[ocaml] add a ivy2serial agent

This tool can be used to open a serial link communication with the ocaml
simulator that only outputs message over Ivy.

sw/ground_segment/tmtc/Makefile

@@ -38,12 +38,12 @@ SERVERCMO = server_globals.cmo aircraft.cmo wind.cmo airprox.cmo kml.cmo fw_serv
 SERVERCMX = $(SERVERCMO:.cmo=.cmx)
 
 
-all: link server messages settings ivy_tcp_aircraft ivy_tcp_controller broadcaster ivy2udp ivy_serial_bridge app_server ivy2nmea
+all: link server messages settings ivy_tcp_aircraft ivy_tcp_controller broadcaster ivy2udp ivy2serial ivy_serial_bridge app_server ivy2nmea
 
 opt: server.opt
 
 clean:
-	$(Q)rm -f link server messages settings *.bak *~ core *.o .depend *.opt *.out *.cm* ivy_tcp_aircraft ivy_tcp_controller broadcaster ivy2udp ivy_serial_bridge app_server gpsd2ivy c_ivy_client_example_1 c_ivy_client_example_2 c_ivy_client_example_3 ivy2nmea
+	$(Q)rm -f link server messages settings *.bak *~ core *.o .depend *.opt *.out *.cm* ivy_tcp_aircraft ivy_tcp_controller broadcaster ivy2udp ivy2serial ivy_serial_bridge app_server gpsd2ivy c_ivy_client_example_1 c_ivy_client_example_2 c_ivy_client_example_3 ivy2nmea
 
 messages : messages.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
@@ -85,6 +85,10 @@ ivy2udp : ivy2udp.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<
 
+ivy2serial : ivy2serial.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
+	@echo OL $@
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<
+
 
 150m : 150m.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
 	@echo OL $@

sw/ground_segment/tmtc/ivy2serial.ml

@@ -0,0 +1,112 @@
+(*
+ * Copyright (C) 2008 ENAC, Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2016 Gautier Hattenberger <gautier.hattenberger@enac.fr>
+ *
+ * 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.
+ *
+ *)
+
+(**
+ *  Forward telemetry messages from the ivy bus to a serial connection
+ *  a.k.a. a "reverse" link agent:
+ *    ivy telemetry message -> serial out
+ *    serial in -> ivy datalink message
+ *
+ *  This tool can be used to rebuild the airborne modem input/output
+ *  from the Ocaml simulator that directly outputs Ivy messages
+ *
+ *  Only the PPRZ message format is supported
+ *)
+
+
+module Tm_Pprz = PprzLink.Messages(struct let name = "telemetry" end)
+module Dl_Pprz = PprzLink.Messages(struct let name = "datalink" end)
+module PprzTransport = Protocol.Transport(Pprz_transport.Transport)
+
+open Printf
+
+let () =
+
+  (* Options *)
+  let ivy_bus = ref Defivybus.default_ivy_bus  in
+  let device = ref "/dev/ttyUSB0"
+  and baudrate = ref "57600"
+  and id = ref "1" in
+
+  let options = [
+    "-id", Arg.Set_string id , (sprintf "<AC id> Default is %s" !id);
+    "-b", Arg.Set_string ivy_bus, (sprintf "<ivy bus> Default is %s" !ivy_bus);
+    "-d", Arg.Set_string device, (sprintf "<serial device> Default is %s" !device);
+    "-baudrate", Arg.Set_string baudrate, (sprintf "<serial baudrate> Default is %s" !baudrate);
+  ] in
+  Arg.parse
+    options
+    (fun x -> fprintf stderr "Warning: Discarding '%s'" x)
+    "Usage: ";
+
+  (* Open serial device *)
+  let fd = Serial.opendev !device (Serial.speed_of_baudrate !baudrate) false in
+
+  (* Start Ivy *)
+  Ivy.init "ivy2serial" "READY" (fun _ _ -> ());
+  Ivy.start !ivy_bus;
+
+  (* Bind to all Ivy message from AC (telemetry) and send over serial link *)
+  let get_ivy_message = fun _ args ->
+    try
+      let (msg_id, vs) = Tm_Pprz.values_of_string args.(0) in
+      let payload = Tm_Pprz.payload_of_values msg_id (int_of_string !id) vs in
+      let buf = Pprz_transport.Transport.packet payload in
+      let o = Unix.out_channel_of_descr fd in
+      Printf.fprintf o "%s" buf; flush o
+    with _ -> () in
+
+  let _b = Ivy.bind get_ivy_message (sprintf "^%s (.*)" !id) in
+
+  (* The function to be called when data is available *)
+  let buffer_size = 256 in
+  let buffer = String.create buffer_size in
+  let get_datalink_message = fun _ ->
+    begin
+      try
+        let n = input (Unix.in_channel_of_descr fd) buffer 0 buffer_size in
+        let b = String.sub buffer 0 n in
+        Debug.trace 'x' (Debug.xprint b);
+
+        let use_dl_message = fun payload ->
+          Debug.trace 'x' (Debug.xprint (Protocol.string_of_payload payload));
+          let (msg_id, ac_id, values) = Dl_Pprz.values_of_payload payload in
+          let msg = Dl_Pprz.message_of_id msg_id in
+          Dl_Pprz.message_send "ground_dl" msg.PprzLink.name values in
+
+        assert (PprzTransport.parse use_dl_message b = n)
+      with
+          exc ->
+            prerr_endline (Printexc.to_string exc)
+    end;
+    true in
+
+  (* Connect IO watch *)
+  let hangup = fun _ ->
+    prerr_endline "Serial link disconnected";
+    exit 1 in
+  ignore (Glib.Io.add_watch [`HUP] hangup (GMain.Io.channel_of_descr fd));
+  ignore (Glib.Io.add_watch [`IN] get_datalink_message (GMain.Io.channel_of_descr fd));
+
+  (* Main Loop *)
+  GMain.main ()