mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 20:36:06 +08:00
paparazzicenter in progress
This commit is contained in:
Pascal Brisset
@@ -55,7 +55,7 @@ ARMGCC=/usr/bin/arm-elf-gcc
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all: static
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static : lib tools cockpit visu3d multimon tmtc logalizer lpc21iap sim_static static_h usb_lib
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static : lib center tools cockpit visu3d multimon tmtc logalizer lpc21iap sim_static static_h usb_lib
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conf: conf/conf.xml conf/control_panel.xml
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@@ -66,6 +66,9 @@ conf/%.xml :conf/%.xml.example
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lib:
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cd $(LIB)/ocaml; $(MAKE)
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center: lib
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cd sw/supervision; make
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tools: lib
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cd $(TOOLS); make
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@@ -20,6 +20,8 @@ install_data:
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$(INSTALL) -d $(DESTDIR)/data/pictures
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$(INSTALLDATA) var/maps/trtqtttqtsrrt*.jpg $(DESTDIR)/data/maps
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$(INSTALLDATA) data/pictures/*.gif data/pictures/*.svg data/pictures/*.jpg data/pictures/*.png $(DESTDIR)/data/pictures
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$(INSTALL) -d $(PREFIX)/usr/share/pixmaps
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$(INSTALLDATA) data/pictures/penguin_icon.png $(PREFIX)/usr/share/pixmaps/paparazzi.png
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$(INSTALL) -d $(DESTDIR)/data/srtm
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$(INSTALLDATA) data/srtm/N43E001.hgt.bz2 $(DESTDIR)/data/srtm
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@@ -73,6 +75,8 @@ install_bin:
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$(INSTALL) -d $(PREFIX)/usr/bin/
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$(INSTALL) -d $(DESTDIR)/sw/supervision
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$(INSTALL) sw/supervision/paparazzi.pl $(DESTDIR)/sw/supervision
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$(INSTALL) sw/supervision/paparazzicenter.glade $(DESTDIR)/sw/supervision
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$(INSTALL) sw/supervision/*.cmo $(DESTDIR)/sw/supervision
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$(INSTALL) paparazzi-make $(PREFIX)/usr/bin/
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$(INSTALLDATA) -d $(DESTDIR)/sw/simulator
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$(INSTALL) sw/simulator/*.cmo $(DESTDIR)/sw/simulator
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@@ -90,6 +94,7 @@ install_bin:
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$(INSTALL) sw/logalizer/plot.pl $(DESTDIR)/sw/logalizer
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ln -sf ../share/paparazzi/sw/ground_segment/cockpit/gcs $(PREFIX)/usr/bin/paparazzi-gcs
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ln -sf ../share/paparazzi/sw/supervision/paparazzi.pl $(PREFIX)/usr/bin/paparazzi
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ln -sf ../share/paparazzi/sw/supervision/paparazzicenter $(PREFIX)/usr/bin/paparazzicenter
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install_libs:
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$(INSTALL) -d $(PREFIX)/usr/lib/perl5/Paparazzi
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@@ -253,7 +253,7 @@ ap.CFLAGS += -DINFRARED
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ap.srcs += infrared.c estimator.c
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ap.CFLAGS += -DNAV
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ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
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ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c
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ap.CFLAGS += -DGYRO -DADXRS150 -DPID_RATE_LOOP
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@@ -267,7 +267,7 @@ ap.srcs += gyro.c
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# Config for SITL simulation
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include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.CFLAGS += -DCONFIG=\"tiny.h\" -DLOITER_TRIM -DMOBILE_CAM -DCAM
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sim.srcs += nav_line.c traffic_info.c cam.c
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sim.srcs += nav_survey_rectangle.c traffic_info.c cam.c
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@@ -23,26 +23,6 @@
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flight_plan="flight_plans/dummy.xml"
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/>
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<aircraft
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name="GRZE3"
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ac_id="3"
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airframe="airframes/gorrazoptere_esc_3DMG.xml"
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radio="radios/cockpitMM.xml"
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telemetry="telemetry/default.xml"
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flight_plan="flight_plans/dummy.xml"
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/>
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<aircraft
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name="G91"
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ac_id="4"
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airframe="airframes/gorrazoptere_091.xml"
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radio="radios/cockpitMM.xml"
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telemetry="telemetry/grz.xml"
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flight_plan="flight_plans/grz.xml"
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settings="settings/grz.xml"
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/>
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<!-- arm7 aircrafts -->
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<!-- tiny -->
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@@ -1,6 +1,9 @@
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan ground_alt="0" alt="75" lat0="43.4622" lon0="1.2729" max_dist_from_home="1000" name="Versatile" qfu="270" security_height="25">
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<flight_plan ground_alt="0" alt="75" lat0="43.4622" lon0="1.2729" max_dist_from_home="1500" name="Versatile" qfu="270" security_height="25">
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<header>
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#include "datalink.h"
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</header>
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<waypoints>
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<waypoint name="HOME" x="0" y="0"/>
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<waypoint name="1" x="200" y="0"/>
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@@ -134,5 +137,11 @@
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<heading until="FALSE" course="30" alt="ground_alt+50"/>
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</block>
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<block name="far away">
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<exception cond="datalink_time > 22" deroute="circle 1"/>
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<go approaching_time="0" from="1" hmode="route" wp="2"/>
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<go approaching_time="0" from="2" hmode="route" wp="1"/>
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</block>
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</blocks>
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</flight_plan>
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Vendored
+2
-2
@@ -10,7 +10,7 @@ Package: paparazzi-dev
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Architecture: any
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Suggests: paparazzi-avr, paparazzi-arm7
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Recommends: eagle, gs-common, tetex-extra, dia-gnome
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Depends: ivy-c-dev, ivy-c, ivy-perl, ivy-ocaml, xml-light-ocaml, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, libgnomecanvas2-dev, libxml-dom-perl, libsubject-perl, libfile-ncopy-perl, libpcre3-dev, bzip2, libexpect-perl, cvs, liblablgl-ocaml-dev, liblablgtk2-gl-ocaml-dev, liblablgtk2-gnome-ocaml-dev, libcamlimages-ocaml-dev, libusb-dev, speech-dispatcher
