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settings organized in tree

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This commit is contained in:
Pascal Brisset
2006-06-26 21:13:35 +00:00
parent 3207f8b98c
commit 3d16eb6dc2
5 changed files with 149 additions and 78 deletions
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conf/flight_plans/flight_plan.dtd
+5 -1
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@@ -6,7 +6,7 @@
<!ELEMENT mode (setting*)>
<!ELEMENT setting EMPTY>
<!ELEMENT dl_settings (dl_setting*)>
<!ELEMENT dl_settings (dl_setting|dl_settings)*>
<!ELEMENT dl_setting EMPTY>
<!ELEMENT waypoints (waypoint+)>
@@ -54,6 +54,10 @@
<!ATTLIST setting range CDATA #REQUIRED>
<!ATTLIST setting rc (gain_1_up|gain_2_up|gain_1_down|gain_2_down) #REQUIRED>
<!ATTLIST dl_settings
name CDATA #IMPLIED
>
<!ATTLIST dl_setting
var CDATA #REQUIRED
min CDATA #REQUIRED
conf/flight_plans/generic.xml
+27 -12
View File
@@ -2,22 +2,37 @@
<flight_plan SECURITY_HEIGHT="25" alt="450" ground_alt="400" lat0="43.4624" lon0="1.2727" max_dist_from_home="1000" name="Generic" qfu="270">
<dl_settings>
<dl_setting VAR="ir_roll_neutral" MAX="0.3" STEP="0.01" MIN="-0.3"/>
<dl_setting VAR="ir_pitch_neutral" MAX="0.3" STEP="0.01" MIN="-0.3"/>
<dl_setting VAR="roll_pgain" MAX="15000" STEP="250" MIN="1000"/>
<dl_setting VAR="pitch_pgain" MAX="15000" STEP="250" MIN="1000"/>
<dl_setting VAR="climb_level_gaz" MAX="0.7" STEP="0.05" MIN="0.3"/>
<dl_setting VAR="climb_pgain" MAX="-0.01" STEP="0.01" MIN="-0.5"/>
<dl_setting VAR="course_pgain" MAX="-0.1" STEP="0.05" MIN="-2"/>
<dl_setting VAR="z_constrast_mode" MIN="0." STEP="1" MAX="1."/>
<dl_setting VAR="rate_mode" MIN="0." STEP="1" MAX="1."/>
<dl_setting VAR="altitude_shift" MIN="-50" STEP="10" MAX="1000"/>
<dl_settings name="flight params">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="light_mode"/>
<dl_setting VAR="altitude_shift" MIN="-50" STEP="10" MAX="1000"/>
</dl_settings>
<dl_settings name="mode">
<dl_setting VAR="z_constrast_mode" MIN="0." STEP="1" MAX="1."/>
<dl_setting VAR="rate_mode" MIN="0." STEP="1" MAX="1."/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode"/>
</dl_settings>
<dl_settings name="control">
<dl_settings name="attitude">
<dl_setting VAR="ir_roll_neutral" MAX="0.3" STEP="0.01" MIN="-0.3"/>
<dl_setting VAR="ir_pitch_neutral" MAX="0.3" STEP="0.01" MIN="-0.3"/>
<dl_setting VAR="roll_pgain" MAX="15000" STEP="250" MIN="1000"/>
<dl_setting VAR="pitch_pgain" MAX="15000" STEP="250" MIN="1000"/>
</dl_settings>
<dl_settings name="nav">
<dl_setting VAR="climb_level_gaz" MAX="0.7" STEP="0.05" MIN="0.3"/>
<dl_setting VAR="climb_pgain" MAX="-0.01" STEP="0.01" MIN="-0.5"/>
<dl_setting VAR="course_pgain" MAX="-0.1" STEP="0.05" MIN="-2"/>
</dl_settings>
</dl_settings>
<!--
<dl_setting VAR="roll_rate_pgain" MIN="0." STEP="1.0" MAX="2000."/>
<dl_setting VAR="attitude_pgain" MAX="100" STEP="1" MIN="10"/>
-->
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="light_mode"/>
</dl_settings>
<waypoints>
sw/ground_segment/cockpit/pages.ml
+90 -58
View File
@@ -178,71 +178,103 @@ class misc ~packing (widget: GBin.frame) =
(*****************************************************************************)
(* Dataling settings paged *)
(*****************************************************************************)
let one_setting = fun i do_change packing s (tooltips:GData.tooltips) ->
let f = fun a -> float_of_string (ExtXml.attrib s a) in
let lower = f "min"
and upper = f "max"
and step_incr = f "step" in
let hbox = GPack.hbox ~packing () in
let text = ExtXml.attrib s "var" in
let _l = GMisc.label ~width:100 ~text ~packing:hbox#pack () in
let _v = GMisc.label ~width:50 ~text:"N/A" ~packing:hbox#pack () in
(** For a small number of values, radio buttons *)
