*** empty log message ***

conf/boa.conf

@@ -0,0 +1,241 @@
+# Boa v0.94 configuration file
+# File format has not changed from 0.93
+# File format has changed little from 0.92
+# version changes are noted in the comments
+#
+# The Boa configuration file is parsed with a custom parser.  If it
+# reports an error, the line number will be provided; it should be easy
+# to spot.  The syntax of each of these rules is very simple, and they
+# can occur in any order.  Where possible these directives mimic those
+# of NCSA httpd 1.3; I saw no reason to introduce gratuitous
+# differences.
+
+# $Id$
+
+# The "ServerRoot" is not in this configuration file.  It can be
+# compiled into the server (see defines.h) or specified on the command
+# line with the -c option, for example:
+#
+# boa -c /usr/local/boa
+
+
+# Port: The port Boa runs on.  The default port for http servers is 80.
+# If it is less than 1024, the server must be started as root.
+
+Port 8888
+
+# Listen: the Internet address to bind(2) to.  If you leave it out,
+# it takes the behavior before 0.93.17.2, which is to bind to all
+# addresses (INADDR_ANY).  You only get one "Listen" directive,
+# if you want service on multiple IP addresses, you have three choices:
+#    1. Run boa without a "Listen" directive
+#       a. All addresses are treated the same; makes sense if the addresses
+#          are localhost, ppp, and eth0.
+#       b. Use the VirtualHost directive below to point requests to different
+#          files.  Should be good for a very large number of addresses (web
+#          hosting clients).
+#    2. Run one copy of boa per IP address, each has its own configuration
+#       with a "Listen" directive.  No big deal up to a few tens of addresses.
+#       Nice separation between clients.
+# The name you provide gets run through inet_aton(3), so you have to use dotted
+# quad notation.  This configuration is too important to trust some DNS.
+
+#Listen 192.68.0.5
+
+#  User: The name or UID the server should run as.
+# Group: The group name or GID the server should run as.
+
+User www-data
+Group www-data
+
+# ServerAdmin: The email address where server problems should be sent.
+# Note: this is not currently used, except as an environment variable
+# for CGIs.
+
+#ServerAdmin root@localhost
+
+# PidFile: where to put the pid of the process.
+# Comment out to write no pid file.
+# Note: Because Boa drops privileges at startup, and the
+# pid file is written by the UID/GID before doing so, Boa
+# does not attempt removal of the pid file.
+# PidFile /var/run/boa.pid
+
+# ErrorLog: The location of the error log file. If this does not start
+# with /, it is considered relative to the server root.
+# Set to /dev/null if you don't want errors logged.
+# If unset, defaults to /dev/stderr
+# Please NOTE: Sending the logs to a pipe ('|'), as shown below,
+#  is somewhat experimental and might fail under heavy load.
+# "Usual libc implementations of printf will stall the whole
+#  process if the receiving end of a pipe stops reading."
+#ErrorLog "|/usr/sbin/cronolog --symlink=/var/log/boa/error_log /var/log/boa/error-%Y%m%d.log"
+
+ErrorLog PAPARAZZI_HOME/var/logs/boa.log
+
+# AccessLog: The location of the access log file. If this does not
+# start with /, it is considered relative to the server root.
+# Comment out or set to /dev/null (less effective) to disable.
+# Useful to set to /dev/stdout for use with daemontools.
+# Access logging.  
+# Please NOTE: Sending the logs to a pipe ('|'), as shown below,
+#  is somewhat experimental and might fail under heavy load.
+# "Usual libc implementations of printf will stall the whole
+#  process if the receiving end of a pipe stops reading."
+#AccessLog  "|/usr/sbin/cronolog --symlink=/var/log/boa/access_log /var/log/boa/access-%Y%m%d.log"
+
+AccessLog PAPARAZZI_HOME/var/logs/boa_access.log
+
+# CGILog /var/log/boa/cgi_log
+# CGILog: The location of the CGI stderr log file. If this does not
+# start with /, it is considered relative to the server root.
+# The log file would contain any contents send to /dev/stderr
+# by the CGI. If this is commented out, it defaults to whatever 
+# ErrorLog points.  Set to /dev/null to disable CGI stderr logging.
+# Please NOTE: Sending the logs to a pipe ('|'), as shown below,
+#  is somewhat experimental and might fail under heavy load.
+# "Usual libc implementations of printf will stall the whole
+#  process if the receiving end of a pipe stops reading."
+#CGILog  "|/usr/sbin/cronolog --symlink=/var/log/boa/cgi_log /var/log/boa/cgi-%Y%m%d.log"
+
+# CGIumask 027 (no mask for user, read-only for group, and nothing for user)
+# CGIumask 027
+# The CGIumask is set immediately before execution of the CGI.
+
+# UseLocaltime: Logical switch.  Uncomment to use localtime 
+# instead of UTC time
+#UseLocaltime