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Depends: ivy-c-dev, ivy-c, ivy-perl, ivy-ocaml, xml-light-ocaml, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, libgnomecanvas2-dev, libxml-dom-perl, libsubject-perl, libfile-ncopy-perl, libpcre3-dev, bzip2, libexpect-perl, cvs, liblablgl-ocaml-dev, liblablgtk2-gl-ocaml-dev, liblablgtk2-gnome-ocaml-dev, libcamlimages-ocaml-dev, libusb-dev, speech-dispatcher, glade, gedit
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Description: Paparazzi Meta Package : common support
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@@ -28,6 +28,6 @@ Description: Paparazzi Meta Package. Philips ARM7 support
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Package: paparazzi-bin
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Architecture: i386
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Depends: ivy-c-dev, ivy-c, ivy-perl, ivy-ocaml, xml-light-ocaml, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, libxml-dom-perl, libsubject-perl, libfile-ncopy-perl, libpcre3-dev, bzip2, libexpect-perl, liblablgtk2-gnome-ocaml-dev, speech-dispatcher
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Depends: ivy-c-dev, ivy-c, ivy-perl, ivy-ocaml, xml-light-ocaml, liblablgtk2-ocaml-dev, make, gcc, boa, gnuplot, libxml-dom-perl, libsubject-perl, libfile-ncopy-perl, libpcre3-dev, bzip2, libexpect-perl, liblablgtk2-gnome-ocaml-dev, speech-dispatcher, gedit
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Description: Paparazzi main package
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Vendored
+3
@@ -24,5 +24,8 @@ ${OCAMLOPT} -I +lablgtk2 -I ${DESTDIR}/sw/lib/ocaml -o plot unix.cmxa str.cmxa x
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cd ${DESTDIR}/sw/simulator
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${OCAMLC} -custom -I +lablgtk2 -I ${DESTDIR}/sw/lib/ocaml unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma gtkInit.cmo gaia.cmo -o gaia
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cd ${DESTDIR}/sw/supervision
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${OCAMLC} -custom -I +lablgtk2 -I ${DESTDIR}/sw/lib/ocaml unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma lablglade.cma lablgnomeui.cma gtkInit.cmo gtk_pc.cmo gtk_process.cmo pc_common.cmo pc_aircraft.cmo pc_control_panel.cmo paparazzicenter.cmo -o paparazzicenter
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cd ${DESTDIR}/sw/tools
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${OCAMLC} -custom -I +lablgtk2 -I ${DESTDIR}/sw/lib/ocaml unix.cma str.cma xml-light.cma ivy-ocaml.cma lib-pprz.cma fp_syntax.cmo fp_parser.cmo fp_lexer.cmo fp_proc.cmo gen_flight_plan.cmo -o gen_flight_plan.out
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Vendored
+1
-1
@@ -69,7 +69,7 @@ binary-arch: build install
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dh_installdocs
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dh_installexamples
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# dh_install
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# dh_installmenu
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dh_installmenu
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# dh_installdebconf
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# dh_installlogrotate
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# dh_installemacsen
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@@ -25,7 +25,7 @@ OBJDIR = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/$(TARGET)
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VARINCLUDE=$(PAPARAZZI_HOME)/var/include
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ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
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INCLUDES = -I $(PAPARAZZI_SRC)/sw/include -I $(PAPARAZZI_SRC)/sw/airborne -I $(PAPARAZZI_SRC)/conf/autopilot -I $(PAPARAZZI_SRC)/sw/airborne/$($(TARGET).ARCHDIR) -I $(VARINCLUDE) -I $(ACINCLUDE)
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INCLUDES = -I $(PAPARAZZI_SRC)/sw/include -I $(PAPARAZZI_SRC)/var/include -I $(PAPARAZZI_SRC)/sw/airborne -I $(PAPARAZZI_SRC)/conf/autopilot -I $(PAPARAZZI_SRC)/sw/airborne/$($(TARGET).ARCHDIR) -I $(VARINCLUDE) -I $(ACINCLUDE)
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SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/$(ARCHDIR)
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@@ -340,6 +340,7 @@ and plugin_window = ref ""
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and layout_file = ref "horizontal.xml"
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and edit = ref false
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and display_particules = ref false
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and wid = ref None
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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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@@ -364,6 +365,7 @@ let options =
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"-google_fill", Arg.Set GM.auto, "Google maps auto fill";
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"-speech", Arg.Set Speech.active, "Active vocal messages";
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"-particules", Arg.Set display_particules, "Display particules";
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"-wid", Arg.String (fun s -> wid := Some (Int32.of_string s)), "<window id> Id of an existing window to be attached to";
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"-m", Arg.String (fun x -> map_files := x :: !map_files), "Map description file"]
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@@ -374,7 +376,7 @@ let quit = fun () ->
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exit 0
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| _ -> ()
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let create_geomap = fun window editor_frame ->
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let create_geomap = fun window switch_fullscreen editor_frame ->
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let geomap = new G.widget ~height:500 ~projection:!projection () in
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let menu_fact = new GMenu.factory geomap#file_menu in
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@@ -385,11 +387,6 @@ let create_geomap = fun window editor_frame ->
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ignore (geomap#canvas#event#connect#any (any_event geomap));
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ignore (menu_fact#add_item "Redraw" ~key:GdkKeysyms._L ~callback:(fun _ -> geomap#canvas#misc#draw None));
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let switch_fullscreen = fun x ->
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if x then
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window#fullscreen ()
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else
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window#unfullscreen () in
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ignore (menu_fact#add_check_item "Fullscreen" ~key:GdkKeysyms._F ~active: !fullscreen ~callback:switch_fullscreen);
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ignore (menu_fact#add_item "Quit" ~key:GdkKeysyms._Q ~callback:quit);
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@@ -498,18 +495,29 @@ let _main =
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and height = ExtXml.int_attrib layout "height" in
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(** The whole window map2d **)
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let window = GWindow.window ~title:"Paparazzi GCS" ~border_width:1 ~width ~height ~allow_shrink:true () in
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if !maximize then
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window#maximize ();
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if !fullscreen then
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window#fullscreen ();
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ignore (window#connect#destroy ~callback:(fun _ -> exit 0));
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let window, switch_fullscreen =
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match !wid with
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None ->
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let window = GWindow.window ~title:"Paparazzi GCS" ~border_width:1 ~width ~height ~allow_shrink:true () in
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if !maximize then
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window#maximize ();
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if !fullscreen then
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window#fullscreen ();
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ignore (window#connect#destroy ~callback:(fun _ -> exit 0));
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let switch_fullscreen = fun x ->
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if x then
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window#fullscreen ()
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else
