diff --git a/Makefile b/Makefile index 6444bbab5f..24f6a61a59 100644 --- a/Makefile +++ b/Makefile @@ -55,7 +55,7 @@ ARMGCC=/usr/bin/arm-elf-gcc all: static -static : lib tools cockpit visu3d multimon tmtc logalizer lpc21iap sim_static static_h usb_lib +static : lib center tools cockpit visu3d multimon tmtc logalizer lpc21iap sim_static static_h usb_lib conf: conf/conf.xml conf/control_panel.xml @@ -66,6 +66,9 @@ conf/%.xml :conf/%.xml.example lib: cd $(LIB)/ocaml; $(MAKE) +center: lib + cd sw/supervision; make + tools: lib cd $(TOOLS); make diff --git a/Makefile.install b/Makefile.install index c6c3d06864..d096e90f88 100644 --- a/Makefile.install +++ b/Makefile.install @@ -20,6 +20,8 @@ install_data: $(INSTALL) -d $(DESTDIR)/data/pictures $(INSTALLDATA) var/maps/trtqtttqtsrrt*.jpg $(DESTDIR)/data/maps $(INSTALLDATA) data/pictures/*.gif data/pictures/*.svg data/pictures/*.jpg data/pictures/*.png $(DESTDIR)/data/pictures + $(INSTALL) -d $(PREFIX)/usr/share/pixmaps + $(INSTALLDATA) data/pictures/penguin_icon.png $(PREFIX)/usr/share/pixmaps/paparazzi.png $(INSTALL) -d $(DESTDIR)/data/srtm $(INSTALLDATA) data/srtm/N43E001.hgt.bz2 $(DESTDIR)/data/srtm @@ -73,6 +75,8 @@ install_bin: $(INSTALL) -d $(PREFIX)/usr/bin/ $(INSTALL) -d $(DESTDIR)/sw/supervision $(INSTALL) sw/supervision/paparazzi.pl $(DESTDIR)/sw/supervision + $(INSTALL) sw/supervision/paparazzicenter.glade $(DESTDIR)/sw/supervision + $(INSTALL) sw/supervision/*.cmo $(DESTDIR)/sw/supervision $(INSTALL) paparazzi-make $(PREFIX)/usr/bin/ $(INSTALLDATA) -d $(DESTDIR)/sw/simulator $(INSTALL) sw/simulator/*.cmo $(DESTDIR)/sw/simulator @@ -90,6 +94,7 @@ install_bin: $(INSTALL) sw/logalizer/plot.pl $(DESTDIR)/sw/logalizer ln -sf ../share/paparazzi/sw/ground_segment/cockpit/gcs $(PREFIX)/usr/bin/paparazzi-gcs ln -sf ../share/paparazzi/sw/supervision/paparazzi.pl $(PREFIX)/usr/bin/paparazzi + ln -sf ../share/paparazzi/sw/supervision/paparazzicenter $(PREFIX)/usr/bin/paparazzicenter install_libs: $(INSTALL) -d $(PREFIX)/usr/lib/perl5/Paparazzi diff --git a/conf/airframes/microjet5.xml b/conf/airframes/microjet5.xml index d26c4c1c88..44a6955d36 100644 --- a/conf/airframes/microjet5.xml +++ b/conf/airframes/microjet5.xml @@ -253,7 +253,7 @@ ap.CFLAGS += -DINFRARED ap.srcs += infrared.c estimator.c ap.CFLAGS += -DNAV -ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c +ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c nav_survey_rectangle.c ap.CFLAGS += -DGYRO -DADXRS150 -DPID_RATE_LOOP @@ -267,7 +267,7 @@ ap.srcs += gyro.c # Config for SITL simulation include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile sim.CFLAGS += -DCONFIG=\"tiny.h\" -DLOITER_TRIM -DMOBILE_CAM -DCAM -sim.srcs += nav_line.c traffic_info.c cam.c +sim.srcs += nav_survey_rectangle.c traffic_info.c cam.c diff --git a/conf/conf.xml.example b/conf/conf.xml.example index 1489ae674a..07d8c665a7 100644 --- a/conf/conf.xml.example +++ b/conf/conf.xml.example @@ -23,26 +23,6 @@ flight_plan="flight_plans/dummy.xml" /> - - - - - diff --git a/conf/flight_plans/versatile.xml b/conf/flight_plans/versatile.xml index ba7f352f7e..7c2be21e18 100644 --- a/conf/flight_plans/versatile.xml +++ b/conf/flight_plans/versatile.xml @@ -1,6 +1,9 @@ - + +
+#include "datalink.h" +
