rebringing hardware tests to life

Makefile.gen

@@ -31,13 +31,21 @@ MESSAGES_H=$(STATICINCLUDE)/messages.h
 UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
 MESSAGES_XML = $(CONF)/messages.xml
 UBX_XML = $(CONF)/ubx.xml
+FBW_MESSAGES_H=$(STATICINCLUDE)/fbw_messages.h
 
 
-static:  $(MESSAGES_H) $(UBX_PROTOCOL_H)
+static:  $(MESSAGES_H) $(UBX_PROTOCOL_H) $(FBW_MESSAGES_H)
 
 $(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML)
-	$(TOOLS)/gen_messages.out $< telemetry_ap > /tmp/messages.h
+	test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
-	mv /tmp/messages.h $@
+	TMP_FILE=`mktemp`;\
+        $(TOOLS)/gen_messages.out $< telemetry_ap > $$TMP_FILE;\
+        mv $$TMP_FILE $@
+
+$(FBW_MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML) 
+	TMP_FILE=`mktemp`;\
+        $(TOOLS)/gen_messages.out $< telemetry_fbw > $$TMP_FILE;\
+        mv $$TMP_FILE $@
 
 $(UBX_PROTOCOL_H) : $(UBX_XML) $(CONF_XML)
 	$(TOOLS)/gen_ubx.out $< > /tmp/ubx.h

conf/Makefile.avr

@@ -129,6 +129,7 @@ avr_clean:
 #
 
 $(OBJDIR)/.depend:
+	test -d $(OBJDIR) || mkdir -p $(OBJDIR)
 	$(CC) -M $(CFLAGS) $($(TARGET).srcs) > $@
 
 ifneq ($(MAKECMDGOALS),clean) 

conf/messages.xml

@@ -146,16 +146,29 @@
 
   <message name="RC" ID="0x01" period="1">
     <field name="nb_channels" type="uint8"/>
-   <block times="nb_channels">
+<!--    
-     <field name="ppm" type="uint16" unit="us"/>
+    <block times="nb_channels">
-   </block>
+      <field name="ppm" type="uint16" unit="us"/>
+    </block> 
+-->
+     <field name="ppm01" type="uint16" unit="us"/>
+     <field name="ppm02" type="uint16" unit="us"/>
+     <field name="ppm03" type="uint16" unit="us"/>
+     <field name="ppm04" type="uint16" unit="us"/>
+     <field name="ppm05" type="uint16" unit="us"/>
+     <field name="ppm06" type="uint16" unit="us"/>
+     <field name="ppm07" type="uint16" unit="us"/>
+     <field name="ppm08" type="uint16" unit="us"/>
+     <field name="ppm09" type="uint16" unit="us"/>
+     <field name="ppm10" type="uint16" unit="us"/>
   </message>
 
+<!--
   <message name="SERVOS" ID="0x02" period="1">
     <field name="nb_channels" type="uint8"/>
-   <block times="nb_channels">
+    <block times="nb_channels">
-     <field name="ppm" type="uint16" unit="us"/>
+      <field name="ppm" type="uint16" unit="us"/>
-   </block>
+    </block>
   </message>
 
   <message name="PPRZ" ID="0x03" period="1">
@@ -164,7 +177,7 @@
      <field name="pprz" type="int16" unit="pprz"/>
    </block>
   </message>
-
+-->
   <message name="FBW_STATUS" ID="0x04" period="1">
     <field name="nb_spi_err" type="uint8"/>
     <field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>

sw/airborne/fly_by_wire/test/Makefile

@@ -1,14 +1,39 @@
+# 
+#  $Id$
+#  Copyright (C) 2005 Pascal Brisset, Antoine Drouin
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.  
+# 
 
 
 all:
 	@echo "call with 'make TARGET=... compile (or load)'"
 
-TARGET=check_uart
-
 LOCAL_CFLAGS= $(CTL_BRD_FLAGS)
 
 ARCH      = atmega8
-INCLUDES = -I ../ -I ../../../include -I ../../../var/include
+TARGET	  = check_uart
+
+
+VARINCLUDE = $(PAPARAZZI_HOME)/var/include
+ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
+INCLUDES = -I ../ -I ../../../include -I $(ACINCLUDE) -I $(VARINCLUDE)
+#-I ../../../var/include
 
 CONF_DIR = ../../../../conf
 CONF_XML = $(CONF_DIR)/conf.xml
@@ -28,6 +53,8 @@ endif
 
 rc_transmitter.srcs  = rc_transmitter.c ../ppm.c ../uart.c
 
+new_rc_transmitter.srcs  = new_rc_transmitter.c ../ppm.c ../uart.c
+
 setup_servos.srcs  = setup_servos.c ../uart.c ../servo.c
 
 check_uart.srcs  = check_uart.c ../uart.c
@@ -40,4 +67,6 @@ check_spi.srcs = check_spi.c ../uart.c ../spi.c
 include ../../../../conf/Makefile.local
 include ../../../../conf/Makefile.avr
 
+main.o .depend : $(ACINCLUDE)/radio.h $(ACINCLUDE)/airframe.h
+
 clean: avr_clean

sw/airborne/fly_by_wire/uart.h

@@ -36,4 +36,13 @@ void uart_print_hex16 ( uint16_t c );
 void uart_print_string(const uint8_t* s);
 void uart_print_float( const float * f);
 
+#define TX_BUF_SIZE     256
+extern uint8_t           tx_head;
+extern volatile uint8_t  tx_tail;
+extern uint8_t           tx_buf[ TX_BUF_SIZE ];
+
+#define UART_CHECK_FREE_SPACE(_space) (tx_head>=tx_tail? _space < (TX_BUF_SIZE - (tx_head - tx_tail)) : _space < (tx_tail - tx_head))
+
+
+
 #endif

sw/lib/perl/Paparazzi/Environment.pm

@@ -2,6 +2,7 @@ package Paparazzi::Environment;
 
 use File::NCopy;
 use Getopt::Long;
+use XML::DOM;
 
 use constant INST_PREFIX => "/usr";
 