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window#unfullscreen () in
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(window:>GWindow.window_skel),switch_fullscreen
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| Some window ->
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(GWindow.plug ~window ~width ~height ():>GWindow.window_skel), fun _ -> () in
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(* Editor frame *)
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let editor_frame = GBin.frame () in
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let geomap, menu_fact = create_geomap window editor_frame in
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let geomap, menu_fact = create_geomap window switch_fullscreen editor_frame in
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let map_frame = GPack.vbox () in
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(** Put the canvas in a frame *)
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@@ -55,7 +55,7 @@ let airborne_device = fun device addr ->
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match device with
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"WAVECARD" -> WavecardDevice (W.addr_of_string addr)
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| "XBEE" -> XBeeDevice
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| "PPRZ" -> Uart
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| "PPRZ" | "AEROCOMM" -> Uart
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| _ -> failwith (sprintf "Link: unknown datalink: %s" device)
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let get_define = fun xml name ->
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@@ -31,11 +31,6 @@ let list_sort = fun f l -> List.sort (fun x y -> compare (f x) (f y)) l
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let display_delay = 500 (* Time in second between two updates *)
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let led_delay = 500 (* Time in milliseconds while the green led is displayed *)
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let (//) = Filename.concat
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let xml_file = Env.paparazzi_src // "conf" // "messages.xml"
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let dnd_targets = [ { Gtk.target = "STRING"; flags = []; info = 0} ]
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(** Display one page for a message *)
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@@ -184,7 +179,7 @@ let _ =
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(** Get the XML description of the required classes *)
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let xml_classes =
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let xml = Xml.parse_file xml_file in
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let xml = Pprz.messages_xml () in
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let class_of = fun n ->
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try
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List.find (fun x -> ExtXml.attrib x "name" = n) (Xml.children xml)
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@@ -175,7 +175,7 @@ class basic_widget = fun ?(height=800) ?width ?(projection = Mercator) ?georef (
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method top_still = 3.5*.s
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val adj = GData.adjustment
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~value:1. ~lower:0.05 ~upper:10.
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~value:1. ~lower:0.005 ~upper:10.
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~step_incr:0.25 ~page_incr:1.0 ~page_size:1.0 ()
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|
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method info = info
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||||
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@@ -86,7 +86,7 @@ let opendev device speed =
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init_serial device speed
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with
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Failure x ->
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||||
failwith (Printf.sprintf "%s (%s)" x device)
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failwith (Printf.sprintf "Error %s (%s)" x device)
|
||||
|
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let close = Unix.close
|
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|
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|
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@@ -26,7 +26,7 @@ if (defined $ENV{PAPARAZZI_HOME}) {
|
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#else {
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||||
# print "system mode\n inst_prefix INST_PREFIX";
|
||||
#}
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||||
print " paparazzi_home $paparazzi_home\n\n";
|
||||
#print " paparazzi_home $paparazzi_home\n\n";
|
||||
|
||||
|
||||
sub set_env {
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|
||||
@@ -40,7 +40,7 @@ AIRBORNE = ../airborne
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||||
VARINCLUDE=$(PAPARAZZI_HOME)/var/include
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ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
|
||||
|
||||
all : gaia sitl.cma simhitl
|
||||
all : gaia sitl.cma simhitl launchsitl
|
||||
|
||||
simhitl : fg.o $(SIMHCMO) simhitl.cmo
|
||||
@echo OL $@
|
||||
|
||||
@@ -9,7 +9,7 @@ type plume = { mutable utm_x : float; mutable utm_y : float; mutable value : int
|
||||
(* NW of Muret ref *)
|
||||
let muret = utm_of WGS84 {LL.posn_lat=(Deg>>Rad)43.4624; posn_long=(Deg>>Rad)1.2727}
|
||||
let royan = utm_of WGS84 {LL.posn_lat=(Deg>>Rad)45.7122; posn_long=(Deg>>Rad)(-1.2037)}
|
||||
let source = fun () -> { utm_x = royan.LL.utm_x -. 300.; utm_y = royan.LL.utm_y -. 300.; value = 255; utm_zone = royan.LL.utm_zone}
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||||
let source = fun () -> { utm_x = muret.LL.utm_x -. 300.; utm_y = muret.LL.utm_y -. 300.; value = 255; utm_zone = muret.LL.utm_zone}
|
||||
|
||||
let available_ids = ref []
|
||||
let gen_id =
|
||||
|
||||
+8
-10
@@ -16,18 +16,16 @@ GetOptions (
|
||||
"b=s" => \$options->{ivy_bus},
|
||||
"a=s" => \$options->{aircraft},
|
||||
"fg=s" => \$options->{fg},
|
||||
"boot" => \$options->{boot},
|
||||
"norc" => \$options->{norc},
|
||||
"launch" => \$options->{launch},
|
||||
);
|
||||
my @args = ();
|
||||
push @args, "-b", $options->{ivy_bus};
|
||||
push @args, "-b", $options->{ivy_bus} if defined $options->{ivy_bus};
|
||||
push @args, "-fg", $options->{fg} if defined $options->{fg};
|
||||
push @args, "-norc" if defined $options->{norc};
|
||||
push @args, "-boot" if defined $options->{boot};
|
||||
push @args, "-launch" if defined $options->{launch};
|
||||
my $sim_binary = Paparazzi::Environment::paparazzi_home()."/var/".$options->{aircraft}."/sim/simsitl";
|
||||
die "$sim_binary not found. try make AIRCRAFT=$options->{aircraft} sim\n" unless -e $sim_binary;
|
||||
die "Error: $sim_binary not found. Build target 'sim' for $options->{aircraft} (make AIRCRAFT=$options->{aircraft} sim)\n" unless -e $sim_binary;
|
||||
exec ($sim_binary, @args)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -33,6 +33,8 @@ let fos = float_of_string
|
||||
|
||||
let raw_datalink_msg_separator = Str.regexp ";"
|
||||
|
||||
let norc = ref false
|
||||
|
||||
module Make(A:Data.MISSION) = struct
|
||||
|
||||
let servos_period = 1./.40. (* s *)
|
||||
@@ -125,7 +127,8 @@ module Make(A:Data.MISSION) = struct
|
||||
|
||||
let my_id = ref (-1)
|
||||
let init = fun id vbox ->
|
||||
rc ();
|
||||
if not !norc then
|
||||
rc ();
|
||||
my_id := id;
|
||||
sim_init ();
|
||||
|
||||
@@ -222,4 +225,4 @@ module Make(A:Data.MISSION) = struct
|
||||
use_gps_pos (cm utm.utm_x) (cm utm.utm_y) utm.utm_zone gps.Gps.course gps.Gps.alt gps.Gps.gspeed gps.Gps.climb gps.Gps.time gps.Gps.availability gps.Gps.wgs84.Latlong.posn_lat gps.Gps.wgs84.Latlong.posn_long
|
||||
|
||||
end
|
||||
let options = []
|
||||
let options = ["-norc", Arg.Set norc, "Hide the simulated RC"]
|
||||
|
||||
@@ -6,25 +6,27 @@ OCAMLOPT = ocamlopt
|
||||
OCAMLLIB = ../lib/ocaml
|
||||
INCLUDES= -I $(OCAMLLIB) -I ../multimon -I +lablgtk2 -I +xml-light
|
||||
LIBPPRZCMA=$(OCAMLLIB)/lib-pprz.cma
|
||||
PAPARAZZICENTERCMO = gui.cmo paparazzicenter.cmo
|
||||
PAPARAZZICENTERCMO = gtk_pc.cmo gtk_process.cmo pc_common.cmo pc_aircraft.cmo pc_control_panel.cmo paparazzicenter.cmo
|
||||
|
||||
all: paparazzicenter
|
||||
|
||||
paparazzicenter : $(PAPARAZZICENTERCMO) $(OCAMLLIB)/lib-pprz.cma
|
||||
@echo OL $@
|
||||
$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma lablglade.cma gtkInit.cmo lib-pprz.cma $^
|
||||
$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma lablglade.cma gtkInit.cmo lib-pprz.cma lablgnomeui.cma $^
|
||||
|
||||
gui.ml : paparazzicenter.glade
|
||||
gtk_pc.ml : paparazzicenter.glade
|
||||
lablgladecc2 -root window $< > $@
|
||||
|
||||
program.ml : paparazzicenter.glade
|
||||
