[supervision] Adds documentation tab. (#2972)

* [supervision] Adds documentation tab.

* [generator] add a target option to dump modules by target with load type

* [supervision] doc: handle modules type.

* [supervision] modules doc: add filter.

* [supervision] Use internet doc by default.

* [supervision] Move the header out of the configuration tab.

* [supervision] Add target label.

* [supervision] Gracefully handle Ctrl-C.

* [supervision] Add new session to combobox.

* Update sw/supervision/python/doc_panel.py

---------

Co-authored-by: Gautier Hattenberger <gautier.hattenberger@enac.fr>

sw/supervision/python/Makefile

@@ -1,19 +1,25 @@
 # Copyright (C) 2008-2022 The Paparazzi Team
 # released under GNU GPLv2 or later. See COPYING file.
-all:
-	mkdir -p generated
-	pyuic5 ui/conf_header.ui -o generated/ui_conf_header.py
-	pyuic5 ui/conf_item.ui -o generated/ui_conf_item.py
-	pyuic5 ui/build.ui -o generated/ui_build.py
-	pyuic5 ui/configuration_panel.ui -o generated/ui_configuration_panel.py
-	pyuic5 ui/new_ac_dialog.ui -o generated/ui_new_ac_dialog.py
-	pyuic5 ui/session.ui -o generated/ui_session.py
-	pyuic5 ui/program.ui -o generated/ui_program.py
-	pyuic5 ui/operation_panel.ui -o generated/ui_operation_panel.py
-	pyuic5 ui/console.ui -o generated/ui_console.py
-	pyuic5 ui/tools_list.ui -o generated/ui_tools_list.py
-	pyuic5 ui/app_settings.ui -o generated/ui_app_settings.py
-	pyuic5 ui/conf_settings.ui -o generated/ui_conf_settings.py
 
-clean_ui:
+SOURCEDIR = ui
+BUILDDIR = generated
+
+SOURCES = $(wildcard $(SOURCEDIR)/*.ui)
+OBJECTS = $(patsubst $(SOURCEDIR)/%.ui,$(BUILDDIR)/%.py,$(SOURCES))
+
+CC = pyuic5
+
+all: $(BUILDDIR) $(OBJECTS)
+
+
+$(OBJECTS): $(BUILDDIR)/%.py : $(SOURCEDIR)/%.ui
+	$(CC) -o $@ $<;
+
+$(BUILDDIR):
+	mkdir -p $@
+
+clean:
 	rm -r generated
+
+
+.PHONY: build_dir

sw/supervision/python/conf.py

@@ -1,3 +1,5 @@
+# Copyright (C) 2008-2022 The Paparazzi Team
+# released under GNU GPLv2 or later. See COPYING file.
 from dataclasses import dataclass, field
 from typing import List, Dict
 import lxml.etree as ET
@@ -65,11 +67,6 @@ class Aircraft:
         completed = subprocess.run([MOD_DEP, "-ac", self.name, "-af", self.airframe, "-fp", self.flight_plan],
                                    capture_output=True)
         if completed.returncode == 0:
-            def remove_prefix(s):
-                if s.startswith(utils.CONF_DIR):
-                    return s[len(utils.CONF_DIR):]
-                else:
-                    return s
 
             def make_setting(m):
                 setting = Setting(m, True)
@@ -80,7 +77,7 @@ class Aircraft:
 
             new_settings_modules = []
             for module_path in completed.stdout.decode().strip().split():
-                module = remove_prefix(module_path)
+                module = utils.remove_prefix(module_path, utils.CONF_DIR)
                 xml = ET.parse(module_path)
                 for xml_setting in xml.getroot().findall("settings"):
                     name = xml_setting.get("name")
@@ -215,6 +212,7 @@ class Conf:
             self.tree_orig = self.to_xml_tree()
 
     def restore_conf(self):
+        print("conf restored.")
         self.parse(self.tree_orig)
 
     def to_string(self):

sw/supervision/python/conf_settings_widget.py

@@ -21,7 +21,7 @@ class ConfSettingsWidget(QWidget, Ui_SettingsConf):
         base_settings_path = os.path.join(utils.CONF_DIR, "settings")
         filenames, _ = QFileDialog.getOpenFileNames(self, "Add settings", base_settings_path, "Settings (*.xml)")
         for filename in filenames:
-            name = utils.removeprefix(filename, utils.CONF_DIR)
+            name = utils.remove_prefix(filename, utils.CONF_DIR)
             print(name)
             item = QListWidgetItem(name)
             item.setCheckState(QtCore.Qt.Checked)

sw/supervision/python/configuration_panel.py

@@ -1,114 +1,44 @@
-import os, sys, copy
 from PyQt5.QtWidgets import *
 from PyQt5 import QtCore, QtGui, QtWidgets
 import utils
 from generated.ui_configuration_panel import Ui_ConfigurationPanel
-from generated.ui_new_ac_dialog import Ui_Dialog
 from program_widget import ProgramWidget
 from conf import *
 from programs_conf import parse_tools
 import subprocess
 
-PAPARAZZI_SRC = os.getenv("PAPARAZZI_SRC")
-PAPARAZZI_HOME = os.getenv("PAPARAZZI_HOME", PAPARAZZI_SRC)
-lib_path = os.path.normpath(os.path.join(PAPARAZZI_SRC, 'sw', 'lib', 'python'))
-sys.path.append(lib_path)
-import paparazzi
-
 # TODO make a setting ?
 REMOVE_PROGRAMS_FINISHED = True
 
 
 class ConfigurationPanel(QWidget, Ui_ConfigurationPanel):
 
-    msg_error = QtCore.pyqtSignal(str)
     clear_error = QtCore.pyqtSignal()
-    ac_changed = QtCore.pyqtSignal(Aircraft)
+    ac_edited = QtCore.pyqtSignal(Aircraft)
 
     def __init__(self, parent=None, *args, **kwargs):
         QWidget.__init__(self, parent=parent, *args, **kwargs)
         self.setupUi(self)
         self.console_widget.filter_widget.hide()
-        self.conf = None        # type: conf.Conf
+        self.currentAC = None   # type: Aircraft
-        self.currentAC = None   # type: str
         self.flight_plan_editor = None
-        self.header.set_changed.connect(self.handle_set_changed)
-        self.header.ac_changed.connect(self.update_ac)
-        self.header.id_changed.connect(self.handle_id_changed)
-        self.header.refresh_button.clicked.connect(self.refresh_ac)
-        self.header.color_button.clicked.connect(self.change_color)
-        self.header.save_button.clicked.connect(lambda: self.conf.save())
-        self.addAction(self.save_conf_action)
-        self.save_conf_action.triggered.connect(lambda: self.conf.save())
         self.conf_widget.conf_changed.connect(self.handle_conf_changed)
         self.conf_widget.setting_changed.connect(self.handle_setting_changed)
         self.conf_widget.flight_plan.edit_alt.connect(self.edit_flightplan_gcs)
-        self.header.rename_action.triggered.connect(self.rename_ac)
-        self.header.new_ac_action.triggered.connect(self.new_ac)
-        self.header.duplicate_action.triggered.connect(self.duplicate_ac)
-        self.header.remove_ac_action.triggered.connect(self.remove_ac)
         self.build_widget.spawn_program.connect(self.launch_program)
 
     def init(self):
-        sets = paparazzi.get_list_of_conf_files()
         settings = utils.get_settings()
-        self.header.set_sets(sets, conf_init=Conf.get_current_conf())
-        last_ac: QtCore.QVariant = settings.value("ui/last_AC", None, str)
-        last_target: QtCore.QVariant = settings.value("ui/last_target", None, str)
-        if last_ac is not None:
-            self.header.ac_combo.setCurrentText(last_ac)
-        if last_target is not None:
-            self.build_widget.target_combo.setCurrentText(last_target)
         window_size: QtCore.QSize = settings.value("ui/window_size", QtCore.QSize(1000, 600), QtCore.QSize)
         lpw = settings.value("ui/left_pane_width", 100, int)
         self.splitter.setSizes([lpw, window_size.width() - lpw])
 
