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fixing replay

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This commit is contained in:
Pascal Brisset
2006-05-03 16:45:36 +00:00
parent 039d1e8f4c
commit 7a1f0b267d
4 changed files with 122 additions and 51 deletions
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sw/ground_segment/tmtc/server.ml
+41 -32
View File
@@ -561,38 +561,47 @@ let listen_acs = fun log ->
(** Wait for any message (they all are identified with the A/C) *)
ignore (Ivy.bind (fun _ args -> ident_msg log args.(0)) "^(.*) PPRZ_MODE")
(** c.f. sw/logalizer/play.ml *)
let replayed = fun s ->
let n = String.length s in
if n > 6 && String.sub s 0 6 = "replay" then
Some (String.sub s 6 (n - 6))
else
None
let send_config = fun http _asker args ->
match args with
["ac_id", Pprz.String ac_id] -> begin
try
let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "ac_id" = ac_id) in
let ac_name = ExtXml.attrib conf "name" in
let protocol =
if http then
sprintf "http://%s:8889" (Unix.gethostname ())
else
sprintf "file://%s" Env.paparazzi_home in
let prefix = fun s -> sprintf "%s/%s" protocol s in
(** Expanded flight plan has been compiled in var/ *)
let fp = prefix ("var" // ac_name // "flight_plan.xml")
and af = prefix ("conf" // ExtXml.attrib conf "airframe")
and rc = prefix ("conf" // ExtXml.attrib conf "radio") in
let col = try Xml.attrib conf "gui_color" with _ -> new_color () in
let ac_name = try Xml.attrib conf "name" with _ -> "" in
["ac_id", Pprz.String ac_id;
"flight_plan", Pprz.String fp;
"airframe", Pprz.String af;
"radio", Pprz.String rc;
"default_gui_color", Pprz.String col;
"ac_name", Pprz.String ac_name
]
with
Not_found ->
failwith (sprintf "ground UNKNOWN %s" ac_id)
end
| _ ->
let s = String.concat " " (List.map (fun (a,v) -> a^"="^Pprz.string_of_value v) args) in
failwith (sprintf "Error, Receive.send_config: %s" s)
let ac_id' = Pprz.string_assoc "ac_id" args in
try
let ac_id, root_dir, conf_xml =
match replayed ac_id' with
Some ac_id ->
ac_id, "var/replay/", Xml.parse_file (Env.paparazzi_home // "var/replay/conf/conf.xml")
| None -> ac_id', "", conf_xml in
let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "ac_id" = ac_id) in
let ac_name = ExtXml.attrib conf "name" in
let protocol =
if http then
sprintf "http://%s:8889" (Unix.gethostname ())
else
sprintf "file://%s" Env.paparazzi_home in
let prefix = fun s -> sprintf "%s/%s%s" protocol root_dir s in
(** Expanded flight plan has been compiled in var/ *)
let fp = prefix ("var" // ac_name // "flight_plan.xml")
and af = prefix ("conf" // ExtXml.attrib conf "airframe")
and rc = prefix ("conf" // ExtXml.attrib conf "radio") in
let col = try Xml.attrib conf "gui_color" with _ -> new_color () in
let ac_name = try Xml.attrib conf "name" with _ -> "" in
["ac_id", Pprz.String ac_id;
"flight_plan", Pprz.String fp;
"airframe", Pprz.String af;
"radio", Pprz.String rc;
"default_gui_color", Pprz.String col;
"ac_name", Pprz.String ac_name
]
with
Not_found ->
failwith (sprintf "ground UNKNOWN %s" ac_id')
let ivy_server = fun http ->
ignore (Ground_Pprz.message_answerer my_id "AIRCRAFTS" send_aircrafts_msg);
@@ -612,7 +621,7 @@ let _ =
"-n", Arg.Clear logging, "Disable log";
"-http", Arg.Set http, "Send http: URLs (default is file:)"] in
Arg.parse (options)
(fun x -> Printf.fprintf stderr "Warning: Don't do anything with %s\n" x)
(fun x -> Printf.fprintf stderr "%s: Warning: Don't do anything with '%s' argument\n" Sys.argv.(0) x)
"Usage: ";
Srtm.add_path srtm_path;
sw/lib/ocaml/pprz.ml
+7 -3
View File
@@ -428,9 +428,13 @@ module Messages(Class:CLASS) = struct
let ivy_cb = fun _ args ->
let asker = args.(0)
and asker_id = args.(1) in
let values = cb asker (snd (values_of_string args.(2))) in
let m = string_of_message (snd (message_of_name msg_name)) values in
Ivy.send (sprintf "%s %s %s" asker_id sender m) in
try (** Against [cb] exceptions *)
let values = cb asker (snd (values_of_string args.(2))) in
let m = string_of_message (snd (message_of_name msg_name)) values in
Ivy.send (sprintf "%s %s %s" asker_id sender m)
with
exc -> fprintf stderr "Pprz.answerer %s:%s: %s\n%!" sender msg_name (Printexc.to_string exc)
in
Ivy.bind ivy_cb (sprintf "^([^ ]*) +([^ ]*) +(%s_REQ.*)" msg_name)
let gen_id = let r = ref 0 in fun () -> incr r; !r
sw/logalizer/Makefile
+1 -4
View File
@@ -29,7 +29,4 @@ clean:
rm -f *.opt *.out *~ core *.o *.bak .depend *.cm* play
play : play.ml