lablgladecc2 -root hbox_program $< > $@
|
||||
gtk_process.ml : paparazzicenter.glade
|
||||
lablgladecc2 -root hbox_program $< | grep -B 1000000 " end" > $@
|
||||
|
||||
%.cmo : %.ml
|
||||
@echo OC $<
|
||||
$(Q)$(OCAMLC) $(INCLUDES) -c $<
|
||||
|
||||
paparazzicenter.cmo : gui.cmo
|
||||
paparazzicenter.cmo : gtk_pc.cmo gtk_process.cmo pc_common.cmo pc_control_panel.cmo pc_aircraft.cmo
|
||||
|
||||
pc_control_panel.cmo pc_aircraft.cmo : pc_common.cmo
|
||||
|
||||
clean:
|
||||
\rm *.cm* gui.ml
|
||||
\rm *.cm* gtk_pc.ml gtk_process.ml
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,369 +1,93 @@
|
||||
(*
|
||||
* $Id$
|
||||
*
|
||||
* Paparazzi center main module
|
||||
*
|
||||
* Copyright (C) 2007 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.
|
||||
*
|
||||
*)
|
||||
|
||||
open Printf
|
||||
open Pc_common
|
||||
module CP = Pc_control_panel
|
||||
module AC = Pc_aircraft
|
||||
|
||||
let (//) = Filename.concat
|
||||
let bn = Filename.basename
|
||||
let conf_dir = Env.paparazzi_home // "conf"
|
||||
|
||||
let gcs = Env.paparazzi_src // "sw/ground_segment/cockpit/gcs"
|
||||
|
||||
let string_of_gdkcolor = fun c ->
|
||||
sprintf "#%2x%2x%2x" (Gdk.Color.red c) (Gdk.Color.green c) (Gdk.Color.blue c)
|
||||
|
||||
let aircraft_sample = fun name ac_id ->
|
||||
Xml.Element ("aircraft",
|
||||
["name", name;
|
||||
"ac_id", ac_id;
|
||||
"airframe", "airframes/microjet5.xml";
|
||||
"radio", "radios/cockpitMM.xml";
|
||||
"telemetry", "telemetry/default.xml";
|
||||
"flight_plan", "flight_plans/versatile.xml";
|
||||
"settings", "settings/tuning.xml";
|
||||
"gui_color", "blue"],
|
||||
[])
|
||||
|
||||
|
||||
|
||||
let control_panel_xml = Xml.parse_file (conf_dir // "control_panel.xml")
|
||||
let programs =
|
||||
let h = Hashtbl.create 7 in
|
||||
let s = ExtXml.child ~select:(fun x -> Xml.attrib x "name" = "programs") control_panel_xml "section" in
|
||||
List.iter
|
||||
(fun p -> Hashtbl.add h (ExtXml.attrib p "name") p)
|
||||
(Xml.children s);
|
||||
h
|
||||
let program_command = fun x ->
|
||||
let xml = Hashtbl.find programs x in
|
||||
ExtXml.attrib xml "command"
|
||||
|
||||
let conf_xml_file = conf_dir // "conf.xml"
|
||||
let conf_xml = Xml.parse_file conf_xml_file
|
||||
let aircrafts = Hashtbl.create 7
|
||||
let _ =
|
||||
List.iter (fun aircraft ->
|
||||
Hashtbl.add aircrafts (ExtXml.attrib aircraft "name") aircraft)
|
||||
(Xml.children conf_xml)
|
||||
let airframes_dir = conf_dir // "airframes"
|
||||
let flight_plans_dir = conf_dir // "flight_plans"
|
||||
|
||||
let write_conf_xml = fun () ->
|
||||
Sys.rename conf_xml_file (conf_xml_file^"~");
|
||||
let l = Hashtbl.fold (fun _ a r -> a::r) aircrafts [] in
|
||||
let c = Xml.Element ("conf", [], l) in
|
||||
let f = open_out conf_xml_file in
|
||||
output_string f (ExtXml.to_string_fmt ~tab_attribs:true c);
|
||||
close_out f
|
||||
|
||||
let new_ac_id = fun () ->
|
||||
let m = ref 0 in
|
||||
Hashtbl.iter
|
||||
(fun _ x ->
|
||||
m := max !m (int_of_string (ExtXml.attrib x "ac_id")))
|
||||
aircrafts ;
|
||||
!m + 1
|
||||
|
||||
|
||||
type combo = GEdit.combo_box * (GTree.list_store * string GTree.column)
|
||||
|
||||
let combo = fun ?(others = []) strings vbox ->
|
||||
let strings = others @ strings in
|
||||
let (combo, (tree, column)) =
|
||||
GEdit.combo_box_text ~packing:vbox#add ~strings () in
|
||||
combo#set_active 0;
|
||||
(combo, (tree, column))
|
||||
|
||||
let parse_conf_xml = fun vbox ->
|
||||
let strings = ref [] in
|
||||
Hashtbl.iter (fun name _ac -> strings := name :: !strings) aircrafts;
|
||||
combo ~others:[""] !strings vbox
|
||||
|
||||
|
||||
let combo_connect = fun ((combo: #GEdit.combo_box), (_,column)) cb ->
|
||||
ignore (combo#connect#changed
|
||||
(fun () ->
|
||||
match combo#active_iter with
|
||||
| None -> ()
|
||||
| Some row ->
|
||||
let data = combo#model#get ~row ~column in
|
||||
cb data))
|
||||
|
||||
let combo_value = fun ((combo: #GEdit.combo_box), (_,column)) ->
|
||||
match combo#active_iter with
|
||||
| None -> raise Not_found
|
||||
| Some row -> combo#model#get ~row ~column
|
||||
|
||||
let combo_widget = fst
|
||||
let combo_model = snd
|
||||
|
||||
|
||||
let is_xml_file = fun s ->
|
||||
let n = String.length s in
|
||||
n >= 4 && String.sub s (n-4) 4 = ".xml"
|
||||
|
||||
let combo_dir = fun ?others directory vbox ->
|
||||
let files = Array.to_list (Sys.readdir directory) in
|
||||
let xml_files = List.filter is_xml_file files in
|
||||
combo ?others xml_files vbox
|
||||
|
||||
|
||||
let command = fun log ac_name target ->
|
||||
let com = sprintf "cd %s; export PATH=/usr/bin:$PATH; make AIRCRAFT=%s %s" Env.paparazzi_home ac_name target in
|
||||
log com;
|
||||
let com_stdout, com_stdin, com_stderr = Unix.open_process_full com [||] in
|
||||
let channel_out = GMain.Io.channel_of_descr (Unix.descr_of_in_channel com_stdout) in
|
||||
let channel_err = GMain.Io.channel_of_descr (Unix.descr_of_in_channel com_stderr) in
|
||||
let cb = fun c _ -> log (input_line c); true in
|
||||
let io_watch_out = Glib.Io.add_watch [`IN] (cb com_stdout) channel_out in
|
||||
let io_watch_err = Glib.Io.add_watch [`IN] (cb com_stderr) channel_err in
|
||||
ignore (Glib.Io.add_watch [`HUP] (fun _ -> Glib.Io.remove io_watch_out; Glib.Io.remove io_watch_err; log "\nDONE\n"; false) channel_out)
|
||||
|
||||
|
||||
let run = prerr_endline
|
||||
|
||||
|
||||
let editor =
|
||||
try Sys.getenv "EDITOR" with _ -> "gedit"
|
||||
|
||||
let edit = fun file ->
|
||||
ignore (Sys.command (sprintf "%s '%s'&" editor file))
|
||||
|
||||
|
||||
let gcs_or_edit = fun file ->
|
||||
match GToolbox.question_box ~title:"Flight plan editing" ~default:2 ~buttons:["Text editor"; "GCS"] "Which editor do you want to use ?" with
|
||||
1 -> edit file
|
||||
| 2 -> ignore (Sys.command (sprintf "%s -edit '%s'&" gcs file))
|
||||
| _ -> failwith "Internal error: gcs_or_edit"
|
||||
|
||||
let ac_files = fun gui ->
|
||||
["airframe", gui#label_airframe, gui#button_browse_airframe, gui#button_edit_airframe, edit;
|
||||
"flight_plan", gui#label_flight_plan, gui#button_browse_flight_plan, gui#button_edit_flight_plan, gcs_or_edit;
|
||||
(* "settings", gui#label_settings, gui#button_browse_settings, gui#button_edit_settings, edit; *)
|
||||
"radio", gui#label_radio, gui#button_browse_radio, gui#button_edit_radio, edit;
|
||||
"telemetry", gui#label_telemetry, gui#button_browse_telemetry, gui#button_edit_telemetry, edit]
|
||||
|
||||
|
||||
(* Awful but easier *)
|
||||
let current_color = ref "white"
|
||||
|
||||
|
||||
(* Link A/C to airframe & flight_plan labels *)
|
||||
let ac_combo_handler = fun gui (ac_combo:combo) target_combo ->
|
||||
combo_connect ac_combo
|
||||
(fun ac_name ->
|
||||
try
|
||||
let sample = aircraft_sample ac_name "42" in
|
||||
let aircraft = Hashtbl.find aircrafts ac_name in
|
||||
let value = fun a ->
|
||||
try (ExtXml.attrib aircraft a) with _ -> Xml.attrib sample a in
|
||||
List.iter
|
||||
(fun (a, label, _, _, _) -> label#set_text (value a))
|
||||
(ac_files gui);
|
||||
gui#entry_settings#set_text
|
||||
(value "settings");
|
||||
let ac_id = ExtXml.attrib aircraft "ac_id"
|
||||
and gui_color = ExtXml.attrib_or_default aircraft "gui_color" "white" in
|
||||
gui#button_clean#misc#set_sensitive true;
|
||||
gui#button_build#misc#set_sensitive true;
|
||||
gui#eventbox_gui_color#misc#modify_bg [`NORMAL, `NAME gui_color];
|
||||
current_color := gui_color;
|
||||
gui#entry_ac_id#set_text ac_id;
|
||||
(combo_widget target_combo)#misc#set_sensitive true;
|
||||
with
|
||||
Not_found ->
|
||||
gui#label_airframe#set_text "";
|
||||
gui#label_flight_plan#set_text "";
|
||||
gui#button_clean#misc#set_sensitive false;
|
||||
gui#button_build#misc#set_sensitive false;
|
||||
(combo_widget target_combo)#misc#set_sensitive false
|
||||
);
|
||||
|
||||
(* New A/C button *)
|
||||
let callback = fun _ ->
|
||||
match GToolbox.input_string ~title:"New A/C" ~text:"MYAC" "New A/C name ?" with
|
||||
None -> ()
|
||||
| Some s ->
|
||||
let (store, column) = combo_model ac_combo in
|
||||
let row = store#append () in
|
||||
store#set ~row ~column s;
|
||||
let a = aircraft_sample s (string_of_int (new_ac_id ())) in
|
||||
Hashtbl.add aircrafts s a;
|
||||
(combo_widget ac_combo)#set_active_iter (Some row)
|
||||
in
|
||||
ignore (gui#button_new_ac#connect#clicked ~callback);
|
||||
|
||||
(* Delete A/C *)
|
||||
let callback = fun _ ->
|
||||
let ac_name = combo_value ac_combo in
|
||||
if ac_name <> "" then
|
||||
match GToolbox.question_box ~title:"Delete A/C" ~buttons:["Cancel"; "Delete"] ~default:2 (sprintf "Delete %s ? (NO undo)" ac_name) with
|
||||
2 -> begin
|
||||
begin try Hashtbl.remove aircrafts ac_name with _ -> () end;
|
||||
let combo_box = combo_widget ac_combo in
|
||||
match combo_box#active_iter with
|
||||
| None -> ()
|
||||
| Some row ->
|
||||
let (store, column) = combo_model ac_combo in
|
||||
ignore (store#remove row);
|
||||
combo_box#set_active 1
|
||||
end
|
||||
| _ -> ()
|
||||
in
|
||||
ignore (gui#button_delete_ac#connect#clicked ~callback);
|
||||
|
||||
(* GUI color *)
|
||||
let callback = fun _ ->
|
||||
