mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
[pprzlink] add pprzlink dependency to lib_pprz and convert link agent
This commit is contained in:
Gautier Hattenberger
+2
-1
@@ -34,6 +34,7 @@ OCAMLC = ocamlfind ocamlc
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OCAMLOPT = ocamlfind ocamlopt
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OCAMLDEP = ocamlfind ocamldep
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OCAMLMKLIB = ocamlmklib
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LIBPPRZLINKDIR = $(PAPARAZZI_HOME)/var/lib/ocaml
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LIBPPRZDIR = $(PAPARAZZI_SRC)/sw/lib/ocaml
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LIBPPRZCMA = $(LIBPPRZDIR)/lib-pprz.cma
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LIBPPRZCMXA = $(LIBPPRZCMA:.cma=.cmxa)
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@@ -42,5 +43,5 @@ XLIBPPRZCMXA = $(XLIBPPRZCMA:.cma=.cmxa)
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OCAMLDLL = -dllpath $(LIBPPRZDIR)
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OCAMLXDLL = -dllpath $(LIBPPRZDIR)
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OCAMLPATH:=$(shell echo $(LIBPPRZDIR):$(OCAMLPATH))
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OCAMLPATH:=$(shell echo $(LIBPPRZLINKDIR):$(LIBPPRZDIR):$(OCAMLPATH))
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export OCAMLPATH
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+1
-1
Submodule sw/ext/pprzlink updated: 34adbce06a...c5a169aa36
@@ -30,9 +30,9 @@ VAR = ../../../var
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INCLUDES= -I ../multimon
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PKG = -package glibivy,pprz
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LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz
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LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz,pprzlink
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XPKG = -package pprz.xlib
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XLINKPKG = $(XPKG) -linkpkg -dllpath-pkg pprz.xlib
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XLINKPKG = $(XPKG) -linkpkg -dllpath-pkg pprz.xlib,pprzlink
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LIBMULTIMONCMA=../multimon/multimon.cma
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LIBMULTIMONDLL= multimon.cma -dllpath $(PAPARAZZI_SRC)/sw/ground_segment/multimon
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+85
-148
@@ -28,20 +28,17 @@ open Latlong
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open Printf
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(* Handlers for the modem and Ivy messages *)
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module Tm_Pprz = Pprz.Messages (struct let name = "telemetry" end)
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module Ground_Pprz = Pprz.Messages (struct let name = "ground" end)
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module Dl_Pprz = Pprz.Messages (struct let name = "datalink" end)
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module PprzTransport = Serial.Transport (Pprz.Transport)
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module PprzTransportExtended = Serial.Transport (Pprz.TransportExtended)
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module Tm_Pprz = PprzLink.Messages (struct let name = "telemetry" end)
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module Ground_Pprz = PprzLink.Messages (struct let name = "ground" end)
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module Dl_Pprz = PprzLink.Messages (struct let name = "datalink" end)
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module PprzTransport = Protocol.Transport (Pprz_transport.Transport)
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(* Modem transport layer *)
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type transport =
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Pprz (* Paparazzi protocol, with A/C id, message id and CRC *)
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| Pprz2 (* Paparazzi protocol, with timestamp, A/C id, message id and CRC *)
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| Pprz (* Paparazzi protocol, with A/C id, message id and CRC *)
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| XBee (* Maxstream protocol, API mode *)
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let transport_of_string = function
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"pprz" -> Pprz
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| "pprz2" -> Pprz2
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| "pprz" -> Pprz
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| "xbee" -> XBee
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| x -> invalid_arg (sprintf "transport_of_string: %s" x)
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@@ -83,7 +80,7 @@ let dead_aircraft_time_ms = ref 5000
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let send_message_over_ivy = fun sender name vs ->
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let timestamp =
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match !add_timestamp with
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None -> None
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| None -> None
