telemetry status indicator in strip

conf/messages.xml

@@ -601,8 +601,16 @@
     <field name="west_long" type="float" unit="deg"/>
     <field name="south_lat" type="float" unit="deg"/>
   </message>
+
+  <message name="TELEMETRY_STATUS" ID="32">
+    <field name="ac_id" type="uint8"/>
+    <field name="time_since_last_bat_msg" type="float" unit="s"/>
+  </message>
 </class>
 
+
+
+
 <class name="alert">
    <message name="BAT_LOW" ID="1">
       <field name="ac_id" type="string"/>

sw/ground_segment/cockpit/gcs.ml

@@ -575,6 +575,7 @@ let _main =
   Live.listen_waypoint_moved ();
   Live.listen_infrared ();
   Live.listen_svsinfo ();
+  Live.listen_telemetry_status ();
   Live.listen_alert my_alert;
 
   (** Display the window *)

sw/ground_segment/cockpit/live.ml

@@ -643,3 +643,13 @@ let get_svsinfo = fun _sender vs ->
 let listen_svsinfo = fun () -> safe_bind "SVSINFO" get_svsinfo
 
 let message_request = Ground_Pprz.message_req
+
+let get_ts = fun _sender vs ->
+  let ac = get_ac vs in
+  let t = Pprz.float_assoc "time_since_last_bat_msg" vs in
+  Strip.set_label ac.strip "telemetry_status" (if t > 2. then sprintf "%.1f" t else "   ");
+  Strip.set_color ac.strip "telemetry_status" (if t > 5. then "red" else "green")
+  
+
+let listen_telemetry_status = fun () ->
+  safe_bind "TELEMETRY_STATUS" get_ts

sw/ground_segment/cockpit/live.mli

@@ -13,3 +13,4 @@ val listen_waypoint_moved : unit -> unit
 val listen_infrared : unit -> unit
 val listen_svsinfo : unit -> unit
 val listen_alert : < add : string -> unit; .. > -> unit
+val listen_telemetry_status : unit -> unit

sw/ground_segment/cockpit/strip.ml

@@ -38,6 +38,8 @@ let add config color select center_ac commit_moves mark =
 
   let ac_name = Pprz.string_assoc "ac_name" config in
 
+  let tooltips = GData.tooltips () in
+
   (* frame of the strip *)
   let frame = GBin.frame ~shadow_type: `IN ~packing: (widget#attach ~top: (strip_number) ~left: 0) () in
   let strip = GPack.table ~rows:2 ~columns: 2 ~col_spacings: 10 ~packing: frame#add () in
@@ -53,12 +55,18 @@ let add config color select center_ac commit_moves mark =
   let block_name = GMisc.label ~text: "______" ~packing:h#add () in
   add_label ("block_name_value") (plane_color, block_name);
 
-
-  (* battery and flight time *)
-  let pb = GRange.progress_bar ~orientation: `BOTTOM_TO_TOP ~packing:(strip#attach ~top:1 ~left:0) () in
+  (* battery and telemetry status *)
+  let vb = GPack.vbox ~packing:(strip#attach ~top:1 ~left:0) () in
+  let pb = GRange.progress_bar ~orientation: `BOTTOM_TO_TOP ~packing:vb#add () in
+  pb#misc#set_size_request ~height:50 ();
   pb#coerce#misc#modify_fg [`PRELIGHT, `NAME "green"];
   pb#coerce#misc#modify_font_by_name "sans 12";
 
+  let eb = GBin.event_box ~packing:vb#add () in
+  let ts = GMisc.label ~text:"N/A" ~packing:eb#add () in
+  add_label "telemetry_status_value" (eb, ts);
+  tooltips#set_tip eb#coerce ~text:"Telemetry status\nGreen if time since last bat message < 5s";
+
   let left_box = GPack.table ~rows ~columns: 6 ~col_spacings: 5 
       ~packing: (strip#attach ~top: 1 ~left: 1) () in
 

sw/ground_segment/tmtc/aircraft.ml

@@ -116,5 +116,6 @@ type aircraft = {
     mutable horiz_mode : horiz_mode;
     dl_setting_values : float array;
     mutable nb_dl_setting_values : int;
-    mutable survey : (Latlong.geographic * Latlong.geographic) option
+    mutable survey : (Latlong.geographic * Latlong.geographic) option;
+    mutable last_bat_msg_date : float
   }

sw/ground_segment/tmtc/aircraft.mli

@@ -103,5 +103,6 @@ type aircraft = {
     mutable horiz_mode : horiz_mode;
     dl_setting_values : float array;
     mutable nb_dl_setting_values : int;
-    mutable survey : (Latlong.geographic * Latlong.geographic) option
+    mutable survey : (Latlong.geographic * Latlong.geographic) option;
+    mutable last_bat_msg_date : float
 }

sw/ground_segment/tmtc/server.ml

@@ -189,6 +189,7 @@ let log_and_parse = fun logging ac_name a msg values ->
       a.cur_stage <- ivalue "cur_stage";
       a.desired_course <- norm_course ((Deg>>Rad)(fvalue "desired_course" /. 10.));
   | "BAT" ->
+      a.last_bat_msg_date <- U.gettimeofday ();
       a.throttle <- fvalue "desired_gaz" /. 9600. *. 100.;
       a.flight_time <- ivalue "flight_time";
       a.rpm <- a.throttle *. 100.;
@@ -429,6 +430,16 @@ let send_wind = fun a ->
   with
     _exc -> ()
 
+let send_telemetry_status = fun a ->
+  let id = a.id in
+  try
+    let vs =
+      ["ac_id", Pprz.String id;
+       "time_since_last_bat_msg", Pprz.Float (U.gettimeofday () -. a.last_bat_msg_date)] in
+    Ground_Pprz.message_send my_id "TELEMETRY_STATUS" vs
+  with
+    _exc -> ()
+
 let send_moved_waypoints = fun a ->
   Hashtbl.iter
     (fun wp_id wp ->
@@ -511,7 +522,8 @@ let send_aircraft_msg = fun ac ->
     send_horiz_status a;
     send_survey_status a;
     send_dl_values a;
-    send_moved_waypoints a
+    send_moved_waypoints a;
+    send_telemetry_status a
   with
     Not_found -> prerr_endline ac
   | x -> prerr_endline (Printexc.to_string x)
@@ -539,7 +551,7 @@ let new_aircraft = fun id ->
       flight_time = 0; stage_time = 0; block_time = 0;
       horiz_mode = UnknownHorizMode;
       horizontal_mode = 0;
-      waypoints = Hashtbl.create 3; survey = None
+      waypoints = Hashtbl.create 3; survey = None; last_bat_msg_date = 0.
     }
 
 let check_alerts = fun a ->