-    def handle_set_changed(self, conf_file):
+    def set_ac(self, ac: Aircraft):
-        self.conf = Conf(conf_file)
+        if ac is None:
-        Conf.set_current_conf(conf_file)
-        self.build_widget.set_conf(self.conf)
-        acs = [ac.name for ac in self.conf.aircrafts]
-        self.header.set_acs(acs)
-
-    def disable_sets(self):
-        self.header.set_combo.setDisabled(True)
-
-    def enable_sets(self):
-        self.header.set_combo.setDisabled(False)
-
-    def update_ac(self, ac_name):
-        ac = self.conf[ac_name]
-        if ac_name != "" and ac is not None:
-            self.conf_widget.setDisabled(False)
-            self.currentAC = ac_name
-            status, stderr = ac.update()
-            if status != 0:
-                self.msg_error.emit(stderr.decode().strip())
-            else:
-                self.clear_error.emit()
-            self.header.set_ac(ac)
-            self.conf_widget.set_ac(ac)
-            self.build_widget.update_targets(self.conf[ac_name])
-            self.ac_changed.emit(self.conf[ac_name])
-        else:
-            # self.conf_widget.reset()
             self.conf_widget.setDisabled(True)
-
+        self.currentAC = ac
-    def get_current_ac(self) -> str:
+        self.conf_widget.set_ac(ac)
-        """
+        self.build_widget.update_targets(ac)
-        :return: name of the current AC
-        """
-        return self.currentAC
-
-    def refresh_ac(self):
-        self.update_ac(self.currentAC)
-
-    def handle_id_changed(self, id):
-        self.conf[self.currentAC].ac_id = id
-        if len(self.conf.get_all(id)) > 1:
-            self.header.id_spinBox.setStyleSheet("background-color: red;")
-        else:
-            self.header.id_spinBox.setStyleSheet("background-color: white;")
 
     def handle_setting_changed(self):
         def make_setting(item: QListWidgetItem):
@@ -125,142 +55,18 @@ class ConfigurationPanel(QWidget, Ui_ConfigurationPanel):
             else:
                 settings.append(s)
 
-        self.conf[self.currentAC].settings_modules = modules
+        self.currentAC.settings_modules = modules
-        self.conf[self.currentAC].settings = settings
+        self.currentAC.settings = settings
+        self.ac_edited.emit(self.currentAC)
         # should we save each time a tiny change is made ? very inefficient !
         # self.conf.save()
 
     def handle_conf_changed(self):
-        self.conf[self.currentAC].airframe = self.conf_widget.airframe.path
+        self.currentAC.airframe = self.conf_widget.airframe.path
-        self.conf[self.currentAC].flight_plan = self.conf_widget.flight_plan.path
+        self.currentAC.flight_plan = self.conf_widget.flight_plan.path
-        self.conf[self.currentAC].radio = self.conf_widget.radio.path
+        self.currentAC.radio = self.conf_widget.radio.path
-        self.conf[self.currentAC].telemetry = self.conf_widget.telemetry.path
+        self.currentAC.telemetry = self.conf_widget.telemetry.path
-        # reload settings modules, and update UI
+        self.ac_edited.emit(self.currentAC)
-        self.update_ac(self.currentAC)
-
-    def add_ac(self, ac: Aircraft):
-        self.conf.append(ac)
-        self.header.add_ac(ac.name)
-
-    def new_ac(self):
-        orig = Aircraft()
-        self.create_ac(orig)
-
-    def remove_ac(self):
-        button = QMessageBox.question(self, "Remove AC", "Remove AC <strong>{}</strong>?".format(self.currentAC))
-        if button == QMessageBox.Yes:
-            self.conf.remove(self.conf[self.currentAC])
-            self.header.remove_current()
-
-    def duplicate_ac(self):
-        orig = self.conf[self.currentAC]
-        self.create_ac(orig)
-
-    def create_ac(self, orig):
-        ui_dialog = Ui_Dialog()
-        dialog = QDialog(parent=self)
-        ui_dialog.setupUi(dialog)
-
-        def verify():
-            ok = True
-            id = ui_dialog.id_spinbox.value()
-            name = ui_dialog.name_edit.text()
-            if self.conf[id] is not None or id == 0:
-                ui_dialog.id_spinbox.setStyleSheet("background-color: red;")
-                ok = False
-            else:
-                ui_dialog.id_spinbox.setStyleSheet("")
-
-            if self.conf[name] is not None or name == "":
-                ui_dialog.name_edit.setStyleSheet("background-color: red;")
-                ok = False
-            else:
-                ui_dialog.name_edit.setStyleSheet("")
-
-            return ok
-
-        def accept():
-            if verify():
-                dialog.accept()
-
-        def reject():
-            dialog.reject()
-
-        def duplicate(result):
-            if result:
-                new_ac = copy.deepcopy(orig)
-                name = ui_dialog.name_edit.text()
-                ac_id = ui_dialog.id_spinbox.value()
-                new_ac.name = name
-                new_ac.ac_id = ac_id
-                self.add_ac(new_ac)
-                self.header.set_current(name)
-
-        ui_dialog.id_spinbox.setValue(self.conf.get_free_id())
-        ui_dialog.buttonBox.accepted.connect(accept)
-        ui_dialog.buttonBox.rejected.connect(reject)
-        ui_dialog.id_spinbox.valueChanged.connect(verify)
-        ui_dialog.name_edit.textChanged.connect(verify)
-        dialog.finished.connect(duplicate)
-        dialog.open()
-
-    def rename_ac(self):
-        orig = self.conf[self.currentAC]
-        ui_dialog = Ui_Dialog()
-        dialog = QDialog(parent=self)
-        ui_dialog.setupUi(dialog)
-        ui_dialog.name_edit.setText(orig.name)
-        ui_dialog.id_spinbox.setValue(orig.ac_id)
-
-        def verify():
-            ok = True
-            id = ui_dialog.id_spinbox.value()
-            name = ui_dialog.name_edit.text()
-
-            acs_name = self.conf.get_all(name)
-            if len(acs_name) > 1 or (len(acs_name) == 1 and acs_name[0] != orig):
-                ui_dialog.name_edit.setStyleSheet("background-color: red;")
-                ok = False
-            else:
-                ui_dialog.name_edit.setStyleSheet("")
-
-            acs_id = self.conf.get_all(id)
-            if len(acs_id) > 1 or (len(acs_id) == 1 and acs_id[0] != orig):
-                ui_dialog.id_spinbox.setStyleSheet("background-color: red;")
-                ok = False
-            else:
-                ui_dialog.id_spinbox.setStyleSheet("")
-
-            return ok
-
-        def accept():
-            if verify():
-                dialog.accept()
-
-        def reject():
-            dialog.reject()
-
-        def rename(result):
-            if result:
-                orig.name = ui_dialog.name_edit.text()
-                orig.ac_id = ui_dialog.id_spinbox.value()
-                self.header.rename_ac(orig.name)
-
-        ui_dialog.buttonBox.accepted.connect(accept)
-        ui_dialog.buttonBox.rejected.connect(reject)
-        ui_dialog.id_spinbox.valueChanged.connect(verify)
-        ui_dialog.name_edit.textChanged.connect(verify)
-        dialog.finished.connect(rename)
-        dialog.open()
-
-    def change_color(self):
-        ac = self.conf[self.currentAC]
-        initial = QtGui.QColor(ac.get_color())
-        color = QColorDialog.getColor(initial, self, "AC color")
-        if color.isValid():
-            color_name = color.name()
-            ac.set_color(color_name)
-            self.header.set_color(color_name)
 
     def edit_flightplan_gcs(self, path):
         if self.flight_plan_editor is None:

