*** empty log message ***

sw/ground_segment/cockpit/Paparazzi/APPage.pm

@@ -5,26 +5,31 @@ use strict;
 use Subject;
 use Data::Dumper;
 
+use Paparazzi::Utils;
+
 use constant TITLE => "Autopilot";
 
+my @fields = ('ap_mode', 'lat_mode', 'horiz_mode', 'gaz_mode', 'gps_mode', 'flight_time');
+
 sub populate {
   my ($self, $args) = @_;
   $args->{-title} = TITLE;
   $self->SUPER::populate($args);
-  $self->configspec(
-		    -ap_status => [S_NOINIT, S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, {}],
-		   );
 }
 
-sub ap_status {
+sub set_aircraft {
-  my ($self, $old_val, $new_val) = @_;
+  my ($self, $prev_ac, $new_ac) = @_;
-  return unless defined $new_val;
+  foreach my $field  (@fields) {
-#  print "in APPage ap_status\n".Dumper($new_val);
+    $prev_ac->detach($self, $field, [\&update_field]) if ($prev_ac);
-  my $zinc = $self->get('-zinc');
+    $new_ac->attach($self, $field, [\&update_field]) if ($new_ac);
-  foreach my $field (keys %{$new_val}) {
+  }
-     $zinc->itemconfigure ($self->{'text_'.$field},
+}
-			   -text => sprintf("%s : %.1f", $field, $new_val->{$field})) if defined $self->{'text_'.$field};
+
-   }
+sub update_field {
+  my ($self, $aircraft, $field, $new_value) = @_;
+  my $text = $new_value;
+  $text = Utils::hhmmss_of_s($text) if ($field eq 'flight_time');
+    $self->get('-zinc')->itemconfigure($self->{'text_'.$field}, -text => $text);
 }
 
 sub build_gui {
@@ -34,12 +39,17 @@ sub build_gui {
   my $dy = $self->get('-height')/10;
   my $y=10;
   my $x=10;
-  foreach my $field ('mode', 'h_mode', 'v_mode', 'target_climb', 'target_alt', 'target_heading') {
+  foreach my $field (@fields) {
+    $zinc->add('text', $self->{main_group},
+	       -position => [$x, $y+$self->{vmargin}],
+	       -color => 'white',
+	       -anchor => 'w',
+	       -text => $field);
     $self->{'text_'.$field} = $zinc->add('text', $self->{main_group},
-					 -position => [$x, $y+$self->{vmargin}],
+					 -position => [$x + 100, $y+$self->{vmargin}],
 					 -color => 'white',
 					 -anchor => 'w',
-					 -text => $field);
+					 -text => 'NA');
     $y+=$dy;
   }
 }

sw/ground_segment/cockpit/Paparazzi/ND.pm

@@ -21,10 +21,6 @@ sub populate {
 		    -height   => [S_NEEDINIT, S_PASSIVE, S_RDONLY, S_OVRWRT, S_NOPRPG, undef],
 		    -selected_ac => [S_NOINIT,  S_METHOD, S_RDWR, S_OVRWRT, S_NOPRPG, undef],
 		    -page     => [S_NOINIT,  S_METHOD, S_RDWR, S_OVRWRT, S_NOPRPG, undef],
-#		    -fix       => [S_NOINIT, S_PRPGONLY, S_RDWR,   S_OVRWRT, S_CHILDREN, undef],
-#		    -ap_status => [S_NOINIT, S_PRPGONLY, S_RDWR,   S_OVRWRT, S_CHILDREN, undef],
-#		    -wind      => [S_NOINIT, S_PRPGONLY, S_RDWR,   S_OVRWRT, S_CHILDREN, undef],
-#		    -lls       => [S_NOINIT, S_PRPGONLY, S_RDWR,   S_OVRWRT, S_CHILDREN, undef],
 		    -svsinfo   => [S_NOINIT, S_PRPGONLY, S_RDWR,   S_OVRWRT, S_CHILDREN, undef],
 		    -engine_status => [S_NOINIT, S_PRPGONLY, S_RDWR,   S_OVRWRT, S_CHILDREN, undef],
 		   );
@@ -39,7 +35,7 @@ sub completeinit {
 
 sub page {
   my ($self, $old_val, $new_val) = @_;
-  print "in ND::page [$old_val $new_val]\n";
+#  print "in ND::page [$old_val $new_val]\n";
   return unless defined $new_val and defined $self->{main_group};
   $self->{$old_val}->configure(-visible => 0) if defined $old_val;
   $self->{$new_val}->configure(-visible => 1);
@@ -56,6 +52,8 @@ sub selected_ac {
     $previous_ac->detach($self, $attr, [\&foo_cbk, $attr]) if ($previous_ac);
     $new_ac->attach($self, $attr, [\&foo_cbk, $attr]);
   }
+  $self->{AP}->set_aircraft($previous_ac, $new_ac);
+  $self->{Settings}->set_aircraft($previous_ac, $new_ac);
 }
 
 sub foo_cbk {
@@ -81,8 +79,8 @@ sub build_gui() {
   my $real_width = $page_width - 2*$margin;
   my ($page_per_row, $row, $col) = (2, 0, 0);
 
