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Remove old GCS and supervision. (#3587)
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This commit is contained in:
Fabien-B
2026-02-08 10:58:53 +01:00
committed by GitHub
parent 4400506292
commit ea2f5e029e
76 changed files with 7 additions and 17209 deletions
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Makefile
+4 -14
View File
@@ -61,7 +61,6 @@ STATICINCLUDE=$(PAPARAZZI_HOME)/var/include
CONF=$(PAPARAZZI_SRC)/conf
AIRBORNE=sw/airborne
SIMULATOR=sw/simulator
COCKPIT=sw/ground_segment/cockpit
TMTC=sw/ground_segment/tmtc
GENERATORS=$(PAPARAZZI_SRC)/sw/tools/generators
JOYSTICK=sw/ground_segment/joystick
@@ -72,11 +71,10 @@ TOOLS=sw/tools
# build some stuff in subdirs
# nothing should depend on these...
#
PPRZCENTER=sw/supervision
MISC=sw/ground_segment/misc
LOGALIZER=sw/logalizer
SUBDIRS = $(PPRZCENTER) $(LOGALIZER) sw/tools
SUBDIRS = $(LOGALIZER) sw/tools
SUBDIRS_EXTRA = $(MISC)
#
@@ -138,9 +136,9 @@ conf/tools/blacklisted: conf/tools/blacklisted_example
cp conf/tools/blacklisted_example conf/tools/blacklisted
ground_segment: _print_building conf libpprz subdirs static
ground_segment.opt: ground_segment cockpit.opt tmtc.opt
ground_segment.opt: ground_segment tmtc.opt
static: cockpit tmtc generators sim_static joystick static_h
static: tmtc generators sim_static joystick static_h
libpprzlink.update:
$(MAKE) -C $(EXT) pprzlink.update
@@ -151,12 +149,6 @@ libpprzlink.install:
libpprz: libpprzlink.update libpprzlink.install _save_build_version
$(MAKE) -C $(LIB)/ocaml
cockpit: libpprz
$(MAKE) -C $(COCKPIT)
cockpit.opt: libpprz
$(MAKE) -C $(COCKPIT) opt
tmtc: libpprz
$(MAKE) -C $(TMTC)
@@ -193,8 +185,6 @@ $(SUBDIRS): libpprz
$(SUBDIRS_EXTRA): libpprz
$(MAKE) -C $@
$(PPRZCENTER): libpprz
$(LOGALIZER): libpprz
static_h: pprzlink_protocol $(GEN_HEADERS)
@@ -355,7 +345,7 @@ test_full:
.PHONY: all print_build_version _print_building _save_build_version init dox ground_segment ground_segment.opt \
subdirs $(SUBDIRS) conf ext libpprz libpprzlink.update libpprzlink.install cockpit cockpit.opt tmtc tmtc.opt generators\
subdirs $(SUBDIRS) conf ext libpprz libpprzlink.update libpprzlink.install tmtc tmtc.opt generators\
static sim_static opencv_bebop\
clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
test test_examples test_math test_all_confs
conf/tools/gcs.xml
-4
View File
@@ -1,4 +0,0 @@
<program command="sw/ground_segment/cockpit/gcs" name="GCS" icon="gcs.svg" favorite="true">
<arg constant="large_left_col.xml" flag="-layout" />
</program>
conf/tools/pprzgcs.xml
+1 -2
View File
@@ -1,2 +1 @@
<program command="sw/tools/gcs_launch.py" name="PprzGCS" />
<program command="$pprzgcs" name="PprzGCS" icon="gcs.svg" favorite="true"/>
sw/ground_segment/cockpit/Makefile
-170
View File
@@ -1,170 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Copyright (C) 2003 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.