sw/supervision/python/doc_panel.py

@@ -0,0 +1,125 @@
+# Copyright (C) 2008-2022 The Paparazzi Team
+# released under GNU GPLv2 or later. See COPYING file.
+
+from generated.ui_doc_viewer import Ui_DocPanel
+from PyQt5.QtWidgets import *
+from PyQt5.QtCore import QUrl
+from PyQt5.QtGui import QDesktopServices
+import utils
+import os
+import subprocess
+import conf
+
+LOCAL_DOC_ROOT = os.path.join(utils.PAPARAZZI_HOME, "doc/sphinx/build/html/")
+INTERNET_DOC_ROOT = "https://paparazzi-uav.readthedocs.io/en/latest/"
+
+
+class DocPanel(QWidget, Ui_DocPanel):
+
+    def __init__(self, parent=None):
+        QWidget.__init__(self, parent=parent)
+        self.setupUi(self)
+        self.current_ac = None
+        self.doc_source_combo.currentTextChanged.connect(self.change_doc_source)
+        self.open_browser_button.clicked.connect(lambda: QDesktopServices.openUrl(self.webView.url()))
+        self.urlLineEdit.returnPressed.connect(lambda: self.webView.setUrl(QUrl(self.urlLineEdit.text())))
+        self.webView.loadFinished.connect(self.load_finished)
+        self.webView.loadProgress.connect(self.load_progress)
+        self.modules_list.currentTextChanged.connect(self.handle_select_module)
+        self.depends_modules_list.currentTextChanged.connect(self.handle_select_module)
+        self.unloaded_modules_list.currentTextChanged.connect(self.handle_select_module)
+        self.searchLineEdit.textChanged.connect(self.filter_modules)
+        self.target_combo.currentTextChanged.connect(self.target_changed)
+        self.backButton.clicked.connect(self.webView.back)
+        self.webView.urlChanged.connect(lambda u: self.urlLineEdit.setText(u.toString()))
+        url = self.make_url("index.html")
+        self.webView.load(url)
+
+    def load_finished(self, finished):
+        # print(f"load finished: {finished}")
+        ...
+        # if not finished:
+        #     self.webView.setHtml("<h1>Doc not found!</h1>"
+        #                          "<p>Documentation not found! Please build it first.</p>")
+
+    def load_progress(self, progress):
+        # print(f"load progress: {progress}")
+        ...
+
+    def set_aircraft(self, ac: conf.Aircraft):
+        self.current_ac = ac
+        targets = ac.boards.keys()
+        self.target_combo.clear()
+        self.target_combo.addItem("all")
+        self.target_combo.addItems(targets)
+
+    def target_changed(self, target):
+        self.modules_list.clear()
+        self.depends_modules_list.clear()
+        self.unloaded_modules_list.clear()
+        if target != "":
+            modules = self.get_all_modules(self.current_ac, target)
+            for module_path, module_type in modules:
+                if module_type == "U" or module_type == "_":
+                    self.modules_list.addItem(module_path)
+                elif module_type == "N":
+                    self.unloaded_modules_list.addItem(module_path)
+                else:
+                    self.depends_modules_list.addItem(module_path)
+        self.filter_modules(self.searchLineEdit.text())
+
+    def filter_modules(self, filter_txt):
+        def filter_list(list):
+            for i in range(list.count()):
+                if filter_txt != "":
+                    txt = list.item(i).text()
+                    list.item(i).setHidden(filter_txt not in txt)
+                else:
+                    list.item(i).setHidden(False)
+        filter_list(self.modules_list)
+        filter_list(self.depends_modules_list)
+        filter_list(self.unloaded_modules_list)
+
+    def make_url(self, doc):
+        if self.doc_source_combo.currentText() == "Local":
+            path = os.path.join(LOCAL_DOC_ROOT, doc)
+            return QUrl.fromLocalFile(path)
+        else:
+            path = INTERNET_DOC_ROOT + doc
+            return QUrl(path)
+
+    def change_doc_source(self, source):
+        current_url = self.webView.url().toString()
+        lu = QUrl.fromLocalFile(LOCAL_DOC_ROOT).toString()
+        iu = QUrl(INTERNET_DOC_ROOT).toString()
+        url = QUrl("http://perdu.com")
+        if source == "Internet" and lu in current_url:
+            url = QUrl(current_url.replace(lu, iu))
+        if source == "Local" and iu in current_url:
+            url = QUrl(current_url.replace(iu, lu))
+        self.webView.load(url)
+
+    def handle_select_module(self, txt):
+        if txt == "":
+            return
+        url = self.make_url("modules/{}.html".format(txt))
+        self.webView.load(url)
+
+    def get_all_modules(self, ac: conf.Aircraft, target: str):
+        args = [conf.MOD_DEP, "-ac", ac.name, "-af", ac.airframe, "-fp", ac.flight_plan]
+        if target != "all":
+            args.extend(["-t", target])
+        completed = subprocess.run(args, capture_output=True)
+        if completed.returncode != 0:
+            return completed.returncode, completed.stderr
+
+        modules_list = []
+        module_lines = completed.stdout.decode().strip().split("\n")
+        for module_line in module_lines:
+            args = module_line.split(" ")
+            module_path = args[0]
+            module = utils.remove_prefix(args[0], os.path.join(utils.CONF_DIR, "modules/"))
+            module = utils.remove_suffix(module, ".xml")
+            module_type = args[1] if len(args) > 1 else "_"
+            modules_list.append((module, module_type))
+        return modules_list

sw/supervision/python/generated/ui_app_settings.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'ui/app_settings.ui'
+# Form implementation generated from reading ui file 'ui/ui_app_settings.ui'
 #
 # Created by: PyQt5 UI code generator 5.14.1
 #

sw/supervision/python/generated/ui_build.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'ui/build.ui'
+# Form implementation generated from reading ui file 'ui/ui_build.ui'
 #
 # Created by: PyQt5 UI code generator 5.14.1
 #

sw/supervision/python/generated/ui_conf_header.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'ui/conf_header.ui'
+# Form implementation generated from reading ui file 'ui/ui_conf_header.ui'
 #
 # Created by: PyQt5 UI code generator 5.14.1
 #

sw/supervision/python/generated/ui_conf_item.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'ui/conf_item.ui'
+# Form implementation generated from reading ui file 'ui/ui_conf_item.ui'
 #
 # Created by: PyQt5 UI code generator 5.14.1
 #

sw/supervision/python/generated/ui_conf_settings.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'ui/conf_settings.ui'
+# Form implementation generated from reading ui file 'ui/ui_conf_settings.ui'
 #
 # Created by: PyQt5 UI code generator 5.14.1
 #

sw/supervision/python/generated/ui_configuration_panel.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'ui/configuration_panel.ui'
+# Form implementation generated from reading ui file 'ui/ui_configuration_panel.ui'
 #
 # Created by: PyQt5 UI code generator 5.14.1
 #
@@ -16,19 +16,6 @@ class Ui_ConfigurationPanel(object):
         ConfigurationPanel.resize(562, 480)
         self.verticalLayout_2 = QtWidgets.QVBoxLayout(ConfigurationPanel)
         self.verticalLayout_2.setObjectName("verticalLayout_2")
-        self.header = HeaderWidget(ConfigurationPanel)
-        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Fixed)
-        sizePolicy.setHorizontalStretch(0)
-        sizePolicy.setVerticalStretch(0)
-        sizePolicy.setHeightForWidth(self.header.sizePolicy().hasHeightForWidth())
-        self.header.setSizePolicy(sizePolicy)
-        self.header.setObjectName("header")
-        self.verticalLayout_2.addWidget(self.header)
-        self.line = QtWidgets.QFrame(ConfigurationPanel)
-        self.line.setFrameShape(QtWidgets.QFrame.HLine)
-        self.line.setFrameShadow(QtWidgets.QFrame.Sunken)
-        self.line.setObjectName("line")
-        self.verticalLayout_2.addWidget(self.line)
         self.splitter = QtWidgets.QSplitter(ConfigurationPanel)
         self.splitter.setOrientation(QtCore.Qt.Horizontal)
         self.splitter.setObjectName("splitter")
@@ -74,4 +61,3 @@ class Ui_ConfigurationPanel(object):
 from build_widget import BuildWidget
 from conf_widget import ConfWidget
 from console_widget import ConsoleWidget
-from header_widget import HeaderWidget

sw/supervision/python/generated/ui_console.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'ui/console.ui'
+# Form implementation generated from reading ui file 'ui/ui_console.ui'
 #
 # Created by: PyQt5 UI code generator 5.14.1
 #