let _n = truncate ((upper -. lower) /. step_incr) in
let commit =
if step_incr = 1. && upper -. lower <= 2. then
let ilower = truncate lower
and iupper = truncate upper in
let label = Printf.sprintf "%d" ilower in
let first = GButton.radio_button ~label ~packing:hbox#add () in
let value = ref lower in
ignore (first#connect#clicked (fun () -> value := lower));
let group = first#group in
for j = ilower+1 to iupper do
let label = Printf.sprintf "%d" j in
let b = GButton.radio_button ~group ~label ~packing:hbox#add () in
ignore (b#connect#clicked (fun () -> value := float j))
done;
(fun _ -> do_change i !value)
else (* slider *)
let value = (lower +. upper) /. 2. in
let adj = GData.adjustment ~value ~lower ~upper:(upper+.10.) ~step_incr () in
let _scale = GRange.scale `HORIZONTAL ~digits:2 ~adjustment:adj ~packing:hbox#add () in
(fun _ -> do_change i adj#value)
in
let prev_value = ref None in
let commit_but = GButton.button ~packing:hbox#pack () in
commit_but#set_border_width 2;
let icon = GMisc.image ~stock:`APPLY ~packing:commit_but#add () in
let callback = fun x ->
prev_value := Some (float_of_string _v#text);
commit x
in
ignore (commit_but#connect#clicked ~callback);
tooltips#set_tip commit_but#coerce ~text:"Commit";
let undo_but = GButton.button ~packing:hbox#pack () in
let icon = GMisc.image ~stock:`UNDO ~packing:undo_but#add () in
let callback = fun _ ->
match !prev_value with
None -> ()
| Some v -> do_change i v in
ignore (undo_but#connect#clicked ~callback);
tooltips#set_tip undo_but#coerce ~text:"Undo";
_v
let rec build_settings = fun do_change i flat_list xml_settings packing tooltips ->
match xml_settings with
[] -> ()
| x::xs ->
List.iter (fun y -> assert(ExtXml.tag_is y (Xml.tag x))) xs;
if ExtXml.tag_is x "dl_setting" then
List.iter
(fun s ->
let label_value = one_setting !i do_change packing s tooltips in
flat_list := label_value :: !flat_list;
incr i)
xml_settings
else begin
assert (ExtXml.tag_is x "dl_settings");
let n = GPack.notebook ~packing () in
List.iter (fun p ->
let text = ExtXml.attrib p "name" in
let sw = GBin.scrolled_window ~hpolicy:`AUTOMATIC ~vpolicy:`AUTOMATIC () in
let vbox = GPack.vbox () in
let tab_label = (GMisc.label ~text ())#coerce in
n#append_page ~tab_label vbox#coerce;
build_settings do_change i flat_list (Xml.children p) vbox#pack tooltips)
xml_settings
end
class settings = fun ?(visible = fun _ -> true) xml_settings do_change ->
let sw = GBin.scrolled_window ~hpolicy:`AUTOMATIC ~vpolicy:`AUTOMATIC () in
let vbox = GPack.vbox ~packing:sw#add_with_viewport () in
let n = List.length xml_settings in
let tooltips = GData.tooltips () in
let i = ref 0 and l = ref [] in
let current_values =
Array.mapi
(fun i s ->
let f = fun a -> float_of_string (ExtXml.attrib s a) in
let lower = f "min"
and upper = f "max"
and step_incr = f "step" in
let hbox = GPack.hbox ~packing:vbox#add () in
let text = ExtXml.attrib s "var" in
let _l = GMisc.label ~width:100 ~text ~packing:hbox#pack () in
let _v = GMisc.label ~width:50 ~text:"N/A" ~packing:hbox#pack () in
(** For a small number of values, radio buttons *)
let _n = truncate ((upper -. lower) /. step_incr) in
let commit =
if step_incr = 1. && upper -. lower <= 2. then
let ilower = truncate lower
and iupper = truncate upper in
let label = Printf.sprintf "%d" ilower in
let first = GButton.radio_button ~label ~packing:hbox#add () in
let value = ref lower in
ignore (first#connect#clicked (fun () -> value := lower));
let group = first#group in
for j = ilower+1 to iupper do
let label = Printf.sprintf "%d" j in
let b = GButton.radio_button ~group ~label ~packing:hbox#add () in
ignore (b#connect#clicked (fun () -> value := float j))
done;
(fun _ -> do_change i !value)
else (* slider *)