#
# Quiet compilation
Q=@
OCAMLCFLAGS=-thread -ccopt -fPIC
include ../../Makefile.ocaml
OCAMLPATH:=$(shell echo $(PAPARAZZI_SRC)/sw/ground_segment/cockpit/lib:$(OCAMLPATH))
export OCAMLPATH
ifneq ($(USE_LABELGTK),lablgtk2)
all :
@echo Skipping legacy GCS build \(missing lablgtk2\)
opt :
@echo Skipping legacy GCS.opt build \(missing lablgtk2\)
else
INCLUDES=
PKG = -package lablgtk2,pprzlink,gcslib
LINKPKG = $(PKG) -linkpkg -dllpath-pkg lablgtk2,pprzlink,gcslib,pprz
LABLGTK2INIT = $(shell ocamlfind query -p-format lablgtk2.init 2>/dev/null)
ifeq ($(LABLGTK2INIT),)
LABLGTK2INIT = $(shell ocamlfind query -p-format lablgtk2.auto-init 2>/dev/null)
endif
LABLGTK2GLADE = $(shell ocamlfind query -p-format lablgtk2.glade 2>/dev/null)
LABLGTK2CANVAS = $(shell ocamlfind query -p-format lablgtk2-gnome.gnomecanvas 2>/dev/null)
ML= gtk_setting_time.ml gtk_strip.ml horizon.ml strip.ml gtk_save_settings.ml saveSettings.ml page_settings.ml pages.ml speech.ml plugin.ml sectors.ml map2d.ml editFP.ml intruders.ml shapes.ml live.ml particules.ml papgets.ml gcs.ml
MAIN=gcs
CMO=$(ML:.ml=.cmo)
CMX=$(ML:.ml=.cmx)
# only compile it lablgtk2 is installed
ifeq ($(LABLGTK2INIT),)
all :
@echo Skipping legacy GCS build \(missing lablgtk2.init\)
opt :
@echo Skipping legacy GCS.opt build \(missing lablgtk2.init\)
else
ifeq ($(LABLGTK2GLADE),)
all :
@echo Skipping legacy GCS build \(missing lablgtk2.glade\)
opt :
@echo Skipping legacy GCS.opt build \(missing lablgtk2.glade\)
else
ifeq ($(LABLGTK2CANVAS),)
all :
@echo Skipping legacy GCS build \(missing lablgtk2-gnome.gnomecanvas\)
opt :
@echo Skipping legacy GCS.opt build \(missing lablgtk2-gnome.gnomecanvas\)
else
all : $(MAIN)
opt : $(MAIN).opt
endif
endif
endif
endif
gcslib :
$(Q)$(MAKE) -C lib
$(MAIN) : $(CMO) $(LIBPPRZCMA) $(LIBPPRZLINKCMA) $(XLIBPPRZCMA) gcslib
@echo OL $@
$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) $(LINKPKG) $(CMO) -o $@
$(MAIN).opt : $(CMX) $(LIBPPRZCMXA) $(LIBPPRZLINKCMXA) $(XLIBPPRZCMXA) gcslib
@echo OOL $@
$(Q)$(OCAMLOPT) $(OCAMLCFLAGS) $(INCLUDES) -package pprz.xlib,$(LABLGTK2INIT) -linkpkg $(CMX) -o $@
%.cmo: %.ml
@echo OC $<
$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) $(PKG) -c $<
%.cmi: %.mli
@echo OCI $<
$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) $(PKG) -c $<
%.cmx: %.ml
@echo OOC $<
$(Q)$(OCAMLOPT) $(OCAMLCFLAGS) $(INCLUDES) $(PKG) -c $<
saveSettings.cmo : gtk_save_settings.cmo
saveSettings.cmx: gtk_save_settings.cmx
gtk_strip.ml : gcs.glade
@echo GLADE $@
$(Q)lablgladecc2 -root eventbox_strip -hide-default $< | grep -B 1000000 " end" > $@
gtk_setting_time.ml : gcs.glade
@echo GLADE $@
$(Q)lablgladecc2 -root setting_time -hide-default $< | grep -B 1000000 " end" > $@
gtk_save_settings.ml : gcs.glade
@echo GLADE $@
$(Q)lablgladecc2 -root save_settings -hide-default $< | grep -B 1000000 " end" > $@
strip.cmo : gtk_strip.cmo gtk_setting_time.cmo
compass : compass.ml
@echo OL $@
$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) $(LINKPKG) gtkInit.cmo $^ -o $@
