bug fixed in exceptions appearing in procedures

Makefile.ac

@@ -75,7 +75,7 @@ $(FLIGHT_PLAN_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(TOOLS)/gen_flight_plan.o
 	$(Q)$(TOOLS)/gen_flight_plan.out $< > /tmp/fp.h
 	$(Q)mv /tmp/fp.h $@
 
-$(FLIGHT_PLAN_XML) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML)
+$(FLIGHT_PLAN_XML) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(TOOLS)/gen_flight_plan.out
 	@echo BUILD $@
 	$(Q)$(TOOLS)/gen_flight_plan.out -dump $< > /tmp/fp.xml
 	$(Q)mv /tmp/fp.xml $@

conf/flight_plans/generic.xml

@@ -33,12 +33,6 @@
     <arg name="kill_pitch" value="-0.5"/>
   </include>
 
-  <exceptions>
-    <exception cond="And(block_time>20, dist2_to_home > 500*500)" deroute="home"/>
-    <exception cond="And(block_time>20, dist2_to_home > 600*600)" deroute="kill"/>
-    <exception cond="And(launch, gps_lost)" deroute="kill"/>
-  </exceptions>
-
   <blocks>
     <block NAME="wait GPS">
       <while COND="!GPS_FIX_VALID(gps_mode)"/>
@@ -61,14 +55,5 @@
     <block NAME="survey">
       <survey_rectangle grid="70" wp1="S1" wp2="S2"/>
     </block>
-
-    <block name="home">
-      <circle wp="HOME" radius="50"/>
-    </block>
-
-    <block name="kill">
-      <go wp="HOME" vmode="gaz" gaz="0" pitch="-0.5"/>
-    </block>
-
   </blocks>
 </flight_plan>

sw/tools/fp_proc.ml

@@ -114,6 +114,7 @@ let transform_values = fun attribs_not_modified affine env attribs ->
       (a, v'))
     attribs
 
+
 let transform_waypoint = fun prefix affine xml ->
   let x = ExtXml.float_attrib xml "x"
   and y = ExtXml.float_attrib xml "y" in
@@ -145,6 +146,17 @@ let prefix_or_deroute = fun prefix reroutes name attribs ->
       (a, v'))
     attribs
 
+let transform_exception = fun prefix reroutes affine env xml  ->
+  match xml with
+    Xml.Element (tag, attribs, children) ->
+      assert (children=[]);
+      let attribs = prefix_or_deroute prefix reroutes "deroute" attribs in
+      let attribs = transform_values [] affine env attribs in
+      Xml.Element (tag, attribs, children)
+  | _ -> failwith "transform_exception"
+  
+
+
 let transform_attribs = fun affine attribs ->
   List.map
     (fun (a, v) ->
@@ -162,10 +174,7 @@ let transform_stage = fun prefix reroutes affine env xml ->
       Xml.Element (tag, attribs, children) -> begin
 	match tag with
 	  "exception" ->
-	    assert (children=[]);
+	    transform_exception prefix reroutes affine env xml
-	    let attribs = prefix_or_deroute prefix reroutes "deroute" attribs in
-	    let attribs = transform_values [] affine env attribs in
-	    Xml.Element (tag, attribs, children)
 	| "while" ->
 	    let attribs = transform_values [] affine env attribs in
 	  Xml.Element (tag, attribs, List.map tr children)
@@ -258,8 +267,9 @@ let parse_include = fun dir include_xml ->
     and exceptions = Xml.children (ExtXml.child proc "exceptions")
     and blocks = Xml.children (ExtXml.child proc "blocks") in
 
-    let waypoints = List.map (transform_waypoint prefix affine) waypoints in
+    let waypoints = List.map (transform_waypoint prefix affine) waypoints
-    let blocks = List.map (transform_block prefix reroutes affine env) blocks in
+    and exceptions = List.map (transform_exception prefix reroutes affine env) exceptions
+    and blocks = List.map (transform_block prefix reroutes affine env) blocks in
     (waypoints, exceptions, blocks)
   with
     Dtd.Prove_error e -> dtd_error f (Dtd.prove_error e)
@@ -304,6 +314,9 @@ let process_includes = fun dir xml ->
   and inc_exceptions = List.flatten inc_exceptions
   and inc_blocks = List.flatten inc_blocks in
 
+  (* FIXME (exceptions seciton is not mandatory) *)
+  let children = children @ [Xml.Element ("exceptions",[],[])] in
+
   let new_children = insert_children children
       ["waypoints", inc_waypoints; 
        "exceptions", inc_exceptions;