let value = (lower +. upper) /. 2. in
let adj = GData.adjustment ~value ~lower ~upper:(upper+.10.) ~step_incr () in
let _scale = GRange.scale `HORIZONTAL ~digits:2 ~adjustment:adj ~packing:hbox#add () in
(fun _ -> do_change i adj#value)
in
let prev_value = ref None in
let commit_but = GButton.button ~packing:hbox#pack () in
commit_but#set_border_width 2;
let icon = GMisc.image ~stock:`APPLY ~packing:commit_but#add () in
let callback = fun x ->
prev_value := Some (float_of_string _v#text);
commit x
in
ignore (commit_but#connect#clicked ~callback);
tooltips#set_tip commit_but#coerce ~text:"Commit";
let undo_but = GButton.button ~packing:hbox#pack () in
let icon = GMisc.image ~stock:`UNDO ~packing:undo_but#add () in
let callback = fun _ ->
match !prev_value with
None -> ()
| Some v -> do_change i v in
ignore (undo_but#connect#clicked ~callback);
tooltips#set_tip undo_but#coerce ~text:"Undo";
_v
)
(Array.of_list xml_settings) in
build_settings do_change i l xml_settings vbox#add tooltips;
Array.of_list (List.rev !l) in
object (self)
method length = n
method widget = sw#coerce
method length = !i
method set = fun i v ->
if visible self#widget then
let s = string_of_float v in
sw/tools/Makefile
+1 -1
View File
@@ -23,7 +23,7 @@
Q=@
OCAML=ocaml
OCAMLC=ocamlc -g -I ../lib/ocaml
OCAMLC=ocamlc -I ../lib/ocaml
OCAMLLEX=ocamllex
OCAMLYACC=ocamlyacc
sw/tools/gen_flight_plan.ml
+26 -6
View File
@@ -583,17 +583,33 @@ let print_heights = fun xml wgs84 alt ->
lprintf "} \n";
end
let rec flatten = fun xml r ->
if ExtXml.tag_is xml "dl_setting" then
xml::r
else
match Xml.children xml with
[] -> r
| x::xs ->
List.iter (fun y -> assert(ExtXml.tag_is y (Xml.tag x))) xs;
List.fold_right flatten (x::xs) r
let print_dl_settings = fun settings ->
let settings = flatten settings [] in
(** Macro to call to set one variable *)
lprintf "#define DlSetting(_idx, _value) { \\\n";
right ();
lprintf "switch (_idx) { \\\n";
right ();
let idx = ref 0 in
List.iter
(fun s ->
let v = ExtXml.attrib s "var" in
lprintf "if (_idx == %d) %s = _value;\\\n" !idx v; incr idx)
lprintf "case %d: %s = _value; break;\\\n" !idx v; incr idx)
settings;
left ();
lprintf "}\\\n";
left ();
lprintf "}\n";
let nb_values = !idx in
@@ -605,11 +621,15 @@ let print_dl_settings = fun settings ->
lprintf "float var;\\\n";
lprintf "if (i >= %d) i = 0;;\\\n" nb_values;
let idx = ref 0 in
lprintf "switch (i) { \\\n";
right ();
List.iter
(fun s ->
let v = ExtXml.attrib s "var" in
lprintf "if (i == %d) var = %s;\\\n" !idx v; incr idx)
lprintf "case %d: var = %s; break;\\\n" !idx v; incr idx)
settings;
left ();
lprintf "}\\\n";
lprintf "DOWNLINK_SEND_DL_VALUE(&i, &var);\\\n";
lprintf "i++;\\\n";
left ()
@@ -682,7 +702,7 @@ let _ =
let xml = Fp_proc.process_relative_waypoints xml in
let xml = ExtXml.subst_child "blocks" (index_blocks (ExtXml.child xml "blocks")) xml in
let waypoints = ExtXml.child xml "waypoints"
and dl_settings = try Xml.children (ExtXml.child xml "dl_settings") with Not_found -> []
and dl_settings = try (ExtXml.child xml "dl_settings") with Not_found -> Xml.Element("dl_settings",[],[])
and blocks = Xml.children (ExtXml.child xml "blocks")
and global_exceptions = try Xml.children (ExtXml.child xml "exceptions") with _ -> [] in
@@ -777,7 +797,7 @@ let _ =
end
with
Xml.Error e -> prerr_endline (Xml.error e); exit 1
| Dtd.Prove_error e -> prerr_endline (Dtd.prove_error e); exit 1
| Dtd.Check_error e -> prerr_endline (Dtd.check_error e); exit 1
| Dtd.Parse_error e -> prerr_endline (Dtd.parse_error e); exit 1
| Dtd.Prove_error e -> fprintf stderr "DTD error:%s\n%!" (Dtd.prove_error e); exit 1
| Dtd.Check_error e -> fprintf stderr "DTD error:%s\n%!" (Dtd.check_error e); exit 1
| Dtd.Parse_error e -> fprintf stderr "DTD error:%s\n%!" (Dtd.parse_error e); exit 1