clean:
$(Q)rm -f *~* *.cm* *.o *.out *.opt map2d gcs .depend gtk_strip.ml gtk_setting_time.ml gtk_save_settings.ml compass ant_track ant_track_pmm ant_track_pmm_gtk3 actuators
$(MAKE) -C lib clean
.PHONY: all opt clean
CC = gcc
CFLAGS=-g -O2 -Wall $(shell pkg-config gtk+-2.0 --cflags) -fPIC
LDFLAGS=$(shell pkg-config gtk+-2.0 --libs) -s -lglibivy -lm -lpcre
ant_track : ant_track.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
ant_track_pmm : ant_track_pmm.c
$(CC) -g -O2 -Wall $(shell pkg-config gtk+-3.0 --cflags) -fPIC -g -o $@ $^ $(shell pkg-config gtk+-3.0 --libs) -s -lglibivy -lm -lpcre -rdynamic
actuators : actuators.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
#
# Dependencies
#
.depend: Makefile
@echo DEPEND $@
$(Q)$(OCAMLDEP) -I $(LIBPPRZDIR) -I lib $(ML) lib/*.mli *.mli > .depend
ifneq ($(MAKECMDGOALS),clean)
-include .depend
endif
sw/ground_segment/cockpit/actuators.c
-67
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@@ -1,67 +0,0 @@
#include <gtk/gtk.h>
#include <stdio.h>
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include <Ivy/ivy.h>
#include <Ivy/ivyglibloop.h>
#include <math.h>
gint ac_id = 42;
GtkWidget *spin; /* awfull but a lot easier */
void on_scale_value_changed (GtkScale *scale, gpointer user_data) {
gfloat cf = gtk_range_get_value(GTK_RANGE(scale));
gint c = (gint)rint(cf);
gfloat sf = gtk_spin_button_get_value (( GtkSpinButton*)spin);
gint s = (gint)rint(sf);
IvySendMsg("actuators_gtk RAW_DATALINK %d SET_ACTUATOR;%d;%d;%d", ac_id, c, s, ac_id);
}
GtkWidget* build_gui ( void ) {
GtkWidget *window1;
GtkWidget *vbox1;
window1 = gtk_window_new (GTK_WINDOW_TOPLEVEL);
gtk_window_set_title (GTK_WINDOW (window1), "Set Actuators");
gtk_window_set_default_size(GTK_WINDOW (window1), 320, -1);
vbox1 = gtk_vbox_new (FALSE, 0);
gtk_container_add (GTK_CONTAINER (window1), vbox1);
GtkWidget *scale = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (1500, 1000, 2000, 1, 1, 0)));
gtk_box_pack_start (GTK_BOX (vbox1), scale, TRUE, TRUE, 0);
gtk_range_set_update_policy (GTK_RANGE (scale), GTK_UPDATE_DELAYED);
g_signal_connect ((gpointer) scale, "value_changed",
G_CALLBACK (on_scale_value_changed),
(gpointer)0);
spin = gtk_spin_button_new(GTK_ADJUSTMENT (gtk_adjustment_new (0, 0, 8, 1, 1, 0)), 1, 0);
gtk_box_pack_start (GTK_BOX (vbox1), spin, TRUE, TRUE, 0);
return window1;
}
int main (int argc, char** argv) {
gtk_init(&argc, &argv);
if (argc > 1) {
ac_id = atoi(argv[1]);
} else {
g_message("Warning: A/C id not specified; sending to %d", ac_id);
}
GtkWidget* window = build_gui();
gtk_widget_show_all(window);
IvyInit ("Setup Actuators", "Actuators READY", NULL, NULL, NULL, NULL);
IvyStart("127.255.255.255");
gtk_main();
return 0;
}
sw/ground_segment/cockpit/ant_track.c
-218
View File
@@ -1,218 +0,0 @@
/*
* Copyright (C) 2009 - Pascal Brisset, Antoine Drouin
*
* Modified by: Mark Griffin
*
* 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.
