mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 07:53:43 +08:00
adding strip to map2d,
try option -strip on map2d exec file
This commit is contained in:
Pierre-Selim Huard
@@ -35,6 +35,9 @@ let int_attr = fun xml a -> int_of_string (ExtXml.attrib xml a)
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let soi = string_of_int
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let sof = string_of_float
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let bat_max = 13.
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let bat_min = 8.
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let home = Env.paparazzi_home
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let (//) = Filename.concat
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let default_path_srtm = home // "data" // "srtm"
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@@ -46,6 +49,11 @@ let _ =
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ignore (Sys.command (sprintf "mkdir -p %s" var_maps_path))
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let fp_example = path_fps // "example.xml"
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(** window for the strip panel *)
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let strip_panel = GWindow.window ~title: "Strip Panel" ~width: 330 ~height:300 ()
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let strip_scrolled = GBin.scrolled_window ~hpolicy: `AUTOMATIC ~vpolicy: `AUTOMATIC ~packing: strip_panel#add ()
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let strip_table = GPack.table ~rows: 0 ~columns: 1 ~row_spacings: 5 ~packing: (strip_scrolled#add_with_viewport) ()
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(** Dummy flight plan (for map calibration) *)
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let dummy_fp = fun latlong ->
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Xml.Element("flight_plan",
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@@ -157,6 +165,86 @@ let map_from_region = fun (geomap:G.widget) () ->
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let nw = geomap#of_world (xw1,yw1)
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and se = geomap#of_world (xw2,yw2) in
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save_map geomap dest nw se
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(************ Strip handling ***********************************************)
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module Strip = struct
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type t = {
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ac_id: string;
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gauge: GRange.progress_bar ;
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labels: (string * GMisc.label) list
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}
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let panel = Hashtbl.create 3
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let pad = 4
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let i2s = string_of_int
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let labels_name = [|
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[| "AP" ; "alt" ; "->" |]; [| "RC"; "climb"; "/" |]; [| "GPS"; "speed"; "" |];
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[| "settings" ; "throttle"; "" |]; [| ""; "wind"; "dir" |];
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|]
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let labels_print = [|
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[| "AP" ; "alt" ; "->" |]; [| "RC"; "climb"; "->" |]; [| "GPS"; "speed"; "" |];
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[| "settings" ; "throttle"; "" |]; [| ""; "wind"; "dir" |];
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|]
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let gen_int = let i = ref (-1) in fun () -> incr i; !i
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(** add a strip to the panel *)
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let add (widget: GPack.table) ac_id config color =
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(* number of the strip *)
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let strip_number = gen_int () in
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widget#set_rows strip_number;
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let strip_labels = ref [] in
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let add_label = fun name value ->
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strip_labels := (name, value) :: !strip_labels in
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let ac_name = Pprz.string_assoc "ac_name" config in
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(* frame of the strip *)
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let frame = GBin.frame ~shadow_type: `IN ~packing: (widget#attach ~top: (strip_number) ~left: 0) () in
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let strip = GPack.table ~rows: 2 ~columns: 2 ~col_spacings: 10 ~packing: frame#add () in
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add_label "name" (GMisc.label ~text: (ac_name) ~packing: (strip#attach ~top: 0 ~left: 0) ());
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let plane_color = GBin.event_box ~width:10 ~height:10 ~packing:(strip#attach ~top:0 ~left: 1) () in
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plane_color#coerce#misc#modify_bg [`NORMAL, `NAME color];
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(* battery and flight time *)
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let bat_table = GPack.table ~rows: 2 ~columns: 1 ~packing: (strip#attach ~top:1 ~left:0) () in
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let pb = GRange.progress_bar ~orientation: `BOTTOM_TO_TOP ~packing: (bat_table#attach ~top:0 ~left:0) () in
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let ft = GMisc.label ~text: "00:00:00" ~packing: (bat_table#attach ~top:1 ~left:0) () in
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ft#set_width_chars 8;
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add_label ("flight_time_value") ft;
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let left_box = GPack.table ~rows: 5 ~columns: 6 ~col_spacings: 5
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~packing: (strip#attach ~top: 1 ~left: 1) () in
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Array.iteri
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(fun i a ->
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Array.iteri
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(fun j s ->
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add_label s (GMisc.label ~text: labels_print.(i).(j) ~justify: `LEFT ~packing: (left_box#attach ~top: i ~left: (2*j)) ());