let csd = GWindow.color_selection_dialog ~show:true () in
|
||||
let callback = fun _ ->
|
||||
let colorname = string_of_gdkcolor csd#colorsel#color in
|
||||
gui#eventbox_gui_color#misc#modify_bg [`NORMAL, `NAME colorname];
|
||||
current_color := colorname;
|
||||
csd#destroy () in
|
||||
ignore (csd#ok_button#connect#clicked ~callback);
|
||||
ignore (csd#cancel_button#connect#clicked ~callback:csd#destroy) in
|
||||
ignore(gui#button_gui_color#connect#clicked ~callback);
|
||||
|
||||
(* Save button *)
|
||||
let callback = fun _ ->
|
||||
match GToolbox.question_box ~title:"Save conf.xml" ~buttons:["Cancel"; "Save"] ~default:2 "Save in conf.xml ? (backup in conf.xml~)" with
|
||||
2 ->
|
||||
let ac_name = combo_value ac_combo in
|
||||
if ac_name <> "" then begin
|
||||
let color = !current_color in
|
||||
let aircraft =
|
||||
Xml.Element ("aircraft",
|
||||
["name", ac_name;
|
||||
"ac_id", gui#entry_ac_id#text;
|
||||
"airframe", gui#label_airframe#text;
|
||||
"radio", gui#label_radio#text;
|
||||
"telemetry", gui#label_telemetry#text;
|
||||
"flight_plan", gui#label_flight_plan#text;
|
||||
"settings", gui#entry_settings#text;
|
||||
"gui_color", color],
|
||||
[]) in
|
||||
begin try Hashtbl.remove aircrafts ac_name with _ -> () end;
|
||||
Hashtbl.add aircrafts ac_name aircraft
|
||||
end;
|
||||
write_conf_xml ()
|
||||
| _ -> () in
|
||||
ignore(gui#button_save_ac#connect#clicked ~callback)
|
||||
|
||||
|
||||
let build_handler = fun gui ac_combo target_combo log ->
|
||||
(* Link target to upload button *)
|
||||
combo_connect target_combo
|
||||
(fun target ->
|
||||
gui#button_upload#misc#set_sensitive (target <> "sim"));
|
||||
|
||||
(* Clean button *)
|
||||
let callback = fun () ->
|
||||
command log (combo_value ac_combo) "clean_ac" in
|
||||
ignore (gui#button_clean#connect#clicked ~callback);
|
||||
|
||||
(* Build button *)
|
||||
let callback = fun () ->
|
||||
let ac_name = combo_value ac_combo
|
||||
and target = combo_value target_combo in
|
||||
command log ac_name target in
|
||||
ignore (gui#button_build#connect#clicked ~callback);
|
||||
|
||||
(* Upload button *)
|
||||
let callback = fun () ->
|
||||
let ac_name = combo_value ac_combo
|
||||
and target = combo_value target_combo in
|
||||
command log ac_name (sprintf "%s.upload" target) in
|
||||
ignore (gui#button_upload#connect#clicked ~callback)
|
||||
|
||||
let choose_xml_file = fun title subdir cb ->
|
||||
let dir = conf_dir // subdir in
|
||||
let dialog = GWindow.file_chooser_dialog ~action:`OPEN ~title () in
|
||||
ignore (dialog#set_current_folder dir);
|
||||
dialog#add_filter (GFile.filter ~name:"log" ~patterns:["*.xml"] ());
|
||||
dialog#add_button_stock `CANCEL `CANCEL ;
|
||||
dialog#add_select_button_stock `OPEN `OPEN ;
|
||||
begin match dialog#run (), dialog#filename with
|
||||
`OPEN, Some name ->
|
||||
dialog#destroy ();
|
||||
cb (bn name)
|
||||
| _ -> dialog#destroy ()
|
||||
end
|
||||
|
||||
let first_word = fun s ->
|
||||
try
|
||||
let n = String.index s ' ' in
|
||||
String.sub s 0 n
|
||||
with
|
||||
Not_found -> s
|
||||
|
||||
let conf_handler = fun gui ->
|
||||
List.iter (fun (name, label, button_browse, button_edit, editor) ->
|
||||
let callback = fun _ ->
|
||||
editor (conf_dir // label#text) in
|
||||
ignore (button_edit#connect#clicked ~callback);
|
||||
let callback = fun _ ->
|
||||
let subdir = Filename.dirname label#text in
|
||||
let cb = fun name -> label#set_text (subdir // name) in
|
||||
choose_xml_file name subdir cb in
|
||||
ignore (button_browse#connect#clicked ~callback))
|
||||
(ac_files gui);
|
||||
(* Special case for settings (not a single file) *)
|
||||
let callback = fun _ ->
|
||||
edit (conf_dir // (first_word gui#entry_settings#text)) in
|
||||
ignore (gui#button_edit_settings#connect#clicked ~callback)
|
||||
|
||||
|
||||
let supervision = fun gui ->
|
||||
(* Replay menu *)
|
||||
()
|
||||
|
||||
(* GCS button
|
||||
let callback = fun () ->
|
||||
match (combo_value session_combo) with
|
||||
"SIM" ->
|
||||
let ac_name = combo_value ac_combo in
|
||||
let sim_com = program_command "sim"
|
||||
and server = program_command "server"
|
||||
and gcs_com = program_command "gcs" in
|
||||
let sim = sprintf "%s -a %s" sim_com ac_name
|
||||
and gcs = sprintf "%s" gcs_com in
|
||||
|
||||
run sim;
|
||||
run server;
|
||||
run gcs
|
||||
| x -> fprintf stderr "%s not yet\n" x
|
||||
in
|
||||
ignore (gui#button_GCS#connect#clicked ~callback);
|
||||
*)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
let () =
|
||||
let file = Env.paparazzi_src // "sw" // "supervision" // "paparazzicenter.glade" in
|
||||
let gui = new Gui.window ~file () in
|
||||
ignore (gui#window#connect#destroy ~callback:(fun _ -> exit 0));
|
||||
let gui = new Gtk_pc.window ~file () in
|
||||
ignore (gui#window#connect#destroy ~callback:(fun _ -> CP.close_programs gui; exit 0));
|
||||
gui#toplevel#show ();
|
||||
|
||||
let ac_combo = parse_conf_xml gui#vbox_ac
|
||||
let ac_combo = AC.parse_conf_xml gui#vbox_ac
|
||||
and target_combo = combo ["sim";"fbw";"ap"] gui#vbox_target in
|
||||
|
||||
(combo_widget target_combo)#misc#set_sensitive false;
|
||||
gui#button_clean#misc#set_sensitive false;
|
||||
gui#button_build#misc#set_sensitive false;
|
||||
|
||||
ac_combo_handler gui ac_combo target_combo;
|
||||
AC.ac_combo_handler gui ac_combo target_combo;
|
||||
|
||||
conf_handler gui;
|
||||
AC.conf_handler gui;
|
||||
|
||||
(* Change the buffer of the text view to attach a tag_table *)
|
||||
let background_tags =
|
||||
List.map (fun color ->
|
||||
let tag = GText.tag ~name:color () in
|
||||
tag#set_property (`BACKGROUND color);
|
||||
(color, tag))
|
||||
["red"; "green"] in
|
||||
let tag_table = GText.tag_table () in
|
||||
List.iter (fun (color, tag) -> tag_table#add tag#as_tag) background_tags;
|
||||
let buffer = GText.buffer ~tag_table () in
|
||||
gui#console#set_buffer buffer;
|
||||
|
||||
let error_regexp = Str.regexp_case_fold ".*\\(error\\)\\|\\(no such file\\)" in
|
||||
let compute_tags = fun s ->
|
||||
if Str.string_match error_regexp s 0 then
|
||||
[List.assoc "red" background_tags]
|
||||
else
|
||||
[] in
|
||||
|
||||
let log = fun s ->
|
||||
gui#console#buffer#insert s;
|
||||
gui#console#buffer#insert "\n";
|
||||
let iter = gui#console#buffer#end_iter in
|
||||
let tags = compute_tags s in
|
||||
gui#console#buffer#insert ~iter ~tags s;
|
||||
let iter = gui#console#buffer#end_iter in
|
||||
gui#console#buffer#insert ~iter "\n";
|
||||
(* Scroll to the bottom line *)
|
||||
let end_iter = gui#console#buffer#end_iter in
|
||||
let end_mark = gui#console#buffer#create_mark end_iter in
|
||||
gui#console#scroll_mark_onscreen (`MARK end_mark) in
|
||||
|
||||
build_handler gui ac_combo target_combo log;
|
||||
AC.build_handler gui ac_combo target_combo log;
|
||||
|
||||
supervision gui;
|
||||
CP.supervision ~file gui log;
|
||||
|
||||
GMain.Main.main ()
|
||||
(* GCS plugin
|
||||
Cannot reattach a new window: hack by kill and remake the socket *)
|
||||
let rec socket = fun () ->
|
||||
let socket_GCS = GWindow.socket ~packing:gui#vbox_GCS#add () in
|
||||
CP.socket_GCS_id := socket_GCS#xwindow;
|
||||
ignore(socket_GCS#connect#plug_removed
|
||||
(fun () -> gui#vbox_GCS#remove socket_GCS#coerce; socket ())) in
|
||||
socket ();
|
||||
|
||||
GMain.Main.main ();;
|
||||
|
||||
@@ -0,0 +1,303 @@
|
||||
(*
|
||||
* $Id$
|
||||
*
|
||||
* Paparazzi center aircraft handling
|
||||
*
|
||||
* Copyright (C) 2007 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.
|
||||
*
|
||||
*)
|
||||
|
||||
open Pc_common
|
||||
open Printf
|
||||
|
||||
let gcs = Env.paparazzi_src // "sw/ground_segment/cockpit/gcs"
|
||||
|
||||
let string_of_gdkcolor = fun c ->
|
||||
sprintf "#%2x%2x%2x" (Gdk.Color.red c) (Gdk.Color.green c) (Gdk.Color.blue c)
|
||||
|
||||
let aircraft_sample = fun name ac_id ->
|
||||
Xml.Element ("aircraft",
|
||||
["name", name;
|
||||
"ac_id", ac_id;
|
||||
"airframe", "airframes/microjet5.xml";
|
||||
"radio", "radios/cockpitMM.xml";
|
||||
"telemetry", "telemetry/default.xml";
|
||||
"flight_plan", "flight_plans/versatile.xml";
|
||||
"settings", "settings/basic.xml";
|
||||
"gui_color", "blue"],
|
||||
[])
|
||||
|
||||
|
||||
|
||||
let airframes_dir = conf_dir // "airframes"
|
||||
let flight_plans_dir = conf_dir // "flight_plans"
|
||||
|
||||
let write_conf_xml = fun () ->
|
||||
Sys.rename conf_xml_file (conf_xml_file^"~");
|
||||
let l = Hashtbl.fold (fun _ a r -> a::r) aircrafts [] in
|
||||
let c = Xml.Element ("conf", [], l) in
|
||||
let f = open_out conf_xml_file in
|
||||
output_string f (ExtXml.to_string_fmt ~tab_attribs:true c);
|
||||
close_out f
|
||||
|
||||
let new_ac_id = fun () ->
|
||||
let m = ref 0 in
|
||||
Hashtbl.iter
|
||||
(fun _ x ->
|
||||
m := max !m (int_of_string (ExtXml.attrib x "ac_id")))
|
||||
aircrafts ;
|
||||
!m + 1
|
||||
|
||||
let parse_conf_xml = fun vbox ->
|
||||
let strings = ref [] in
|
||||
Hashtbl.iter (fun name _ac -> strings := name :: !strings) aircrafts;
|
||||
combo ~others:[""] !strings vbox
|
||||
|
||||
|
||||
let combo_connect = fun ((combo: #GEdit.combo_box), (_,column)) cb ->
|
||||
ignore (combo#connect#changed