+
+# VerboseCGILogs: this is just a logical switch.
+#  It simply notes the start and stop times of cgis in the error log
+# Comment out to disable.
+
+#VerboseCGILogs
+
+# ServerName: the name of this server that should be sent back to 
+# clients if different than that returned by gethostname + gethostbyname 
+
+#ServerName www.your.org.here
+
+# VirtualHost: a logical switch.
+# Comment out to disable.
+# Given DocumentRoot /var/www, requests on interface 'A' or IP 'IP-A'
+# become /var/www/IP-A.
+# Example: http://localhost/ becomes /var/www/127.0.0.1
+#
+# Not used until version 0.93.17.2.  This "feature" also breaks commonlog
+# output rules, it prepends the interface number to each access_log line.
+# You are expected to fix that problem with a postprocessing script.
+
+#VirtualHost 
+
+
+# VHostRoot: the root location for all virtually hosted data
+# Comment out to disable.
+# Incompatible with 'Virtualhost' and 'DocumentRoot'!!
+# Given VHostRoot /var/www, requests to host foo.bar.com,
+# where foo.bar.com is ip a.b.c.d,
+# become /var/www/a.b.c.d/foo.bar.com 
+# Hostnames are "cleaned", and must conform to the rules
+# specified in rfc1034, which are be summarized here:
+# 
+# Hostnames must start with a letter, end with a letter or digit, 
+# and have as interior characters only letters, digits, and hyphen.
+# Hostnames must not exceed 63 characters in length.
+
+#VHostRoot /var/www
+
+# DefaultVHost
+# Define this in order to have a default hostname when the client does not
+# specify one, if using VirtualHostName. If not specified, the word
+# "default" will be used for compatibility with older clients.
+
+#DefaultVHost foo.bar.com
+
+# DocumentRoot: The root directory of the HTML documents.
+# Comment out to disable server non user files.
+
+DocumentRoot PAPARAZZI_HOME
+
+# UserDir: The name of the directory which is appended onto a user's home
+# directory if a ~user request is received.
+
+UserDir public_html
+
+# DirectoryIndex: Name of the file to use as a pre-written HTML
+# directory index.  Please MAKE AND USE THESE FILES.  On the
+# fly creation of directory indexes can be _slow_.
+# Comment out to always use DirectoryMaker
+
+DirectoryIndex index.html
+
+# DirectoryMaker: Name of program used to create a directory listing.
+# Comment out to disable directory listings.  If both this and
+# DirectoryIndex are commented out, accessing a directory will give
+# an error (though accessing files in the directory are still ok).
+
+DirectoryMaker /usr/lib/boa/boa_indexer
+
+# DirectoryCache: If DirectoryIndex doesn't exist, and DirectoryMaker
+# has been commented out, the the on-the-fly indexing of Boa can be used
+# to generate indexes of directories. Be warned that the output is 
+# extremely minimal and can cause delays when slow disks are used.
+# Note: The DirectoryCache must be writable by the same user/group that 
+# Boa runs as.
+
+# DirectoryCache /var/spool/boa/dircache
+
+# KeepAliveMax: Number of KeepAlive requests to allow per connection
+# Comment out, or set to 0 to disable keepalive processing
+
+KeepAliveMax 1000
+
+# KeepAliveTimeout: seconds to wait before keepalive connection times out
+
+KeepAliveTimeout 10
+
+# MimeTypes: This is the file that is used to generate mime type pairs
+# and Content-Type fields for boa.
+# Set to /dev/null if you do not want to load a mime types file.
+# Do *not* comment out (better use AddType!)
+
+MimeTypes /etc/mime.types
+
+# DefaultType: MIME type used if the file extension is unknown, or there
+# is no file extension.
+
+DefaultType text/plain
+
+# CGIPath: The value of the $PATH environment variable given to CGI progs.
+
+CGIPath /bin:/usr/bin:/usr/local/bin
+
+# SinglePostLimit: The maximum allowable number of bytes in 
+# a single POST.  Default is normally 1MB.
+
+# AddType: adds types without editing mime.types
+# Example: AddType type extension [extension ...]
+
+# Uncomment the next line if you want .cgi files to execute from anywhere
+#AddType application/x-httpd-cgi cgi
+
+# Redirect, Alias, and ScriptAlias all have the same semantics -- they
+# match the beginning of a request and take appropriate action.  Use
+# Redirect for other servers, Alias for the same server, and ScriptAlias
+# to enable directories for script execution.
+
+# Redirect allows you to tell clients about documents which used to exist in
+# your server's namespace, but do not anymore. This allows you to tell the
+# clients where to look for the relocated document.
+# Example: Redirect /bar http://elsewhere/feh/bar
+
+# Aliases: Aliases one path to another.
+# Example: Alias /path1/bar /path2/foo
+
+Alias /doc /usr/share/doc
+
+# ScriptAlias: Maps a virtual path to a directory for serving scripts
+# Example: ScriptAlias /htbin/ /www/htbin/
+
+ScriptAlias /cgi-bin/ /usr/lib/cgi-bin/
+