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| Some start_time -> Some (Unix.gettimeofday () -. start_time) in
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if !red_link then
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Tm_Pprz.message_send ?timestamp ~link_id:!link_id sender name vs
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@@ -93,7 +90,7 @@ let send_message_over_ivy = fun sender name vs ->
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let send_ground_over_ivy = fun sender name vs ->
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let timestamp =
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match !add_timestamp with
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None -> None
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| None -> None
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| Some start_time -> Some (Unix.gettimeofday () -. start_time) in
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Ground_Pprz.message_send ?timestamp sender name vs
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@@ -131,7 +128,7 @@ let update_status = fun ?udp_peername ac_id buf_size is_pong ->
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let s = { initial_status with udp_peername = udp_peername } in
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begin
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match s.udp_peername with
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Some (Unix.ADDR_INET (peername, port)) ->
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| Some (Unix.ADDR_INET (peername, port)) ->
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Debug.call 'b' (fun f -> fprintf f "Adding AC %i with udp_peername %s port %i\n" ac_id (Unix.string_of_inet_addr peername) port)
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| _ -> Debug.call 'b' (fun f -> fprintf f "Adding AC %i\n" ac_id)
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end;
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@@ -175,17 +172,17 @@ let send_status_msg =
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and msg_rate = float (status.rx_msg - status.last_rx_msg) /. dt in
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status.last_rx_msg <- status.rx_msg;
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status.last_rx_byte <- status.rx_byte;
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let vs = ["ac_id", Pprz.String (string_of_int ac_id);
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"link_id", Pprz.String (string_of_int !link_id);
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"run_time", Pprz.Int64 (Int64.of_int t);
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"rx_lost_time", Pprz.Int64 (Int64.of_int (status.ms_since_last_msg / 1000));
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"rx_bytes", Pprz.Int64 (Int64.of_int status.rx_byte);
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"rx_msgs", Pprz.Int64 (Int64.of_int status.rx_msg);
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"rx_err", Pprz.Int64 (Int64.of_int status.rx_err);
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"rx_bytes_rate", Pprz.Float byte_rate;
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"rx_msgs_rate", Pprz.Float msg_rate;
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"tx_msgs", Pprz.Int64 (Int64.of_int status.tx_msg);
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"ping_time", Pprz.Float (1000. *. (status.last_pong -. status.last_ping))
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let vs = ["ac_id", PprzLink.String (string_of_int ac_id);
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"link_id", PprzLink.String (string_of_int !link_id);
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"run_time", PprzLink.Int64 (Int64.of_int t);
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"rx_lost_time", PprzLink.Int64 (Int64.of_int (status.ms_since_last_msg / 1000));
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"rx_bytes", PprzLink.Int64 (Int64.of_int status.rx_byte);
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"rx_msgs", PprzLink.Int64 (Int64.of_int status.rx_msg);
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"rx_err", PprzLink.Int64 (Int64.of_int status.rx_err);
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"rx_bytes_rate", PprzLink.Float byte_rate;
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"rx_msgs_rate", PprzLink.Float msg_rate;
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"tx_msgs", PprzLink.Int64 (Int64.of_int status.tx_msg);
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"ping_time", PprzLink.Float (1000. *. (status.last_pong -. status.last_ping))
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] in
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send_ground_over_ivy "link" "LINK_REPORT" vs)
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statuss
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@@ -197,14 +194,14 @@ let update_ms_since_last_msg =
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statuss
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let use_tele_message = fun ?udp_peername ?raw_data_size payload ->
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let raw_data_size = match raw_data_size with None -> String.length (Serial.string_of_payload payload) | Some d -> d in
