":"uint32"}],"name":"flightDone","outputs":[],"type":"function"},{"constant":true,"inputs":[{"name":"","type":"uint256"}],"name":"subscribers","outputs":[{"name":"","type":"address"}],"type":"function"},{"constant":false,"inputs":[{"name":"latitude","type":"int256"},{"name":"longitude","type":"int256"},{"name":"altitude","type":"int256"}],"name":"addCheckpoint","outputs":[],"type":"function"},{"constant":true,"inputs":[{"name":"","type":"uint256"}],"name":"checkpoints","outputs":[{"name":"","type":"address"}],"type":"function"},{"constant":false,"inputs":[],"name":"initROS","outputs":[],"type":"function"},{"constant":false,"inputs":[],"name":"takeFlight","outputs":[],"type":"function"},{"constant":false,"inputs":[{"name":"_name","type":"string"},{"name":"_type","type":"string"}],"name":"mkPublisher","outputs":[{"name":"","type":"address"}],"type":"function"},{"constant":false,"inputs":[{"name":"_name","type":"string"},{"name":"_type","type":"string"},{"name":"_callback","type":"address"}],"name":"mkSubscriber","outputs":[{"name":"","type":"address"}],"type":"function"},{"constant":true,"inputs":[{"name":"","type":"uint256"}],"name":"publishers","outputs":[{"name":"","type":"address"}],"type":"function"},{"inputs":[{"name":"_controller","type":"address"}],"type":"constructor"}];
 
 var contract = web3.eth.contract(drone_employee_abi).at(address);
-points.map(function(pt) {
-    contract.addCheckpoint.sendTransaction({from: web3.eth.accounts[0]},
-        pt[0] * 1000000,
-        pt[1] * 1000000,
-        pt[2] * 1000000);
+points.forEach(function(p, i, arr) {
+    contract.addCheckpoint(
+        p[0] * 1000000, p[1] * 1000000, p[2] * 1000000,
+        {from: web3.eth.accounts[0], gas: 3000000});
 });
-contract.takeFlight.sendTransaction({from: web3.eth.accounts[0]});
+contract.takeFlight({from: web3.eth.accounts[0], gas: 3000000});