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Pascal Brisset
2006-11-21 15:26:58 +00:00
parent 1754aae3fc
commit 2ba3ffdd6c
7 changed files with 52 additions and 23 deletions
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conf/control_panel.xml.example
+3 -1
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@@ -80,7 +80,9 @@
<program name="sim"><arg flag="-a" constant="MJ5"/></program>
<program name="sim"><arg flag="-a" constant="TJ1"/></program>
<program name="server"/>
<program name="gcs"/>
<program name="gcs">
<arg flag="-track_size" constant="10"/>
</program>
</session>
<session name="4 Versatile Flight">
sw/ground_segment/cockpit/gcs.ml
+1
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@@ -345,6 +345,7 @@ let options =
"-zoom", Arg.Set_float zoom, "Initial zoom";
"-center", Arg.Set_string center, "Initial map center";
"-center_ac", Arg.Set auto_center_new_ac, "Centers the map on any new A/C";
"-track_size", Arg.Set_int Live.track_size, (sprintf "Default track length (%d)" !Live.track_size);
"-plugin", Arg.Set_string plugin_window, "External X application (launched with the id of the plugin window as argument)";
"-mplayer", Arg.Set_string mplayer, "Launch mplayer with the given argument as X plugin";
"-utm", Arg.Unit (fun () -> projection:=G.Mercator),"Switch to UTM local projection";
sw/ground_segment/cockpit/live.ml
+4 -3
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@@ -34,6 +34,7 @@ module Ground_Pprz = Pprz.Messages(struct let name = "ground" end)
module Alert_Pprz = Pprz.Messages(struct let name = "alert" end)
let approaching_alert_time = 3.
let track_size = ref 500
let rotate = fun a (x, y) ->
let cosa = cos a and sina = sin a in
@@ -290,7 +291,7 @@ let create_ac = fun alert (geomap:G.widget) (acs_notebook:GPack.notebook) (ac_id
let fp = ac_menu_fact#add_check_item "Fligh Plan" ~active:true in
ignore (fp#connect#toggled (fun () -> show_mission ac_id fp#active));
let track = new MapTrack.track ~name ~color:color geomap in
let track = new MapTrack.track ~size: !track_size ~name ~color:color geomap in
geomap#register_to_fit (track:>MapCanvas.geographic);
let center_ac = center geomap track in
@@ -535,8 +536,8 @@ let get_fbw_msg = fun _sender vs ->
ac.strip#set_label "RC" status;
ac.strip#set_color "RC"
(match status with
"LOST" | "REALLY_LOST" -> warning_color
| _ -> ok_color)
"OK" -> ok_color
| _ -> warning_color)
sw/ground_segment/cockpit/live.mli
+30
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@@ -1 +1,31 @@
(*
* $Id$
*
* Real time handling of flying A/Cs
*
* Copyright (C) 2004-2006 ENAC, 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.
*
*)
val track_size : int ref
(** Default length for A/C tracks on the 2D view *)
val listen_acs_and_msgs : MapCanvas.widget -> GPack.notebook -> Pages.alert -> bool -> unit
(** [listen_acs_and_msgs geomap aircraft_notebook alert_page auto_center_new_ac] *)
sw/ground_segment/cockpit/strip.ml
+12 -17
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@@ -133,15 +133,14 @@ let labels_print = [|
|]
let gen_int = let i = ref (-1) in fun () -> incr i; !i
let rows = 1 + Array.length labels_name
(** Number of rows: colored line + labels + buttons + user buttons *)
let rows = 1 + Array.length labels_name + 2
(** Numnber of columns: battey gauge + labels & values + AGL gauge *)
let columns = 1 + 2 * Array.length labels_name.(0) + 1
(** add a strip to the panel *)
(** add a strip to the panel *)
let add config color center_ac mark =
let strip_labels = ref [] in
let add_label = fun name value ->
@@ -152,16 +151,12 @@ let add config color center_ac mark =
let tooltips = GData.tooltips () in