-  my $pages = ['Gps', 'Nav', 'Engine', 'IR'];
+  my @pages = ('Gps', 'AP', 'Settings', 'Engine', 'IR');
-  foreach my $page (@{$pages}) {
+  foreach my $page (@pages) {
     $self->{$page} = $self->component('Paparazzi::'.$page.'Page',
 				      -zinc => $zinc,
 				      -parent_grp => $self->{main_group},

sw/ground_segment/cockpit/Paparazzi/NavPage.pm

@@ -1,46 +0,0 @@
-package Paparazzi::NavPage;
-use Paparazzi::NDPage;
-@ISA = ("Paparazzi::NDPage");
-use strict;
-use Subject;
-use Data::Dumper;
-
-use constant TITLE => "Autopilot";
-
-sub populate {
-  my ($self, $args) = @_;
-  $args->{-title} = TITLE;
-  $self->SUPER::populate($args);
-  $self->configspec(
-		    -ap_status => [S_NOINIT, S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, {}],
-		   );
-}
-
-sub ap_status {
-  my ($self, $old_val, $new_val) = @_;
-  return unless defined $new_val;
-#  print "in APPage ap_status\n".Dumper($new_val);
-  my $zinc = $self->get('-zinc');
-  foreach my $field (keys %{$new_val}) {
-     $zinc->itemconfigure ($self->{'text_'.$field},
-			   -text => sprintf("%s : %.1f", $field, $new_val->{$field})) if defined $self->{'text_'.$field};
-   }
-}
-
-sub build_gui {
-  my ($self) = @_;
-  $self->SUPER::build_gui();
-  my $zinc = $self->get('-zinc');
-  my $dy = $self->get('-height')/10;
-  my $y=10;
-  my $x=10;
-  foreach my $field ('mode', 'h_mode', 'v_mode', 'target_climb', 'target_alt', 'target_heading') {
-    $self->{'text_'.$field} = $zinc->add('text', $self->{main_group},
-					 -position => [$x, $y+$self->{vmargin}],
-					 -color => 'white',
-					 -anchor => 'w',
-					 -text => $field);
-    $y+=$dy;
-  }
-}
-

sw/ground_segment/cockpit/Paparazzi/PFD.pm

@@ -140,6 +140,7 @@ sub build_gui() {
 				    -origin => [$p_x, $p_y],
 				    -width => $p_w,
 				    -height => $p_h,
+				    -pages => ['Gps', 'AP', 'Settings', 'Engine', 'IR']
 		  );
   $component->attach($self, 'CLICKED', ['onPanelCLicked']);
 

sw/ground_segment/cockpit/Paparazzi/PFD_Panel.pm

@@ -4,7 +4,7 @@ package Paparazzi::PFD_Panel;
 use Subject;
 @ISA = ("Subject");
 
-use Tk; 
+use Tk;
 use Tk::Zinc;
 use Data::Dumper;
 
@@ -18,56 +18,16 @@ sub populate {
 		    -origin  => [S_NEEDINIT, S_PASSIVE, S_RDONLY, S_OVRWRT, S_NOPRPG, undef],
 		    -width   => [S_NEEDINIT, S_PASSIVE, S_RDONLY, S_OVRWRT, S_NOPRPG, undef],
 		    -height  => [S_NEEDINIT, S_PASSIVE, S_RDONLY, S_OVRWRT, S_NOPRPG, undef],
-		    -gps_mode => [S_NOINIT,   S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.],
+		    -pages  =>  [S_NEEDINIT, S_PASSIVE, S_RDONLY, S_OVRWRT, S_NOPRPG, []],
-		    -ap_mode  => [S_NOINIT,   S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.],
+#		    -pubevts => [S_NEEDINIT, S_PASSIVE, S_RDWR, S_APPEND, S_NOPRPG,[]]
-		    -rc_mode  => [S_NOINIT,   S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.],
-		    -ctrst_mode => [S_NOINIT,   S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.],
-		    -ctrst_value => [S_NOINIT,   S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.],
-		    -lls_mode => [S_NOINIT,   S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.],
-		    -lls_value => [S_NOINIT,   S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.],
-		    -if_mode => [S_NOINIT,   S_METHOD,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.],
-#		    -pubevts => [S_NEEDINIT, S_PASSIVE, S_RDWR, S_APPEND, S_NOPRPG,[]]	   
 		   );
 }
 