@@ -134,5 +137,11 @@ + + + + + + diff --git a/debian/control.etch b/debian/control.etch index 6f4130bdaa..6bec51f300 100644 --- a/debian/control.etch +++ b/debian/control.etch @@ -10,7 +10,7 @@ Package: paparazzi-dev Architecture: any Suggests: paparazzi-avr, paparazzi-arm7 Recommends: eagle, gs-common, tetex-extra, dia-gnome -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 +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 Description: Paparazzi Meta Package : common support @@ -28,6 +28,6 @@ Description: Paparazzi Meta Package. Philips ARM7 support Package: paparazzi-bin Architecture: i386 -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 +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 Description: Paparazzi main package diff --git a/debian/paparazzi-bin.postinst b/debian/paparazzi-bin.postinst index ffe6251b16..8d698e0791 100755 --- a/debian/paparazzi-bin.postinst +++ b/debian/paparazzi-bin.postinst @@ -24,5 +24,8 @@ ${OCAMLOPT} -I +lablgtk2 -I ${DESTDIR}/sw/lib/ocaml -o plot unix.cmxa str.cmxa x cd ${DESTDIR}/sw/simulator ${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 +cd ${DESTDIR}/sw/supervision +${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 + cd ${DESTDIR}/sw/tools ${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 diff --git a/debian/rules b/debian/rules index 4d4ce4c0a8..c3c1f7efa3 100644 --- a/debian/rules +++ b/debian/rules @@ -69,7 +69,7 @@ binary-arch: build install dh_installdocs dh_installexamples # dh_install -# dh_installmenu + dh_installmenu # dh_installdebconf # dh_installlogrotate # dh_installemacsen diff --git a/sw/airborne/Makefile b/sw/airborne/Makefile index e2c02149c3..f4a0b96c77 100644 --- a/sw/airborne/Makefile +++ b/sw/airborne/Makefile @@ -25,7 +25,7 @@ OBJDIR = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/$(TARGET) VARINCLUDE=$(PAPARAZZI_HOME)/var/include ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT) -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) +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) SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/$(ARCHDIR) diff --git a/sw/ground_segment/cockpit/gcs.ml b/sw/ground_segment/cockpit/gcs.ml index 774cd175c6..fcf1205aa6 100644 --- a/sw/ground_segment/cockpit/gcs.ml +++ b/sw/ground_segment/cockpit/gcs.ml @@ -340,6 +340,7 @@ and plugin_window = ref "" and layout_file = ref "horizontal.xml" and edit = ref false and display_particules = ref false +and wid = ref None let options = [ "-b", Arg.String (fun x -> ivy_bus := x), "Bus\tDefault is 127.255.255.25:2010"; @@ -364,6 +365,7 @@ let options = "-google_fill", Arg.Set GM.auto, "Google maps auto fill"; "-speech", Arg.Set Speech.active, "Active vocal messages"; "-particules", Arg.Set display_particules, "Display particules"; + "-wid", Arg.String (fun s -> wid := Some (Int32.of_string s)), " Id of an existing window to be attached to"; "-m", Arg.String (fun x -> map_files := x :: !map_files), "Map description file"] @@ -374,7 +376,7 @@ let quit = fun () -> exit 0 | _ -> () -let create_geomap = fun window editor_frame -> +let create_geomap = fun window switch_fullscreen editor_frame -> let geomap = new G.widget ~height:500 ~projection:!projection () in let menu_fact = new GMenu.factory geomap#file_menu in @@ -385,11 +387,6 @@ let create_geomap = fun window editor_frame -> ignore (geomap#canvas#event#connect#any (any_event geomap)); ignore (menu_fact#add_item "Redraw" ~key:GdkKeysyms._L ~callback:(fun _ -> geomap#canvas#misc#draw None)); - let switch_fullscreen = fun x -> - if x then - window#fullscreen () - else - window#unfullscreen () in ignore (menu_fact#add_check_item "Fullscreen" ~key:GdkKeysyms._F ~active: !fullscreen ~callback:switch_fullscreen); ignore (menu_fact#add_item "Quit" ~key:GdkKeysyms._Q ~callback:quit); @@ -498,18 +495,29 @@ let _main = and height = ExtXml.int_attrib layout "height" in (** The whole window map2d **) - let window = GWindow.window ~title:"Paparazzi GCS" ~border_width:1 ~width ~height ~allow_shrink:true () in - if !maximize then - window#maximize (); - if !fullscreen then - window#fullscreen (); - - ignore (window#connect#destroy ~callback:(fun _ -> exit 0)); + let window, switch_fullscreen = + match !wid with + None -> + let window = GWindow.window ~title:"Paparazzi GCS" ~border_width:1 ~width ~height ~allow_shrink:true () in + if !maximize then + window#maximize (); + if !fullscreen then + window#fullscreen (); + ignore (window#connect#destroy ~callback:(fun _ -> exit 0)); + let switch_fullscreen = fun x -> + if x then + window#fullscreen () + else + window#unfullscreen () in + (window:>GWindow.window_skel),switch_fullscreen + | Some window -> + (GWindow.plug ~window ~width ~height ():>GWindow.window_skel), fun _ -> () in + (* Editor frame *) let editor_frame = GBin.frame () in - let geomap, menu_fact = create_geomap window editor_frame in + let geomap, menu_fact = create_geomap window switch_fullscreen editor_frame in let map_frame = GPack.vbox () in (** Put the canvas in a frame *) diff --git a/sw/ground_segment/tmtc/link.ml b/sw/ground_segment/tmtc/link.ml index 424798907f..3919897e52 100644 --- a/sw/ground_segment/tmtc/link.ml +++ b/sw/ground_segment/tmtc/link.ml @@ -55,7 +55,7 @@ let airborne_device = fun device addr -> match device with "WAVECARD" -> WavecardDevice (W.addr_of_string addr) | "XBEE" -> XBeeDevice - | "PPRZ" -> Uart + | "PPRZ" | "AEROCOMM" -> Uart | _ -> failwith (sprintf "Link: unknown datalink: %s" device) let get_define = fun xml name -> diff --git a/sw/ground_segment/tmtc/messages.ml b/sw/ground_segment/tmtc/messages.ml index ee1b09f73b..658c33741d 100644 --- a/sw/ground_segment/tmtc/messages.ml +++ b/sw/ground_segment/tmtc/messages.ml @@ -31,11 +31,6 @@ let list_sort = fun f l -> List.sort (fun x y -> compare (f x) (f y)) l let display_delay = 500 (* Time in second between two updates *) let led_delay = 500 (* Time in milliseconds while the green led is displayed *) - -let (//) = Filename.concat - -let xml_file = Env.paparazzi_src // "conf" // "messages.xml" - let dnd_targets = [ { Gtk.target = "STRING"; flags = []; info = 0} ] (** Display one page for a message *) @@ -184,7 +179,7 @@ let _ = (** Get the XML description of the required classes *) let xml_classes = - let xml = Xml.parse_file xml_file in + let xml = Pprz.messages_xml () in let class_of = fun n -> try List.find (fun x -> ExtXml.attrib x "name" = n) (Xml.children xml) diff --git a/sw/lib/ocaml/mapCanvas.ml b/sw/lib/ocaml/mapCanvas.ml index 1adbbc6fe6..56db148e03 100644 --- a/sw/lib/ocaml/mapCanvas.ml +++ b/sw/lib/ocaml/mapCanvas.ml @@ -175,7 +175,7 @@ class basic_widget = fun ?(height=800) ?width ?(projection = Mercator) ?georef ( method top_still = 3.5*.s val adj = GData.adjustment - ~value:1. ~lower:0.05 ~upper:10. + ~value:1. ~lower:0.005 ~upper:10. ~step_incr:0.25 ~page_incr:1.0 ~page_size:1.0 () method info = info diff --git a/sw/lib/ocaml/serial.ml b/sw/lib/ocaml/serial.ml index ed90482923..fe06a8a101 100644 --- a/sw/lib/ocaml/serial.ml +++ b/sw/lib/ocaml/serial.ml @@ -86,7 +86,7 @@ let opendev device speed = init_serial device speed with Failure x -> - failwith (Printf.sprintf "%s (%s)" x device) + failwith (Printf.sprintf "Error %s (%s)" x device) let close = Unix.close diff --git a/sw/lib/perl/Paparazzi/Environment.pm