wavecard support removed

sw/ground_segment/tmtc/Makefile

@@ -112,3 +112,4 @@ settings.cmo : INCLUDES += -I ../cockpit
 ifneq ($(MAKECMDGOALS),clean) 
 -include .depend
 endif
+

sw/ground_segment/tmtc/link.ml

@@ -1,7 +1,7 @@
 (*
  * $Id$
  *
- * Copyright (C) 2004 CENA/ENAC, Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2004-2007 ENAC, Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
  *
@@ -24,7 +24,6 @@
 
 open Latlong
 open Printf
-module W = Wavecard
 module Tm_Pprz = Pprz.Messages(struct let name = "telemetry" end)
 module Ground_Pprz = Pprz.Messages(struct let name = "ground" end)
 module Dl_Pprz = Pprz.Messages(struct let name = "datalink" end)
@@ -33,7 +32,6 @@ module PprzTransport = Serial.Transport(Pprz.Transport)
 type transport =
     Modem
   | Pprz
-  | Wavecard
   | XBee
 
 type ground_device = {
@@ -41,8 +39,7 @@ type ground_device = {
   }
 
 type airborne_device = 
-    WavecardDevice of W.addr
-  | XBeeDevice
+    XBeeDevice
   | Uart (** For HITL for example *)
 
 let my_id = 0
@@ -53,8 +50,7 @@ let conf = Env.paparazzi_home // "conf"
 
 let airborne_device = fun device addr ->
   match device with
-    "WAVECARD" -> WavecardDevice (W.addr_of_string addr)
-  | "XBEE" -> XBeeDevice
+    "XBEE" -> XBeeDevice
   | "PPRZ" | "AEROCOMM" -> Uart
   | _ -> failwith (sprintf "Link: unknown datalink: %s" device)
 
@@ -149,8 +145,7 @@ let airborne_device = fun ac_id airframes device ->
   let ac_device = try Some (List.assoc ac_id airframes) with Not_found -> None in
   match ac_device, device with
     (None, Pprz) | (Some Uart, Pprz) -> Uart
-  | (Some (WavecardDevice _ as ac_device), Wavecard) |
-    (Some (XBeeDevice as ac_device), XBee) ->
+  | (Some (XBeeDevice as ac_device), XBee) ->
       ac_device
   | _ -> raise NotSendingToThis
 
