basic listener of pprz message on a serial port

sw/ground_segment/tmtc/Makefile

@@ -42,6 +42,10 @@ receive.opt : modem.ml receive.ml
 	$(OCAMLOPT) $(INCLUDES) -o $@ str.cmxa unix.cmxa xml-light.cmxa glibivy-ocaml.cmxa -I +lablgtk2 lablgtk.cmxa lib.cmxa $^
 	strip $@
 
+listen.opt : listen.ml
+	$(OCAMLOPT) $(INCLUDES) -o $@ str.cmxa unix.cmxa xml-light.cmxa glibivy-ocaml.cmxa -I +lablgtk2 lablgtk.cmxa lib.cmxa $^
+	strip $@
+
 receive.out : modem.ml receive.ml
 	$(OCAMLC) -g $(INCLUDES) -o $@ str.cma unix.cma xml-light.cma glibivy-ocaml.cma -I +lablgtk2 lablgtk.cma lib.cma $^
 

sw/ground_segment/tmtc/listen.ml

@@ -0,0 +1,69 @@
+(*
+ * $Id$
+ *
+ * Multi aircrafts receiver, logger and broadcaster
+ *  
+ * Copyright (C) 2004 CENA/ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
+open Printf
+
+
+let _ =
+  if Array.length Sys.argv <> 3 then
+    failwith (sprintf "Usage: %s <message class> <port>" Sys.argv.(0));
+
+  let class_name = Sys.argv.(1) in
+
+  let module Tele_Class = struct let name = class_name end in
+  let module Tele_Pprz = Pprz.Protocol(Tele_Class) in
+  let module PprzTransport = Serial.Transport(Tele_Pprz) in
+
+  let listen_tty = fun use_pprz_message tty ->
+    let fd = Serial.opendev tty Serial.B4800 in
+
+    let use_pprz_buf = fun buf ->
+      use_pprz_message (Tele_Pprz.values_of_bin buf) in
+
+    let scanner = Serial.input (PprzTransport.parse use_pprz_buf) in
+    let cb = fun _ ->
+      begin
+	try
+	  scanner fd
+	with
+	  e -> fprintf stderr "%s\n" (Printexc.to_string e)
+      end;
+      true in
+  
+    ignore (Glib.Io.add_watch `IN cb (Glib.Io.channel_of_descr fd)) in
+
+  let handle_pprz_message = fun (msg_id, values) ->
+    let msg = Tele_Pprz.message_of_id msg_id in
+    let s = String.concat " " (List.map snd values) in
+    Ivy.send (sprintf "%s %s" msg.Pprz.name s) in
+
+  let port = Sys.argv.(2) in
+
+  listen_tty handle_pprz_message port;
+
+  let loop = Glib.Main.create true in
+  while Glib.Main.is_running loop do ignore (Glib.Main.iteration true) done
+