(* frame of the strip *)
let strip_ebox = GBin.event_box ~packing:strips_table#add () in
let strip_ebox = GBin.event_box ~packing:strips_table#pack () in
let frame = GBin.frame ~shadow_type: `IN ~packing:strip_ebox#add () in
let framevb = GPack.vbox ~packing:frame#add () in
(** Table (everything except the user buttons) *)
let strip = GPack.table ~rows ~columns ~col_spacings:3 ~packing:framevb#add () in
strip#set_row_spacing 0 2;
strip#set_row_spacing 1 2;
strip#set_row_spacing (rows-1) 2;
strip#set_row_spacing (rows-2) 2;
let strip = GPack.table ~rows ~columns ~col_spacings:3 ~row_spacings:2 ~packing:framevb#pack () in
(* Name in top left *)
let name = (GMisc.label ~text: (ac_name) ~packing: (strip#attach ~top: 0 ~left: 0) ()) in
@@ -187,13 +182,13 @@ let add config color center_ac mark =
tooltips#set_tip plane_color#coerce ~text:"Flight time - Block time - Stage time - Block name";
(* battery gauge *)
let bat_da = GMisc.drawing_area ~show:true ~packing:(strip#attach ~top:1 ~bottom:(rows-1) ~left:0) () in
let bat_da = GMisc.drawing_area ~show:true ~packing:(strip#attach ~top:1 ~bottom:3 ~left:0) () in
bat_da#misc#realize ();
let bat = new gauge bat_da bat_min bat_max in
(* AGL gauge *)
let agl_box = GBin.event_box ~packing:(strip#attach ~top:1 ~bottom:3 ~left:(columns-1)) () in
let agl_da = GMisc.drawing_area ~width:30 ~show:true ~packing:agl_box#add () in
let agl_da = GMisc.drawing_area ~width:40 ~show:true ~packing:agl_box#add () in
agl_da#misc#realize ();
tooltips#set_tip agl_box#coerce ~text:"AGL (m)";
let agl = new gauge agl_da 0. agl_max in
@@ -206,7 +201,7 @@ let add config color center_ac mark =
tooltips#set_tip dta_box#coerce ~text:"Height to target (m)";
(* Telemetry *)
let eb = GBin.event_box ~packing:(strip#attach ~top:(rows-1) ~left:0) () in
let eb = GBin.event_box ~packing:(strip#attach ~top:3 ~left:0) () in
let ts = GMisc.label ~text:"N/A" ~packing:eb#add () in
add_label "telemetry_status_value" (eb, ts);
ts#set_width_chars 3;
@@ -226,7 +221,7 @@ let add config color center_ac mark =
) labels_name;
(* Buttons *)
let hbox = GPack.hbox ~spacing:2 ~packing:framevb#add () in
let hbox = GPack.hbox ~width:300 ~spacing:2 ~packing:(strip#attach ~top:4 ~left:0 ~right:columns) () in
let b = GButton.button ~label:"Center A/C" ~packing:hbox#add () in
ignore(b#connect#clicked ~callback:center_ac);
let b = GButton.button ~label:"Mark" ~packing:hbox#add () in
@@ -238,7 +233,7 @@ let add config color center_ac mark =
ignore (b#connect#clicked ~callback:mark);
(* User buttons *)
let user_hbox = GPack.hbox ~spacing:2 ~packing:framevb#add () in
let user_hbox = GPack.hbox ~spacing:2 ~packing:(strip#attach ~top:5 ~left:0 ~right:columns) () in
object
method set_agl value = set_agl agl value
sw/ground_segment/tmtc/server.ml
+1 -1
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@@ -240,7 +240,7 @@ let log_and_parse = fun logging ac_name (a:Aircraft.aircraft) msg values ->
if mcu1_status land 0b1 > 0
then "OK"
else if mcu1_status land 0b10 > 0
then "REALLY_LOST"
then "NONE"
else "LOST";
a.fbw.rc_mode <-
if mcu1_status land 0b1000 > 0
sw/lib/ocaml/mapTrack.ml
+1 -1
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@@ -181,7 +181,7 @@ class track = fun ?(name="Noname") ?(size = 500) ?(color="red") (geomap:MapCanva
if params_on then begin
let last_height = self#height () in
ac_label#set [`TEXT ( name^" \n"^(string_of_float last_height)^" m\n"^(string_of_float last_speed)^" m/s\n" ); `Y 70. ]
ac_label#set [`TEXT (sprintf "%s\n%+.0f m\n%.1f m/s" name last_height last_speed); `Y 70. ]
end;
ac_label#affine_absolute (affine_pos_and_angle geomap#zoom_adj#value xw yw 0.);