sw/supervision/python/generated/ui_doc_viewer.py

@@ -0,0 +1,142 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'ui/ui_doc_viewer.ui'
+#
+# Created by: PyQt5 UI code generator 5.14.1
+#
+# WARNING! All changes made in this file will be lost!
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+
+
+class Ui_DocPanel(object):
+    def setupUi(self, DocPanel):
+        DocPanel.setObjectName("DocPanel")
+        DocPanel.resize(654, 658)
+        self.verticalLayout_5 = QtWidgets.QVBoxLayout(DocPanel)
+        self.verticalLayout_5.setObjectName("verticalLayout_5")
+        self.splitter_2 = QtWidgets.QSplitter(DocPanel)
+        self.splitter_2.setOrientation(QtCore.Qt.Horizontal)
+        self.splitter_2.setObjectName("splitter_2")
+        self.conf = QtWidgets.QWidget(self.splitter_2)
+        self.conf.setLayoutDirection(QtCore.Qt.LeftToRight)
+        self.conf.setObjectName("conf")
+        self.verticalLayout = QtWidgets.QVBoxLayout(self.conf)
+        self.verticalLayout.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout.setObjectName("verticalLayout")
+        self.verticalLayout_4 = QtWidgets.QVBoxLayout()
+        self.verticalLayout_4.setObjectName("verticalLayout_4")
+        self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_2.setObjectName("horizontalLayout_2")
+        self.label_4 = QtWidgets.QLabel(self.conf)
+        sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Fixed, QtWidgets.QSizePolicy.Preferred)
+        sizePolicy.setHorizontalStretch(0)
+        sizePolicy.setVerticalStretch(0)
+        sizePolicy.setHeightForWidth(self.label_4.sizePolicy().hasHeightForWidth())
+        self.label_4.setSizePolicy(sizePolicy)
+        self.label_4.setObjectName("label_4")
+        self.horizontalLayout_2.addWidget(self.label_4)
+        self.target_combo = QtWidgets.QComboBox(self.conf)
+        self.target_combo.setObjectName("target_combo")
+        self.horizontalLayout_2.addWidget(self.target_combo)
+        self.verticalLayout_4.addLayout(self.horizontalLayout_2)
+        self.searchLineEdit = QtWidgets.QLineEdit(self.conf)
+        self.searchLineEdit.setClearButtonEnabled(True)
+        self.searchLineEdit.setObjectName("searchLineEdit")
+        self.verticalLayout_4.addWidget(self.searchLineEdit)
+        self.verticalLayout.addLayout(self.verticalLayout_4)
+        self.momo = QtWidgets.QWidget(self.conf)
+        self.momo.setObjectName("momo")
+        self.verticalLayout_8 = QtWidgets.QVBoxLayout(self.momo)
+        self.verticalLayout_8.setObjectName("verticalLayout_8")
+        self.splitter = QtWidgets.QSplitter(self.momo)
+        self.splitter.setOrientation(QtCore.Qt.Vertical)
+        self.splitter.setObjectName("splitter")
+        self.layoutWidget = QtWidgets.QWidget(self.splitter)
+        self.layoutWidget.setObjectName("layoutWidget")
+        self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.layoutWidget)
+        self.verticalLayout_3.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_3.setObjectName("verticalLayout_3")
+        self.label = QtWidgets.QLabel(self.layoutWidget)
+        self.label.setObjectName("label")
+        self.verticalLayout_3.addWidget(self.label)
+        self.modules_list = QtWidgets.QListWidget(self.layoutWidget)
+        self.modules_list.setObjectName("modules_list")
+        self.verticalLayout_3.addWidget(self.modules_list)
+        self.layoutWidget1 = QtWidgets.QWidget(self.splitter)
+        self.layoutWidget1.setObjectName("layoutWidget1")
+        self.verticalLayout_6 = QtWidgets.QVBoxLayout(self.layoutWidget1)
+        self.verticalLayout_6.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_6.setObjectName("verticalLayout_6")
+        self.label_2 = QtWidgets.QLabel(self.layoutWidget1)
+        self.label_2.setObjectName("label_2")
+        self.verticalLayout_6.addWidget(self.label_2)
+        self.depends_modules_list = QtWidgets.QListWidget(self.layoutWidget1)
+        self.depends_modules_list.setObjectName("depends_modules_list")
+        self.verticalLayout_6.addWidget(self.depends_modules_list)
+        self.layoutWidget2 = QtWidgets.QWidget(self.splitter)
+        self.layoutWidget2.setObjectName("layoutWidget2")
+        self.verticalLayout_7 = QtWidgets.QVBoxLayout(self.layoutWidget2)
+        self.verticalLayout_7.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_7.setObjectName("verticalLayout_7")
+        self.label_3 = QtWidgets.QLabel(self.layoutWidget2)
+        self.label_3.setObjectName("label_3")
+        self.verticalLayout_7.addWidget(self.label_3)
+        self.unloaded_modules_list = QtWidgets.QListWidget(self.layoutWidget2)
+        self.unloaded_modules_list.setObjectName("unloaded_modules_list")
+        self.verticalLayout_7.addWidget(self.unloaded_modules_list)
+        self.verticalLayout_8.addWidget(self.splitter)
+        self.verticalLayout.addWidget(self.momo)
+        self.verticalLayout.setStretch(1, 1)
+        self.layoutWidget3 = QtWidgets.QWidget(self.splitter_2)
+        self.layoutWidget3.setObjectName("layoutWidget3")
+        self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.layoutWidget3)
+        self.verticalLayout_2.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout_2.setObjectName("verticalLayout_2")
+        self.horizontalLayout = QtWidgets.QHBoxLayout()
+        self.horizontalLayout.setObjectName("horizontalLayout")
+        self.backButton = QtWidgets.QPushButton(self.layoutWidget3)
+        self.backButton.setText("")
+        icon = QtGui.QIcon.fromTheme("go-previous")
+        self.backButton.setIcon(icon)
+        self.backButton.setObjectName("backButton")
+        self.horizontalLayout.addWidget(self.backButton)
+        self.urlLineEdit = QtWidgets.QLineEdit(self.layoutWidget3)
+        self.urlLineEdit.setObjectName("urlLineEdit")
+        self.horizontalLayout.addWidget(self.urlLineEdit)
+        self.open_browser_button = QtWidgets.QToolButton(self.layoutWidget3)
+        icon = QtGui.QIcon.fromTheme("applications-internet")
+        self.open_browser_button.setIcon(icon)
+        self.open_browser_button.setObjectName("open_browser_button")
+        self.horizontalLayout.addWidget(self.open_browser_button)
+        self.doc_source_combo = QtWidgets.QComboBox(self.layoutWidget3)
+        self.doc_source_combo.setObjectName("doc_source_combo")
+        self.doc_source_combo.addItem("")
+        self.doc_source_combo.addItem("")
+        self.horizontalLayout.addWidget(self.doc_source_combo)
+        self.verticalLayout_2.addLayout(self.horizontalLayout)
+        self.webView = QtWebKitWidgets.QWebView(self.layoutWidget3)
+        self.webView.setUrl(QtCore.QUrl("about:blank"))
+        self.webView.setObjectName("webView")
+        self.verticalLayout_2.addWidget(self.webView)
+        self.verticalLayout_5.addWidget(self.splitter_2)
+
+        self.retranslateUi(DocPanel)
+        QtCore.QMetaObject.connectSlotsByName(DocPanel)
+
+    def retranslateUi(self, DocPanel):
+        _translate = QtCore.QCoreApplication.translate
+        DocPanel.setWindowTitle(_translate("DocPanel", "Form"))
+        self.label_4.setText(_translate("DocPanel", "Target:"))
+        self.searchLineEdit.setPlaceholderText(_translate("DocPanel", "search..."))
+        self.label.setText(_translate("DocPanel", "Modules"))
+        self.label_2.setText(_translate("DocPanel", "Modules Dependencies"))
+        self.label_3.setText(_translate("DocPanel", "Modules Unloaded"))
+        self.backButton.setToolTip(_translate("DocPanel", "Go back"))
+        self.open_browser_button.setToolTip(_translate("DocPanel", "Open in Browser"))
+        self.open_browser_button.setText(_translate("DocPanel", "..."))
+        self.doc_source_combo.setToolTip(_translate("DocPanel", "source"))
+        self.doc_source_combo.setItemText(0, _translate("DocPanel", "Internet"))
+        self.doc_source_combo.setItemText(1, _translate("DocPanel", "Local"))
+from PyQt5 import QtWebKitWidgets

sw/supervision/python/generated/ui_new_ac_dialog.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'ui/new_ac_dialog.ui'
+# Form implementation generated from reading ui file 'ui/ui_new_ac_dialog.ui'
 #
 # Created by: PyQt5 UI code generator 5.14.1
 #
@@ -10,38 +10,38 @@
 from PyQt5 import QtCore, QtGui, QtWidgets
 
 
-class Ui_Dialog(object):
+class Ui_NewACDialog(object):
-    def setupUi(self, Dialog):
+    def setupUi(self, NewACDialog):
-        Dialog.setObjectName("Dialog")
+        NewACDialog.setObjectName("NewACDialog")
-        Dialog.resize(187, 106)
+        NewACDialog.resize(187, 106)
-        self.gridLayout = QtWidgets.QGridLayout(Dialog)
+        self.gridLayout = QtWidgets.QGridLayout(NewACDialog)
         self.gridLayout.setObjectName("gridLayout")
-        self.label = QtWidgets.QLabel(Dialog)
+        self.label = QtWidgets.QLabel(NewACDialog)
         self.label.setObjectName("label")
         self.gridLayout.addWidget(self.label, 0, 0, 1, 1)
-        self.name_edit = QtWidgets.QLineEdit(Dialog)
+        self.name_edit = QtWidgets.QLineEdit(NewACDialog)
         self.name_edit.setPlaceholderText("")
         self.name_edit.setObjectName("name_edit")
         self.gridLayout.addWidget(self.name_edit, 0, 1, 1, 1)
-        self.label_2 = QtWidgets.QLabel(Dialog)
+        self.label_2 = QtWidgets.QLabel(NewACDialog)
         self.label_2.setObjectName("label_2")
         self.gridLayout.addWidget(self.label_2, 1, 0, 1, 1)
-        self.id_spinbox = QtWidgets.QSpinBox(Dialog)
+        self.id_spinbox = QtWidgets.QSpinBox(NewACDialog)
         self.id_spinbox.setMinimum(1)
         self.id_spinbox.setMaximum(255)
         self.id_spinbox.setObjectName("id_spinbox")
         self.gridLayout.addWidget(self.id_spinbox, 1, 1, 1, 1)
-        self.buttonBox = QtWidgets.QDialogButtonBox(Dialog)
+        self.buttonBox = QtWidgets.QDialogButtonBox(NewACDialog)
         self.buttonBox.setOrientation(QtCore.Qt.Horizontal)
         self.buttonBox.setStandardButtons(QtWidgets.QDialogButtonBox.Cancel|QtWidgets.QDialogButtonBox.Ok)
         self.buttonBox.setObjectName("buttonBox")
         self.gridLayout.addWidget(self.buttonBox, 2, 0, 1, 2)
 