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let buf = Serial.string_of_payload payload in
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let raw_data_size = match raw_data_size with None -> String.length (Protocol.string_of_payload payload) | Some d -> d in
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let buf = Protocol.string_of_payload payload in
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Debug.call 'l' (fun f -> fprintf f "pprz receiving: %s\n" (Debug.xprint buf));
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try
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let (msg_id, ac_id, values) = Tm_Pprz.values_of_payload payload in
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let msg = Tm_Pprz.message_of_id msg_id in
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send_message_over_ivy (string_of_int ac_id) msg.Pprz.name values;
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update_status ?udp_peername ac_id raw_data_size (msg.Pprz.name = "PONG")
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send_message_over_ivy (string_of_int ac_id) msg.PprzLink.name values;
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update_status ?udp_peername ac_id raw_data_size (msg.PprzLink.name = "PONG")
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with
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exc ->
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prerr_endline (Printexc.to_string exc);
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@@ -213,26 +210,6 @@ let use_tele_message = fun ?udp_peername ?raw_data_size payload ->
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type priority = Null | Low | Normal | High
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module Aerocomm = struct
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let set_command_mode = fun fd ->
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Serial.set_dtr fd true
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let set_data_mode = fun fd ->
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Serial.set_dtr fd false
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let write_destination_address = fun fd address ->
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assert (0 <= address && address <= 0xffffff);
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let o = Unix.out_channel_of_descr fd in
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let s = String.create 5 in
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s.[0] <- Char.chr 0xcc;
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s.[1] <- Char.chr 0x10;
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s.[2] <- Char.chr (address lsr 16);
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s.[3] <- Char.chr ((address lsr 8) land 0xff);
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s.[4] <- Char.chr (address land 0xff);
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fprintf o "%s%!" s
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end
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module XB = struct (** XBee module *)
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let nb_retries = ref 10
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let retry_delay = 200 (* ms *)
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@@ -244,16 +221,16 @@ module XB = struct (** XBee module *)
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let switch_to_api = fun device ->
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let o = Unix.out_channel_of_descr device.fd in
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Debug.trace 'x' "config xbee";
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fprintf o "%s%!" (Xbee.at_set_my !my_addr);
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fprintf o "%s%!" Xbee.at_api_enable;
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fprintf o "%s%!" Xbee.at_exit;
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fprintf o "%s%!" (Xbee_transport.at_set_my !my_addr);
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fprintf o "%s%!" Xbee_transport.at_api_enable;
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fprintf o "%s%!" Xbee_transport.at_exit;
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Debug.trace 'x' "end init xbee"
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let init = fun device ->
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Debug.trace 'x' "init xbee";
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let o = Unix.out_channel_of_descr device.fd in
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ignore (Glib.Timeout.add at_init_period (fun () ->
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fprintf o "%s%!" Xbee.at_command_sequence;
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fprintf o "%s%!" Xbee_transport.at_command_sequence;
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ignore (Glib.Timeout.add at_init_period (fun () -> switch_to_api device; false));
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false))
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@@ -272,14 +249,14 @@ module XB = struct (** XBee module *)
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let oversize_packet = 4 (* Start + msb_len + lsb_len + cksum *)