@@ -172,125 +167,6 @@ let use_tele_message = fun ?raw_data_size payload ->
 
 type priority = Null | Low | Normal | High
 
-(******** Wavecard ******************************************************)
-module Wc = struct
-  type status = Ready | Busy
-    
-  let buffer_size = 5
-  let null_buffer_entry = (Null, Unix.stdout, (W.ACK, ""))
-  let priority_of = fun (p, _, _) -> p
-  let buffer = (ref Ready, Array.create buffer_size null_buffer_entry)
-  let timer = ref None
-  let remove_timer = fun () ->
-    match !timer with
-      None -> ()
-    | Some t -> GMain.Timeout.remove t
-
-  let shift_buffer = fun b ->
-    for i = 0 to buffer_size - 2 do (** A circular buf would be better *)
-      b.(i) <- b.(i+1)
-    done;
-    b.(buffer_size-1) <- null_buffer_entry
-
-  let rec repeat_send = fun fd cmd n ->
-    W.send fd cmd;
-    timer := Some (GMain.Timeout.add 300 (fun _ -> Debug.trace 'b' (sprintf "Retry %d" n); repeat_send fd cmd (n+1); false))
-
-  let rec flush = fun () ->
-    let status, b = buffer in
-    if !status = Ready then
-      let (priority, fd, cmd) = b.(0) in
-      if priority <> Null then begin
-	shift_buffer b;
-	status := Busy;
-	repeat_send fd cmd 0
-      end
-
-  let buffer_ready = fun () ->
-    remove_timer ();
-    let (status, b) = buffer in
-    shift_buffer b;
-    status := Ready;
-    flush ()
-	
-	  	  
-  let send_buffered = fun fd cmd priority ->
-    let _status, b = buffer in
-    (** Set the message in the right place in the buffer *)
-    let rec loop = fun i ->
-      if i < buffer_size then
-	if priority_of b.(i) >= priority
-	then loop (i+1)
-	  else begin
-	    for j = i + 1 to buffer_size - 1 do (** Shift *)
-	      b.(j) <- b.(j-1)
-	    done;
-	    Debug.trace 'b' (sprintf "Set in %d" i);
-	    b.(i) <- (priority, fd, cmd)
-	  end 
-      else
-	Debug.trace 'b' "Buffer full" in
-    loop 0;
-    flush ()
-
-  let send = fun fd addr payload priority ->
-    let data = W.addressed addr (Serial.string_of_payload payload) in
-    send_buffered fd (W.REQ_SEND_MESSAGE, data) priority
-
-  let ack_delay = 10 (* ms *)
-  let send_ack = fun fd () ->
-    Debug.trace 'w' (sprintf "%.2f send ACK" (Unix.gettimeofday ()));
-    ignore (GMain.Timeout.add ack_delay (fun _ -> W.send fd (W.ACK, ""); false))
-  let use_message = fun (com, data) ->
-    match com with
-      W.RECEIVED_FRAME ->
-	use_tele_message (Serial.payload_of_string data)
-    | W.RES_SEND_FRAME ->
-	Debug.trace 'b' "RES_SEND_FRAME";
-	ignore (GMain.Timeout.add 100 (fun _ -> buffer_ready (); false))
-	
-    | W.RES_READ_REMOTE_RSSI ->
-	Tm_Pprz.message_send "link" "WC_RSSI" ["raw_level", Pprz.Int (Char.code data.[0])];
-	Debug.call 'w' (fun f -> fprintf f "%.2f wv remote RSSI %d\n" (Unix.gettimeofday ()) (Char.code data.[0]));
-	ignore (GMain.Timeout.add 100 (fun _ -> buffer_ready (); false))
-    | W.RES_READ_RADIO_PARAM ->
-	Ivy.send (sprintf "WC_ADDR %s" data);
-	Debug.call 'w' (fun f -> fprintf f "wv local addr : %s\n" (Debug.xprint data));
-    | W.ACK -> 
-	Debug.trace 'w' (sprintf "%.2f wv ACK" (Unix.gettimeofday ()))
-    | _ -> 
-	Debug.call 'w' (fun f -> fprintf f "wv receiving: %02x %s\n" (W.code_of_cmd com) (Debug.xprint data));
-	()
-
-  let rssi_period = 5000 (** ms *)
-  let req_rssi = fun device addr ->
-    let data = W.addressed addr "" in
-    send_buffered device.fd (W.REQ_READ_REMOTE_RSSI, data) Low
-
-  let init = fun device rssi_id ->
-    (** Set the wavecard in short wakeup mode *)
-    let data = String.create 2 in
-    data.[0] <- Char.chr (W.code_of_config_param W.WAKEUP_TYPE);
-    data.[1] <- Char.chr (W.code_of_wakeup_type W.SHORT_WAKEUP);
-(***          data.[0] <- Char.chr (W.code_of_config_param W.AWAKENING_PERIOD);
-   data.[1] <- Char.chr 10; ***)
-    W.send device.fd (W.REQ_WRITE_RADIO_PARAM,data);
-    
-    (* request own address *)
-    let s = String.make 1 (char_of_int 5) in
-    ignore (GMain.Timeout.add 1500 (fun _ -> W.send device.fd (W.REQ_READ_RADIO_PARAM, s); false));
-    
-    (** Ask for rssi if required *)
-    if rssi_id >= 0 then begin
-      match airborne_device rssi_id airframes device.transport with
-	WavecardDevice addr ->
-	  ignore (GMain.Timeout.add rssi_period (fun _ -> req_rssi device addr; true))
-      | _ -> failwith (sprintf "Rssi not supported by A/C '%d'" rssi_id)
-    end
-	
-end (** Wc module *)
-
-
 module Aerocomm = struct
   let set_command_mode = fun fd ->
     Serial.set_dtr fd true
@@ -405,9 +281,6 @@ let send = fun ac_id device ac_device payload priority ->
       let buf = Pprz.Transport.packet payload in
       Printf.fprintf o "%s" buf; flush o;
       Debug.call 'l' (fun f -> fprintf f "mm sending: %s\n" (Debug.xprint buf));
-  | WavecardDevice addr ->
-      Wc.send device.fd addr payload priority
-
   | XBeeDevice ->
       XB.send ac_id device payload
 