-        self.retranslateUi(Dialog)
+        self.retranslateUi(NewACDialog)
-        QtCore.QMetaObject.connectSlotsByName(Dialog)
+        QtCore.QMetaObject.connectSlotsByName(NewACDialog)
 
-    def retranslateUi(self, Dialog):
+    def retranslateUi(self, NewACDialog):
         _translate = QtCore.QCoreApplication.translate
-        Dialog.setWindowTitle(_translate("Dialog", "Dialog"))
+        NewACDialog.setWindowTitle(_translate("NewACDialog", "Aircraft"))
-        self.label.setText(_translate("Dialog", "Name"))
+        self.label.setText(_translate("NewACDialog", "Name"))
-        self.label_2.setText(_translate("Dialog", "ID"))
+        self.label_2.setText(_translate("NewACDialog", "ID"))

sw/supervision/python/generated/ui_operation_panel.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'ui/operation_panel.ui'
+# Form implementation generated from reading ui file 'ui/ui_operation_panel.ui'
 #
 # Created by: PyQt5 UI code generator 5.14.1
 #

sw/supervision/python/generated/ui_program.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'ui/program.ui'
+# Form implementation generated from reading ui file 'ui/ui_program.ui'
 #
 # Created by: PyQt5 UI code generator 5.14.1
 #

sw/supervision/python/generated/ui_session.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'ui/session.ui'
+# Form implementation generated from reading ui file 'ui/ui_session.ui'
 #
 # Created by: PyQt5 UI code generator 5.14.1
 #

sw/supervision/python/generated/ui_supervision_window.py

@@ -0,0 +1,74 @@
+# -*- coding: utf-8 -*-
+
+# Form implementation generated from reading ui file 'ui/ui_supervision_window.ui'
+#
+# Created by: PyQt5 UI code generator 5.14.1
+#
+# WARNING! All changes made in this file will be lost!
+
+
+from PyQt5 import QtCore, QtGui, QtWidgets
+
+
+class Ui_SupervisionWindow(object):
+    def setupUi(self, SupervisionWindow):
+        SupervisionWindow.setObjectName("SupervisionWindow")
+        SupervisionWindow.resize(800, 600)
+        self.centralwidget = QtWidgets.QWidget(SupervisionWindow)
+        self.centralwidget.setObjectName("centralwidget")
+        self.verticalLayout = QtWidgets.QVBoxLayout(self.centralwidget)
+        self.verticalLayout.setObjectName("verticalLayout")
+        self.header = HeaderWidget(self.centralwidget)
+        self.header.setObjectName("header")
+        self.verticalLayout.addWidget(self.header)
+        self.tabwidget = QtWidgets.QTabWidget(self.centralwidget)
+        self.tabwidget.setObjectName("tabwidget")
+        self.configuration_panel = ConfigurationPanel()
+        self.configuration_panel.setObjectName("configuration_panel")
+        self.tabwidget.addTab(self.configuration_panel, "")
+        self.operation_panel = OperationPanel()
+        self.operation_panel.setObjectName("operation_panel")
+        self.tabwidget.addTab(self.operation_panel, "")
+        self.doc_panel = DocPanel()
+        self.doc_panel.setObjectName("doc_panel")
+        self.tabwidget.addTab(self.doc_panel, "")
+        self.verticalLayout.addWidget(self.tabwidget)
+        SupervisionWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QtWidgets.QMenuBar(SupervisionWindow)
+        self.menubar.setGeometry(QtCore.QRect(0, 0, 800, 22))
+        self.menubar.setObjectName("menubar")
+        self.menuFile = QtWidgets.QMenu(self.menubar)
+        self.menuFile.setObjectName("menuFile")
+        self.menuHelp = QtWidgets.QMenu(self.menubar)
+        self.menuHelp.setObjectName("menuHelp")
+        SupervisionWindow.setMenuBar(self.menubar)
+        self.statusbar = QtWidgets.QStatusBar(SupervisionWindow)
+        self.statusbar.setObjectName("statusbar")
+        SupervisionWindow.setStatusBar(self.statusbar)
+        self.settings_action = QtWidgets.QAction(SupervisionWindow)
+        self.settings_action.setObjectName("settings_action")
+        self.about_action = QtWidgets.QAction(SupervisionWindow)
+        self.about_action.setObjectName("about_action")
+        self.menuFile.addAction(self.settings_action)
+        self.menuHelp.addAction(self.about_action)
+        self.menubar.addAction(self.menuFile.menuAction())
+        self.menubar.addAction(self.menuHelp.menuAction())
+
+        self.retranslateUi(SupervisionWindow)
+        self.tabwidget.setCurrentIndex(0)
+        QtCore.QMetaObject.connectSlotsByName(SupervisionWindow)
+
+    def retranslateUi(self, SupervisionWindow):
+        _translate = QtCore.QCoreApplication.translate
+        SupervisionWindow.setWindowTitle(_translate("SupervisionWindow", "Paparazzi Center"))
+        self.tabwidget.setTabText(self.tabwidget.indexOf(self.configuration_panel), _translate("SupervisionWindow", "Configuration"))
+        self.tabwidget.setTabText(self.tabwidget.indexOf(self.operation_panel), _translate("SupervisionWindow", "Operation"))
+        self.tabwidget.setTabText(self.tabwidget.indexOf(self.doc_panel), _translate("SupervisionWindow", "Documentation"))
+        self.menuFile.setTitle(_translate("SupervisionWindow", "File"))
+        self.menuHelp.setTitle(_translate("SupervisionWindow", "Help"))
+        self.settings_action.setText(_translate("SupervisionWindow", "Edit Settings"))
+        self.about_action.setText(_translate("SupervisionWindow", "About"))
+from configuration_panel import ConfigurationPanel
+from doc_panel import DocPanel
+from header_widget import HeaderWidget
+from operation_panel import OperationPanel

sw/supervision/python/generated/ui_tools_list.py

@@ -1,6 +1,6 @@
 # -*- coding: utf-8 -*-
 
-# Form implementation generated from reading ui file 'ui/tools_list.ui'
+# Form implementation generated from reading ui file 'ui/ui_tools_list.ui'
 #
 # Created by: PyQt5 UI code generator 5.14.1
 #

sw/supervision/python/header_widget.py

@@ -3,53 +3,95 @@
 from PyQt5.QtWidgets import *
 from PyQt5 import QtCore, QtGui, QtWidgets
 from generated.ui_conf_header import Ui_ConfHeader
-import conf
+from conf import Aircraft, Conf
+import utils
+import os
+import sys
+lib_path = os.path.normpath(os.path.join(utils.PAPARAZZI_SRC, 'sw', 'lib', 'python'))
+sys.path.append(lib_path)
+import paparazzi
+from typing import List
 
 
 class HeaderWidget(QWidget, Ui_ConfHeader):
 
     set_changed = QtCore.pyqtSignal(str)
     ac_changed = QtCore.pyqtSignal(str)
-    id_changed = QtCore.pyqtSignal(int)
+    ac_edited = QtCore.pyqtSignal(Aircraft)
+    ac_rename = QtCore.pyqtSignal(Aircraft)
+    ac_delete = QtCore.pyqtSignal(Aircraft)
+    ac_duplicate = QtCore.pyqtSignal(Aircraft)
+    ac_save = QtCore.pyqtSignal(Aircraft)
+    ac_new = QtCore.pyqtSignal()
 
     def __init__(self, parent=None):
         QWidget.__init__(self, parent=parent)
         self.setupUi(self)
+        self.currentAc: Aircraft = None
         self.set_combo.currentTextChanged.connect(self.set_changed)
         self.ac_combo.currentTextChanged.connect(self.ac_changed)
-        self.id_spinBox.valueChanged.connect(self.id_changed)
+        self.id_spinBox.valueChanged.connect(self.handle_id_changed)
-        self.menu_button.addAction(self.rename_action)
-        self.menu_button.addAction(self.new_ac_action)
-        self.menu_button.addAction(self.duplicate_action)
-        self.menu_button.addAction(self.remove_ac_action)
 