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let use_message = fun device frame_data ->
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let frame_data = Serial.string_of_payload frame_data in
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let frame_data = Protocol.string_of_payload frame_data in
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Debug.trace 'x' (Debug.xprint frame_data);
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match Xbee.api_parse_frame frame_data with
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Xbee.Modem_Status x ->
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match Xbee_transport.api_parse_frame frame_data with
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| Xbee_transport.Modem_Status x ->
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Debug.trace 'x' (sprintf "getting XBee status %d" x)
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| Xbee.AT_Command_Response (frame_id, comm, status, value) ->
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| Xbee_transport.AT_Command_Response (frame_id, comm, status, value) ->
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Debug.trace 'x' (sprintf "getting XBee AT command response: %d %s %d %s" frame_id comm status (Debug.xprint value))
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| Xbee.TX_Status (frame_id,status) | Xbee.TX868_Status (frame_id,status,_) ->
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| Xbee_transport.TX_Status (frame_id,status) | Xbee_transport.TX868_Status (frame_id,status,_) ->
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Debug.trace 'x' (sprintf "getting XBee TX status: %d %d" frame_id status);
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if status = 1 then (* no ack, retry *)
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let (packet, nb_prev_retries) = packets.(frame_id) in
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@@ -293,27 +270,27 @@ module XB = struct (** XBee module *)
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false));
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end
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| Xbee.RX_Packet_64 (addr64, rssi, options, data) ->
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| Xbee_transport.RX_Packet_64 (addr64, rssi, options, data) ->
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Debug.trace 'x' (sprintf "getting XBee RX64: %Lx %d %d %s" addr64 rssi options (Debug.xprint data));
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use_tele_message ~raw_data_size:(String.length frame_data + oversize_packet) (Serial.payload_of_string data)
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| Xbee.RX868_Packet (addr64, options, data) ->
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use_tele_message ~raw_data_size:(String.length frame_data + oversize_packet) (Protocol.payload_of_string data)
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| Xbee_transport.RX868_Packet (addr64, options, data) ->
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Debug.trace 'x' (sprintf "getting XBee868 RX: %Lx %d %s" addr64 options (Debug.xprint data));
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use_tele_message ~raw_data_size:(String.length frame_data + oversize_packet) (Serial.payload_of_string data)
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| Xbee.RX_Packet_16 (addr16, rssi, options, data) ->
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use_tele_message ~raw_data_size:(String.length frame_data + oversize_packet) (Protocol.payload_of_string data)
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| Xbee_transport.RX_Packet_16 (addr16, rssi, options, data) ->
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Debug.trace 'x' (sprintf "getting XBee RX16: from=%x %d %d %s" addr16 rssi options (Debug.xprint data));
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use_tele_message ~raw_data_size:(String.length frame_data + oversize_packet) (Serial.payload_of_string data)
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use_tele_message ~raw_data_size:(String.length frame_data + oversize_packet) (Protocol.payload_of_string data)
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let send = fun ?ac_id device rf_data ->
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let ac_id = match ac_id with None -> 0xffff | Some a -> a in
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let rf_data = Serial.string_of_payload rf_data in
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let rf_data = Protocol.string_of_payload rf_data in
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let frame_id = gen_frame_id () in
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let frame_data =
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if !Xbee.mode868 then
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Xbee.api_tx64 ~frame_id (Int64.of_int ac_id) rf_data
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if !Xbee_transport.mode868 then
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Xbee_transport.api_tx64 ~frame_id (Int64.of_int ac_id) rf_data
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else
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Xbee.api_tx16 ~frame_id ac_id rf_data in