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let lvalue = (GMisc.label ~text: "" ~justify: `RIGHT ~packing: (left_box#attach ~top: i ~left: (2*j+1)) ()) in
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lvalue#set_width_chars 6;
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add_label (s^"_value") lvalue;
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) a
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) labels_name;
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Hashtbl.add panel ac_id {ac_id = ac_id; gauge=pb ; labels= (!strip_labels)}
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(** find an aircraft in the list of aircraft *)
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let find ac_id = Hashtbl.find panel ac_id
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(** set a label *)
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let set_label strip name value =
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let l = List.assoc (name^"_value") strip.labels in
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l#set_label value
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(** set the battery *)
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let set_bat strip value = strip.gauge#set_text (sof value);
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strip.gauge#set_fraction (((bat_max -. bat_min) -. (bat_max -. value)) /. (bat_max -. bat_min))
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end
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(************ Google Maps handling *****************************************)
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@@ -754,7 +842,8 @@ let create_ac = fun (geomap:G.widget) ac_id config ->
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block_label = block_label;
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apmode_label = apmode_label;
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blocks = blocks
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}
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};
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ignore (Strip.add strip_table ac_id config color)
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let ask_config = fun geomap ac ->
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@@ -770,6 +859,41 @@ let one_new_ac = fun (geomap:G.widget) ac ->
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ask_config geomap ac
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end
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let get_wind_msg = fun sender vs ->
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let ac_strip = Strip.find (Pprz.string_assoc "ac_id" vs) in
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let set_label = fun label_name field_name ->
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Strip.set_label ac_strip label_name
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(Printf.sprintf "%.1f" (Pprz.float_assoc field_name vs))
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in
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set_label "wind" "wspeed";
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set_label "dir" "dir"
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let get_fbw_msg = fun sender vs ->
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let ac_strip = Strip.find (Pprz.string_assoc "ac_id" vs) in
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Strip.set_label ac_strip "RC" (Pprz.string_assoc "rc_status" vs)
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let get_engine_status_msg = fun sender vs ->
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let ac_strip = Strip.find (Pprz.string_assoc "ac_id" vs) in
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Strip.set_label ac_strip "throttle"
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(string_of_float (Pprz.float_assoc "throttle" vs));
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Strip.set_bat ac_strip (Pprz.float_assoc "bat" vs)
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let get_if_calib_msg = fun sender vs ->
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let ac_strip = Strip.find (Pprz.string_assoc "ac_id" vs) in
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Strip.set_label ac_strip "settings" (Pprz.string_assoc "if_mode" vs)
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let listen_wind_msg = fun () ->
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ignore (Ground_Pprz.message_bind "WIND" get_wind_msg)
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let listen_fbw_msg = fun () ->
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ignore (Ground_Pprz.message_bind "FLY_BY_WIRE" get_fbw_msg)
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let listen_engine_status_msg = fun () ->
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ignore (Ground_Pprz.message_bind "ENGINE_STATUS" get_engine_status_msg)
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let listen_if_calib_msg = fun () ->
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ignore (Ground_Pprz.message_bind "INFLIGH_CALIB" get_if_calib_msg)
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let list_separator = Str.regexp ","
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let aircrafts_msg = fun (geomap:G.widget) acs ->
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@@ -797,17 +921,32 @@ let listen_dl_value = fun () ->
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let listen_flight_params = fun () ->
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let get_fp = fun _sender vs ->
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let ac_id = Pprz.string_assoc "ac_id" vs in
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let ac_strip = Strip.find ac_id in
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try
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let ac = Hashtbl.find live_aircrafts ac_id in
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let a = fun s -> Pprz.float_assoc s vs in
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let wgs84 = { posn_lat = (Deg>>Rad)(a "lat"); posn_long = (Deg>>Rad)(a "long") } in
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aircraft_pos_msg ac.track wgs84 (a "course") (a "alt") (a "speed") (a "climb")
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aircraft_pos_msg ac.track wgs84 (a "course") (a "alt") (a "speed") (a "climb");
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let set_label lbl_name field_name =
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let s =
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if (a field_name) < 0.