@@ -565,8 +438,6 @@ let parse_of_transport device = function
   | Modem -> 
       let module ModemTransport = Serial.Transport(Modem.Protocol) in
       ModemTransport.parse PprzModem.use_message
-  | Wavecard ->
-      fun buf -> Wavecard.parse buf ~ack:(Wc.send_ack device.fd) (Wc.use_message)
   | XBee ->
       let module XbeeTransport = Serial.Transport (Xbee.Protocol) in
       XbeeTransport.parse (XB.use_message device)
@@ -585,10 +456,10 @@ let _ =
   let options =
     [ "-b", Arg.Set_string ivy_bus, (sprintf "<ivy bus> Default is %s" !ivy_bus);
       "-d", Arg.Set_string port, (sprintf "<port> Default is %s" !port);
-      "-rssi", Arg.Set_int rssi_id, (sprintf "<ac_id> Periodically requests rssi level from the distant wavecard");
+      "-rssi", Arg.Set_int rssi_id, (sprintf "<ac_id> Periodically requests rssi level from the distant modem");
       "-xbee_addr", Arg.Set_int XB.my_addr, (sprintf "<my_addr> (%d)" !XB.my_addr);
       "-xbee_retries", Arg.Set_int XB.my_addr, (sprintf "<nb retries> (%d)" !XB.nb_retries);
-      "-transport", Arg.Set_string transport, (sprintf "<transport> Available protocols are modem,pprz,wavecard and xbee. Default is %s" !transport);
+      "-transport", Arg.Set_string transport, (sprintf "<transport> Available protocols are modem,pprz and xbee. Default is %s" !transport);
       "-uplink", Arg.Set uplink, (sprintf "Deprecated (now default)");
       "-nouplink", Arg.Clear uplink, (sprintf "Disables the uplink (from the ground to the aircraft).");
       "-dtr", Arg.Set aerocomm, "Set serial DTR to false (deprecated)";
@@ -608,7 +479,6 @@ let _ =
       match !transport with
 	"modem" -> Modem
       | "pprz" -> Pprz
-      | "wavecard" -> Wavecard
       | "xbee" -> XBee
       | x -> invalid_arg (sprintf "transport_of_string: %s" x)
     in
@@ -666,8 +536,6 @@ let _ =
 	Modem ->
 	  (** Sending periodically modem and downlink status messages *)
 	  ignore (Glib.Timeout.add PprzModem.msg_period (fun () -> PprzModem.send_msg (); true))
-      | Wavecard ->
-	  Wc.init device !rssi_id
       | XBee ->
 	  XB.init device
       | _ -> ()

sw/lib/ocaml/Makefile

@@ -28,7 +28,7 @@ OCAMLC=ocamlc
 OCAMLOPT=ocamlopt
 
 
-SRC = debug.ml env.ml serial.ml ocaml_tools.ml extXml.ml xml2h.ml latlong.ml srtm.ml http.ml gm.ml iGN.ml wavecard.ml geometry_2d.ml geometry_3d.ml cserial.o convert.o ubx.ml pprz.ml xbee.ml
+SRC = debug.ml env.ml serial.ml ocaml_tools.ml extXml.ml xml2h.ml latlong.ml srtm.ml http.ml gm.ml iGN.ml geometry_2d.ml geometry_3d.ml cserial.o convert.o ubx.ml pprz.ml xbee.ml
 CMO = $(SRC:.ml=.cmo)
 CMX = $(SRC:.ml=.cmx)
 