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let packet = Xbee.Protocol.packet (Serial.payload_of_string frame_data) in
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Xbee_transport.api_tx16 ~frame_id ac_id rf_data in
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let packet = Xbee_transport.Transport.packet (Protocol.payload_of_string frame_data) in
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(* Store the packet for further retry *)
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packets.(frame_id) <- (packet, 1);
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@@ -331,7 +308,7 @@ let local_broadcast_address =
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(Unix.inet_addr_of_string "127.255.255.255")
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let udp_send = fun fd payload peername ->
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let buf = Pprz.Transport.packet payload in
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let buf = Pprz_transport.Transport.packet payload in
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let len = String.length buf in
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let addr = if !udp_broadcast then (Unix.inet_addr_of_string !udp_broadcast_addr) else peername in
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Debug.call 'u' (fun f -> fprintf f "udp_send to %s port %i\n" (Unix.string_of_inet_addr addr) !udp_uplink_port);
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@@ -348,13 +325,13 @@ let send = fun ac_id device payload _priority ->
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()
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with Not_found -> () in
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match udp_peername ac_id with
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Some (Unix.ADDR_INET (peername, _port)) ->
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| Some (Unix.ADDR_INET (peername, _port)) ->
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udp_send device.fd payload peername
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| _ ->
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match device.transport with
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Pprz | Pprz2 ->
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| Pprz ->
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let o = Unix.out_channel_of_descr device.fd in
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let buf = Pprz.Transport.packet payload in
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let buf = Pprz_transport.Transport.packet payload in
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Printf.fprintf o "%s" buf; flush o;
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Debug.call 's' (fun f -> fprintf f "mm sending: %s\n" (Debug.xprint buf));
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| XBee ->
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@@ -374,37 +351,20 @@ let broadcast = fun device payload _priority ->
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statuss
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else
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match device.transport with
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Pprz ->
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| Pprz ->
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let o = Unix.out_channel_of_descr device.fd in
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let buf = Pprz.Transport.packet payload in
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let buf = Pprz_transport.Transport.packet payload in
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Printf.fprintf o "%s" buf; flush o;
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Debug.call 'l' (fun f -> fprintf f "mm sending: %s\n" (Debug.xprint buf));
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| Pprz2 ->
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let o = Unix.out_channel_of_descr device.fd in
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let buf = Pprz.TransportExtended.packet payload in
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Printf.fprintf o "%s" buf; flush o;
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Debug.call 'l' (fun f -> fprintf f "mm sending: %s\n" (Debug.xprint buf));
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| XBee ->
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XB.send device payload
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(*************** Audio *******************************************************)
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module Audio = struct
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let use_data =
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let buffer = ref "" in
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fun data ->
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let b = !buffer ^ data in
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let n = PprzTransport.parse use_tele_message b in
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buffer := String.sub b n (String.length b - n)
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end
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let parser_of_device = fun device ->
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match device.transport with