*
*/
#include <gtk/gtk.h>
#include <stdio.h>
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include <Ivy/ivy.h>
#include <Ivy/ivyglibloop.h>
#define MANUAL 0
#define AUTO 1
static double gps_pos_x;
static double gps_pos_y;
static double gps_alt;
static double home_alt;
static double ant_azim;
static double ant_elev;
static int mode;
static int home_found=0;
GtkWidget *azim_scale;
GtkWidget *elev_scale;
void on_mode_changed (GtkRadioButton *radiobutton, gpointer user_data) {
mode = gtk_toggle_button_get_active(GTK_TOGGLE_BUTTON(radiobutton)) ? MANUAL : AUTO;
IvySendMsg("1ME RAW_DATALINK 80 SETTING;0;0;%d", mode);
g_message("Mode changed to %d" , mode);
}
#define GLADE_HOOKUP_OBJECT(component,widget,name) \
g_object_set_data_full (G_OBJECT (component), name, \
gtk_widget_ref (widget), (GDestroyNotify) gtk_widget_unref)
#define GLADE_HOOKUP_OBJECT_NO_REF(component,widget,name) \
g_object_set_data (G_OBJECT (component), name, widget)
GtkWidget* build_gui ( void ) {
GtkWidget *window1;
GtkWidget *vbox1;
GtkWidget *vbox2;
GtkWidget *table1;
GtkWidget *label1;
GtkWidget *label2;
GtkWidget *label3;
GtkWidget *label4;
GtkWidget *radiobutton1;
GSList *radiobutton1_group = NULL;
GtkWidget *radiobutton2;
GtkWidget *entry1;
window1 = gtk_window_new (GTK_WINDOW_TOPLEVEL);
gtk_window_set_title (GTK_WINDOW (window1), "tracking antenna");
vbox1 = gtk_vbox_new (FALSE, 0);
gtk_widget_show (vbox1);
gtk_container_add (GTK_CONTAINER (window1), vbox1);
vbox2 = gtk_vbox_new (FALSE, 0);
gtk_widget_show (vbox2);
gtk_box_pack_start (GTK_BOX (vbox1), vbox2, TRUE, TRUE, 0);
table1 = gtk_table_new (4, 3, FALSE);
gtk_widget_show (table1);
gtk_box_pack_start (GTK_BOX (vbox2), table1, TRUE, TRUE, 0);
gtk_table_set_col_spacings (GTK_TABLE (table1), 5);
label1 = gtk_label_new ("Azimuth");
gtk_widget_show (label1);
gtk_table_attach (GTK_TABLE (table1), label1, 0, 1, 1, 2,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
gtk_misc_set_alignment (GTK_MISC (label1), 0, 0.5);
label2 = gtk_label_new ("Elevation");
gtk_widget_show (label2);
gtk_table_attach (GTK_TABLE (table1), label2, 0, 1, 2, 3,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
gtk_misc_set_alignment (GTK_MISC (label2), 0, 0.5);
label3 = gtk_label_new ("Id");
gtk_widget_show (label3);
gtk_table_attach (GTK_TABLE (table1), label3, 0, 1, 3, 4,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
gtk_misc_set_alignment (GTK_MISC (label3), 0, 0.5);
label4 = gtk_label_new ("mode");
gtk_widget_show (label4);
gtk_table_attach (GTK_TABLE (table1), label4, 0, 1, 0, 1,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
gtk_misc_set_alignment (GTK_MISC (label4), 0, 0.5);
radiobutton1 = gtk_radio_button_new_with_mnemonic (NULL, "manual");
gtk_widget_show (radiobutton1);
gtk_table_attach (GTK_TABLE (table1), radiobutton1, 1, 2, 0, 1,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
gtk_radio_button_set_group (GTK_RADIO_BUTTON (radiobutton1), radiobutton1_group);
radiobutton1_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (radiobutton1));
radiobutton2 = gtk_radio_button_new_with_mnemonic (NULL, "tracking");
gtk_widget_show (radiobutton2);
gtk_table_attach (GTK_TABLE (table1), radiobutton2, 2, 3, 0, 1,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
gtk_radio_button_set_group (GTK_RADIO_BUTTON (radiobutton2), radiobutton1_group);
radiobutton1_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (radiobutton2));
azim_scale = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (144.7, 0, 360, 1, 1, 1)));
gtk_widget_show (azim_scale);
gtk_table_attach (GTK_TABLE (table1), azim_scale, 1, 3, 1, 2,
(GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
(GtkAttachOptions) (GTK_FILL), 0, 0);
gtk_range_set_update_policy (GTK_RANGE (azim_scale), GTK_UPDATE_DELAYED);
elev_scale = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (32.3, 0, 90, 1, 1, 1)));
gtk_widget_show (elev_scale);
gtk_table_attach (GTK_TABLE (table1), elev_scale, 1, 3, 2, 3,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (GTK_FILL), 0, 0);
entry1 = gtk_entry_new ();
gtk_widget_show (entry1);
gtk_table_attach (GTK_TABLE (table1), entry1, 1, 3, 3, 4,
(GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
g_signal_connect ((gpointer) radiobutton1, "toggled",
G_CALLBACK (on_mode_changed),
NULL);
/* Store pointers to all widgets, for use by lookup_widget(). */
GLADE_HOOKUP_OBJECT_NO_REF (window1, window1, "window1");