sw/lib/ocaml/wavecard.ml

@@ -1,228 +0,0 @@
-(*
- * $Id$
- *
- * Coronis wavecard handling
- *  
- * Copyright (C) 2004 CENA/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
-
-type cmd_name =
-    ACK
-  |  NAK
-  |  ERROR
-  |  REQ_WRITE_RADIO_PARAM
-  |  RES_WRITE_RADIO_PARAM
-  |  REQ_READ_RADIO_PARAM
-  |  RES_READ_RADIO_PARAM
-  |  REQ_SELECT_CHANNEL
-  |  RES_SELECT_CHANNEL
-  |  REQ_READ_CHANNEL
-  |  RES_READ_CHANNEL
-  |  REQ_SELECT_PHYCONFIG
-  |  RES_SELECT_PHYCONFIG
-  |  REQ_READ_PHYCONFIG
-  |  RES_READ_PHYCONFIG
-  |  REQ_READ_REMOTE_RSSI
-  |  RES_READ_REMOTE_RSSI
-  |  REQ_READ_LOCAL_RSSI
-  |  RES_READ_LOCAL_RSSI
-  |  REQ_FIRMWARE_VERSION
-  |  RES_FIRMWARE_VERSION
-  |  MODE_TEST
-  |  REQ_SEND_FRAME
-  |  RES_SEND_FRAME
-  |  REQ_SEND_MESSAGE
-  |  REQ_SEND_POLLING
-  |  REQ_SEND_BROADCAST
-  |  RECEIVED_FRAME
-  |  RECEPTION_ERROR
-  |  RECEIVED_FRAME_POLLING
-  |  RECEIVED_FRAME_BROADCAST
-  |  RECEIVED_MULTIFRAME
-  |  REQ_SEND_SERVICE
-  |  RES_SEND_SERVICE
-  |  SERVICE_RESPONSE
-
-
-type data = string
-
-type cmd = cmd_name * string
-
-let cmd_names = [
-  0x06, ACK;
-  0x15, NAK;
-  0x00, ERROR;
-  0x40, REQ_WRITE_RADIO_PARAM;
-  0x41, RES_WRITE_RADIO_PARAM;
-  0x50, REQ_READ_RADIO_PARAM;
-  0x51, RES_READ_RADIO_PARAM;
-  0x60, REQ_SELECT_CHANNEL;
-  0x61, RES_SELECT_CHANNEL;
-  0x62, REQ_READ_CHANNEL;
-  0x63, RES_READ_CHANNEL;
-  0x64, REQ_SELECT_PHYCONFIG;
-  0x65, RES_SELECT_PHYCONFIG;
-  0x66, REQ_READ_PHYCONFIG;
-  0x67, RES_READ_PHYCONFIG;
-  0x68, REQ_READ_REMOTE_RSSI;
-  0x69, RES_READ_REMOTE_RSSI;
-  0x6A, REQ_READ_LOCAL_RSSI;
-  0x6B, RES_READ_LOCAL_RSSI;
-  0xA0, REQ_FIRMWARE_VERSION;
-  0xA1, RES_FIRMWARE_VERSION;
-  0xB0, MODE_TEST;
-  0x20, REQ_SEND_FRAME;
-  0x21, RES_SEND_FRAME;
-  0x22, REQ_SEND_MESSAGE;
-  0x26, REQ_SEND_POLLING;
-  0x28, REQ_SEND_BROADCAST;
-  0x30, RECEIVED_FRAME;
-  0x31, RECEPTION_ERROR;
-  0x32, RECEIVED_FRAME_POLLING;
-  0x34, RECEIVED_FRAME_BROADCAST;
-  0x36, RECEIVED_MULTIFRAME;
-  0x80, REQ_SEND_SERVICE;
-  0x81, RES_SEND_SERVICE;
-  0x82, SERVICE_RESPONSE]
-
-let rec cossa = fun x l ->
-  match l with
-    [] -> raise Not_found
-  | (v, k)::xs -> if k = x then v else cossa x xs
-
-let cmd_of_code = fun x -> try List.assoc x cmd_names with Not_found -> failwith (sprintf "Unknown command: %2x" x)
-let code_of_cmd = fun x -> cossa x cmd_names
-
-
-type config_param =
-    AWAKENING_PERIOD
-  | WAKEUP_TYPE
-  | WAKEUP_LENGTH
-
-let code_of_config_param = fun x -> Obj.magic x
-
-type wakeup_type =
-    LONG_WAKEUP
-  | SHORT_WAKEUP
-
-let code_of_wakeup_type = fun x -> Obj.magic x
-
-let sync = Char.chr 0xff
-let stx = Char.chr 0x02
