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

Makefile.ac

@@ -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

@@ -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 > $@
-        $(TOOLS)/gen_messages.out $< telemetry_ap > $$TMP_FILE;\
-        mv $$TMP_FILE $@
 	chmod a+r $@
 
 $(FBW_MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML) 

conf/messages.xml

@@ -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

@@ -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

@@ -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

@@ -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

@@ -138,14 +138,16 @@ let parse_section = fun s ->
 let h_name = "AIRFRAME_H"
 
 let _ =
-  if Array.length Sys.argv <> 3 then
+  if Array.length Sys.argv <> 4 then
-    failwith (Printf.sprintf "Usage: %s A/C_ident xml_file" Sys.argv.(0));
+    failwith (Printf.sprintf "Usage: %s A/C_ident A/C_name xml_file" Sys.argv.(0));
-  let xml_file = Sys.argv.(2)
+  let xml_file = Sys.argv.(3)
-  and ac_name = Sys.argv.(1) in
+  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";