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A/Cs are now identified by their id (uint8)

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This commit is contained in:
Pascal Brisset
2005-05-29 15:50:23 +00:00
parent a1ed0cc58d
commit 7465ba10f7
7 changed files with 15 additions and 43 deletions
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Makefile.ac
+1 -1
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@@ -34,7 +34,7 @@ all: $(AIRFRAME_H) $(RADIO_H) $(FLIGHT_PLAN_H) $(INFLIGHT_CALIB_H)
echo $(AIRFRAME_H) $(CONF)/$(AIRFRAME)
$(AIRFRAME_H) : $(CONF)/$(AIRFRAME) $(CONF_XML)
$(TOOLS)/gen_airframe.out $(AIRCRAFT) $< > /tmp/airframe.h
$(TOOLS)/gen_airframe.out $(AC_ID) $(AIRCRAFT) $< > /tmp/airframe.h
mv /tmp/airframe.h $@
$(RADIO_H) : $(CONF)/$(RADIO) $(CONF_XML)
Makefile.gen
+1 -3
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@@ -38,9 +38,7 @@ static: $(MESSAGES_H) $(UBX_PROTOCOL_H) $(FBW_MESSAGES_H)
$(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML)
test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
TMP_FILE=`mktemp`;\
$(TOOLS)/gen_messages.out $< telemetry_ap > $$TMP_FILE;\
mv $$TMP_FILE $@
$(TOOLS)/gen_messages.out $< telemetry_ap > $@
chmod a+r $@
$(FBW_MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML)
conf/messages.xml
+1 -1
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@@ -138,7 +138,7 @@
</message>
<message name="IDENT" ID="0x14" period="10">
<field name="id" type="string" len="16" format="%s"/>
<field name="id" type="uint8"/>
</message>
</class>
sw/airborne/autopilot/main.c
+2 -2
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@@ -183,7 +183,7 @@ uint8_t ticks_last_est; // 20Hz
#define INIT_MSG_NB 2
#define HI_FREQ_PHASE_NB 5
static char ac_ident[16] = AIRFRAME_NAME;
uint8_t ac_ident = AC_ID;
#define PERIODIC_SEND_BAT() DOWNLINK_SEND_BAT(&vsupply, &estimator_flight_time, &low_battery, &block_time, &stage_time)
#define PERIODIC_SEND_DEBUG() DOWNLINK_SEND_DEBUG(&link_fbw_nb_err, &link_fbw_fbw_nb_err, &modem_nb_ovrn, &gps_nb_ovrn, &mcu1_ppm_cpt);
@@ -195,7 +195,7 @@ static char ac_ident[16] = AIRFRAME_NAME;
#define PERIODIC_SEND_DESIRED() DOWNLINK_SEND_DESIRED(&desired_roll, &desired_pitch, &desired_x, &desired_y, &desired_altitude);
#define PERIODIC_SEND_PITCH() DOWNLINK_SEND_PITCH(&ir_pitch, &ir_pitch_neutral, &ir_gain);
#define PERIODIC_SEND_NAVIGATION_REF() DOWNLINK_SEND_NAVIGATION_REF(&utm_east0, &utm_north0);
#define PERIODIC_SEND_IDENT() DOWNLINK_SEND_IDENT(ac_ident);
#define PERIODIC_SEND_IDENT() DOWNLINK_SEND_IDENT(&ac_ident);
#ifdef RADIO_CALIB
#define PERIODIC_SEND_SETTINGS() if (inflight_calib_mode != IF_CALIB_MODE_NONE) DOWNLINK_SEND_SETTINGS(&inflight_calib_mode, &slider_1_val, &slider_2_val);
sw/ground_segment/tmtc/receive.ml
+3 -31
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@@ -230,7 +230,7 @@ let send_traffic_info = fun ac ->
(* Sending on the Ivy bus for the simulators *)
let a = Hashtbl.find aircrafts ac in
let f = fun x -> Pprz.Float x in
let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "name" = ac) in
let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "ac_id" = ac) in
let values = ["ac_id", Pprz.Int (int_of_string (ExtXml.attrib conf "ac_id"));
"east", f a.east;
"north", f a.north;
@@ -266,7 +266,7 @@ let listen_sims = fun log ->
(* Server on the Ivy bus *)
let send_flight_plan = fun id ->
try