-let etx = Char.chr 0x03
-
-let length = fun buf -> Char.code buf.[2]
-let total_length = fun buf -> length buf + 3
-
-let payload = fun buf ->
-  let l = length buf in
-  let data = String.sub buf 4 (l-4) in
-  (cmd_of_code (Char.code buf.[3]), data)
-
-let (^=) r x = r := !r lxor x
-
-let compute_checksum =
-  let poly = 0x8408 in
-  fun buf ->
-    let lg = length buf - 2
-    and crc = ref 0 in
-    for j = 0 to lg - 1 do
-      crc ^= Char.code buf.[j+2];
-      for i = 0 to 7 do
-	let carry = !crc land 0x01 = 1 in
-	crc := !crc lsr 1;
-	if carry then
-	  crc ^= poly
-      done
-    done;
-    !crc
-
-let checksum = fun buf ->
-  let crc = compute_checksum buf
-  and l = length buf in
-  true || (crc land 0xff = Char.code buf.[l] && crc lsr 8 = Char.code buf.[l+1])
-    
-  
-
-
-let parse = fun buf ?ack f ->
-  let n = String.length buf in
-  Debug.call 'w' (fun f -> fprintf f "wv input: "; for i = 0 to String.length buf - 1 do fprintf f "%x " (Char.code buf.[i]) done; fprintf f "\n");
-  if n < 3 || n < total_length buf then begin
-    0 (* Not enough chars to read *)
-  end else if buf.[0] <> sync then
-    1
-  else if buf.[1] <> stx || not (checksum buf) then begin
-    2
-  end else begin
-    f (payload buf);
-    begin
-      match ack with
-	Some ack when cmd_of_code (Char.code buf.[3]) <> ACK -> ack ()
-      | _ -> ()
-    end;
-    total_length buf
-  end
-    
-
-let receive = fun ?ack f ->
-  match Serial.input (fun b -> parse b ?ack f) with
-    Serial.Closure f -> f
-
-let send = fun fd (cmd, data) ->
-  let l = String.length data + 4 in
-  if l >= 256 then
-    invalid_arg "Wavecard.send";
-  let buf = String.create (l+3) in
-  buf.[0] <- sync;
-  buf.[1] <- stx;
-  buf.[2] <- Char.chr l;
-  buf.[3] <- Char.chr (code_of_cmd cmd);
-  for i = 4 to l - 1 do
-    buf.[i] <- data.[i-4]
-  done;
-  let crc = compute_checksum buf in
-  buf.[l] <- Char.chr (crc land 0xff);
-  buf.[l+1] <- Char.chr (crc lsr 8);
-  buf.[l+2] <- etx;
-  let o = Unix.out_channel_of_descr fd in
-  Printf.fprintf o "%s" buf;
-  Debug.call 'w' (fun f -> fprintf f "wv sending: "; for i = 0 to String.length buf - 1 do fprintf f "%x " (Char.code buf.[i]) done; fprintf f "\n");
-  flush o
-
-type addr = Int64.t
-
-let addr_length = 6
-
-let addr_of_string = Int64.of_string
-let string_of_addr = Int64.to_string
-
-let addressed = fun addr data ->
-  let s = String.create addr_length in
-  for i = 0 to addr_length - 1 do
-    s.[addr_length-i-1] <- Char.chr (Int64.to_int (Int64.shift_right addr (8*i)) land 0xff)
-  done;
-  s^data
-
-let send_addressed = fun fd (cmd, addr, data) ->
-  send fd (cmd, addressed addr data)