@@ -57,6 +58,18 @@ sub check_paparazzi_home {
   }
 }
 
+sub read_config {
+  my $filename = $paparazzi_home."/conf/conf.xml";
+  my $parser = XML::DOM::Parser->new();
+  my $doc = $parser->parsefile($filename);
+  my $conf = $doc->getElementsByTagName("conf")->[0];
+  my $aircrafts = $conf->getElementsByTagName("aircraft");;
+  foreach my $aircraft (@{$aircrafts}){
+    my $name = $aircraft->getAttribute('name');
+    print ("name $name\n");
+  }
+}
+
 sub paparazzi_src {
   return $paparazzi_src;
 }

sw/supervision/Paparazzi/CpGui.pm

@@ -39,6 +39,14 @@ sub onSessionSelected {
 use constant LIST_WIDTH => 80;
 use constant LIST_HEIGHT => 20;
 
+
+sub onCompile {
+  my ($self) = @_;
+  my $paparazzi_src = Paparazzi::Environment::paparazzi_src();
+  print `cd $paparazzi_src; make`;
+
+}
+
 sub build_gui {
   my ($self) = @_;
   my $mw = MainWindow->new();
@@ -67,6 +75,7 @@ sub build_gui {
 		  -padx => 5, -pady => 5,
 		  -side => "top");
   $self->build_logo_page($notebook);
+  $self->build_compile_page($notebook);
   $self->build_list_page($notebook, "hosts", "Hosts", ["name", "ip", "status"], \&build_hosts_page);
   $self->build_list_page($notebook, "variables", "Variables", ["name", "value"], \&build_variables_page);
 #  $self->build_list_page($notebook, "programs", "Programs", ["name", "command", "args"], \&build_programs_page);
@@ -85,13 +94,48 @@ sub build_logo_page {
   my $logo_filename = $self->get('-logo_file');
   return unless defined $logo_filename;
   my $logo_page = $notebook->add("logo", -label => "Logo", -underline => 0);
-  my $image = $logo_page->Photo('logogif',
+  my $image = $logo_page->Photo('logogif', -format => 'GIF',
-				-format => 'GIF',
 				-file => $logo_filename);
   my $labelImage = $logo_page->Label('-image' => 'logogif')->pack();
   return $logo_page;
 }
 
+sub build_compile_page {
+  my ($self, $notebook) = @_;
+  my $compile_page = $notebook->add("compile", -label => "Compile", -underline => 0);
+  my $paparazzi_src = Paparazzi::Environment::paparazzi_src();
+  my(@pl) = qw/-side top -expand yes -padx 10 -pady 10 -fill both/;
+  my $ground_frame = $compile_page->Frame(-label => 'Ground', -borderwidth => 2, - relief =>'groove')->pack(@pl);
+#  my $airborne_frame = $compile_page->Frame(-label => "Air", -borderwidth => 2, - relief =>'groove')->pack(@pl);
+#  my $ground_frame = $compile_page->Frame(-borderwidth => 2, - relief =>'groove')->pack(@pl);
+  my $airborne_frame = $compile_page->Frame(-borderwidth => 2, - relief =>'groove')->pack(@pl);
+  @pl = qw/-side top -expand yes -pady 2 -anchor w/;
+  my $mode_txt = 'Mode : '. (defined $paparazzi_src ? "Source tree" : "System install");
+  my $mode_label = $ground_frame->Label(-text => $mode_txt)->pack(@pl);
+  my $paparazzi_src_txt = 'location : '.$paparazzi_src;
+  my $paparazzi_src_label = $ground_frame->Label(-text => $paparazzi_src_txt)->pack(@pl);
+  my $make_button = $ground_frame->Button(
+					  -text    => "Compile",
+					  -width   => 10,
+					  -command => [\&onCompile, $self],
+					 );
+  $make_button->pack(qw/-side top -expand yes -pady 2/);
+
+  my @header = ("name", "airframe", "radio", "flight plan");
+  my $hlist = $airborne_frame->Scrolled ('HList',
+				   #			       -selectmode => 'extended',
+				   -header => 1,
+				   #			       -columns => $#header + 1,
+				   -width => LIST_WIDTH,
+#				   -height => LIST_HEIGHT,
+				   -itemtype => 'imagetext',
+				   -indent => 35,
+				   -separator => '/',
+				  )->grid(-sticky => 'nsew');
+
+  Paparazzi::Environment::read_config();
+
+}
 
 sub build_hosts_page {
   my ($self, $hlist, $e, $section_h, $item) = @_;

sw/supervision/Paparazzi/CpPgmMgr.pm

@@ -44,9 +44,9 @@ sub start_program() {
                                # parent
   $children{$pid} = {cmd => $pgm, args => \@args};#, ktw => $fh};
   $self->configure('-children', \%children);
-  foreach my $key (keys %children) {
+#  foreach my $key (keys %children) {
 #    print("in ChildrenSpawner::start_programm child: [$key $children{$key}]\n");
-  }
+#  }
   return $pid;
 }
 

sw/supervision/Paparazzi/CpSessionMgr.pm

@@ -135,7 +135,7 @@ sub xml_parse_section {
 #  print "section $section_name items_name $items_name\n";
   my $items = $section->getElementsByTagName($items_name);
   my $h_name = '-'.$section_name;
-  print "h_name $h_name\n";
+#  print "h_name $h_name\n";
   my $tmp = $self->get($h_name);
   foreach my $item (@{$items}){
     if ($section_name eq "hosts") {