 sub completeinit {
   my $self = shift;
   $self->SUPER::completeinit();
- #  $self->{modes} = [ { name => 'rc',
-# 		       str =>  ["lost","ok", "really lost", "not possible"],
-# 		       color => ["orange", "green", "red", "red"]
-# 		     },
-# 		     { name => 'cal',
-# 		       str =>  ["unkwn", "wait", "ok"],
-# 		       color =>["red",  "orange", "green"]
-# 		     },
-# 		     { name => 'ap',
-# 		       str =>  ["manual", "auto1", "auto2", "home"],
-# 		       color =>["green",  "green", "green", "orange"]
-# 		     },
-# 		     { name => 'gps',
-# 		       str => [ "No fix",
-# 				"dead reckoning only",
-# 				"2D-fix",
-# 				"3D-fix",
-# 				"GPS + dead reckoning combined"],
-# 		       color => ["red", "red", "orange", "green", "orange"]
-# 		     },
-# 		     { name => 'lls',
-# 		       str =>  ["OFF"  , "ON"],
-# 		       color =>["orange", "green"]
-# 		     },
-# 		     { name => 'if',
-# 		       str =>  ["none", "down", "up"],
-# 		       color =>["green", "orange", "orange"]
-# 		     }
-# 		   ];
-#   $self->{modes_by_name} = {};
-#   foreach my $mode (@{$self->{modes}}) {
-#     $self->{modes_by_name}->{$mode->{name}} = $mode;
-#   }
 
-  $self->{pages} = ['Gps', 'Nav', 'Engine', 'IR'];
+  $self->{pages} = ['Gps', 'AP', 'Settings', 'Engine', 'IR'];
   $self->build_gui();
   $self->configure('-pubevts' => 'CLICKED');
 }

sw/ground_segment/cockpit/Paparazzi/SettingsPage.pm

@@ -0,0 +1,61 @@
+package Paparazzi::SettingsPage;
+use Paparazzi::NDPage;
+@ISA = ("Paparazzi::NDPage");
+use strict;
+use Subject;
+use Data::Dumper;
+
+use constant TITLE => "Settings";
+
+my @fields = ('if_mode', 'if_value1', 'if_value2');
+
+sub populate {
+  my ($self, $args) = @_;
+  $args->{-title} = TITLE;
+  $self->SUPER::populate($args);
+  $self->configspec(
+		    -fields => [S_NEEDINIT, S_PASSIVE,  S_RDONLY,   S_OVRWRT, S_NOPRPG, []],
+		   );
+}
+
+sub set_aircraft {
+  my ($self, $prev_ac, $new_ac) = @_;
+  foreach my $field  (@fields) {
+    $prev_ac->detach($self, $field, [\&update_field]) if ($prev_ac);
+    $new_ac->attach($self, $field, [\&update_field]) if ($new_ac);
+  }
+  
+  my $fligh_plan = $new_ac->get('flight_plan');
+  
+  use Data::Dumper;
+  print "#####".Dumper(scalar $fligh_plan->get('-rc_control'));
+
+}
+
+sub update_field {
+  my ($self, $aircraft, $field, $new_value) = @_;
+  $self->get('-zinc')->itemconfigure($self->{'text_'.$field}, -text => $new_value);
+}
+
+sub build_gui {
+  my ($self) = @_;
+  $self->SUPER::build_gui();
+  my $zinc = $self->get('-zinc');
+  my $dy = $self->get('-height')/10;
+  my $y=10;
+  my $x=10;
+  foreach my $field (@fields) {
+    $zinc->add('text', $self->{main_group},
+	       -position => [$x, $y+$self->{vmargin}],
+	       -color => 'white',
+	       -anchor => 'w',
+	       -text => $field);
+    $self->{'text_'.$field} = $zinc->add('text', $self->{main_group},
+					 -position => [$x + 100, $y+$self->{vmargin}],
+					 -color => 'white',
+					 -anchor => 'w',
+					 -text => 'NA');
+    $y+=$dy;
+  }
+}
+

sw/ground_segment/cockpit/Paparazzi/Strip.pm

@@ -37,6 +37,8 @@ use Data::Dumper;
 use strict;
 use warnings;
 