|
||||
(fun () ->
|
||||
match combo#active_iter with
|
||||
| None -> ()
|
||||
| Some row ->
|
||||
let data = combo#model#get ~row ~column in
|
||||
cb data))
|
||||
|
||||
let combo_value = fun ((combo: #GEdit.combo_box), (_,column)) ->
|
||||
match combo#active_iter with
|
||||
| None -> raise Not_found
|
||||
| Some row -> combo#model#get ~row ~column
|
||||
|
||||
let is_xml_file = fun s ->
|
||||
let n = String.length s in
|
||||
n >= 4 && String.sub s (n-4) 4 = ".xml"
|
||||
|
||||
let combo_dir = fun ?others directory vbox ->
|
||||
let files = Array.to_list (Sys.readdir directory) in
|
||||
let xml_files = List.filter is_xml_file files in
|
||||
combo ?others xml_files vbox
|
||||
|
||||
|
||||
|
||||
|
||||
let editor =
|
||||
try Sys.getenv "EDITOR" with _ -> "gedit"
|
||||
|
||||
let edit = fun file ->
|
||||
ignore (Sys.command (sprintf "%s '%s'&" editor file))
|
||||
|
||||
|
||||
let gcs_or_edit = fun file ->
|
||||
match GToolbox.question_box ~title:"Flight plan editing" ~default:2 ~buttons:["Text editor"; "GCS"] "Which editor do you want to use ?" with
|
||||
1 -> edit file
|
||||
| 2 -> ignore (Sys.command (sprintf "%s -edit '%s'&" gcs file))
|
||||
| _ -> failwith "Internal error: gcs_or_edit"
|
||||
|
||||
let ac_files = fun gui ->
|
||||
["airframe", gui#label_airframe, gui#button_browse_airframe, gui#button_edit_airframe, edit;
|
||||
"flight_plan", gui#label_flight_plan, gui#button_browse_flight_plan, gui#button_edit_flight_plan, gcs_or_edit;
|
||||
(* "settings", gui#label_settings, gui#button_browse_settings, gui#button_edit_settings, edit; *)
|
||||
"radio", gui#label_radio, gui#button_browse_radio, gui#button_edit_radio, edit;
|
||||
"telemetry", gui#label_telemetry, gui#button_browse_telemetry, gui#button_edit_telemetry, edit]
|
||||
|
||||
|
||||
(* Awful but easier *)
|
||||
let current_color = ref "white"
|
||||
|
||||
|
||||
(* Link A/C to airframe & flight_plan labels *)
|
||||
let ac_combo_handler = fun gui (ac_combo:combo) target_combo ->
|
||||
combo_connect ac_combo
|
||||
(fun ac_name ->
|
||||
try
|
||||
let sample = aircraft_sample ac_name "42" in
|
||||
let aircraft = Hashtbl.find aircrafts ac_name in
|
||||
let value = fun a ->
|
||||
try (ExtXml.attrib aircraft a) with _ -> Xml.attrib sample a in
|
||||
List.iter
|
||||
(fun (a, label, _, _, _) -> label#set_text (value a))
|
||||
(ac_files gui);
|
||||
gui#entry_settings#set_text
|
||||
(value "settings");
|
||||
let ac_id = ExtXml.attrib aircraft "ac_id"
|
||||
and gui_color = ExtXml.attrib_or_default aircraft "gui_color" "white" in
|
||||
gui#button_clean#misc#set_sensitive true;
|
||||
gui#button_build#misc#set_sensitive true;
|
||||
gui#eventbox_gui_color#misc#modify_bg [`NORMAL, `NAME gui_color];
|
||||
current_color := gui_color;
|
||||
gui#entry_ac_id#set_text ac_id;
|
||||
(combo_widget target_combo)#misc#set_sensitive true;
|
||||
with
|
||||
Not_found ->
|
||||
gui#label_airframe#set_text "";
|
||||
gui#label_flight_plan#set_text "";
|
||||
gui#button_clean#misc#set_sensitive false;
|
||||
gui#button_build#misc#set_sensitive false;
|
||||
(combo_widget target_combo)#misc#set_sensitive false
|
||||
);
|
||||
|
||||
(* New A/C button *)
|
||||
let callback = fun _ ->
|
||||
match GToolbox.input_string ~title:"New A/C" ~text:"MYAC" "New A/C name ?" with
|
||||
None -> ()
|
||||
| Some s ->
|
||||
let (store, column) = combo_model ac_combo in
|
||||
let row = store#append () in
|
||||
store#set ~row ~column s;
|
||||
let a = aircraft_sample s (string_of_int (new_ac_id ())) in
|
||||
Hashtbl.add aircrafts s a;
|
||||
aircrafts_table_has_changed := true;
|
||||
(combo_widget ac_combo)#set_active_iter (Some row)
|
||||
in
|
||||
ignore (gui#button_new_ac#connect#clicked ~callback);
|
||||
|
||||
(* Delete A/C *)
|
||||
let callback = fun _ ->
|
||||
let ac_name = combo_value ac_combo in
|
||||
if ac_name <> "" then
|
||||
match GToolbox.question_box ~title:"Delete A/C" ~buttons:["Cancel"; "Delete"] ~default:2 (sprintf "Delete %s ? (NO undo)" ac_name) with
|
||||
2 -> begin
|
||||
begin try Hashtbl.remove aircrafts ac_name with _ -> () end;
|
||||
aircrafts_table_has_changed := true;
|
||||
let combo_box = combo_widget ac_combo in
|
||||
match combo_box#active_iter with
|
||||
| None -> ()
|
||||
| Some row ->
|
||||
let (store, column) = combo_model ac_combo in
|
||||
ignore (store#remove row);
|
||||
combo_box#set_active 1
|
||||
end
|
||||
| _ -> ()
|
||||
in
|
||||
ignore (gui#button_delete_ac#connect#clicked ~callback);
|
||||
|
||||
(* GUI color *)
|
||||
let callback = fun _ ->
|
||||
let csd = GWindow.color_selection_dialog ~show:true () in
|
||||
let callback = fun _ ->
|
||||
let colorname = string_of_gdkcolor csd#colorsel#color in
|
||||
gui#eventbox_gui_color#misc#modify_bg [`NORMAL, `NAME colorname];
|
||||
current_color := colorname;
|
||||
csd#destroy () in
|
||||
ignore (csd#ok_button#connect#clicked ~callback);
|
||||
ignore (csd#cancel_button#connect#clicked ~callback:csd#destroy) in
|
||||
ignore(gui#button_gui_color#connect#clicked ~callback);
|
||||
|
||||
(* Save button *)
|
||||
let callback = fun _ ->
|
||||
match GToolbox.question_box ~title:"Save conf.xml" ~buttons:["Cancel"; "Save"] ~default:2 "Save in conf.xml ? (backup in conf.xml~)" with
|
||||
2 ->
|
||||
let ac_name = combo_value ac_combo in
|
||||
if ac_name <> "" then begin
|
||||
let color = !current_color in
|
||||
let aircraft =
|
||||
Xml.Element ("aircraft",
|
||||
["name", ac_name;
|
||||
"ac_id", gui#entry_ac_id#text;
|
||||
"airframe", gui#label_airframe#text;
|
||||
"radio", gui#label_radio#text;
|
||||
"telemetry", gui#label_telemetry#text;
|
||||
"flight_plan", gui#label_flight_plan#text;
|
||||
"settings", gui#entry_settings#text;
|
||||
"gui_color", color],
|
||||
[]) in
|
||||
begin try Hashtbl.remove aircrafts ac_name with _ -> () end;
|
||||
Hashtbl.add aircrafts ac_name aircraft
|
||||
end;
|
||||
write_conf_xml ()
|
||||
| _ -> () in
|
||||
ignore(gui#button_save_ac#connect#clicked ~callback)
|
||||
|
||||
|
||||
let build_handler = fun gui ac_combo (target_combo:combo) (log:string->unit) ->
|
||||
(* Link target to upload button *)
|
||||
combo_connect target_combo
|
||||
(fun target ->
|
||||
gui#button_upload#misc#set_sensitive (target <> "sim"));
|
||||
|
||||
(* New Target button *)
|
||||
let callback = fun _ ->
|
||||
match GToolbox.input_string ~title:"New Target" ~text:"tunnel" "New build target ?" with
|
||||
None -> ()
|
||||
| Some s ->
|
||||
let (store, column) = combo_model target_combo in
|
||||
let row = store#append () in
|
||||
store#set ~row ~column s;
|
||||
(combo_widget target_combo)#set_active_iter (Some row)
|
||||
in
|
||||
ignore (gui#button_new_target#connect#clicked ~callback);
|
||||
|
||||
|
||||
(* Clean button *)
|
||||
let callback = fun () ->
|
||||
command log (combo_value ac_combo) "clean_ac" in
|
||||
ignore (gui#button_clean#connect#clicked ~callback);
|
||||
|
||||
(* Build button *)
|
||||
let callback = fun () ->
|
||||
let ac_name = combo_value ac_combo
|
||||
and target = combo_value target_combo in
|
||||
let target = if target="sim" then target else sprintf "%s.compile" target in
|
||||
command log ac_name target in
|
||||
ignore (gui#button_build#connect#clicked ~callback);
|
||||
|
||||
(* Upload button *)
|
||||
let callback = fun () ->
|
||||
let ac_name = combo_value ac_combo
|
||||
and target = combo_value target_combo in
|
||||
command log ac_name (sprintf "%s.upload" target) in
|
||||
ignore (gui#button_upload#connect#clicked ~callback)
|
||||
|
||||
let choose_xml_file = fun title subdir cb ->
|
||||
let dir = conf_dir // subdir in
|
||||
let dialog = GWindow.file_chooser_dialog ~action:`OPEN ~title () in
|
||||
ignore (dialog#set_current_folder dir);
|
||||
dialog#add_filter (GFile.filter ~name:"log" ~patterns:["*.xml"] ());
|
||||
dialog#add_button_stock `CANCEL `CANCEL ;
|
||||
dialog#add_select_button_stock `OPEN `OPEN ;
|
||||
begin match dialog#run (), dialog#filename with
|
||||
`OPEN, Some name ->
|
||||
dialog#destroy ();
|
||||
cb (Filename.basename name)
|
||||
| _ -> dialog#destroy ()
|
||||
end
|
||||
|
||||
let first_word = fun s ->
|
||||
try
|
||||
let n = String.index s ' ' in
|
||||
String.sub s 0 n
|
||||
with
|
||||
Not_found -> s
|
||||
|
||||
let conf_handler = fun gui ->
|
||||
List.iter (fun (name, label, button_browse, button_edit, editor) ->
|
||||
let callback = fun _ ->
|
||||
editor (conf_dir // label#text) in
|
||||
ignore (button_edit#connect#clicked ~callback);
|
||||
let callback = fun _ ->
|
||||
let subdir = Filename.dirname label#text in
|
||||
let cb = fun name -> label#set_text (subdir // name) in
|
||||
choose_xml_file name subdir cb in
|
||||
ignore (button_browse#connect#clicked ~callback))
|
||||
(ac_files gui);
|
||||
(* Special case for settings (not a single file) *)
|
||||
let callback = fun _ ->
|
||||
edit (conf_dir // (first_word gui#entry_settings#text)) in
|
||||
ignore (gui#button_edit_settings#connect#clicked ~callback)
|
||||
@@ -0,0 +1,118 @@
|
||||
(*
|
||||
* $Id$
|
||||
*
|
||||
* Paparazzi center utilities
|
||||
*
|
||||
* Copyright (C) 2007 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.