conf/conf.xml

@@ -39,9 +39,6 @@
     radio="radios/mc3030.xml" 
     flight_plan="flight_plans/muret_mini.xml"
   />
-  <map
-    location="maps/sinsat.xml"
-  />
 
   <ground name="desktop" ivy_bus="127.255.255.255:2010">
     <link name="downlink" port="/dev/ttyS0" protocol="pprz/modem"/>

conf/control_panel.xml

@@ -75,7 +75,7 @@
     <program name="configurator" command="sw/configurator/configurator"/>
     <program name="medit" command="sw/configurator/medit"/>
     <program name="make aircraft" command="sw/configurator/configurator"/>
-
+    <program name="http server" command="sw/ground_segment/tmtc/boa"/>
 
  </section>
 
@@ -91,8 +91,10 @@
     </session>
 
     <session name="soft sim 1">
-      <variable name="ivy_bus" value="127:2001"/>
+      <variable name="ivy_bus" value="192.168.1:2001"/>
+      <variable name="map" value="muret_UTM.xml"/>
       <program name="receive"/>     
+      <program name="http server"/>     
       <program name="sim"><arg flag="-a" constant="Thon1"/></program>
       <program name="cockpit"></program>
       <program name="map 2d ml"/>
@@ -119,6 +121,8 @@
     </session>
   
    <session name="flight microjet multimon">
+      <variable name="ivy_bus" value="192.168.1:2001"/>
+      <program name="http server"/>     
       <program name="multimon"><arg flag="-p" constant="/tmp/multimon"/></program>
       <program name="modem"><arg flag="-d" constant="/tmp/multimon"/></program>
       <program name="receive"/>     

sw/ground_segment/cockpit/Makefile

@@ -9,9 +9,9 @@ all : map2d
 
 
 map2d : map2d.ml
-	$(OCAMLC) -custom $(INCLUDES) $(LIBS) gtkInit.cmo $< -o /dev/null #to Check
+	$(OCAMLC) -custom $(INCLUDES) $(LIBS) gtkInit.cmo $< -o $@ #to Check
 	cat ../../../pprz_src_test.sh > $@
-	echo 'exec lablgtk2 -I +camlimages ci_core.cma ci_png.cma ci_gif.cma ci_jpeg.cma ci_tiff.cma ci_bmp.cma ci_ppm.cma ci_ps.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma xlib-pprz.cma $$PAPARAZZI_SRC/sw/ground_segment/cockpit/$< $$*' >> $@
+	echo 'exec lablgtk2 -I +camlimages ci_core.cma ci_png.cma ci_gif.cma ci_jpeg.cma ci_tiff.cma ci_bmp.cma ci_ppm.cma ci_ps.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml glibivy-ocaml.cma lib-pprz.cma xlib-pprz.cma $$PAPARAZZI_SRC/sw/ground_segment/cockpit/$< $$*' >> $@
 	chmod a+x $@
 
