[tools] Add UnifiedMocapRouter (#3598)

* Replace NatNet with UnifiedMocapRouter
* Safeguard + install
* Remove warning in make clean
* Subproject update: readme about smaller install and make clean

.gitmodules

@@ -56,3 +56,6 @@
 [submodule "sw/ext/dronecan/libcanard"]
 	path = sw/ext/dronecan/libcanard
 	url = https://github.com/dronecan/libcanard.git
+[submodule "sw/ext/unifiedmocaprouter"]
+	path = sw/ext/unifiedmocaprouter
+	url = https://github.com/tudelft/UnifiedMocapRouter.git

Makefile

@@ -171,6 +171,9 @@ ext:
 opencv_bebop:
 	$(MAKE) -C $(EXT) opencv_bebop
 
+mocap:
+	$(MAKE) -C $(EXT) unifiedmocaprouter
+
 #
 # make misc subdirs
 #
@@ -346,6 +349,6 @@ test_full:
 
 .PHONY: all print_build_version _print_building _save_build_version init dox ground_segment ground_segment.opt \
 subdirs $(SUBDIRS) conf ext libpprz libpprzlink.update libpprzlink.install tmtc tmtc.opt generators\
-static sim_static opencv_bebop\
+static sim_static opencv_bebop mocap \
 clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
 test test_examples test_math test_all_confs

conf/tools/unifiedmocaprouter.xml

@@ -0,0 +1,11 @@
+<program name="UnifiedMoCap" command="sw/ext/unifiedmocaprouter/build/mocap-router" icon="natnet.svg">
+  <arg flag="optitrack"/>
+  <arg flag="ivy"/>
+  <arg flag="--publish_frequency" constant="10"/>
+  <arg flag="--coordinate_system" constant="enu"/>
+  <arg flag="--coordinate_north" constant="far"/>
+  <arg flag="--craft_noses" constant="right"/>
+  <arg flag="--streaming_ids" constant="1"/>
+  <arg flag="--ac_id" constant="@AC_ID"/>
+</program>
+

conf/userconf/tudelft/course_control_panel.xml

@@ -1,5 +1,6 @@
 <control_panel name="paparazzi control panel">
   <section name="programs">
+    <program name="UnifiedMoCap" command="sw/ext/unifiedmocaprouter/build/mocap-router"/>
   </section>
   <section name="sessions">
 
@@ -40,6 +41,16 @@
       <program name="Data Link">
         <arg flag="-udp"/>
       </program>
+      <program name="UnifiedMoCap" command="sw/ext/unifiedmocaprouter/build/mocap-router">
+        <arg flag="optitrack"/>
+        <arg flag="ivy"/>
+        <arg flag="--publish_frequency" constant="10"/>
+        <arg flag="--coordinate_system" constant="enu"/>
+        <arg flag="--coordinate_north" constant="far"/>
+        <arg flag="--craft_noses" constant="right"/>
+        <arg flag="--streaming_ids" constant="1"/>
+        <arg flag="--ac_id" constant="@AC_ID"/>
+      </program>
       <program name="Server"/>
       <program name="PprzGCS">
         <arg flag="--speech"/>

select_conf.py

@@ -1 +0,0 @@
-start.py

sw/ext/Makefile

@@ -35,8 +35,10 @@ include $(PAPARAZZI_SRC)/conf/Makefile.arm-embedded-toolchain
 MY_PYTHON := $(shell echo `which python3`)
 MY_MAVLINKTOOLS := $(shell $(MY_PYTHON) -c 'import imp; import future' 2>&1)
 MY_DRONECANTOOLS := $(shell $(MY_PYTHON) -c 'import em' 2>&1)
+BOOST_INSTALLED := $(shell dpkg -s libboost-program-options-dev >/dev/null 2>&1 && echo yes)
+CMAKE_INSTALLED := $(shell command -v cmake 2>/dev/null)
 
-all: chibios fatfs libsbp TRICAL hacl-c key_generator rustlink ecl matrix mavlink dronecan
+all: chibios fatfs libsbp TRICAL hacl-c key_generator rustlink ecl matrix mavlink dronecan unifiedmocaprouter
 
 # update (and init if needed) all submodules
 update_submodules:
@@ -102,6 +104,23 @@ else
 	@echo dronecan not installed, missing package 'em'
 endif
 
+unifiedmocaprouter: unifiedmocaprouter.update unifiedmocaprouter.build
+
+unifiedmocaprouter.build:
+ifeq ($(BOOST_INSTALLED),yes)
+ifeq ($(CMAKE_INSTALLED),)
+	@echo "cmake is not installed. Please install cmake to build unifiedmocaprouter."
+else
+	cd $(EXT_DIR)/unifiedmocaprouter/ && \
+	mkdir -p build && \
+	cd build && \
+	cmake -D'MOCAPS=optitrack' -D'AGENTS=console;ivy' .. && \
+	make
+endif
+else
+	@echo "libboost-program-options-dev is not installed. Please install it to build unifiedmocaprouter."
+endif
+
 clean:
 
 
@@ -114,4 +133,4 @@ clean_opencv_bebop:
 .PHONY: all clean update_submodules \
 		chibios fatfs \
 		mavlink.build libsbp pprzlink pprzlink.build opencv_bebop \
-		opencv_bebop.build clean_opencv_bebop TRICAL dronecan
+		opencv_bebop.build clean_opencv_bebop unifiedmocaprouter TRICAL dronecan

sw/tools/vectornav_configurator/Makefile

@@ -1,4 +1,4 @@
 all:
 	g++ VectorNavSetup_console.cpp -o vn_console_setup
 clean:
-	rm vn_console_setup
+	rm -f vn_console_setup