GLADE_HOOKUP_OBJECT (window1, vbox1, "vbox1");
GLADE_HOOKUP_OBJECT (window1, vbox2, "vbox2");
GLADE_HOOKUP_OBJECT (window1, table1, "table1");
GLADE_HOOKUP_OBJECT (window1, label1, "label1");
GLADE_HOOKUP_OBJECT (window1, label2, "label2");
GLADE_HOOKUP_OBJECT (window1, label3, "label3");
GLADE_HOOKUP_OBJECT (window1, label4, "label4");
GLADE_HOOKUP_OBJECT (window1, radiobutton1, "radiobutton1");
GLADE_HOOKUP_OBJECT (window1, radiobutton2, "radiobutton2");
GLADE_HOOKUP_OBJECT (window1, entry1, "entry1");
return window1;
}
/* jump here when a GPS message is received */
void on_GPS_STATUS(IvyClientPtr app, void *user_data, int argc, char *argv[]){
if (home_found == 0) {
if (atof(argv[0]) == 3) { /* wait until we have a valid GPS fix */
home_alt = atof(argv[4])/100.; /* get the altitude */
home_found = 1;
}
}
gps_alt = atof(argv[4])/100.;
}
/* jump here when a NAVIGATION message is received */
void on_NAV_STATUS(IvyClientPtr app, void *user_data, int argc, char *argv[]){
if (mode == AUTO) {
gps_pos_x = atof(argv[2]);
gps_pos_y = atof(argv[3]);
/* calculate azimuth */
ant_azim = atan2(gps_pos_x, gps_pos_y) * 180. / M_PI;
if (ant_azim < 0) ant_azim += 360.;
/* calculate elevation */
ant_elev = atan2( (gps_alt-home_alt), sqrt(atof(argv[5])) ) * 180. / M_PI;
if (ant_elev < 0) ant_elev = 0.;
gtk_range_set_value(azim_scale, ant_azim);
gtk_range_set_value(elev_scale, ant_elev);
}
/*g_message("home_alt %f gps_alt %f azim %f elev %f", home_alt, gps_alt, ant_azim, ant_elev); */
}
int main (int argc, char** argv) {
gtk_init(&argc, &argv);
GtkWidget* window = build_gui();
gtk_widget_show_all(window);
IvyInit ("AntennaTracker", "AntennaTracker READY", NULL, NULL, NULL, NULL);
IvyBindMsg(on_GPS_STATUS, NULL, "^\\S* GPS (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_NAV_STATUS, NULL, "^\\S* NAVIGATION (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyStart("127.255.255.255");
gtk_main();
return 0;
}
sw/ground_segment/cockpit/ant_track_pmm.c
-795
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sw/ground_segment/cockpit/ant_tracker_pmm.glade
-423
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@@ -1,423 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<!-- Generated with glade 3.18.3 -->
<interface>
<requires lib="gtk+" version="3.12"/>
<object class="GtkAdjustment" id="azim_pw_span_adjustment">
<property name="lower">600</property>
<property name="upper">1400</property>
<property name="value">1000</property>
<property name="step_increment">1</property>
<property name="page_increment">10</property>
</object>
<object class="GtkAdjustment" id="azimuth_scale_adjustment">
<property name="upper">360</property>
<property name="step_increment">1</property>
<property name="page_increment">10</property>
</object>
<object class="GtkAdjustment" id="azimuth_trim_adjustment">
<property name="lower">-10</property>
<property name="upper">10</property>
<property name="step_increment">1</property>
<property name="page_increment">10</property>
</object>
<object class="GtkAdjustment" id="elev_pw_span_adjustment">
<property name="lower">600</property>
<property name="upper">1400</property>
<property name="value">1000</property>
<property name="step_increment">1</property>
<property name="page_increment">10</property>
</object>
<object class="GtkAdjustment" id="elevation_scale_adjustment">
<property name="upper">90</property>
<property name="step_increment">1</property>
<property name="page_increment">10</property>
</object>
<object class="GtkAdjustment" id="elevation_trim_adjustment">
<property name="lower">-10</property>
<property name="upper">10</property>
<property name="step_increment">1</property>
<property name="page_increment">10</property>
</object>
<object class="GtkAdjustment" id="hnp_scale_adjustment">
<property name="upper">360</property>
<property name="step_increment">1</property>
<property name="page_increment">10</property>
<signal name="value-changed" handler="on_hnp_changed" swapped="no"/>
</object>
<object class="GtkWindow" id="window1">
<property name="name">antenna_tracker</property>
<property name="can_focus">False</property>
<property name="halign">baseline</property>
<property name="title" translatable="yes">Paparazzi Antenna Tracker</property>
<property name="default_width">650</property>
<property name="default_height">500</property>
<child>
<object class="GtkLayout" id="layout1">