let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "name" = id) in
let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "ac_id" = id) in
let f = ExtXml.attrib conf "flight_plan" in
Ivy.send (sprintf "ground FLIGHT_PLAN %s file://%s/conf/%s" id Env.paparazzi_home f)
with
@@ -276,7 +276,7 @@ let send_flight_plan = fun id ->
let send_config = fun id_ac id_req ->
try
prerr_endline (sprintf "[%s] [%s]\n" id_ac id_req);
let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "name" = id_ac) in
let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "ac_id" = id_ac) in
let fp = sprintf "%s/conf/%s" Env.paparazzi_home (ExtXml.attrib conf "flight_plan") and
af = sprintf "%s/conf/%s" Env.paparazzi_home (ExtXml.attrib conf "airframe") and
rc = sprintf "%s/conf/%s" Env.paparazzi_home (ExtXml.attrib conf "radio")in
@@ -306,29 +306,6 @@ let handle_pprz_message = fun log a ->
| Some ac_name ->
log_and_parse log ac_name a msg values
module Coronis = struct
let send_ack = fun delay fd ->
ignore (GMain.Timeout.add delay (fun _ -> Wavecard.send fd ("ACK", ""); false))
let broadcast_msg = fun (msg, data) ->
Ivy.send (sprintf "FROM_WAVECARD %s %s" msg data)
let connect = fun port ->
try
let fd = Serial.opendev port Serial.B9600 in
(* Listening *)
let cb = fun _ ->
Wavecard.receive ~ack:(fun () -> send_ack 100 fd) broadcast_msg fd;
true in
ignore (GMain.Io.add_watch [`IN] cb (GMain.Io.channel_of_descr fd));
(* Sending request from Ivy *)
let send = fun _ a -> Wavecard.send fd (a.(0), a.(1)) in
ignore (Ivy.bind send "TO_WAVECARD +([^ ]+) +([^ ]+)")
with
_ -> failwith "Coronis.connect"
end
let listen_link = fun log xml_link ->
match ExtXml.attrib xml_link "protocol" with
"pprz/modem" ->
@@ -336,11 +313,6 @@ let listen_link = fun log xml_link ->
let port = ExtXml.attrib xml_link "port" in
let ac = new_aircraft (Modem port) in
listen_pprz_modem (handle_pprz_message log ac) port
(***
| "pprz/coronis" ->
let port = ExtXml.attrib xml_link "port" in
Coronis.connect port
***)
| _ -> fprintf stderr "Warning: Ignoring link '%s'\n" (ExtXml.attrib xml_link "name")
sw/tools/gen_aircraft.ml
+1 -1
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@@ -30,6 +30,6 @@ let _ =
mkdir (aircraft_dir // "autopilot");
mkdir (aircraft_dir // "sim");
let c = sprintf "make -f Makefile.ac AIRCRAFT=%s AIRFRAME=%s RADIO=%s FLIGHT_PLAN=%s" aircraft (value "airframe") (value "radio") (value "flight_plan") in
let c = sprintf "make -f Makefile.ac AIRCRAFT=%s AC_ID=%s AIRFRAME=%s RADIO=%s FLIGHT_PLAN=%s" aircraft (value "ac_id") (value "airframe") (value "radio") (value "flight_plan") in
prerr_endline c;
exit (Sys.command c)
sw/tools/gen_airframe.ml
+6 -4
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@@ -138,14 +138,16 @@ let parse_section = fun s ->
let h_name = "AIRFRAME_H"
let _ =
if Array.length Sys.argv <> 3 then
failwith (Printf.sprintf "Usage: %s A/C_ident xml_file" Sys.argv.(0));
let xml_file = Sys.argv.(2)
and ac_name = Sys.argv.(1) in
if Array.length Sys.argv <> 4 then
failwith (Printf.sprintf "Usage: %s A/C_ident A/C_name xml_file" Sys.argv.(0));
let xml_file = Sys.argv.(3)
and ac_id = Sys.argv.(1)
and ac_name = Sys.argv.(2) in
try
let xml = start_and_begin xml_file h_name in
Xml2h.warning ("AIRFRAME MODEL: "^ ac_name);
define_string "AIRFRAME_NAME" ac_name;
define "AC_ID" ac_id;
nl ();
let v = ExtXml.attrib xml "ctl_board" in
define ("CTL_BRD_"^v) "1";