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https://github.com/paparazzi/paparazzi.git
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*** empty log message ***
This commit is contained in:
Antoine Drouin
@@ -1,379 +0,0 @@
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#
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# $Id$
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#
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# PapaStrip::Strip (Aircraft flight informations)
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#
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# Copyright (C) 2005 Pierre-Selim Huard
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#
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# This file is part of paparazzi.
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#
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# paparazzi is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2, or (at your option)
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# any later version.
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#
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# paparazzi is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with paparazzi; see the file COPYING. If not, write to
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# the Free Software Foundation, 59 Temple Place - Suite 330,
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# Boston, MA 02111-1307, USA.
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package PapaStrip::Strip;
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our $paparazzi_home;
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BEGIN {
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$paparazzi_home = $ENV{PAPARAZZI_HOME};
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};
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use lib ('/usr/share/perl5',
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$paparazzi_home.'/sw/lib/perl',
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$paparazzi_home.'/sw/ground_segment/papastar');
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use Subject;
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@ISA=("Subject");
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#use Ivy;
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#use IvyMsgs;
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use Tk;
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use Tk::Zinc;
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use XML::DOM;
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use Data::Dumper;
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use strict;
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use warnings;
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use constant PAPARAZZI_HOME => $paparazzi_home;
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# populate:
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# this sub is the subject constructor method
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##############################################################################
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sub populate {
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my ($self, $args) = @_;
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$self->SUPER::populate($args);
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$self->configspec(-zinc => [S_NEEDINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_SUPER, undef],
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-mw => [S_NEEDINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, undef],
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-ident => [S_NEEDINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, undef],
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-pos_x => [S_NEEDINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, undef],
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-pos_y => [S_NEEDINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, undef],
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-flight_plan => [S_NEEDINIT, S_PASSIVE, S_RDWR, S_OVRWRT, S_NOPRPG, undef],
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);
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}
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# completeinit:
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# this sub complete the init of subject object
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##############################################################################
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sub completeinit {
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my $self = shift;
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$self->SUPER::completeinit();
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my $mw = $self->get(-mw);
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my $zinc = $self->get(-zinc);
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my $ident = $self->get(-ident);
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my $pos_x = $self->get(-pos_x);
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my $pos_y = $self->get(-pos_y);
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my $flight_plan = $self->get(-flight_plan);
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$self->{'zinc'} = $self->get(-zinc);
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$self->{fp} = $flight_plan;
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$self->{modes} =
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{ ap_mode =>
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{ name => ["Manual", "Auto1", "Auto2", "Home"],
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color => ["sienna", "blue", "brown", "red"]
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},
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gps_mode =>
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{ name => [ "No fix", "GPS dead reckoning only", "2D-fix", "3D-fix", "GPS + dead reckoning combined"],
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color => ["red", "red", "orange", "brown", "orange"]
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},
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rc_status =>
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{ name => ["Lost","Ok", "Really lost", "error"],
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color => ["orange", "brown", "red", "red"]
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}
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};
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$self->{'frame'} = undef;
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$self->{'frame_clip'} = undef;
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$self->{'battery'} = 12.5;
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$self->{'topgroup'} = undef;
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$self->{'contentgroup'} = undef;
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$self->{mission} = undef;
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$self->{options} = {
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normal_font => undef,
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small_font => undef,
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background_color => undef,
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border_color => undef,
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label_color => undef,
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};
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$self->parse_config();
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$self->{'sdv'} = 0;
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$self->{'zinc_flight_time'} = "";
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$self->{'zinc_bat'} = "";
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$self->{'zinc_bat_value'} = "";
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}
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sub parse_config {
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my ($self) = @_;
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my $parser = XML::DOM::Parser->new();
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print "Parsing gui.xml\n";
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my $doc = $parser->parsefile(PAPARAZZI_HOME."/conf/gui.xml");
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my $strip = $doc->getElementsByTagName('strip')->[0];
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$self->{options}->{normal_font} = $strip->getAttribute('normal_font');
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$self->{options}->{small_font} = $strip->getAttribute('small_font');
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$self->{options}->{background_color} = $strip->getAttribute('background_color');