-    def set_sets(self, sets, conf_init: str = None):
+        self.refresh_button.clicked.connect(lambda: self.ac_edited.emit(self.currentAc))
+        self.color_button.clicked.connect(self.change_color)
+        self.save_button.clicked.connect(lambda: self.ac_save.emit(self.currentAc))
+
+        self.menu_button.addAction(self.rename_action)
+        self.rename_action.triggered.connect(lambda: self.ac_rename.emit(self.currentAc))
+        self.menu_button.addAction(self.remove_ac_action)
+        self.remove_ac_action.triggered.connect(lambda: self.ac_delete.emit(self.currentAc))
+        self.menu_button.addAction(self.duplicate_action)
+        self.duplicate_action.triggered.connect(lambda: self.ac_duplicate.emit(self.currentAc))
+        self.menu_button.addAction(self.new_ac_action)
+        self.new_ac_action.triggered.connect(self.ac_new)
+
+    def handle_id_changed(self, new_id):
+        self.currentAc.ac_id = new_id
+        self.ac_edited.emit(self.currentAc)
+
+    def update_sets(self):
+        sets = paparazzi.get_list_of_conf_files()
+        conf_init = Conf.get_current_conf()
         self.set_combo.addItems(sets)
         if conf_init in sets:
             self.set_combo.setCurrentText(conf_init)
 
-    def set_acs(self, acs):
+    def set_acs(self, acs: List[str]):
         self.ac_combo.clear()
         self.ac_combo.addItems(acs)
 
-    def set_ac(self, ac: conf.Aircraft):
+    def set_ac(self, ac: Aircraft):
+        self.currentAc = ac
+        self.id_spinBox.blockSignals(True)
         self.id_spinBox.setValue(ac.ac_id)
-        self.set_color(ac.get_color())
+        self.id_spinBox.blockSignals(False)
+        self.color_button.setStyleSheet("background-color: {};".format(ac.get_color()))
+        self.ac_combo.setCurrentText(ac.name)
 
-    def remove_current(self):
+    def add_ac(self, ac: Aircraft):
-        i = self.ac_combo.currentIndex()
+        self.ac_combo.addItem(ac.name)
-        self.ac_combo.removeItem(i)
 
-    def set_current(self, ac_name):
+    def remove_ac(self, ac):
-        self.ac_combo.setCurrentText(ac_name)
+        for i in range(self.ac_combo.count()):
-
+            if self.ac_combo.itemText(i) == ac.name:
-    def add_ac(self, ac_name):
+                self.ac_combo.removeItem(i)
-        self.ac_combo.addItem(ac_name)
+                break
-        self.set_current(ac_name)
 
     def rename_ac(self, new_name):
         i = self.ac_combo.currentIndex()
         self.ac_combo.setItemText(i, new_name)
 
-    def set_color(self, color: str):
+    def change_color(self):
-        self.color_button.setStyleSheet("background-color: {};".format(color))
+        initial = QtGui.QColor(self.currentAc.get_color())
+        color = QColorDialog.getColor(initial, self, "AC color")
+        if color.isValid():
+            color_name = color.name()
+            self.currentAc.set_color(color_name)
+            self.color_button.setStyleSheet("background-color: {};".format(color_name))
+            self.ac_edited.emit(self.currentAc)
+
+    def disable_sets(self):
+        self.set_combo.setDisabled(True)
+
+    def enable_sets(self):
+        self.set_combo.setDisabled(False)

sw/supervision/python/paparazzicenter.py

@@ -2,92 +2,244 @@
 # Copyright (C) 2008-2022 The Paparazzi Team
 # released under GNU GPLv2 or later. See COPYING file.
 import os
-import conf
+import sys
+import signal
+import copy
 from PyQt5.QtWidgets import *
 from PyQt5 import QtCore, QtGui
-from configuration_panel import ConfigurationPanel
-from operation_panel import OperationPanel
 import utils
-from typing import Dict
 from lxml import etree as ET
+from conf import Conf, Aircraft
 from app_settings import AppSettings
+from generated.ui_supervision_window import Ui_SupervisionWindow
+from generated.ui_new_ac_dialog import Ui_NewACDialog
 
 
-class PprzCenter(QMainWindow):
+class PprzCenter(QMainWindow, Ui_SupervisionWindow):
     def __init__(self, parent=None):
         QMainWindow.__init__(self, parent=parent)
-        self.setWindowTitle("Paparazzi Center")
+        self.setupUi(self)
+        self.conf: Conf = None
+        self.currentAc: Aircraft = None
         icon = QtGui.QIcon(os.path.join(utils.PAPARAZZI_HOME, "data", "pictures", "penguin_logo.svg"))
         self.setWindowIcon(icon)
-        self.addMenu()
+
-        self.tabwidget = QTabWidget(parent=self)
+        self.settings_action.triggered.connect(self.edit_settings)
-        self.setCentralWidget(self.tabwidget)
+        self.about_action.triggered.connect(lambda: QMessageBox.about(self, "About Paparazzi", utils.ABOUT_TEXT))
-        self.configuration_panel = ConfigurationPanel(self.tabwidget)
+
-        self.operation_panel = OperationPanel(self.tabwidget)
-        self.tabwidget.addTab(self.configuration_panel, "Configuration")
-        self.tabwidget.addTab(self.operation_panel, "Operation")
         self.status_msg = QLabel()
         self.statusBar().addWidget(self.status_msg)
         self.fill_status_bar()
-        self.statusBar().show()
+
-        self.configuration_panel.msg_error.connect(self.handle_error)
+        self.header.set_changed.connect(self.handle_set_changed)
-        self.configuration_panel.clear_error.connect(self.clear_error)
+        self.header.ac_changed.connect(self.handle_ac_changed)
-        self.operation_panel.session.program_spawned.connect(self.configuration_panel.disable_sets)
+        self.header.ac_edited.connect(self.handle_ac_edited)
-        self.operation_panel.session.programs_all_stopped.connect(self.configuration_panel.enable_sets)
+        self.header.ac_rename.connect(self.handle_rename_ac)
-        self.configuration_panel.ac_changed.connect(self.operation_panel.session.set_aircraft)
+        self.header.ac_delete.connect(self.handle_remove_ac)
+        self.header.ac_duplicate.connect(self.handle_new_ac)
+        self.header.ac_save.connect(lambda _: self.conf.save())
+        self.header.ac_new.connect(self.handle_new_ac)
+
+        self.operation_panel.session.program_spawned.connect(self.header.disable_sets)
+        self.operation_panel.session.programs_all_stopped.connect(self.header.enable_sets)
+
         self.configuration_panel.splitter.splitterMoved.connect(self.update_left_pane_width)
         settings = utils.get_settings()
         window_size = settings.value("ui/window_size", QtCore.QSize(1000, 600), QtCore.QSize)
         self.resize(window_size)
         self.configuration_panel.init()
         self.operation_panel.session.init()
+        self.header.update_sets()
 
-    def addMenu(self):
+    def handle_set_changed(self, conf_file):
-        menubar = QMenuBar()
+        self.conf = Conf(conf_file)
-        file_menu = QMenu("&File", menubar)
+        Conf.set_current_conf(conf_file)
-        help_menu = QMenu("&Help", menubar)
+        self.configuration_panel.build_widget.set_conf(self.conf)
-        menubar.addMenu(file_menu)
+        acs = [ac.name for ac in self.conf.aircrafts]
-        menubar.addMenu(help_menu)
+        self.header.set_acs(acs)
-        settings_action = QAction("&Edit Settings", file_menu)
-        file_menu.addAction(settings_action)
-        about_action = QAction("&About", help_menu)
-        help_menu.addAction(about_action)
 
-        def edit_settings():
+        # set last AC as current if it exits in the current conf
-            settings_dialog = AppSettings(self)
+        settings = utils.get_settings()
-            settings_dialog.show()
+        last_ac: QtCore.QVariant = settings.value("ui/last_AC", None, str)
-        settings_action.triggered.connect(edit_settings)
+        if last_ac in acs:
-        about_action.triggered.connect(lambda: QMessageBox.about(self, "About Paparazzi", utils.ABOUT_TEXT))
+            self.handle_ac_changed(last_ac)
+        last_target: QtCore.QVariant = settings.value("ui/last_target", None, str)
+        if last_target:
+            self.configuration_panel.build_widget.target_combo.setCurrentText(last_target)
 
-        self.setMenuBar(menubar)
+    def handle_ac_edited(self, ac: Aircraft):
+        # check AC ID
+        if len(self.conf.get_all(ac.ac_id)) > 1:
+            self.header.id_spinBox.setStyleSheet("background-color: red;")
+        else:
+            self.header.id_spinBox.setStyleSheet("background-color: white;")
+        # update ac, then update all widgets
+        status, stderr = ac.update()
+        if status != 0:
+            self.handle_error(stderr.decode().strip())
+        else:
+            self.clear_error()
+            pass
+        self.change_ac(ac)
 