|
||||
*
|
||||
*)
|
||||
|
||||
open Printf
|
||||
|
||||
let (//) = Filename.concat
|
||||
let conf_dir = Env.paparazzi_home // "conf"
|
||||
|
||||
(** From OCaml otherlibs/unix/unix.ml *)
|
||||
let my_open_process_in = fun cmd ->
|
||||
let (in_read, in_write) = Unix.pipe () in
|
||||
let inchan = Unix.in_channel_of_descr in_read in
|
||||
let pid = Unix.create_process "/bin/sh" [|"/bin/sh"; "-c"; cmd|] Unix.stdin in_write Unix.stderr in
|
||||
Unix.close in_write;
|
||||
pid, inchan
|
||||
|
||||
|
||||
let run_and_log = fun log com ->
|
||||
let com = com ^ " 2>&1" in
|
||||
let pid, com_stdout = my_open_process_in com in
|
||||
let channel_out = GMain.Io.channel_of_descr (Unix.descr_of_in_channel com_stdout) in
|
||||
let cb = fun ev -> if List.mem `IN ev then begin log (input_line com_stdout); true end else begin log (sprintf "\nDONE (%s)\n" com); false end in
|
||||
let _io_watch_out = Glib.Io.add_watch [`IN; `HUP] cb channel_out in
|
||||
pid, channel_out
|
||||
|
||||
let command = fun (log:string->unit) ac_name target ->
|
||||
let com = sprintf "export PATH=/usr/bin:$PATH; make -C %s -f Makefile.ac AIRCRAFT=%s %s" Env.paparazzi_src ac_name target in
|
||||
log com;
|
||||
ignore (run_and_log log com)
|
||||
|
||||
type combo = GEdit.combo_box * (GTree.list_store * string GTree.column)
|
||||
let combo_widget = fst
|
||||
let combo_model = snd
|
||||
|
||||
|
||||
let combo = fun ?(others = []) strings vbox ->
|
||||
let strings = others @ strings in
|
||||
let (combo, (tree, column)) =
|
||||
GEdit.combo_box_text ~packing:vbox#add ~strings () in
|
||||
combo#set_active 0;
|
||||
(combo, (tree, column))
|
||||
|
||||
|
||||
let conf_is_set = fun home ->
|
||||
Sys.file_exists home &&
|
||||
Sys.file_exists (home // "conf") &&
|
||||
Sys.file_exists (home // "data")
|
||||
|
||||
let druid = fun home ->
|
||||
let w = GWindow.window ~title:"Configuring Paparazzi" () in
|
||||
|
||||
let d = GnoDruid.druid ~packing:w#add () in
|
||||
|
||||
ignore (d#connect#cancel (fun () -> exit 1));
|
||||
|
||||
begin
|
||||
let fp = GnoDruid.druid_page_edge ~position:`START ~aa:true ~title:"Configure Paparazzi !!" () in
|
||||
fp#set_text (sprintf "Configuration files need to be installed in your Paparazzi home (%s). To use another directory, please exit this utility, set the PAPARAZZI_HOME variable to the desired folder and restart." home);
|
||||
d#append_page fp;
|
||||
ignore (fp#connect#next
|
||||
(fun _ ->
|
||||
command prerr_endline "" "init";
|
||||
false
|
||||
))
|
||||
|
||||
end;
|
||||
|
||||
begin
|
||||
let ep = GnoDruid.druid_page_edge ~position:`FINISH ~aa:true ~title:"The end" () in
|
||||
ep#set_text "You are ready. Congratulations!" ;
|
||||
d#append_page ep ;
|
||||
|
||||
ignore (ep#connect#finish
|
||||
(fun _ ->
|
||||
w#destroy ();
|
||||
GMain.quit ()
|
||||
))
|
||||
end;
|
||||
w#show ();
|
||||
GMain.main ()
|
||||
|
||||
let _ =
|
||||
let home = Env.paparazzi_home in
|
||||
if not (conf_is_set home) then
|
||||
druid home
|
||||
|
||||
let conf_xml_file = conf_dir // "conf.xml"
|
||||
let conf_xml = Xml.parse_file conf_xml_file
|
||||
let aircrafts = Hashtbl.create 7
|
||||
let aircrafts_table_has_changed = ref false
|
||||
let _ =
|
||||
List.iter (fun aircraft ->
|
||||
Hashtbl.add aircrafts (ExtXml.attrib aircraft "name") aircraft)
|
||||
(Xml.children conf_xml);
|
||||
aircrafts_table_has_changed := true
|
||||
@@ -0,0 +1,314 @@
|
||||
(*
|
||||
* $Id$
|
||||
*
|
||||
* Paparazzi center process handling
|
||||
*
|
||||
* Copyright (C) 2007 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.
|
||||
*
|
||||
*)
|
||||
|
||||
open Printf
|
||||
open Pc_common
|
||||
|
||||
let socket_GCS_id = ref (Int32.of_int 0)
|
||||
|
||||
let control_panel_xml_file = conf_dir // "control_panel.xml"
|
||||
let control_panel_xml = Xml.parse_file control_panel_xml_file
|
||||
let programs =
|
||||
let h = Hashtbl.create 7 in
|
||||
let s = ExtXml.child ~select:(fun x -> Xml.attrib x "name" = "programs") control_panel_xml "section" in
|
||||
List.iter
|
||||
(fun p -> Hashtbl.add h (ExtXml.attrib p "name") p)
|
||||
(Xml.children s);
|
||||
h
|
||||
let program_command = fun x ->
|
||||
let xml = Hashtbl.find programs x in
|
||||
Env.paparazzi_src // ExtXml.attrib xml "command"
|
||||
|
||||
let sessions =
|
||||
let h = Hashtbl.create 7 in
|
||||
let s = ExtXml.child ~select:(fun x -> Xml.attrib x "name" = "sessions") control_panel_xml "section" in
|
||||
List.iter
|
||||
(fun p -> Hashtbl.add h (ExtXml.attrib p "name") p)
|
||||
(Xml.children s);
|
||||
h
|
||||
|
||||
|
||||
|
||||
let not_sessions_section = fun x -> ExtXml.attrib x "name" <> "sessions"
|
||||
|
||||
let write_control_panel_xml = fun () ->
|
||||
Sys.rename control_panel_xml_file (control_panel_xml_file^"~");
|
||||
let l = Hashtbl.fold (fun _ a r -> a::r) sessions [] in
|
||||
let s = Xml.Element ("section", ["name","sessions"], l) in
|
||||
let children = List.filter not_sessions_section (Xml.children control_panel_xml) @ [s] in
|
||||
let c = Xml.Element ("control_panel", Xml.attribs control_panel_xml, children) in
|
||||
let f = open_out control_panel_xml_file in
|
||||
output_string f (ExtXml.to_string_fmt ~tab_attribs:false c);
|
||||
close_out f
|
||||
|
||||
let run_and_monitor = fun ?file ?(plugged=false) gui log com_name args ->
|
||||
let com = program_command com_name in
|
||||
let c = sprintf "%s %s" com args in
|
||||
let p = new Gtk_process.hbox_program ?file () in
|
||||
(gui#vbox_programs:GPack.box)#pack p#toplevel#coerce;
|
||||
p#label_com_name#set_text com_name;
|
||||
p#entry_program#set_text c;
|
||||
let pid = ref (-1) in
|
||||
let run = fun callback ->
|
||||
let c = p#entry_program#text in
|
||||
let c = if plugged then sprintf "%s -wid 0x%lx" c !socket_GCS_id else c in
|
||||
if plugged then
|
||||
gui#notebook#goto_page 2; (* FIXME *)
|
||||
log (sprintf "Run '%s'" c);
|
||||
let (pi, out) = run_and_log log ("exec "^c) in
|
||||
pid := pi;
|
||||
ignore (Glib.Io.add_watch [`HUP] (fun _ -> callback true; false) out) in
|
||||
let rec callback = fun stop ->
|
||||
match p#button_stop#label, stop with
|
||||
"gtk-stop", _ ->
|
||||
ignore (Unix.kill !pid Sys.sigkill);
|
||||
p#button_stop#set_label "gtk-redo";
|
||||
p#button_remove#misc#set_sensitive true;
|
||||
if stop && p#checkbutton_autolaunch#active then
|
||||
callback false
|
||||
| "gtk-redo", false ->
|
||||
p#button_stop#set_label "gtk-stop";
|
||||
run callback;
|
||||
p#button_remove#misc#set_sensitive false
|
||||
| _ -> ()
|
||||
in
|
||||
ignore (p#button_stop#connect#clicked ~callback:(fun () -> callback false));
|
||||
run callback;
|
||||
|
||||
(* Stop the program if the box is removed *)
|
||||
let callback = fun w ->
|
||||
callback true in
|
||||
ignore(p#toplevel#connect#destroy ~callback);
|
||||
|
||||
(* Remove button *)
|
||||
let callback = fun () ->
|
||||
gui#vbox_programs#remove p#toplevel#coerce in
|
||||
ignore (p#button_remove#connect#clicked ~callback)
|
||||
|
||||
|
||||
let close_programs = fun gui ->
|
||||
List.iter (fun w ->
|
||||
gui#vbox_programs#remove w;
|
||||
w#destroy ())
|
||||
gui#vbox_programs#children
|
||||
|
||||
let parse_process_args = fun (name, args) ->
|
||||
(* How to do it with a simple regexp split ??? *)
|
||||
(* Mark spaces into args *)
|
||||
let marked_space = Char.chr 0 in
|
||||
let in_quotes = ref false in
|
||||
for i = 0 to String.length args - 1 do
|
||||
match args.[i] with
|
||||