$(OCAMLC) -o $@ unix.cma glibivy-ocaml.cma -I +lablgtk2 -I ../lib/ocaml lablgtk.cma lib-pprz.cma gtkInit.cmo $^ # to check
cat ../../pprz_src_test.sh > $@
echo 'exec lablgtk2 unix.cma glibivy-ocaml.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma $$PAPARAZZI_SRC/sw/logalizer/$< $$*' >> $@
chmod a+x $@
$(OCAMLC) -custom -o $@ unix.cma glibivy-ocaml.cma -I +lablgtk2 -I ../lib/ocaml lablgtk.cma lib-pprz.cma gtkInit.cmo $^
sw/logalizer/play.ml
+73 -12
View File
@@ -24,18 +24,75 @@
*
*)
open Printf
module Ground_Pprz = Pprz.Messages(struct let name = "ground" end)
let (//) = Filename.concat
let replay_dir = Env.paparazzi_home // "var" // "replay"
let dump_fp = Env.paparazzi_src // "sw" // "tools" // "gen_flight_plan.out -dump"
let log = ref [||]
let load_log = fun window (adj:GData.adjustment) name ->
let f = Ocaml_tools.open_compress name in
let write_xml = fun f xml ->
let d = Filename.dirname f in
ignore (Sys.command (sprintf "mkdir -p %s" d));
let m = open_out f in
fprintf m "%s" (Xml.to_string_fmt xml);
close_out m
let store_conf = fun conf acs ->
let l =
List.fold_right (fun x r ->
if ExtXml.tag_is x "aircraft" then
if List.mem (ExtXml.attrib x "ac_id") acs then
let w = fun s ->
let f = replay_dir // ExtXml.attrib x s in
write_xml f (ExtXml.child x s);
f in
ignore (w "airframe");
ignore (w "radio");
let fp = w "flight_plan" in
(** We must "dump" the flight plan from the original one *)
let ac_name = ExtXml.attrib x "name" in
let ac_dir = replay_dir // "var" // ac_name in
ignore (Sys.command (sprintf "mkdir -p %s" ac_dir));
let dump = ac_dir // "flight_plan.xml" in
let c = sprintf "%s %s > %s" dump_fp fp dump in
if Sys.command c <> 0 then
failwith c;
Xml.Element ("aircraft", Xml.attribs x, [])::r
else r
else (** Keep ground section *)
x::r)
(Xml.children conf) [] in
let orig_conf = Xml.Element ("conf", [], l) in
write_xml (replay_dir // "conf" // "conf.xml") orig_conf
let store_messages = fun protocol ->
write_xml (replay_dir // "conf" // "messages.xml") protocol
let time_of = fun (t, _, _) -> t
let load_log = fun window (adj:GData.adjustment) xml_file ->
let xml = Xml.parse_file xml_file in
let data_file = ExtXml.attrib xml "data_file" in
let f = Ocaml_tools.find_file [Filename.dirname xml_file] data_file in
let f = Ocaml_tools.open_compress f in
let lines = ref [] in
let acs = ref [] in
try
while true do
let l = input_line f in
try
Scanf.sscanf l "%f %[^\n]" (fun t m -> lines := (t,m):: !lines)
Scanf.sscanf l "%f %s %[^\n]"
(fun t ac m ->
lines := (t,ac,m):: !lines;
if not (List.mem ac !acs) then acs := ac :: !acs
)
with
_ -> ()
done
@@ -43,10 +100,14 @@ let load_log = fun window (adj:GData.adjustment) name ->
End_of_file ->
close_in f;
log := Array.of_list (List.rev !lines);
let start = fst !log.(0) in
let end_ = fst !log.(Array.length !log - 1) in
let start = time_of !log.(0) in
let end_ = time_of !log.(Array.length !log - 1) in
adj#set_bounds ~lower:start ~upper:end_ ();
window#set_title (Filename.basename name)
window#set_title (Filename.basename xml_file);
store_conf (ExtXml.child xml "conf") !acs;
store_messages (ExtXml.child xml "protocol")
let timer = ref None
@@ -59,7 +120,7 @@ let stop = fun () ->
let file_dialog ~title ~callback () =
let sel = GWindow.file_selection ~title ~filename:"*.data[.*]" ~modal:true () in
let sel = GWindow.file_selection ~title ~filename:"*.log" ~modal:true () in
ignore (sel#cancel_button#connect#clicked ~callback:sel#destroy);
ignore
(sel#ok_button#connect#clicked
@@ -78,15 +139,15 @@ let index_of_time log t =
let rec loop = fun a b ->
if a >= b then a else
let c = (a+b)/ 2 in
if t <= fst log.(c) then loop a c else loop (c+1) b in
if t <= time_of log.(c) then loop a c else loop (c+1) b in
loop 0 (Array.length log - 1)
let rec run log adj i speed =
let (t, m) = log.(i) in
Ivy.send (Printf.sprintf "%s" m);
let (t, ac, m) = log.(i) in
Ivy.send (Printf.sprintf "replay%s %s" ac m);
adj#set_value t;
if i + 1 < Array.length log then
let dt = fst log.(i+1) -. t in
let dt = time_of log.(i+1) -. t in
timer := Some (GMain.Timeout.add (truncate (1000. *. dt /. speed#value)) (fun () -> run log adj (i+1) speed; false))
let play adj speed =
@@ -109,7 +170,7 @@ let _ =
val mutable v = 1. method value = v method set_value x = v <- x
end in
let bus = ref "127.255.255.255:3333" in
let bus = ref "127.255.255.255:2010" in
Arg.parse
[ "-b", Arg.String (fun x -> bus := x), "Bus\tDefault is 127.255.255.25:2010"]
(fun x -> load_log window adj x)