-    def closeEvent(self, e: QtGui.QCloseEvent) -> None:
+    def handle_ac_changed(self, ac_name):
+        ac = self.conf[ac_name]
+        if ac is not None:
+            # self.handle_ac_edited(ac)     # update AC ?
+            self.change_ac(ac)
+
+    def handle_remove_ac(self, ac: Aircraft):
+        button = QMessageBox.question(self, "Remove AC", "Remove AC <strong>{}</strong>?".format(ac.name))
+        if button == QMessageBox.Yes:
+            self.conf.remove(ac)
+            self.header.remove_ac(ac)
+
+    def handle_new_ac(self, orig: Aircraft = None):
+        if orig is None:
+            orig = Aircraft()
+
+        ui_dialog = Ui_NewACDialog()
+        dialog = QDialog(parent=self)
+        ui_dialog.setupUi(dialog)
+
+        def verify():
+            ok = True
+            id = ui_dialog.id_spinbox.value()
+            name = ui_dialog.name_edit.text()
+            if self.conf[id] is not None or id == 0:
+                ui_dialog.id_spinbox.setStyleSheet("background-color: red;")
+                ok = False
+            else:
+                ui_dialog.id_spinbox.setStyleSheet("")
+
+            if self.conf[name] is not None or name == "":
+                ui_dialog.name_edit.setStyleSheet("background-color: red;")
+                ok = False
+            else:
+                ui_dialog.name_edit.setStyleSheet("")
+
+            return ok
+
+        def accept():
+            if verify():
+                dialog.accept()
+
+        def reject():
+            dialog.reject()
+
+        def duplicate(result):
+            if result:
+                new_ac = copy.deepcopy(orig)
+                name = ui_dialog.name_edit.text()
+                ac_id = ui_dialog.id_spinbox.value()
+                new_ac.name = name
+                new_ac.ac_id = ac_id
+                self.conf.append(new_ac)
+                self.header.add_ac(new_ac)
+                self.change_ac(new_ac)
+
+        ui_dialog.id_spinbox.setValue(self.conf.get_free_id())
+        ui_dialog.buttonBox.accepted.connect(accept)
+        ui_dialog.buttonBox.rejected.connect(reject)
+        ui_dialog.id_spinbox.valueChanged.connect(verify)
+        ui_dialog.name_edit.textChanged.connect(verify)
+        dialog.finished.connect(duplicate)
+        dialog.open()
+
+    def change_ac(self, ac):
+        self.currentAc = ac
+        self.header.set_ac(ac)
+        self.configuration_panel.set_ac(ac)
+        self.operation_panel.session.set_aircraft(ac)
+        self.doc_panel.set_aircraft(ac)
+
+    def handle_rename_ac(self, orig: Aircraft):
+        ui_dialog = Ui_NewACDialog()
+        dialog = QDialog(parent=self)
+        ui_dialog.setupUi(dialog)
+        ui_dialog.name_edit.setText(orig.name)
+        ui_dialog.id_spinbox.setValue(orig.ac_id)
+
+        def verify():
+            ok = True
+            id = ui_dialog.id_spinbox.value()
+            name = ui_dialog.name_edit.text()
+
+            acs_name = self.conf.get_all(name)
+            if len(acs_name) > 1 or (len(acs_name) == 1 and acs_name[0] != orig):
+                ui_dialog.name_edit.setStyleSheet("background-color: red;")
+                ok = False
+            else:
+                ui_dialog.name_edit.setStyleSheet("")
+
+            acs_id = self.conf.get_all(id)
+            if len(acs_id) > 1 or (len(acs_id) == 1 and acs_id[0] != orig):
+                ui_dialog.id_spinbox.setStyleSheet("background-color: red;")
+                ok = False
+            else:
+                ui_dialog.id_spinbox.setStyleSheet("")
+
+            return ok
+
+        def accept():
+            if verify():
+                dialog.accept()
+
+        def reject():
+            dialog.reject()
+
+        def rename(result):
+            if result:
+                orig.name = ui_dialog.name_edit.text()
+                orig.ac_id = ui_dialog.id_spinbox.value()
+                self.header.rename_ac(orig.name)
+
+        ui_dialog.buttonBox.accepted.connect(accept)
+        ui_dialog.buttonBox.rejected.connect(reject)
+        ui_dialog.id_spinbox.valueChanged.connect(verify)
+        ui_dialog.name_edit.textChanged.connect(verify)
+        dialog.finished.connect(rename)
+        dialog.open()
+
+    def edit_settings(self):
+        settings_dialog = AppSettings(self)
+        settings_dialog.show()
+
+    def quit(self, interactive=True):
+        quit_accepted = True
         if self.operation_panel.session.any_program_running():
+            quit_accepted = False
             self.operation_panel.session.programs_all_stopped.connect(self.close)
             self.operation_panel.session.stop_all()
-            e.ignore()
             self.operation_panel.session.programs_all_stopped.connect(self.close)
         else:
+            restore_conf = True
             if utils.get_settings().value("always_keep_changes", False, bool):
-                self.configuration_panel.conf.save()
+                restore_conf = False
             else:
-                conf_tree_orig = self.configuration_panel.conf.tree_orig
+                conf_tree_orig = self.conf.tree_orig
-                conf_tree = self.configuration_panel.conf.to_xml_tree()
+                conf_tree = self.conf.to_xml_tree()
-                if ET.tostring(conf_tree) != ET.tostring(conf_tree_orig):
+                if ET.tostring(conf_tree) != ET.tostring(conf_tree_orig) and interactive:
                     buttons = QMessageBox.question(self, "Save configuration?",
                                                    "The configuration has changed, do you want to save it?")
                     if buttons == QMessageBox.Yes:
-                        self.configuration_panel.conf.save()
+                        restore_conf = False
-                    else:
+            if restore_conf:
-                        self.configuration_panel.conf.restore_conf()
+                self.conf.restore_conf()
-                        self.configuration_panel.conf.save()
+            self.conf.save()
             self.save_gconf()
+        return quit_accepted
+
+    def closeEvent(self, e: QtGui.QCloseEvent) -> None:
+        if self.quit():
             e.accept()
+        else:
+            e.ignore()
 
     def save_gconf(self):
         settings = utils.get_settings()
         settings.setValue("ui/window_size", self.size())
-        settings.setValue("ui/last_AC", self.configuration_panel.get_current_ac())
+        settings.setValue("ui/last_AC", self.currentAc.name)
         settings.setValue("ui/last_session", self.operation_panel.session.get_current_session())
 
     def update_left_pane_width(self, pos, index):
@@ -119,10 +271,24 @@ class PprzCenter(QMainWindow):
 
 
 if __name__ == "__main__":
-    import sys
+
     app = QApplication(sys.argv)
+
+    timer = QtCore.QTimer()
+    timer.start(100)
+    timer.timeout.connect(lambda: None)  # Let the interpreter run each 100 ms.
+
     main_window = PprzCenter()
     main_window.show()
     # qApp.aboutToQuit.connect(main_window.quit)
-    sys.exit(app.exec_())
 
+    def sigint_handler(*args):
+        """Handler for the SIGINT signal."""
+        print("catched SIGINT")
+        sys.stderr.write('\r')
+        if main_window.quit(False):
+            QApplication.quit()
+
+    signal.signal(signal.SIGINT, sigint_handler)
+
+    sys.exit(app.exec_())

sw/supervision/python/session_widget.py

@@ -215,6 +215,8 @@ class SessionWidget(QWidget, Ui_Session):
                 return
         programs = self.get_programs()
         session = Session(session_name, programs)
+        self.sessions_combo.addItem(session_name)
+        self.sessions_combo.setCurrentText(session_name)
         self.sessions.append(session)
         self.save_sessions()
 

sw/supervision/python/ui/ui_configuration_panel.ui

@@ -14,23 +14,6 @@
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
-   <item>
-    <widget class="HeaderWidget" name="header" native="true">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="Line" name="line">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-    </widget>
-   </item>
    <item>
     <widget class="QSplitter" name="splitter">
      <property name="orientation">
@@ -96,12 +79,6 @@
    <header>build_widget.h</header>
    <container>1</container>
   </customwidget>
-  <customwidget>
-   <class>HeaderWidget</class>
-   <extends>QWidget</extends>
-   <header>header_widget.h</header>
-   <container>1</container>
-  </customwidget>
   <customwidget>
    <class>ConsoleWidget</class>
    <extends>QWidget</extends>

