mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 16:58:48 +08:00
*** empty log message ***
This commit is contained in:
Antoine Drouin
@@ -84,6 +84,8 @@ ap.CFLAGS += -DACTUATORS=\"servos_direct_hw.h\"
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ap.EXTRA_SRCS += $(SRC_ARCH)/servos_direct_hw.c
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ap.CFLAGS += -DCONTROL -DAUTOPILOT
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ap.EXTRA_SRCS += $(ACINCLUDE)/ap/control.c autopilot_fbw.c
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ap.CFLAGS += -DADC
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ap.EXTRA_SRCS += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DTRACES -DWAVECARD_ON_GPS
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ap.EXTRA_SRCS += $(SRC_ARCH)/traces.c $(SRC_ARCH)/uart_ap.c
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#ap.CFLAGS += -DDATALINK
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+1
-1
@@ -217,7 +217,7 @@ CGIPath /bin:/usr/bin:/usr/local/bin
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# Example: AddType type extension [extension ...]
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# Uncomment the next line if you want .cgi files to execute from anywhere
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#AddType application/x-httpd-cgi cgi
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AddType application/x-httpd-cgi cgi
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# Redirect, Alias, and ScriptAlias all have the same semantics -- they
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# match the beginning of a request and take appropriate action. Use
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@@ -23,6 +23,9 @@ void init_ap( void ) {
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gps_init();
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gps_configure();
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#endif
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#ifdef ADC
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#endif ADC
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/* if AP is running in a separate MCU */
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#ifndef FBW
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int_enable();
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@@ -14,14 +14,14 @@ if (defined $ENV{PAPARAZZI_SRC}) {
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$paparazzi_home = $ENV{PAPARAZZI_SRC};
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}
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$paparazzi_home = $ENV{PAPARAZZI_HOME} if (defined $ENV{PAPARAZZI_HOME});
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print "\nEnvironment : ";
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if (defined $paparazzi_src) {
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print "source directory mode\n paparazzi_src $paparazzi_src\n";
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}
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else {
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print "system mode\n inst_prefix INST_PREFIX";
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}
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print " paparazzi_home $paparazzi_home\n\n";
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#print "\nEnvironment : ";
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#if (defined $paparazzi_src) {
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# print "source directory mode\n paparazzi_src $paparazzi_src\n";
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#}
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#else {
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# print "system mode\n inst_prefix INST_PREFIX";
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#}
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#print " paparazzi_home $paparazzi_home\n\n";
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sub parse_command_line {
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my ($options) = @_;
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@@ -66,7 +66,7 @@ sub read_config {
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my $aircrafts = $conf->getElementsByTagName("aircraft");;
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foreach my $aircraft (@{$aircrafts}){
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my $name = $aircraft->getAttribute('name');
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print ("name $name\n");
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# print ("name $name\n");
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}
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}
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@@ -95,7 +95,7 @@ sub get_default_map {
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my $map_conf = $doc->getElementsByTagName("map")->[0];
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my $calib_file = $map_conf->getAttribute('location');
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$calib_file = get_data($calib_file);
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print "in Paparazzi::Environment::get_default_map $calib_file\n";
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# print "in Paparazzi::Environment::get_default_map $calib_file\n";
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return $calib_file;
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}
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@@ -0,0 +1,69 @@
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package Paparazzi::Log;
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use strict;
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use XML::Parser;
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use XML::DOM;
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my $PAPARAZZI_HOME = "/home/poine/work/paparazzi_savannah/paparazzi3";
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sub get_available {
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my $log_dir = $PAPARAZZI_HOME."/var/logs";
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opendir(DIR, $log_dir) || print "can't opendir $log_dir: $!\n";
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my @logs = grep { /^.*\.log/ && -f "$log_dir/$_" } readdir(DIR);
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closedir DIR;
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return @logs;
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}
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sub read_infos {
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my ($filename) = @_;
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$filename = $PAPARAZZI_HOME."/var/logs"."/".$filename;
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my $parser = XML::DOM::Parser->new();
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my $doc = $parser->parsefile($filename);
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my $configuration = $doc->getElementsByTagName('configuration')->[0];
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my $timeofday = $configuration->getAttribute('time_of_day');
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my $data_file = $configuration->getAttribute('data_file');
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my $conf = $doc->getElementsByTagName('conf');
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my $aircrafts = parse_configuration($conf->[0]);
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my $protocol = $doc->getElementsByTagName('protocol');
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return { date => $timeofday, data_file => $data_file , aircrafts => $aircrafts };