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Pprz ->
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| Pprz ->
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let use = fun s ->
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let raw_data_size = String.length (Serial.string_of_payload s) + 4 (*stx,len,ck_a, ck_b*) in
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let raw_data_size = String.length (Protocol.string_of_payload s) + 4 (*stx,len,ck_a, ck_b*) in
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let udp_peername =
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if !udp then
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Some !last_udp_peername
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@@ -412,18 +372,8 @@ let parser_of_device = fun device ->
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None in
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use_tele_message ?udp_peername ~raw_data_size s in
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PprzTransport.parse use
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| Pprz2 ->
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let use = fun s ->
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let raw_data_size = String.length (Serial.string_of_payload s) + 8 (*stx,len, timestamp, ck_a, ck_b*) in
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let udp_peername =
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if !udp then
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Some !last_udp_peername
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else
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None in
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use_tele_message ?udp_peername ~raw_data_size s in
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PprzTransportExtended.parse use
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| XBee ->
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let module XbeeTransport = Serial.Transport (Xbee.Protocol) in
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let module XbeeTransport = Protocol.Transport (Xbee_transport.Transport) in
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XbeeTransport.parse (XB.use_message device)
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@@ -436,7 +386,7 @@ let hangup = fun _ ->
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let message_uplink = fun device ->
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let forwarder = fun name _sender vs ->
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Debug.call 'f' (fun f -> fprintf f "forward %s\n" name);
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let ac_id = Pprz.int_assoc "ac_id" vs in
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let ac_id = PprzLink.int_assoc "ac_id" vs in
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let msg_id, _ = Dl_Pprz.message_of_name name in
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let s = Dl_Pprz.payload_of_values msg_id my_id vs in
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send ac_id device s High in
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@@ -454,9 +404,9 @@ let message_uplink = fun device ->
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||||
(* Set a forwarder or a broadcaster for all messages tagged in messages.xml *)
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||||
Hashtbl.iter
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||||
(fun _m_id msg ->
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||||
match msg.Pprz.link with
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||||
Some Pprz.Forwarded -> set_forwarder msg.Pprz.name
|
||||
| Some Pprz.Broadcasted -> if !ac_info then set_broadcaster msg.Pprz.name
|
||||
match msg.PprzLink.link with
|
||||
| Some PprzLink.Forwarded -> set_forwarder msg.PprzLink.name
|
||||
| Some PprzLink.Broadcasted -> if !ac_info then set_broadcaster msg.PprzLink.name
|
||||
| _ -> ())
|
||||
Dl_Pprz.messages
|
||||
|
||||
@@ -479,17 +429,12 @@ let () =
|
||||
and hw_flow_control = ref false
|
||||
and transport = ref "pprz"
|
||||
and uplink = ref true
|
||||
and audio = ref false
|
||||
and aerocomm = ref false
|
||||
and udp_port = ref 4242 in
|
||||
|
||||
(* Parse command line options *)
|
||||
let options =
|
||||
[ "-aerocomm", Arg.Set aerocomm, "Set serial Aerocomm data mode";
|
||||
"-audio", Arg.Unit (fun () -> audio := true; port := "/dev/dsp"), (sprintf "Listen a modulated audio signal on <port>. Sets <port> to /dev/dsp (the -d option must used after this one if needed)");
|
||||
"-b", Arg.Set_string ivy_bus, (sprintf "<ivy bus> Default is %s" !ivy_bus);
|
||||
[ "-b", Arg.Set_string ivy_bus, (sprintf "<ivy bus> Default is %s" !ivy_bus);
|
||||
"-d", Arg.Set_string port, (sprintf "<port> Default is %s" !port);
|
||||
"-dtr", Arg.Set aerocomm, "Set serial DTR to false (deprecated)";
|
||||
"-fg", Arg.Set gen_stat_trafic, "Enable trafic statistics on standard output";
|
||||
"-noac_info", Arg.Clear ac_info, (sprintf "Disables AC traffic info (uplink).");
|
||||
"-nouplink", Arg.Clear uplink, (sprintf "Disables the uplink (from the ground to the aircraft).");
|
||||
@@ -505,7 +450,7 @@ let () =
|
||||
"-uplink", Arg.Set uplink, (sprintf "Deprecated (now default)");
|
||||
"-xbee_addr", Arg.Set_int XB.my_addr, (sprintf "<my_addr> (%d)" !XB.my_addr);
