Merge remote-tracking branch 'paparazzi/master' into pprzlink

fix conflicts and update bluegiga datalink event

sw/ground_segment/python/guided_mode_example.py

@@ -118,16 +118,19 @@ class Guidance(object):
 
 if __name__ == '__main__':
     ac_id = 30
-    g = Guidance(ac_id)
-    sleep(0.1)
-    g.set_guided_mode()
-    sleep(0.2)
-    g.goto_ned(north=10.0, east=5.0, down=-5.0, heading=radians(90))
-    sleep(10)
-    g.goto_ned_relative(north=-5.0, east=-5.0, down=-2.0, yaw=-radians(45))
-    sleep(10)
-    g.goto_body_relative(forward=0.0, right=5.0, down=2.0)
-    sleep(10)
-    g.set_nav_mode()
-    sleep(0.2)
+    try:
+        g = Guidance(ac_id)
+        sleep(0.1)
+        g.set_guided_mode()
+        sleep(0.2)
+        g.goto_ned(north=10.0, east=5.0, down=-5.0, heading=radians(90))
+        sleep(10)
+        g.goto_ned_relative(north=-5.0, east=-5.0, down=-2.0, yaw=-radians(45))
+        sleep(10)
+        g.goto_body_relative(forward=0.0, right=5.0, down=2.0)
+        sleep(10)
+        g.set_nav_mode()
+        sleep(0.2)
+    except KeyboardInterrupt:
+        print("Stopping on request")
     g.shutdown()

sw/ground_segment/python/move_waypoint_example.py

@@ -4,6 +4,7 @@ from __future__ import print_function
 
 import sys
 from os import path, getenv
+from time import sleep
 
 # if PAPARAZZI_SRC not set, then assume the tree containing this
 # file is a reasonable substitute
@@ -13,6 +14,7 @@ sys.path.append(PPRZ_SRC + "/sw/lib/python")
 from ivy_msg_interface import IvyMessagesInterface
 from pprz_msg.message import PprzMessage
 
+
 class WaypointMover(object):
     def __init__(self, verbose=False):
         self.verbose = verbose
@@ -41,6 +43,12 @@ class WaypointMover(object):
 
 
 if __name__ == '__main__':
-    wm = WaypointMover()
-    wm.move_waypoint(ac_id=202, wp_id=3, lat=43.563, lon=1.481, alt=172.0)
+    try:
+        wm = WaypointMover()
+        # sleep shortly in oder to make sure Ivy is up, then message sent before shutting down again
+        sleep(0.1)
+        wm.move_waypoint(ac_id=202, wp_id=3, lat=43.563, lon=1.481, alt=172.0)
+        sleep(0.1)
+    except KeyboardInterrupt:
+        print("Stopping on request")
     wm.shutdown()

sw/ground_segment/python/real_time_plot/plotpanel.py

@@ -21,7 +21,7 @@ from pprz_msg import messages_xml_map
 
 
 class PlotData:
-    def __init__(self, ivy_msg_id, title, width, color=None):
+    def __init__(self, ivy_msg_id, title, width, color=None, scale=1.0):
         self.id = ivy_msg_id
         self.title = title
         self.SetPlotSize(width)
@@ -32,14 +32,14 @@ class PlotData:
         self.std_dev = 0.0
         self.real_time = False
 
-        self.scale = 1.0
+        self.scale = scale
         self.offset = 0.0
 
         if color is not None:
             self.color = color
         else:
             r, g, b = random.randint(0, 255), random.randint(0, 255), random.randint(0, 255)
-            self.color = wx.Color(r, g, b)
+            self.color = wx.Colour(r, g, b)
 
     def SetRealTime(self, value):
         self.real_time = value
@@ -176,7 +176,7 @@ class PlotPanel(object):
         self.width = 800
         self.height = 200
         self.margin = min(self.height / 10, 20)
-        self.font = wx.Font(self.margin / 2, wx.DEFAULT, wx.FONTFLAG_DEFAULT, wx.FONTWEIGHT_NORMAL)
+        self.font = wx.Font(self.margin / 2, wx.DEFAULT, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_NORMAL)
         self.pixmap = wx.EmptyBitmap(self.width, self.height)
         self.plot_size = self.width
         self.max = -1e32
@@ -253,7 +253,7 @@ class PlotPanel(object):
 