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}
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sub read_data {
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my ($filename) = @_;
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$filename = $PAPARAZZI_HOME."/var/logs"."/".$filename;
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my @data = ();
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open(INFILE, $filename) or print STDOUT "Cant open $filename: $!";
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while (my $line = <INFILE>) {
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if ($line =~ /(^\d+\.\d+) (\d+) (\w+) (.+)/) {
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push @data, {time => $1, sender => $2, msg_id => $3, args => $4};
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}
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}
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close INFILE;
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my $duration = @data[$#data]->{time};
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return {nb_messages => $#data, duration => $duration, raw_data => \@data};
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}
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sub parse_configuration {
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my ($conf) = @_;
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my @ret = ();
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my @aircrafts = $conf->getElementsByTagName('aircraft');
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foreach my $aircraft (@aircrafts) {
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push @ret, parse_aircraft($aircraft);
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}
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return \@ret;
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}
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sub parse_aircraft {
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my ($aircraft) = @_;
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my $ac_name = $aircraft->getAttribute('name');
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# print "aircraft : $ac_name<br>\n";
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return $ac_name;
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}
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1;
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Executable
+189
@@ -0,0 +1,189 @@
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#!/usr/bin/perl
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use CGI::Form;
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use Expect;
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my $paparazzi_lib;
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BEGIN {
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# $paparazzi_lib = (defined $ENV{PAPARAZZI_SRC}) ?
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# $ENV{PAPARAZZI_SRC}."/sw/lib/perl" : "/usr/lib/paparazzi/";
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$paparazzi_lib = "/home/poine/work/paparazzi_savannah/paparazzi3/sw/lib/perl";
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}
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use lib ($paparazzi_lib);
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use strict;
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use warnings;
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#use diagnostics;
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#use Paparazzi::Environment;
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use Paparazzi::Log;
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my $PAPARAZZI_HOME = "/home/poine/work/paparazzi_savannah/paparazzi3";
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my $query = new CGI::Form;
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print $query->header;
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print $query->start_html("Paparazzi plotter");
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process_query($query);
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print_prompt($query);
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print_log_info();
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print_tail();
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print $query->end_html;
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my @logs = ();
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my @aircrafts = ();
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my @messages = ();
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my @fields = ();
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my $log_info = undef;
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my $log_data = undef;
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sub print_prompt {
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my($query) = @_;
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print "<H1> Paparazzi plotter</H1>\n";
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print $query->startform;
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print "<TABLE>\n";
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print " <TR>\n";
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print " <TD>File</TD>";
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print " <TD>Aircraft</TD>";
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print " <TD>Message</TD>";
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print " <TD>Field</TD>";
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print " </TR>\n";
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print " <TR>\n";
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print " <TD>\n";
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print $query->popup_menu('file', \@logs, $logs[0]);
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print " </TD>\n";
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print " <TD>\n";
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print $query->popup_menu('aircraft', \@aircrafts, $aircrafts[0]);
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print " </TD>\n";
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print " <TD>\n";
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print $query->popup_menu('message', \@messages, $messages[0]);
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print " </TD>\n";
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print " <TD>\n";
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print $query->popup_menu('field', \@messages, $messages[0]);
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print " </TD>\n";
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print " <TD>\n";
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print $query->submit('Action','Update');
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print " </TD>\n";
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print " </TR>\n";
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print "</TABLE>\n";
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print $query->endform;
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print "<HR>\n";
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}
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use POSIX qw(strftime);
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sub print_log_info {
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if (defined $log_info) {
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my $now_string = POSIX::strftime "%a %b %e %H:%M:%S %Y", localtime($log_info->{date});
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print "date :".$now_string."\n<br>";