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then
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"- "^(Printf.sprintf "%.1f" (abs_float (a field_name)))
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else
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Printf.sprintf "%.1f" (a field_name)
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in
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Strip.set_label ac_strip lbl_name s
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in
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set_label "alt" "alt";
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set_label "speed" "speed";
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set_label "climb" "climb"
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with Not_found -> ()
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in
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ignore (Ground_Pprz.message_bind "FLIGHT_PARAM" get_fp);
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let get_ns = fun _sender vs ->
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let ac_id = Pprz.string_assoc "ac_id" vs in
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let ac_strip = Strip.find ac_id in
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try
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let ac = Hashtbl.find live_aircrafts ac_id in
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let a = fun s -> Pprz.float_assoc s vs in
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@@ -815,7 +954,11 @@ let listen_flight_params = fun () ->
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carrot_pos_msg ac.track wgs84;
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let b = List.assoc (Pprz.int_assoc "cur_block" vs) ac.blocks in
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let b = String.sub b 0 (min 10 (String.length b)) in
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ac.block_label#set_label b
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ac.block_label#set_label b;
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let set_label = fun l f ->
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Strip.set_label ac_strip l (Printf.sprintf "%.1f" (Pprz.float_assoc f vs)) in
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set_label "->" "target_alt";
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set_label "/" "target_climb"
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with Not_found -> ()
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in
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ignore (Ground_Pprz.message_bind "NAV_STATUS" get_ns);
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@@ -857,10 +1000,17 @@ let listen_flight_params = fun () ->
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let get_ap_status = fun _sender vs ->
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let ac_id = Pprz.string_assoc "ac_id" vs in
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let ac_strip = Strip.find ac_id in
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try
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let ac = Hashtbl.find live_aircrafts ac_id in
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ap_status_msg ac.track ( float_of_int (Pprz.int32_assoc "flight_time" vs ));
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ac.apmode_label#set_label (Pprz.string_assoc "ap_mode" vs)
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ac.apmode_label#set_label (Pprz.string_assoc "ap_mode" vs);
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Strip.set_label ac_strip "AP" (Pprz.string_assoc "ap_mode" vs);
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Strip.set_label ac_strip "GPS" (Pprz.string_assoc "gps_mode" vs);
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let ft =
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let t = Int32.to_int (Int32.of_string (Pprz.string_assoc "flight_time" vs)) in
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Printf.sprintf "%02d:%02d:%02d" (t / 3600) ((t mod 3600) / 60) ((t mod 3600) mod 60) in
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Strip.set_label ac_strip "flight_time" ft
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with
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Not_found -> ()
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in
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@@ -894,9 +1044,11 @@ let _main =
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and map_file = ref ""
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and center = ref ""
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and zoom = ref 1.
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and projection= ref G.UTM in
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and projection= ref G.UTM
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and display_strip = ref false in
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let options =
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[ "-b", Arg.String (fun x -> ivy_bus := x), "Bus\tDefault is 127.255.255.25:2010";
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"-strip", Arg.Unit (fun () -> display_strip := true), "Display strip";
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"-ref", Arg.Set_string geo_ref, "Geographic ref (default '')";
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"-zoom", Arg.Set_float zoom, "Initial zoom";
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"-center", Arg.Set_string center, "Initial map center";
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@@ -914,16 +1066,19 @@ let _main =
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Srtm.add_path default_path_srtm;
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Gm.cache_path := var_maps_path;
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IGN.cache_path := var_maps_path;
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(** window for map2d **)
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let window = GWindow.window ~title: "Map2d" ~border_width:1 ~width:400 () in
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let vbox= GPack.vbox ~packing: window#add () in
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(** window for vertical situation *)
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let vertical_situation = GWindow.window ~title: "Vertical" ~border_width:1 ~width:400 () in
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let _vertical_vbox= GPack.vbox ~packing: vertical_situation#add () in
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let quit = fun () -> GMain.Main.quit (); exit 0 in
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ignore (window#connect#destroy ~callback:quit);
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ignore (window#connect#destroy ~callback:quit);
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ignore (vertical_situation#connect#destroy ~callback:quit);
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ignore (strip_panel#connect#destroy ~callback:quit);
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let geomap = new G.widget ~projection:!projection ~height:400 () in
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@@ -986,11 +1141,17 @@ let _main =
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(** Listen for all messages on ivy *)
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Live.listen_flight_params ();
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Live.listen_wind_msg ();
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Live.listen_fbw_msg ();
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Live.listen_engine_status_msg ();
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Live.listen_if_calib_msg ();
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(** Display the window *)
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window#add_accel_group accel_group;
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window#show ();
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if !display_strip then strip_panel#show ();
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(** Center the map as required *)
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if !center <> "" then begin
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try geomap#center (Latlong.of_string !center) with
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