|
||||
"-xbee_retries", Arg.Set_int XB.my_addr, (sprintf "<nb retries> (%d)" !XB.nb_retries);
|
||||
"-xbee_868", Arg.Set Xbee.mode868, (sprintf "Enables the 868 protocol");
|
||||
"-xbee_868", Arg.Set Xbee_transport.mode868, (sprintf "Enables the 868 protocol");
|
||||
"-redlink", Arg.Set red_link, (sprintf "Sets whether the link is a redundant link. Set this flag and the id flag to use multiple links");
|
||||
"-id", Arg.Set_int link_id, (sprintf "<id> Sets the link id. If multiple links are used, each must have a unique id. Default is %i" !link_id);
|
||||
"-status_period", Arg.Set_int status_msg_period, (sprintf "<period> Sets the period (in ms) of the LINK_REPORT status message. Default is %i" !status_msg_period);
|
||||
@@ -524,22 +469,22 @@ let () =
|
||||
try
|
||||
let transport = transport_of_string !transport in
|
||||
|
||||
(** Listen on audio input or on a serial device or on multimon pipe *)
|
||||
(** Listen on a udp port or a serial device or on pipe *)
|
||||
let on_serial_device =
|
||||
String.length !port >= 4 && String.sub !port 0 4 = "/dev" in (* FIXME *)
|
||||
let fd =
|
||||
if !udp then begin
|
||||
let sockaddr = Unix.ADDR_INET (Unix.inet_addr_any, !udp_port)
|
||||
and socket = Unix.socket Unix.PF_INET Unix.SOCK_DGRAM 0 in
|
||||
if !udp_broadcast then
|
||||
Unix.setsockopt socket Unix.SO_BROADCAST true;
|
||||
Unix.bind socket sockaddr;
|
||||
socket
|
||||
end else if !audio then
|
||||
Demod.init !port
|
||||
else if on_serial_device then
|
||||
if !udp then
|
||||
begin
|
||||
let sockaddr = Unix.ADDR_INET (Unix.inet_addr_any, !udp_port)
|
||||
and socket = Unix.socket Unix.PF_INET Unix.SOCK_DGRAM 0 in
|
||||
if !udp_broadcast then
|
||||
Unix.setsockopt socket Unix.SO_BROADCAST true;
|
||||
Unix.bind socket sockaddr;
|
||||
socket
|
||||
end
|
||||
else if on_serial_device then
|
||||
Serial.opendev !port (Serial.speed_of_baudrate !baudrate) !hw_flow_control
|
||||
else
|
||||
else
|
||||
Unix.openfile !port [Unix.O_RDWR] 0o640
|
||||
in
|
||||
|
||||
@@ -549,24 +494,18 @@ let () =
|
||||
|
||||
(* The function to be called when data is available *)
|
||||
let read_fd =
|
||||
if !audio then
|
||||
fun _io_event -> (* Demodulation *)
|
||||
let (data_left, _data_right) = Demod.get_data () in
|
||||
Audio.use_data data_left;
|
||||
true (* Returns true to be called again *)
|
||||
else (* Buffering and parsing *)
|
||||
let buffered_parser =
|
||||
(* Get the specific parser for the given transport protocol *)
|
||||
let parser = parser_of_device device in
|
||||
let read = if !udp then udp_read else Unix.read in
|
||||
(* Wrap the parser into the buffered bytes reader *)
|
||||
match Serial.input ~read parser with Serial.Closure f -> f in
|
||||
fun _io_event ->
|
||||
begin
|
||||
try buffered_parser fd with
|
||||
exc -> prerr_endline (Printexc.to_string exc)
|
||||
end;
|
||||
true (* Returns true to be called again *)
|
||||
let buffered_parser =
|
||||
(* Get the specific parser for the given transport protocol *)
|
||||
let parser = parser_of_device device in
|
||||
let read = if !udp then udp_read else Unix.read in
|
||||
(* Wrap the parser into the buffered bytes reader *)
|
||||
match Serial.input ~read parser with Serial.Closure f -> f in
|
||||
fun _io_event ->
|
||||
begin
|
||||
try buffered_parser fd with
|
||||
exc -> prerr_endline (Printexc.to_string exc)
|
||||
end;
|
||||
true (* Returns true to be called again *)
|
||||
in
|
||||
ignore (Glib.Io.add_watch [`HUP] hangup (GMain.Io.channel_of_descr fd));
|
||||
ignore (Glib.Io.add_watch [`IN] read_fd (GMain.Io.channel_of_descr fd));
|
||||
@@ -583,10 +522,8 @@ let () =
|
||||
ignore (Glib.Timeout.add !ping_msg_period (fun () -> send_ping_msg device; true));
|
||||
false in
|
||||
ignore (Glib.Timeout.add status_ping_diff start_ping);
|
||||
if !aerocomm then
|
||||
Aerocomm.set_data_mode fd;
|
||||
match transport with
|
||||
XBee ->
|
||||
| XBee ->
|
||||
XB.init device
|
||||
| _ -> ()
|
||||
end;
|
||||
@@ -598,5 +535,5 @@ let () =
|
||||
ignore (Glib.Main.iteration true)
|
||||
done
|
||||
with
|
||||
Xml.Error e -> prerr_endline (Xml.error e); exit 1
|
||||
| Xml.Error e -> prerr_endline (Xml.error e); exit 1
|
||||
| exn -> fprintf stderr "%s\n" (Printexc.to_string exn); exit 1
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
description = "Paparazzi UAS package"
|
||||
requires = "unix,str,xml-light,lablgtk2,glibivy,netclient"
|
||||
requires = "unix,str,pprzlink,xml-light,lablgtk2,glibivy,netclient"
|
||||
version = "1.0"
|
||||
directory = ""
|
||||
|
||||
|
||||
@@ -62,9 +62,9 @@ PP_CMO = $(PP_SRC:.ml=.cmo)
|
||||
PP_CMX = $(PP_SRC:.ml=.cmx)
|
||||
|
||||
INCLUDES=
|
||||
PKGCOMMON=xml-light,netclient,glibivy,lablgtk2
|
||||
PKGCOMMON=pprzlink,xml-light,netclient,glibivy,lablgtk2
|
||||
XINCLUDES=
|
||||
XPKGCOMMON=xml-light,glibivy,$(LABLGTK2GNOMECANVAS),lablgtk2.glade
|
||||
XPKGCOMMON=pprzlink,xml-light,glibivy,$(LABLGTK2GNOMECANVAS),lablgtk2.glade
|
||||
|
||||
SRC = fig.ml debug.ml base64.ml serial.ml ocaml_tools.ml expr_syntax.ml expr_parser.ml expr_lexer.ml extXml.ml env.ml xml2h.ml latlong.ml egm96.ml srtm.ml http.ml maps_support.ml gm.ml iGN.ml geometry_2d.ml cserial.o convert.o ubx.ml pprz.ml xbee.ml logpprz.ml xmlCom.ml os_calls.ml editAirframe.ml defivybus.ml fp_proc.ml gen_common.ml
|
||||
CMO = $(SRC:.ml=.cmo)
|
||||
|
||||
Reference in New Issue
Block a user