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$self->{options}->{border_color} = $strip->getAttribute('border_color');
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$self->{options}->{label_color} = $strip->getAttribute('label_color');
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$self->{options}->{value_color} = $strip->getAttribute('value_color');
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}
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# draw
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# draw elements of the strip
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##############################################################################
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sub draw {
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my $self = shift;
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my $zinc = $self->get(-zinc);
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my $ident = $self->get(-ident);
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my $x = $self->get(-pos_x);
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my $y = $self->get(-pos_y);
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my $fp = $self->get(-flight_plan);
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## main group of the strip
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$self->{'topgroup'} = $zinc->add('group', 1, -sensitive => 1,
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-atomic => 0, -tags => ["strip_".$ident]);
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$self->{'contentgroup'} = $zinc->add('group', $self->{'topgroup'}, -composealpha=>0, -sensitive=>1);
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## the strip
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$self->{'frame'} = $zinc->add('rectangle', $self->{'topgroup'}, [5,5,795, 95], -fillcolor => $self->{options}->{background_color}, -filled=>1, -linecolor => $self->{options}->{border_color}, -sensitive => 1, -tags => ["strip_".$ident]);
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# cliping contour of the strip
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$self->{'frame_clip'} = $zinc->add('rectangle', $self->{'contentgroup'}, [5,5,795, 95], -visible=>0);
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$zinc->itemconfigure($self->{'contentgroup'}, -clip=> $self->{'frame_clip'});
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## bindings to highlight the strip when the mouse is over
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$zinc->bind($self->{frame}, '<Enter>', sub { $zinc->itemconfigure($self->{frame}, -linecolor => 'red'); });
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$zinc->bind($self->{frame}, '<Leave>', sub { $zinc->itemconfigure($self->{frame}, -linecolor => 'sienna'); });
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## ident of the plane
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$zinc->add('text', $self->{'contentgroup'}, -text => uc($ident), -position=>[10,10], -font => $self->{options}->{normal_font}, -color => "midnightblue");
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## AutoPilot label and value
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$self->add_label("AP", "ap_mode", 70, 10);
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$self->add_value_text("ap_mode");
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## RC Status label and value
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$self->add_label("RC", "rc_status", 70, 22);
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$self->add_value_text("rc_status");
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## GPS Fix label and value
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$self->add_label("GPS", "gps_mode", 70, 34);
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$self->add_value_text("gps_mode");
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## Cal label and value
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$self->add_label("cal", "cal", 70, 46);
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$self->add_value_text("cal");
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## crst label and value
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$self->add_label("crst", "crst", 70, 58);
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$self->add_value_text("crst");
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## alt label and value
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$self->add_label("alt:","alt", 150, 10);
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$self->add_value_text("alt");
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## desired alt label and value
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$self->add_label("desired:","desired_alt", 150, 22);
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$self->add_value_text("desired_alt");
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## speed label and value
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$self->add_label("speed:", "speed", 150, 46);
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$self->add_value_text("speed");
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## climb label and value
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$self->add_label("climb:", "climb", 150, 58);
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$self->add_value_text("climb");
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##
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# QUICK and DIRTY flight time an battery
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#
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## flight_time
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# FIXME: use tags instead of reference to zinc item
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$self->{'zinc_flight_time'} = $zinc->add('text', $self->{'contentgroup'}, -text => sprintf("%s",$self->string_of_time(0)), -position=>[8,82], -font => $self->{options}->{small_font});
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$zinc->add('rectangle', $self->{'contentgroup'}, [10,25, 41,81], -filled=>1, -fillcolor=> '#d1d1d1');
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$self->{'zinc_bat'} = $zinc->add('rectangle', $self->{'contentgroup'}, [11,80-(($self->{'battery'}-6)/7)*55,40,80], -filled=>1,-fillcolor=>'#8080ff', -linewidth=>0);
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$self->{'zinc_bat_value'} = $zinc->add('text', $self->{'contentgroup'}, -text => sprintf("%s",$self->{'battery'}), -position=>[12,40], -font => $self->{options}->{small_font});
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$zinc->translate($self->{'topgroup'}, $x, $y);
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$zinc->raise($self->{'topgroup'});
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$zinc->raise($self->{'contentgroup'});
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$self->border_block(); # display blocks of flight plan
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return $self->{'topgroup'};
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}
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# add_label
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# adding a label
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##############################################################################
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sub add_label {
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my ($self, $label, $tag, $x, $y) = @_;
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print "adding $tag\n";
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$self->{zinc}->add('text',$self->{'contentgroup'}, -text => $label, -position => [$x, $y], -font => $self->{options}->{normal_font}, -color => $self->{options}->{label_color}, -tags => [ $tag ]);
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}
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# add_value_text
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# adding zinc item for value with the tag: tag_value
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##############################################################################
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sub add_value_text {
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my ($self, $tag) = @_;
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my $item = $self->{zinc}->find('withtag', $tag);
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my $new_tag = $tag."_value";
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my ($xo,$yo, $xc, $yc) = $self->{zinc}->bbox($item);
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$self->{zinc}->add('text', $self->{contentgroup}, -text => "N/A",
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-position => [$xc+5, $yo], -font => $self->{options}->{normal_font},