+use Paparazzi::Traces;
+
 # populate:
 #   this sub is the subject constructor method
 ############################################################################## 
@@ -361,7 +363,7 @@ sub string_of_time {
 sub attach_to_aircraft {
   my ($self) = @_;
   my @options = ('airframe', 'flight_plan', 'ap_mode', 'rc_status', 'gps_mode', 'contrast_status', 'contrast_value',
-		 'flight_time', 'alt', 'target_alt', 'speed', 'climb');#, 'bat');
+		 'flight_time', 'alt', 'target_alt', 'speed', 'climb', '-engine_status');
   foreach my $option (@options) {
     $self->get('-aircraft')->attach($self, $option, [\&aircraft_config_changed]);
   }
@@ -371,6 +373,7 @@ sub attach_to_aircraft {
 sub aircraft_config_changed {
   my ($self, $aircraft, $event, $new_value) = @_;
 #  print "in strip aircraft_config_changed $event $new_value\n";
+  return unless defined $new_value;
   if ($event eq 'flight_plan') {
     #    $self->border_block() if (defined $new_value) ; # display blocks of flight plan
   }
@@ -384,8 +387,9 @@ sub aircraft_config_changed {
   elsif ($event eq 'flight_time') {
     $self->set_item("flight_time",$self->string_of_time($new_value), $self->{options}->{value_color});
   }
-  elsif ($event eq 'bat') {
+  elsif ($event eq '-engine_status') {
-    $self->set_bat($new_value);
+#    Paparazzi::Traces::trace( Paparazzi::Traces::TRACE_DEBUG, "in Strip::aircraft_config_changed\n".Dumper($new_value));
+    $self->set_bat($new_value->{bat});
   }
   elsif ( $event eq 'speed' or $event eq 'climb' or $event eq 'alt' or $event eq 'target_alt' or $event eq 'contrast_value') {
     my $fmt = { speed => "%2.1fm/s",

sw/lib/perl/Paparazzi/Aircraft.pm

@@ -71,7 +71,6 @@ sub populate {
 		    target_north  => [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.],
 
 		    -engine_status => [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, undef],
-x
 		    -svsinfo       => [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, undef],
 
 		    rc_status     => [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, 'REALLY_LOST'],

sw/lib/perl/Paparazzi/Airframe.pm

@@ -20,8 +20,9 @@ sub completeinit {
   my $self = shift;
   $self->SUPER::completeinit();
   my $airframe_url = $self->get('-url');
-  print "airframe url $airframe_url\n";
+  print "in Airframe::compleetinit url $airframe_url\n";
   my $airframe_xml = LWP::Simple::get($airframe_url);
+
   $self->parse_airframe($airframe_xml) if defined $airframe_xml;
 }
 

sw/lib/perl/Paparazzi/Flightplan.pm

@@ -27,6 +27,8 @@ use Subject;
 @ISA = ("Subject");
 use strict;
 
+use Paparazzi::Traces;
+
 require LWP::Simple;
 use XML::DOM;
 use Math::Trig;
@@ -40,6 +42,7 @@ sub populate {
                     -nav_utm_east0	=> [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.],
                     -nav_utm_north0	=> [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.],
                     -max_dist_from_home	=> [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.],
+		    -rc_control		=> [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, {}],
                     -waypoints		=> [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, {}],
                     -nb_waypoints	=> [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, 0.],
                     -mission		=> [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, {}],
@@ -114,6 +117,7 @@ sub parse_flight_plan {
   $self->{nav_utm_east0} = $waypoints->getAttribute('utm_x0');
   $self->{nav_utm_north0} = $waypoints->getAttribute('utm_y0');
 		
+  $self->parse_rc_control($doc);
   $self->parse_waypoints($doc);
   $self->parse_mission($doc);
   $self->configure_spec();
@@ -129,6 +133,25 @@ sub configure_spec {
 			-mission	 => $self->{mission});
 }
 
+sub parse_rc_control {
+  my ($self, $doc) = @_;
+  my $rc_control = {};
+  my $rc_control_elt = $doc->getElementsByTagName('rc_control')->[0];
+  my @modes = $rc_control_elt->getElementsByTagName('mode');
+  foreach my $mode (@modes) {
+    my $mode_name = $mode->getAttribute('name');
+    my @settings = $mode->getElementsByTagName('setting');
+    foreach my $s (@settings) {
+      my ($var, $range, $rc, $type) = ($s->getAttribute('var'),
+				       $s->getAttribute('range'),
+				       $s->getAttribute('rc'),
+				       $s->getAttribute('type'));
+      $rc_control->{$mode_name} = [$var, $range, $rc, $type];
+    }
+  }
+  $self->configure('-rc_control', $rc_control);
+}
+
 sub parse_waypoints {
   my ($self, $doc) = @_;
   my $wp_nb = 0;

sw/lib/perl/Paparazzi/Utils.pm

@@ -37,4 +37,12 @@ sub min {
   return $b;
 }
 
+sub hhmmss_of_s {
+  my ($t) = @_;
+  my $hour = int($t/3600);
+  my $min = int(($t-$hour*3600)/60);
+  my $sec = $t-(3600*$hour)-($min*60);
+  sprintf("%02d:%02d:%02d",$hour, $min, $sec);
+}
+
 1;