From 520e1e3b86d33159fe9f101ce7ab0a7fd61baaa6 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Thu, 17 Oct 2019 10:21:45 +0200
Subject: [PATCH] [pprz] change the old paparazzi launch script from ocaml to
 python

This new script is doing the same than before but don't rely on the
ocaml install which was a problem when mixing opam and system install.

Note that when updating, git will complain about the already existing
file 'paparazzi'. So it is necessary to delete the old file (or run
'make clean') before updating the code.
---
 .gitignore    |  2 --
 Makefile      | 16 +++-------------
 paparazzi     | 21 +++++++++++++++++++++
 src/paparazzi | 24 ------------------------
 4 files changed, 24 insertions(+), 39 deletions(-)
 create mode 100755 paparazzi
 delete mode 100755 src/paparazzi

diff --git a/.gitignore b/.gitignore
index 3c038a7794..b88f771e8b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -54,8 +54,6 @@ paparazzi.sublime-workspace
 /var
 /dox
 
-/paparazzi
-
 # /conf/
 /conf/conf.xml
 /conf/conf.xml.20*
diff --git a/Makefile b/Makefile
index bfc5a138e6..35d2a0add2 100644
--- a/Makefile
+++ b/Makefile
@@ -137,7 +137,7 @@ conf/%.xml :conf/%_example.xml
 conf/tools/blacklisted: conf/tools/blacklisted_example
 	cp conf/tools/blacklisted_example conf/tools/blacklisted
 
-ground_segment: _print_building update_google_version conf libpprz subdirs commands static
+ground_segment: _print_building update_google_version conf libpprz subdirs static
 ground_segment.opt: ground_segment cockpit.opt tmtc.opt
 
 static: cockpit tmtc generators sim_static joystick static_h
@@ -246,20 +246,10 @@ ac_h ac fbw ap: static conf generators ext
 sim: sim_static
 
 
-#
-# Commands
-#
-
 # stuff to build and upload the lpc bootloader ...
 include Makefile.lpctools
 lpctools: lpc21iap
 
-commands: paparazzi
-
-paparazzi:
-	cat src/paparazzi | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
-	chmod a+x $@
-
 
 #
 # doxygen html documentation
@@ -276,7 +266,7 @@ dox:
 #
 
 clean:
-	$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml paparazzi
+	$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml
 	$(Q)rm -f  $(GEN_HEADERS)
 	$(Q)MESSAGES_INSTALL=$(MESSAGES_INSTALL) $(MAKE) -C $(PPRZLINK_DIR) uninstall
 	$(Q)rm -fr $(MAVLINK_DIR)
@@ -348,6 +338,6 @@ test_sim: all
 
 .PHONY: all print_build_version _print_building _save_build_version update_google_version init dox ground_segment ground_segment.opt \
 subdirs $(SUBDIRS) conf ext libpprz libpprzlink cockpit cockpit.opt tmtc tmtc.opt generators\
-static sim_static lpctools commands opencv_bebop\
+static sim_static lpctools opencv_bebop\
 clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
 test test_examples test_math test_sim test_all_confs
diff --git a/paparazzi b/paparazzi
new file mode 100755
index 0000000000..d0ca8a7f51
--- /dev/null
+++ b/paparazzi
@@ -0,0 +1,21 @@
+#!/usr/bin/env /usr/bin/python3
+
+import os
+import sys
+
+dirname = os.path.dirname(os.path.abspath(__file__))
+PAPARAZZI_HOME = os.getenv("PAPARAZZI_HOME",dirname)
+PAPARAZZI_SRC = os.getenv("PAPARAZZI_SRC",PAPARAZZI_HOME)
+env = os.environ
+env['PAPARAZZI_HOME'] = PAPARAZZI_HOME
+env['PAPARAZZI_SRC'] = PAPARAZZI_SRC
+
+if len(sys.argv) > 1 and sys.argv[1] == "-python":
+    path = os.path.normpath(os.path.join(dirname, 'sw', 'supervision', 'python', 'main.py'))
+    args = sys.argv[2:]
+    os.execve(path, args, env)
+else:
+    path = os.path.normpath(os.path.join(dirname, 'sw', 'supervision', 'paparazzicenter'))
+    args = sys.argv[1:]
+    os.execve(path, args, env)
+
diff --git a/src/paparazzi b/src/paparazzi
deleted file mode 100755
index 9f998a7036..0000000000
--- a/src/paparazzi
+++ /dev/null
@@ -1,24 +0,0 @@
-#!OCAMLRUN OCAML
-#load "unix.cma";;
-let (//) = Filename.concat
-let dirname = Filename.dirname Sys.argv.(0)
-let dirname = if Filename.is_relative dirname && dirname <> Filename.current_dir_name then Sys.getcwd () // dirname else dirname
-let env =
-  Array.map (fun var ->
-   let value = try Sys.getenv var with _ -> dirname in
-   let value = if value = "." then Sys.getcwd () else value in
-   Printf.sprintf "%s=%s" var value)
-   [|"PAPARAZZI_SRC"; "PAPARAZZI_HOME"|]
-let com =
-  if Array.length (Sys.argv) > 1 then begin
-    Printf.printf "%d\n" (Array.length (Sys.argv));
-    if Sys.argv.(1) = "-python" then
-      dirname // "sw/supervision/python/main.py"
-    else
-      dirname // "sw/supervision/paparazzicenter"
-    end
-  else
-    dirname // "sw/supervision/paparazzicenter";;
-Sys.argv.(0) <- com;;
-let env = Array.append env (Unix.environment ());;
-Unix.execve com Sys.argv env