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-color => $self->{options}->{value_color}, -tags => [ $new_tag ]);
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}
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# parse_fp
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# Quick and dirty sub to parse a flight plan
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# FIXME:
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##############################################################################
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sub parse_fp {
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my $self = shift;
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my ($fp) = @_;
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my $parser = XML::DOM::Parser->new();
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print "Parsing $fp\n";
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my $doc = $parser->parsefile($fp);
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my @result;
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my $flight_plan = $doc->getElementsByTagName('flight_plan')->[0];
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foreach my $block ($doc->getElementsByTagName('block')) {
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my @exceptions = $block->getElementsByTagName('exception');
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my $rc_events = {rc1=>"", rc2=>""};
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foreach my $event (@exceptions) {
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if($event->getAttribute('cond') eq "(RcEvent1())") {
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$rc_events->{rc1} = $event->getAttribute('deroute');
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}
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if($event->getAttribute('cond') eq "(RcEvent2())") {
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$rc_events->{rc2} = $event->getAttribute('deroute');
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}
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}
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push(@result, { name => $block->getAttribute('name'),
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description => $block->getAttribute('description'),
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rc1 => $rc_events->{rc1},
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rc2 => $rc_events->{rc2}});
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}
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return @result;
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}
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# border_block
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# add the flight plans block to the strip
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##############################################################################
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sub border_block {
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my ($self) = @_;
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my @blocks = $self->parse_fp($self->{fp});
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my @groups = ();
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my @x = ( 300, 350, 400, 450, 500, 550, 600, 650, 700, 750);
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$self->{zinc}->add('text', $self->{contentgroup}, -text => "Event1",
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-position => [ 260, 50], -font => $self->{options}->{small_font},
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-color => $self->{options}->{label_color}
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);
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$self->{zinc}->add('text', $self->{contentgroup}, -text => "Event2",
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-position => [ 260, 60], -font => $self->{options}->{small_font},
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-color => $self->{options}->{label_color}
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);
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my $i;
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for ($i=0; $i<10; $i++) {
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my $block_name = uc($blocks[$i]->{name});
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$self->{zinc}->add('curve', $self->{contentgroup}, [$x[$i], 10, $x[$i], 90]);
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push(@groups, $self->{zinc}->add('group', $self->{contentgroup}));
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my $clip = $self->{zinc}->add('rectangle', $groups[$i], [$x[$i], 10, $x[$i]+46, 90], -visible => 0);
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$self->{zinc}->itemconfigure($groups[$i], -clip => $clip);
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$self->{zinc}->add('text', $groups[$i], -text => $block_name,
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-position => [ $x[$i]+3, 20], -font => $self->{options}->{normal_font},
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-tags => [ "block_".$block_name, "block_label", "block_num_".$i ]
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);
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$self->{zinc}->add('text', $groups[$i], -text => $blocks[$i]->{rc1},
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-position => [ $x[$i]+3, 50], -font => $self->{options}->{small_font},
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-color => $self->{options}->{value_color}
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);
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$self->{zinc}->add('text', $groups[$i], -text => $blocks[$i]->{rc2},
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-position => [ $x[$i]+3, 60], -font => $self->{options}->{small_font},
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-color => $self->{options}->{value_color}
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);
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}
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}
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# set and get methods
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###############################################################################
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sub set_item {
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my ($self, $item_name, $string, $color) = @_;
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my $item = $self->{zinc}->find('withtag', $item_name."_value");
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$self->{zinc}->itemconfigure($item, -text => $string, -color => $color);
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}
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sub set_block {
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my ($self, $num) = @_;
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print Dumper($self->{zinc}->find('withtag', "block_label"));
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foreach my $b ($self->{zinc}->find('withtag', "block_label")) {
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$self->{zinc}->itemconfigure($b, -color => $self->{options}->{label_color});
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}
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my $item = $self->{zinc}->find('withtag', "block_num_".$num);
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$self->{zinc}->itemconfigure($item, -color => 'blue');
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}
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# FIXME: should be deprecated and we should use set_item or something like that
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sub setBat {
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my $self = shift;
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my ($bat) = @_;
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$self->{'battery'} = $bat;
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my $batcolor = '#8080ff';
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$self->{'zinc'}->remove($self->{'zinc_bat'});
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$self->{'zinc_bat'} =
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$self->{'zinc'}->add('rectangle',
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$self->{'contentgroup'}, [11,80-(($self->{'battery'}-6)/7)*55,40,80],
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-filled=>1,-fillcolor=>$batcolor, -linewidth=>0);
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$self->{'zinc'}->itemconfigure($self->{'zinc_bat_value'},
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-text => sprintf("%2.1f",$self->{'battery'}),);
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$self->{'zinc'}->raise($self->{'zinc_bat_value'});