<property name="name">ant_track_gui</property>
<property name="visible">True</property>
<property name="can_focus">False</property>
<property name="halign">baseline</property>
<property name="resize_mode">immediate</property>
<property name="width">400</property>
<property name="height">300</property>
<child>
<object class="GtkRadioButton" id="radiobutton1">
<property name="label" translatable="yes">Manual</property>
<property name="name">AUTO</property>
<property name="width_request">100</property>
<property name="height_request">80</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="receives_default">False</property>
<property name="xalign">0</property>
<property name="active">True</property>
<property name="draw_indicator">True</property>
<signal name="toggled" handler="on_mode_changed" swapped="no"/>
</object>
<packing>
<property name="x">14</property>
<property name="y">1</property>
</packing>
</child>
<child>
<object class="GtkRadioButton" id="radiobutton2">
<property name="label" translatable="yes">Auto</property>
<property name="name">MANUAL</property>
<property name="width_request">100</property>
<property name="height_request">80</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="receives_default">False</property>
<property name="xalign">0</property>
<property name="active">True</property>
<property name="draw_indicator">True</property>
<property name="group">radiobutton1</property>
</object>
<packing>
<property name="x">139</property>
</packing>
</child>
<child>
<object class="GtkScale" id="azimuth_scale">
<property name="name">azimuth</property>
<property name="width_request">421</property>
<property name="height_request">80</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="halign">baseline</property>
<property name="adjustment">azimuth_scale_adjustment</property>
<property name="round_digits">1</property>
<signal name="value-changed" handler="on_azimuth_changed" swapped="no"/>
</object>
<packing>
<property name="x">120</property>
<property name="y">64</property>
</packing>
</child>
<child>
<object class="GtkScale" id="elevation_scale">
<property name="name">elevation</property>
<property name="width_request">421</property>
<property name="height_request">80</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="halign">center</property>
<property name="adjustment">elevation_scale_adjustment</property>
<property name="round_digits">1</property>
<signal name="value-changed" handler="on_elevation_changed" swapped="no"/>
</object>
<packing>
<property name="x">120</property>
<property name="y">122</property>
</packing>
</child>
<child>
<object class="GtkEntry" id="entry1">
<property name="name">entry1</property>
<property name="width_request">481</property>
<property name="height_request">77</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="max_length">43</property>
</object>
<packing>
<property name="x">50</property>
<property name="y">175</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="id_label">
<property name="name">label1</property>
<property name="width_request">48</property>
<property name="height_request">35</property>
<property name="visible">True</property>
<property name="can_focus">False</property>
<property name="label" translatable="yes">id</property>
</object>
<packing>
<property name="x">1</property>
<property name="y">196</property>
</packing>
</child>
<child>
<object class="GtkButton" id="set_home_button">
<property name="label" translatable="yes">Set Home Here</property>
<property name="name">Set_Home_Here</property>
<property name="width_request">125</property>
<property name="height_request">29</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="receives_default">True</property>
<property name="resize_mode">immediate</property>
<property name="image_position">bottom</property>
<signal name="clicked" handler="on_set_home_button_clicked" swapped="no"/>
</object>
<packing>
<property name="x">299</property>
<property name="y">26</property>
</packing>
</child>
<child>
<object class="GtkScale" id="hnp_scale">
<property name="name">horizontal_neutral_point_scale</property>
<property name="width_request">420</property>
<property name="height_request">80</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="tooltip_text">Used when the antenna tracker cannot be moved to point to the North WHEN AZIMUTH IS SET TO 0 IN MANUAL MODE.