 

sw/ground_segment/cockpit/map2d.ml

@@ -43,11 +43,6 @@ let default_path_SRTM = home // "data" // "SRTM"
 let default_path_maps = home // "data" // "maps" // ""
 let default_path_missions = home // "conf"
 
-let gen_flight_plan =
-  try
-    Sys.getenv "PAPARAZZI_SRC" // "sw/tools/gen_flight_plan.out"
-  with
-    Not_found -> "/usr/share/paparazzi/bin/gen_flight_plan.out"
 
 
 type aircraft = {
@@ -109,7 +104,7 @@ let file_of_url = fun url ->
 
 let load_mission = fun color geomap url ->
   let file = file_of_url url in
-  let xml = Xml.parse_in (Unix.open_process_in (sprintf "%s -dump %s" gen_flight_plan file)) in
+  let xml = Xml.parse_file file in
   let xml = ExtXml.child xml "flight_plan" in
   let lat0 = float_attr xml "lat0"
   and lon0 = float_attr xml "lon0" in

sw/ground_segment/tmtc/Makefile

@@ -21,8 +21,10 @@
 # 
 
 include ../../../conf/Makefile.local
+CONF = ../../../conf
+VAR = ../../../var
 
-all: hw_modem_listen receive messages
+all: hw_modem_listen receive messages boa_conf
 
 clean:
 	rm -f hw_modem_listen wavecard_connect receive messages *.bak *~ core *.o .depend *.opt *.out *.cm*
@@ -31,6 +33,12 @@ OCAMLC = ocamlc
 OCAMLOPT = ocamlopt
 INCLUDES= -I ../../lib/ocaml -I +lablgtk2
 
+boa_conf :
+	chmod a+x boa
+	sed 's|PAPARAZZI_HOME|$(PAPARAZZI_HOME)|' < $(CONF)/boa.conf > $(VAR)/boa.conf
+
+
+
 messages.opt : messages.ml
 	$(OCAMLOPT) $(INCLUDES) -o $@ str.cmxa unix.cmxa xml-light.cmxa glibivy-ocaml.cmxa -I +lablgtk2 lablgtk.cmxa gtkInit.cmx lib-pprz.cmxa $^ 
 	strip $@

sw/ground_segment/tmtc/boa

@@ -0,0 +1,5 @@
+#! /bin/sh
+if test -z "$PAPARAZZI_SRC"; then
+    PAPARAZZI_SRC=/usr/share/paparazzi
+fi
+/usr/sbin/boa -d -f $PAPARAZZI_HOME/var/boa.conf

sw/ground_segment/tmtc/receive.ml

@@ -472,10 +472,12 @@ let send_config = fun _asker args ->
     ["ac_id", Pprz.String ac_id] -> begin
       try
 	let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "ac_id" = ac_id) in
-	let prefix = fun s -> sprintf "file://%s/conf/%s" Env.paparazzi_home s in
-	let fp = prefix (ExtXml.attrib conf "flight_plan")
-	and af = prefix (ExtXml.attrib conf "airframe")
-	and rc = prefix (ExtXml.attrib conf "radio") in
+	let ac_name = ExtXml.attrib conf "name" in
+	let prefix = fun s -> sprintf "http://%s:8888/%s" (Unix.gethostname ()) s in
+	(** Expanded flight plan has been compiled in var/ *)
+	let fp = prefix ("var" // ac_name // "flight_plan.xml")
+	and af = prefix ("conf" // ExtXml.attrib conf "airframe")
+	and rc = prefix ("conf" // ExtXml.attrib conf "radio") in
 	["ac_id", Pprz.String ac_id;
 	 "flight_plan", Pprz.String fp;
 	 "airframe", Pprz.String af;