     def OnDropText(self, data):
         [ac_id, category, message, field, scale] = data.encode('ASCII').split(':')
-        self.BindCurve(int(ac_id), message, field)
+        self.BindCurve(int(ac_id), message, field, scale=float(scale))
 
     def OnIvyMsg(self, agent, *larg):
         # print(larg[0])
@@ -282,7 +282,7 @@ class PlotPanel(object):
                 plot.index = self.x_axis.index
             plot.AddPoint(point, self.x_axis)
 
-    def BindCurve(self, ac_id, message, field, color=None, use_as_x=False):
+    def BindCurve(self, ac_id, message, field, color=None, use_as_x=False, scale=1.0):
         # -- add this telemetry to our list of things to plot ...
         message_string = _IVY_STRING % (ac_id, message)
         # print('Binding to %s' % message_string)
@@ -300,7 +300,7 @@ class PlotPanel(object):
 
         ivy_id = IvyBindMsg(self.OnIvyMsg, str(message_string))
         title = '%i:%s:%s' % (ac_id, message, field)
-        self.plots[ac_id][message][field] = PlotData(ivy_id, title, self.plot_size, color)
+        self.plots[ac_id][message][field] = PlotData(ivy_id, title, self.plot_size, color, scale)
         self.frame.AddCurve(ivy_id, title, use_as_x)
         if use_as_x:
             self.x_axis = self.plots[ac_id][message][field]
@@ -384,7 +384,7 @@ class PlotPanel(object):
         self.height = height
         self.plot_size = width
         self.margin = min(self.height / 10, 20)
-        self.font = wx.Font(self.margin / 2, wx.DEFAULT, wx.FONTFLAG_DEFAULT, wx.FONTWEIGHT_NORMAL)
+        self.font = wx.Font(self.margin / 2, wx.DEFAULT, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_NORMAL)
 
     def OnTimer(self):
         self.timer.Restart(self.plot_interval)

sw/ground_segment/tmtc/server.ml

@@ -41,7 +41,7 @@ module Tm_Pprz = PprzLink.Messages (struct let name = "telemetry" end)
 module Alerts_Pprz = PprzLink.Messages(struct let name = "alert" end)
 module Dl_Pprz = PprzLink.Messages (struct let name = "datalink" end)
 
-
+let dl_id = "ground_dl" (* Hack, should be [my_id] *)
 
 let (//) = Filename.concat
 let logs_path = Env.paparazzi_home // "var" // "logs"
@@ -373,7 +373,7 @@ let send_aircraft_msg = fun ac ->
                        "speed", cm_of_m a.gspeed;
                        "climb", cm_of_m a.climb;
                        "itow", PprzLink.Int64 a.itow] in
-        Dl_Pprz.message_send my_id "ACINFO" ac_info;
+        Dl_Pprz.message_send dl_id "ACINFO" ac_info;
       end;
 
     if !Kml.enabled then
@@ -649,7 +649,7 @@ let send_intruder_acinfo = fun id intruder ->
                  "speed", cm_of_m intruder.Intruder.gspeed;
                  "climb", cm_of_m intruder.Intruder.climb;
                  "itow", PprzLink.Int64 intruder.Intruder.itow] in
-  Dl_Pprz.message_send my_id "ACINFO" ac_info
+  Dl_Pprz.message_send dl_id "ACINFO" ac_info
 
 let periodic_handle_intruders = fun () ->
   (* remove old intruders after 10s *)
@@ -737,8 +737,6 @@ let cm_of_m = fun f -> PprzLink.Int (truncate ((100. *. f) +. 0.5))
 (** Convert to mm, with rounding *)
 let mm_of_m_32 = fun f -> PprzLink.Int32 (Int32.of_int (truncate ((1000. *. f) +. 0.5)))
 
-let dl_id = "ground_dl" (* Hack, should be [my_id] *)
-
 (** Got a ground.MOVE_WAYPOINT and send a datalink.MOVE_WP *)
 let move_wp = fun logging _sender vs ->
   let f = fun a -> List.assoc a vs