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||||
}
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||||
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||||
# FIXME: should use tags and set_item!!!
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||||
sub setSDV {
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my $self = shift;
|
||||
my ($sdv) = @_;
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||||
$self->{'sdv'} = $sdv;
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$self->{'zinc'}->itemconfigure(
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$self->{'zinc_flight_time'},
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||||
-text => sprintf("%s",$self->string_of_time($sdv)),
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||||
-color => $self->{options}->{label_color}
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||||
);
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||||
}
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||||
|
||||
sub string_of_time {
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my ($self, $t) = @_;
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||||
my $hour = int($t/3600);
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my $min = int(($t-$hour*3600)/60);
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||||
my $sec = $t-(3600*$hour)-($min*60);
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||||
sprintf("%02d:%02d:%02d",$hour, $min, $sec);
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||||
}
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||||
|
||||
## fin de la classe
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||||
1;
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||||
@@ -1,89 +0,0 @@
|
||||
#!/usr/bin/perl
|
||||
# quick and dirty test for papastrip::strip
|
||||
use PapaStrip::Strip;
|
||||
use Tk;
|
||||
use Tk::Zinc;
|
||||
use XML::DOM;
|
||||
|
||||
use Ivy;
|
||||
our $paparazzi_home = $ENV{PAPARAZZI_HOME};
|
||||
our $options = {
|
||||
paparazzi_home => $paparazzi_home,
|
||||
ivy_bus => "127.255.255.255:2010",
|
||||
data_dir => $paparazzi_home."/data",
|
||||
map_file => "magny_UTM.xml",
|
||||
conf_dir => $paparazzi_home."/conf",
|
||||
mission_file => "flight_plans/muret1.xml",
|
||||
};
|
||||
|
||||
###############################################################################
|
||||
#
|
||||
# Ivy
|
||||
#
|
||||
###############################################################################
|
||||
sub start_ivy {
|
||||
Ivy->init(
|
||||
-ivyBus => $options->{ivy_bus},
|
||||
-appName => "Paparazzi Ground Station",
|
||||
-loopMode => 'TK',
|
||||
-messWhenReady => 'MESSAGE_WHEN_READY',
|
||||
);
|
||||
my $ivy = Ivy->new (-statusFunc => \&ivyStatusCbk);
|
||||
$ivy->start();
|
||||
return $ivy;
|
||||
}
|
||||
|
||||
sub ivyStatusCbk {
|
||||
# printf("in ivyStatusCbk\n");
|
||||
}
|
||||
|
||||
|
||||
sub parse_config {
|
||||
my $parser = XML::DOM::Parser->new();
|
||||
my $doc = $parser->parsefile($options->{conf_dir}."/conf.xml");
|
||||
my $files = $doc->getElementsByTagName('files')->[0];
|
||||
my $conf_files = { radio => $files->getAttribute('radio'),
|
||||
airframe => $files->getAttribute('airframe'),
|
||||
flight_plan => $files->getAttribute('flight_plan'),
|
||||
ground_segment => $files->getAttribute('ground_segment')
|
||||
};
|
||||
## parsing the ground segment
|
||||
$doc = $parser->parsefile($options->{conf_dir}."/".$conf_files->{ground_segment});
|
||||
my $network = $doc->getElementsByTagName('network')->[0];
|
||||
my $map = $doc->getElementsByTagName('map')->[0];
|
||||
$options->{mission_file} = $conf_files->{flight_plan};
|
||||
$options->{ivy_bus} = $network->getAttribute('ivy_bus');
|
||||
$options->{map_file} = $map->getAttribute('location');
|
||||
}
|
||||
|
||||
###############################################################################
|
||||
#
|
||||
# GUI
|
||||
#
|
||||
###############################################################################
|
||||
|
||||
sub build_gui {
|
||||
my $mw = MainWindow->new(-width=>800, -height=>600);
|
||||
my $zinc = $mw->Zinc(-width=>800, -height=>600, -render=>1)->pack();
|
||||
my $ivy = start_ivy;
|
||||
my $flight_plan_name = $options->{conf_dir}."/".$options->{mission_file};
|
||||
my $strip_ac0 = new PapaStrip::Strip(-mw => $mw,
|
||||
-zinc=> $zinc,
|
||||
-ident=> "Tartine",
|
||||
-pos_x=>0,
|
||||
-pos_y=>0,
|
||||
-flight_plan=>$flight_plan_name
|
||||
);
|
||||
$strip_ac0->draw();
|
||||
my $strip_pipo = new PapaStrip::Strip(-mw => $mw,
|
||||
-zinc=> $zinc,
|
||||
-ident=> "Nutella",
|
||||
-pos_x=>0,
|
||||
-pos_y=>100,
|
||||
-flight_plan=>$flight_plan_name);
|
||||
$strip_pipo->draw();
|
||||
|
||||
Tk::MainLoop();
|
||||
}
|
||||
|
||||
build_gui;
|
||||
Reference in New Issue
Block a user