sw/supervision/python/ui/ui_doc_viewer.ui

@@ -0,0 +1,196 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DocPanel</class>
+ <widget class="QWidget" name="DocPanel">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>654</width>
+    <height>658</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_5">
+   <item>
+    <widget class="QSplitter" name="splitter_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <widget class="QWidget" name="conf" native="true">
+      <property name="layoutDirection">
+       <enum>Qt::LeftToRight</enum>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout" stretch="0,1">
+       <item>
+        <layout class="QVBoxLayout" name="verticalLayout_4">
+         <item>
+          <layout class="QHBoxLayout" name="horizontalLayout_2">
+           <item>
+            <widget class="QLabel" name="label_4">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>Target:</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QComboBox" name="target_combo"/>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <widget class="QLineEdit" name="searchLineEdit">
+           <property name="placeholderText">
+            <string>search...</string>
+           </property>
+           <property name="clearButtonEnabled">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <widget class="QWidget" name="momo" native="true">
+         <layout class="QVBoxLayout" name="verticalLayout_8">
+          <item>
+           <widget class="QSplitter" name="splitter">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <widget class="QWidget" name="layoutWidget">
+             <layout class="QVBoxLayout" name="verticalLayout_3">
+              <item>
+               <widget class="QLabel" name="label">
+                <property name="text">
+                 <string>Modules</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QListWidget" name="modules_list"/>
+              </item>
+             </layout>
+            </widget>
+            <widget class="QWidget" name="layoutWidget">
+             <layout class="QVBoxLayout" name="verticalLayout_6">
+              <item>
+               <widget class="QLabel" name="label_2">
+                <property name="text">
+                 <string>Modules Dependencies</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QListWidget" name="depends_modules_list"/>
+              </item>
+             </layout>
+            </widget>
+            <widget class="QWidget" name="layoutWidget">
+             <layout class="QVBoxLayout" name="verticalLayout_7">
+              <item>
+               <widget class="QLabel" name="label_3">
+                <property name="text">
+                 <string>Modules Unloaded</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <widget class="QListWidget" name="unloaded_modules_list"/>
+              </item>
+             </layout>
+            </widget>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="layoutWidget">
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout">
+         <item>
+          <widget class="QPushButton" name="backButton">
+           <property name="toolTip">
+            <string>Go back</string>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset theme="go-previous">
+             <normaloff>.</normaloff>.</iconset>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QLineEdit" name="urlLineEdit"/>
+         </item>
+         <item>
+          <widget class="QToolButton" name="open_browser_button">
+           <property name="toolTip">
+            <string>Open in Browser</string>
+           </property>
+           <property name="text">
+            <string>...</string>
+           </property>
+           <property name="icon">
+            <iconset theme="applications-internet">
+             <normaloff>.</normaloff>.</iconset>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QComboBox" name="doc_source_combo">
+           <property name="toolTip">
+            <string>source</string>
+           </property>
+           <item>
+            <property name="text">
+             <string>Internet</string>
+            </property>
+           </item>
+           <item>
+            <property name="text">
+             <string>Local</string>
+            </property>
+           </item>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <widget class="QWebView" name="webView">
+         <property name="url">
+          <url>
+           <string>about:blank</string>
+          </url>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>QWebView</class>
+   <extends>QWidget</extends>
+   <header location="global">QtWebKitWidgets/QWebView</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>

sw/supervision/python/ui/ui_new_ac_dialog.ui

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>Dialog</class>
+ <class>NewACDialog</class>
- <widget class="QDialog" name="Dialog">
+ <widget class="QDialog" name="NewACDialog">
   <property name="geometry">
    <rect>
     <x>0</x>
@@ -11,7 +11,7 @@
    </rect>
   </property>
   <property name="windowTitle">
-   <string>Dialog</string>
+   <string>Aircraft</string>
   </property>
   <layout class="QGridLayout" name="gridLayout">
    <item row="0" column="0">

sw/supervision/python/ui/ui_supervision_window.ui

@@ -0,0 +1,109 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>SupervisionWindow</class>
+ <widget class="QMainWindow" name="SupervisionWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>800</width>
+    <height>600</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Paparazzi Center</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <layout class="QVBoxLayout" name="verticalLayout">
+    <item>
+     <widget class="HeaderWidget" name="header" native="true"/>
+    </item>
+    <item>
+     <widget class="QTabWidget" name="tabwidget">
+      <property name="currentIndex">
+       <number>0</number>
+      </property>
+      <widget class="ConfigurationPanel" name="configuration_panel">
+       <attribute name="title">
+        <string>Configuration</string>
+       </attribute>
+      </widget>
+      <widget class="OperationPanel" name="operation_panel">
+       <attribute name="title">
+        <string>Operation</string>
+       </attribute>
+      </widget>
+      <widget class="DocPanel" name="doc_panel">
+       <attribute name="title">
+        <string>Documentation</string>
+       </attribute>
+      </widget>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>800</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <widget class="QMenu" name="menuFile">
+    <property name="title">
+     <string>File</string>
+    </property>
+    <addaction name="settings_action"/>
+   </widget>
+   <widget class="QMenu" name="menuHelp">
+    <property name="title">
+     <string>Help</string>
+    </property>
+    <addaction name="about_action"/>
+   </widget>
+   <addaction name="menuFile"/>
+   <addaction name="menuHelp"/>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+  <action name="settings_action">
+   <property name="text">
+    <string>Edit Settings</string>
+   </property>
+  </action>
+  <action name="about_action">
+   <property name="text">
+    <string>About</string>
+   </property>
+  </action>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>HeaderWidget</class>
+   <extends>QWidget</extends>
+   <header>header_widget.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>ConfigurationPanel</class>
+   <extends>QWidget</extends>
+   <header>configuration_panel.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>OperationPanel</class>
+   <extends>QWidget</extends>
+   <header>operation_panel.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>DocPanel</class>
+   <extends>QWidget</extends>
+   <header>doc_panel.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>

sw/supervision/python/utils.py

@@ -18,12 +18,20 @@ PAPARAZZI_HOME = os.getenv("PAPARAZZI_HOME", PAPARAZZI_SRC)
 CONF_DIR = os.path.join(PAPARAZZI_HOME, "conf/")
 
 
-def removeprefix(string: str, prefix: str, /) -> str:
+def remove_prefix(string: str, prefix: str, /) -> str:
     if string.startswith(prefix):
         return string[len(prefix):]
     else:
         return string[:]
 
+
+def remove_suffix(s: str, suffix: str, /) -> str:
+    if s.endswith(suffix):
+        return s[:-len(suffix)]
+    else:
+        return s
+
+
 # TODO: make it work with shell program such as vim.
 def edit_file(file_path, prefix=CONF_DIR):
     path = prefix + file_path

sw/tools/generators/dump_modules_list.ml

@@ -24,16 +24,24 @@ let (//) = Filename.concat
 let conf_dir = Env.paparazzi_home // "conf"
 let conf_xml_file = conf_dir // "conf.xml"
 
+let letter_of_load_tyoe = function
+  | Aircraft.UserLoad -> "U"
+  | Aircraft.Depend -> "D"
+  | Aircraft.AutoLoad -> "A"
+  | Aircraft.Unloaded -> "N"
+
 let () =
   let ac_name = ref None
   and af_xml = ref None
   and fp_xml = ref None
+  and target = ref None
   and output = ref None in
 
   let options = [
     "-ac", Arg.String (fun x -> ac_name := Some x), "Aircraft name (mandatory)";
     "-af", Arg.String (fun x -> af_xml := Some x), "Airframe XML file (optinal)";
     "-fp", Arg.String (fun x -> fp_xml := Some x), "Flight_plan XML file (optional)";
+    "-t", Arg.String (fun x -> target := Some x), "Target name (optional)";
     "-o", Arg.String (fun x -> output := Some x), "Output file name (stdout if not specified)"
   ] in
   Arg.parse options (fun _ -> ()) "Usage:";
@@ -56,7 +64,15 @@ let () =
   in
 
   let ac = Aircraft.parse_aircraft ~parse_af:true ~parse_ap:true ~parse_fp:true "" aircraft_xml in
-  let modules_filenames = List.map (fun m -> m.Module.xml_filename) ac.Aircraft.all_modules in
+  let modules_filenames = match !target with
+  | None -> List.map (fun m -> m.Module.xml_filename) ac.Aircraft.all_modules
+  | Some t ->
+      try
+        let selected = Hashtbl.find ac.Aircraft.config_by_target t in
+        List.map (fun (load_type, m) -> Printf.sprintf "%s %s" m.Module.xml_filename (letter_of_load_tyoe load_type))
+        selected.Aircraft.modules
+      with Not_found -> failwith "Dump modules: unknown target"
+  in
   let modules_filenames = String.concat "\n" modules_filenames in
 
   match !output with