b/sw/lib/perl/Paparazzi/Environment.pm index 49c1cceb77..05c733ae1a 100644 --- a/sw/lib/perl/Paparazzi/Environment.pm +++ b/sw/lib/perl/Paparazzi/Environment.pm @@ -26,7 +26,7 @@ if (defined $ENV{PAPARAZZI_HOME}) { #else { # print "system mode\n inst_prefix INST_PREFIX"; #} -print " paparazzi_home $paparazzi_home\n\n"; +#print " paparazzi_home $paparazzi_home\n\n"; sub set_env { diff --git a/sw/simulator/Makefile b/sw/simulator/Makefile index 15e8095ca1..79cf194a29 100644 --- a/sw/simulator/Makefile +++ b/sw/simulator/Makefile @@ -40,7 +40,7 @@ AIRBORNE = ../airborne VARINCLUDE=$(PAPARAZZI_HOME)/var/include ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT) -all : gaia sitl.cma simhitl +all : gaia sitl.cma simhitl launchsitl simhitl : fg.o $(SIMHCMO) simhitl.cmo @echo OL $@ diff --git a/sw/simulator/diffusion.ml b/sw/simulator/diffusion.ml index a408de8328..5e7b7cb7fa 100644 --- a/sw/simulator/diffusion.ml +++ b/sw/simulator/diffusion.ml @@ -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} +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 = diff --git a/sw/simulator/simsitl.pl b/sw/simulator/simsitl.pl index b469cd549b..34ced1bef1 100755 --- a/sw/simulator/simsitl.pl +++ b/sw/simulator/simsitl.pl @@ -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) - - - - - - - - diff --git a/sw/simulator/sitl.ml b/sw/simulator/sitl.ml index 3db956930b..1cfc7fe23a 100644 --- a/sw/simulator/sitl.ml +++ b/sw/simulator/sitl.ml @@ -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"] diff --git a/sw/supervision/Makefile b/sw/supervision/Makefile index 97de89960f..cff0288acb 100644 --- a/sw/supervision/Makefile +++ b/sw/supervision/Makefile @@ -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 diff --git a/sw/supervision/paparazzicenter.glade b/sw/supervision/paparazzicenter.glade index b203a90d94..c53cac3f2c 100644 --- a/sw/supervision/paparazzicenter.glade +++ b/sw/supervision/paparazzicenter.glade @@ -52,7 +52,7 @@ - 240 + 260 100 True True @@ -647,72 +647,6 @@ - - - True - 0 - 0.5 - GTK_SHADOW_NONE - - - - True - 0.5 - 0.5 - 1 - 1 - 0 - 0 - 12 - 0 - - - - True - False - 0 - - - - - - - - - - - - True - <b>Target</b> - False - True - GTK_JUSTIFY_LEFT - False - False - 0.5 - 0.5 - 0 - 0 - PANGO_ELLIPSIZE_NONE - -1 - False - 0 - - - label_item - - - - - 2 - 3 - 0 - 1 - fill - fill - - - True @@ -876,6 +810,23 @@ False + + + + True + Save the current configuration. Required for Build and Upload + True + gtk-save + True + GTK_RELIEF_NORMAL + True + + + 0 + False + False + + 0 @@ -1115,23 +1066,6 @@ False - - - - True - Save the current configuration. Required for Build and Upload - True - gtk-save - True - GTK_RELIEF_NORMAL - True - - - 0 - False - False - - 0 @@ -1311,6 +1245,7 @@ True False + Upload into the airborne device (which must be plugged !). True GTK_RELIEF_NORMAL True @@ -1395,6 +1330,164 @@ + + + + True + False + 0 + + + + True + 0 + 0.5 + GTK_SHADOW_NONE + + + + True + 0.5 + 0.5 + 1 + 1 + 0 + 0 + 12 + 0 + + + + True + False + 0 + + + + + + + + + + + + True + <b>Target</b> + False + True + GTK_JUSTIFY_LEFT + False + False + 0.5 + 0.5 + 0 + 0 + PANGO_ELLIPSIZE_NONE + -1 + False + 0 + + + label_item + + + + + 0 + True + True + + + + + + True + Add a target in the combo list + True + GTK_RELIEF_NORMAL + True + + + + True + 0.5 + 0.5 + 0 + 0 + 0 + 0 + 0 + 0 + + + + True + False + 2 + + + + True + gtk-add + 4 + 0.5 + 0.5 + 0 + 0 + + + 0 + False + False + + + + + + True + New Target + True + False + GTK_JUSTIFY_LEFT + False + False + 