sw/lib/ocaml/wavecard.mli

@@ -1,109 +0,0 @@
-(*
- * $Id$
- *
- * Coronis wavecard handling
- *  
- * Copyright (C) 2004 CENA/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. 
- *
- *)
-
-
-type cmd_name =
-    ACK
-  |  NAK
-  |  ERROR
-  |  REQ_WRITE_RADIO_PARAM
-  |  RES_WRITE_RADIO_PARAM
-  |  REQ_READ_RADIO_PARAM
-  |  RES_READ_RADIO_PARAM
-  |  REQ_SELECT_CHANNEL
-  |  RES_SELECT_CHANNEL
-  |  REQ_READ_CHANNEL
-  |  RES_READ_CHANNEL
-  |  REQ_SELECT_PHYCONFIG
-  |  RES_SELECT_PHYCONFIG
-  |  REQ_READ_PHYCONFIG
-  |  RES_READ_PHYCONFIG
-  |  REQ_READ_REMOTE_RSSI
-  |  RES_READ_REMOTE_RSSI
-  |  REQ_READ_LOCAL_RSSI
-  |  RES_READ_LOCAL_RSSI
-  |  REQ_FIRMWARE_VERSION
-  |  RES_FIRMWARE_VERSION
-  |  MODE_TEST
-  |  REQ_SEND_FRAME
-  |  RES_SEND_FRAME
-  |  REQ_SEND_MESSAGE
-  |  REQ_SEND_POLLING
-  |  REQ_SEND_BROADCAST
-  |  RECEIVED_FRAME
-  |  RECEPTION_ERROR
-  |  RECEIVED_FRAME_POLLING
-  |  RECEIVED_FRAME_BROADCAST
-  |  RECEIVED_MULTIFRAME
-  |  REQ_SEND_SERVICE
-  |  RES_SEND_SERVICE
-  |  SERVICE_RESPONSE
-(** available commands *)
-
-val code_of_cmd : cmd_name -> int
-(** Code of command *)
-
-type config_param =
-    AWAKENING_PERIOD
-  | WAKEUP_TYPE
-  | WAKEUP_LENGTH
-
-val code_of_config_param : config_param -> int
-
-type wakeup_type =
-    LONG_WAKEUP
-  | SHORT_WAKEUP
-
-val code_of_wakeup_type : wakeup_type -> int
-
-type data = string
-type cmd = cmd_name * data
-(** A command is composed of a command name and some untyped data *)
-
-type addr
-val string_of_addr : addr -> string
-val addr_of_string : string -> addr
-(** [addr_of_string address] where [address] is a 64 bits number, for example
-[0x011804c0012d] *)
-
-val send :  Unix.file_descr -> cmd -> unit
-(** Send a command on the channel connected to the serial port of the wavecard *)
-
-val addressed : addr -> data -> data
-val send_addressed : Unix.file_descr -> (cmd_name*addr*data) -> unit
-(** [send_addressed fd (cmd, a, data)] Sends [cmd] with data obtained by
-concatenation of codinf of [a] and [data] *)
-
-val parse : string -> ?ack:(unit -> unit) -> (cmd_name * string -> 'a) -> int
-(** [parse buffer ?acknowdledger callback] *)
-
-val receive : ?ack:(unit -> unit) -> (cmd -> 'a) -> (Unix.file_descr -> unit)
-(** [receive ?acknowledger callbkack] Returns a listener for wavecard messages *)
-
-
-val compute_checksum : string -> int
-(** [compute_checksum buf] Computes the checksum of a complete message buffer,
-including the header of the message *)