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my $url = gen_activity_plot($log_info->{data_file});
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my $nb_messages = $log_data->{nb_messages};
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print "nb message :".$nb_messages."\n<br>";
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my $duration = $log_data->{duration};
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print "duration :".$duration."s\n<br>";
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print"<img src=\"$url\">\n";
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# print "data_file ".$log_info->{data_file}."\n<br>";
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}
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}
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sub gen_activity_plot {
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my ($data_file) = @_;
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$log_data = Paparazzi::Log::read_data($data_file);
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my $raw_data = $log_data->{raw_data};
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my @res = ();
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my $data_filename = "/tmp/foo.dat";
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open(OUTFILE, ">".$data_filename) or die "Can t open $data_filename: $!";
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my ($idx, $time, $step) = (0, 0, 2);
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my $active_aircrafts;
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while ( $time < $log_data->{duration}) {
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($idx, $active_aircrafts) = get_active_aircrafts($raw_data, $idx, $step);
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print OUTFILE "$time \t";
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foreach my $a_ac (@{$active_aircrafts}) {
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print OUTFILE $a_ac." ";
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}
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print OUTFILE "\n";
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$time+=$step;
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}
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close OUTFILE;
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my $plot_cmd = "plot \"$data_filename\" using 1:11 w p t \"alalalala\"";
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# for (my $i=2; $i < $#{@$active_aircrafts}+1; $i++) {
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for (my $i=2; $i < 3; $i++) {
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$plot_cmd = $plot_cmd."; replot \"$data_filename\" using 1:$i w p t \"ouou\"";
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}
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print "$plot_cmd\n<br>";
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my $url = gen_plot("png size 640,480", "bar.png", $plot_cmd);
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return $url;
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}
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sub get_active_aircrafts {
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my ($raw_data, $idx, $step) = @_;
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my @a_ac = ();
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my $aircrafts = $log_info->{aircrafts};
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for (my $i=0; $i <= $#{@$aircrafts}; $i++) {
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$a_ac[$i] = 0;
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}
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my $start_time = $raw_data->[$idx]->{time};
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my $curtime;
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do {
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$curtime = $raw_data->[$idx]->{time};
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$a_ac[$raw_data->[$idx]->{sender}] = $raw_data->[$idx]->{sender};
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$idx++;
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} while ( $curtime < $start_time + $step and $idx < $#{@$raw_data});
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return ($idx, \@a_ac);
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}
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sub gen_plot {
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my ($terminal, $filename, $plot_cmd ) = @_;
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my $set_terminal_cmd = "set terminal $terminal";
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my $set_output_cmd = "set output \"$PAPARAZZI_HOME/var/plot/$filename\"";
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my $print_cmd = "$set_terminal_cmd; $set_output_cmd; $plot_cmd";
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my $exp = new Expect();
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$exp->raw_pty(1);
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$Expect::Debug = 10;
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my $pid = $exp->spawn("/usr/bin/gnuplot", ("-geometry", "1x1+0+0")) or printf "Don't find gnuplot";
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$pid->log_stdout(0);
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print("Printing $print_cmd <br>\n");
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$exp->send($print_cmd."\n");
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my $timeout = 5;
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my $foo = $exp->expect($timeout);
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print "foo $foo<br>\n";
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$exp->hard_close();
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return "http://ornette:8889/var/plot/".$filename;
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}
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sub process_query {
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# print "in process_query<br>\n";
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my($query) = @_;
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@logs = Paparazzi::Log::get_available();
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my @files = $query->param('file');
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if ($#files >=0 ) {
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my $file = $files[0];
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$log_info = Paparazzi::Log::read_infos($file);
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@aircrafts = @{$log_info->{aircrafts}};
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}
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# my(@values,$key);
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# foreach $key ($query->param) {
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# print "<STRONG>$key</STRONG> -> ";
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# @values = $query->param($key);
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# print join(", ",@values),"<BR>\n";
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# }
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# print "leaving process_query\n";
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}
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sub print_tail {
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print "<HR>\n";
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print "<ADDRESS>Poine.</ADDRESS><BR>\n";
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}
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