0.5 + 0.5 + 0 + 0 + PANGO_ELLIPSIZE_NONE + -1 + False + 0 + + + 0 + False + False + + + + + + + + + 0 + False + False + + + + + 2 + 3 + 0 + 1 + fill + + + 0 @@ -1462,7 +1555,7 @@ True - Configuration + Conf/Console False False GTK_JUSTIFY_LEFT @@ -1483,7 +1576,7 @@ - + True False 0 @@ -1503,14 +1596,14 @@ True - _Sessions + Session True - + True Sim True @@ -1519,9 +1612,9 @@ - + True - Fly + Fly with ... True @@ -1537,17 +1630,17 @@ - + True - + True - gtk-save-as - True - + User + True + @@ -1556,9 +1649,9 @@ - + True - _Programs + Single Program True @@ -1592,6 +1685,177 @@ + + + True + False + 0 + + + + True + Current: + False + False + GTK_JUSTIFY_LEFT + False + False + 0.5 + 0.5 + 0 + 0 + PANGO_ELLIPSIZE_NONE + -1 + False + 0 + + + 0 + False + False + + + + + + True + True + True + True + 0 + + True + * + False + 20 + + + 0 + False + True + + + + + + True + True + GTK_RELIEF_NORMAL + True + + + + True + 0.5 + 0.5 + 0 + 0 + 0 + 0 + 0 + 0 + + + + True + False + 2 + + + + True + gtk-clear + 4 + 0.5 + 0.5 + 0 + 0 + + + 0 + False + False + + + + + + True + Remove All Processes + True + False + GTK_JUSTIFY_LEFT + False + False + 0.5 + 0.5 + 0 + 0 + PANGO_ELLIPSIZE_NONE + -1 + False + 0 + + + 0 + False + False + + + + + + + + + 0 + False + False + GTK_PACK_END + + + + + + True + Save current process commands in a user session + True + gtk-save + True + GTK_RELIEF_NORMAL + True + + + 0 + False + False + + + + + + True + Delete the current session from the user sessions + True + gtk-delete + True + GTK_RELIEF_NORMAL + True + + + 0 + False + False + + + + + 0 + False + False + + + True @@ -1618,14 +1882,14 @@ False - True + False True - Supervision + Control Panel False False GTK_JUSTIFY_LEFT @@ -1646,30 +1910,17 @@ - + True False 0 - - True - False - 0 - - - - - - - 0 - True - True - + - False + True True @@ -1737,12 +1988,38 @@ + 32 True False 0 - + + True + process name + False + False + GTK_JUSTIFY_LEFT + False + False + 0.5 + 0.5 + 0 + 0 + PANGO_ELLIPSIZE_NONE + 20 + False + 0 + + + 0 + False + False + + + + + True True True @@ -1761,7 +2038,28 @@ - + + True + Automatic respawn + True + + True + GTK_RELIEF_NORMAL + True + False + False + True + + + 0 + False + False + + + + + + 32 True True gtk-stop @@ -1777,8 +2075,10 @@ - + + 32 True + False True gtk-remove True diff --git a/sw/supervision/paparazzicenter.ml b/sw/supervision/paparazzicenter.ml index 56eed0c057..adb780c4b9 100644 --- a/sw/supervision/paparazzicenter.ml +++ b/sw/supervision/paparazzicenter.ml @@ -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 ();; diff --git a/sw/supervision/pc_aircraft.ml b/sw/supervision/pc_aircraft.ml new file mode 100644 index 0000000000..02734db0fe --- /dev/null +++ b/sw/supervision/pc_aircraft.ml @@ -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) diff --git a/sw/supervision/pc_common.ml b/sw/supervision/pc_common.ml new file mode 100644 index 0000000000..4366904de1 --- /dev/null +++ b/sw/supervision/pc_common.ml @@ -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 diff --git a/sw/supervision/pc_control_panel.ml b/sw/supervision/pc_control_panel.ml new file mode 100644 index 0000000000..3f96609c28 --- /dev/null +++ b/sw/supervision/pc_control_panel.ml @@ -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 + diff --git a/sw/tools/gen_flight_plan.ml b/sw/tools/gen_flight_plan.ml index 4cb8a895a5..cb9159ffe2 100644 --- a/sw/tools/gen_flight_plan.ml +++ b/sw/tools/gen_flight_plan.ml @@ -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