' ' when !in_quotes -> args.[i] <- marked_space
|
||||
| '"' -> in_quotes := not !in_quotes
|
||||
| _ -> ()
|
||||
done;
|
||||
(* Split *)
|
||||
let args = Str.split (Str.regexp "[ ]+") args in
|
||||
(* Restore spaces and remove quotes *)
|
||||
let restore_spaces = fun s ->
|
||||
let n = String.length s in
|
||||
for i = 0 to n - 1 do
|
||||
if s.[i] = marked_space then s.[i] <- ' '
|
||||
done;
|
||||
if n >= 2 && s.[0] = '"' then
|
||||
String.sub s 1 (n-2)
|
||||
else
|
||||
s in
|
||||
let args = List.map restore_spaces args in
|
||||
(* Remove the first "arg" which is the command *)
|
||||
let args = List.tl args in
|
||||
(* Build the XML arg list *)
|
||||
let is_option = fun s -> String.length s > 0 && s.[0] = '-' in
|
||||
let rec xml_args = function
|
||||
[] -> []
|
||||
| option::value::l when not (is_option value) ->
|
||||
Xml.Element("arg", ["flag",option; "constant", value],[])::xml_args l
|
||||
| option::l ->
|
||||
Xml.Element("arg", ["flag",option],[])::xml_args l in
|
||||
Xml.Element("program", ["name", name], xml_args args)
|
||||
|
||||
let save_session = fun gui ->
|
||||
(* Ask for a session name *)
|
||||
let text = gui#entry_session_name#text in
|
||||
let text = if text = "" then "My session" else text in
|
||||
match GToolbox.input_string ~ok:"Save" ~text ~title:"Session name" "Save user session ?" with
|
||||
None -> false
|
||||
| Some name ->
|
||||
let current_processes =
|
||||
List.map (fun hbox ->
|
||||
let hbox = new GPack.box (Gobject.unsafe_cast hbox#as_widget) in
|
||||
match hbox#children with
|
||||
label::entry::_ ->
|
||||
let label = new GMisc.label (Gobject.unsafe_cast label#as_widget)
|
||||
and entry = new GEdit.entry (Gobject.unsafe_cast entry#as_widget) in
|
||||
(label#text, entry#text)
|
||||
| _ -> failwith "Internal error: save session")
|
||||
gui#vbox_programs#children in
|
||||
let current_programs = List.map parse_process_args current_processes in
|
||||
let session = Xml.Element("session", ["name", name], current_programs) in
|
||||
begin try Hashtbl.remove sessions name with _ -> () end;
|
||||
Hashtbl.add sessions name session;
|
||||
write_control_panel_xml ();
|
||||
true
|
||||
|
||||
let double_quote = fun s ->
|
||||
if String.contains s ' ' then
|
||||
sprintf "\"%s\"" s
|
||||
else
|
||||
s
|
||||
|
||||
|
||||
let supervision = fun ?file gui log ->
|
||||
let supervision_page = 1 in (* FIXME *)
|
||||
|
||||
let run_gcs = fun () ->
|
||||
run_and_monitor ?file ~plugged:true gui log "gcs" ""
|
||||
and run_server = fun () ->
|
||||
run_and_monitor ?file gui log "server" ""
|
||||
and run_link = fun args ->
|
||||
run_and_monitor ?file gui log "link" args
|
||||
and run_sitl = fun ac_name ->
|
||||
let args = sprintf "-a %s -boot -norc" ac_name in
|
||||
run_and_monitor ?file gui log "sim" args
|
||||
in
|
||||
|
||||
(* Replay menu *)
|
||||
let callback = fun () ->
|
||||
gui#entry_session_name#set_text "Replay";
|
||||
run_and_monitor ?file gui log "play" "";
|
||||
run_server ();
|
||||
run_gcs ()
|
||||
in
|
||||
ignore (gui#replay_menu_item#connect#activate ~callback);
|
||||
|
||||
(* Close session *)
|
||||
let callback = fun () ->
|
||||
close_programs gui in
|
||||
ignore (gui#button_remove_all_processes#connect#clicked ~callback);
|
||||
|
||||
(* Programs *)
|
||||
let entries = ref [] in
|
||||
Hashtbl.iter
|
||||
(fun name prog ->
|
||||
let cb = fun () ->
|
||||
run_and_monitor ?file gui log name "" in
|
||||
entries := `I (name, cb) :: !entries)
|
||||
programs;
|
||||
let menu = GMenu.menu ()
|
||||
and sorted_entries = List.sort compare !entries in
|
||||
GToolbox.build_menu menu sorted_entries;
|
||||
gui#programs_menu_item#set_submenu menu;
|
||||
|
||||
(* Simulations *)
|
||||
let insert_sims_in_menu = fun num_page ->
|
||||
if num_page = supervision_page && !aircrafts_table_has_changed then
|
||||
let entries = ref [] in
|
||||
Hashtbl.iter
|
||||
(fun ac_name ac ->
|
||||
let cb = fun () ->
|
||||
gui#entry_session_name#set_text (sprintf "Sim %s" ac_name);
|
||||
run_gcs ();
|
||||
run_server ();
|
||||
run_sitl ac_name
|
||||
in
|
||||
entries := `I (ac_name, cb) :: !entries)
|
||||
aircrafts;
|
||||
let menu = GMenu.menu ()
|
||||
and sorted_entries = List.sort compare !entries in
|
||||
GToolbox.build_menu menu sorted_entries;
|
||||
gui#sim_menu_item#set_submenu menu;
|
||||
aircrafts_table_has_changed := false in
|
||||
|
||||
ignore (gui#notebook#connect#switch_page ~callback:insert_sims_in_menu);
|
||||
|
||||
(* Sessions *)
|
||||
let insert_sessions_in_menu = fun () ->
|
||||
let entries = ref [] in
|
||||
let cb = fun name session () ->
|
||||
gui#entry_session_name#set_text name;
|
||||
List.iter
|
||||
(fun program ->
|
||||
let name = ExtXml.attrib program "name" in
|
||||
let p = ref "" in
|
||||
List.iter
|
||||
(fun arg ->
|
||||
let constant =
|
||||
try double_quote (Xml.attrib arg "constant") with _ -> "" in
|
||||
p := sprintf "%s %s %s" !p (ExtXml.attrib arg "flag") constant)
|
||||
(Xml.children program);
|
||||
run_and_monitor ~plugged:(name="gcs") ?file gui log name !p)
|
||||
(Xml.children session)
|
||||
in
|
||||
Hashtbl.iter
|
||||
(fun name session ->
|
||||
entries := `I (name, cb name session) :: !entries)
|
||||
sessions;
|
||||
let menu = GMenu.menu ()
|
||||
and sorted_entries = List.sort compare !entries in
|
||||
GToolbox.build_menu menu sorted_entries;
|
||||
gui#session_menu_item#set_submenu menu in
|
||||
|
||||
insert_sessions_in_menu ();
|
||||
|
||||
(* Add new session *)
|
||||
let callback = fun () ->
|
||||
if save_session gui then
|
||||
insert_sessions_in_menu () in
|
||||
ignore (gui#button_save_session#connect#clicked ~callback);
|
||||
|
||||
(* Remove current session *)
|
||||
let callback = fun () ->
|
||||
let session_name = gui#entry_session_name#text in
|
||||
match GToolbox.question_box ~title:"Delete user session" ~buttons:["Cancel"; "Delete"] ~default:2 (sprintf "Delete '%s' user session ? (NO undo)" session_name) with
|
||||
2 ->
|
||||
if Hashtbl.mem sessions session_name then begin
|
||||
Hashtbl.remove sessions session_name;
|
||||
write_control_panel_xml ();
|
||||
insert_sessions_in_menu ()
|
||||
end;
|
||||
close_programs gui;
|
||||
gui#entry_session_name#set_text ""
|
||||
| _ -> ()
|
||||
in
|
||||
ignore (gui#button_delete_session#connect#clicked ~callback);
|
||||
|
||||
(* Flights *)
|
||||
let cb = fun name args () ->
|
||||
gui#entry_session_name#set_text (sprintf "Fly with %s" name);
|
||||
run_gcs ();
|
||||
run_server ();
|
||||
run_link args
|
||||
in
|
||||
let entries =
|
||||
[`I ("XBee", cb "XBee" "-transport xbee -uplink");
|
||||
`I ("Aerocomm", cb "Aerocomm" "-s 57600 -aerocomm -uplink");
|
||||
`I ("Serial", cb "Serial" "-uplink")] in
|
||||
let menu = GMenu.menu ()
|
||||
and sorted_entries = List.sort compare entries in
|
||||
GToolbox.build_menu menu sorted_entries;
|
||||
gui#fly_menu_item#set_submenu menu
|
||||
|
||||
@@ -564,7 +564,7 @@ let check_geo_ref = fun xml ->
|
||||
let utm0 = utm_of WGS84 { posn_lat=(Deg>>Rad)lat0_deg;
|
||||
posn_long=(Deg>>Rad)lon0_deg } in
|
||||
|
||||
let max_d = get_float "max_dist_from_home" in
|
||||
let max_d = min 1000. (get_float "max_dist_from_home") in
|
||||
let check_zone = fun u ->
|
||||
if (utm_of WGS84 (of_utm WGS84 u)).utm_zone <> utm0.utm_zone then
|
||||
failwith "Fatal error: You are too close (less than twice the max distance) to an UTM zone border !" in
|
||||
|
||||
Reference in New Issue
Block a user