For example use it if the antenna tracker is mounted on a vehicle which cannot be steered to look to the North when the Azimuth servo is centered.
To center the Azimuth servo set mode to MANUAL and then Azimuth scale to 0
</property>
<property name="opacity">0.95999999999999996</property>
<property name="adjustment">hnp_scale_adjustment</property>
<property name="round_digits">1</property>
</object>
<packing>
<property name="x">121</property>
<property name="y">229</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="azim_label">
<property name="name">Azimuth_label</property>
<property name="width_request">70</property>
<property name="height_request">30</property>
<property name="visible">True</property>
<property name="can_focus">False</property>
<property name="label" translatable="yes">Azimuth °</property>
</object>
<packing>
<property name="x">1</property>
<property name="y">96</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="elev_label">
<property name="width_request">70</property>
<property name="height_request">30</property>
<property name="visible">True</property>
<property name="can_focus">False</property>
<property name="label" translatable="yes">Elevation °</property>
</object>
<packing>
<property name="x">3</property>
<property name="y">154</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="hnp_label">
<property name="width_request">108</property>
<property name="height_request">30</property>
<property name="visible">True</property>
<property name="can_focus">False</property>
<property name="label" translatable="yes">Neutral Heading °</property>
</object>
<packing>
<property name="x">8</property>
<property name="y">261</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="azim_servo_pw_label">
<property name="width_request">100</property>
<property name="height_request">29</property>
<property name="visible">True</property>
<property name="can_focus">False</property>
<property name="label" translatable="yes">1500 us</property>
</object>
<packing>
<property name="x">540</property>
<property name="y">97</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="elev_servo_pw_label">
<property name="width_request">71</property>
<property name="height_request">26</property>
<property name="visible">True</property>
<property name="can_focus">False</property>
<property name="label" translatable="yes">1000 us</property>
</object>
<packing>
<property name="x">556</property>
<property name="y">157</property>
</packing>
</child>
<child>
<object class="GtkButton" id="reset_home_button">
<property name="label" translatable="yes">Reset Home</property>
<property name="width_request">116</property>
<property name="height_request">27</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="receives_default">True</property>
<signal name="clicked" handler="on_reset_home_button_clicked" swapped="no"/>
</object>
<packing>
<property name="x">500</property>
<property name="y">28</property>
</packing>
</child>
<child>
<object class="GtkScale" id="elevation_trim_scale">
<property name="width_request">200</property>
<property name="height_request">50</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="tooltip_text" translatable="yes">Adjust the elevation of the Antenna in case the best reception is not parallel with the antenna's mechanical longitudinal axis.
This adjustment works realtime in both modes.</property>
<property name="adjustment">elevation_trim_adjustment</property>
<property name="show_fill_level">True</property>
<property name="round_digits">1</property>
<signal name="value-changed" handler="on_elev_trim_changed" swapped="no"/>
</object>
<packing>
<property name="x">342</property>
<property name="y">334</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="elev_trim_label">
<property name="width_request">94</property>
<property name="height_request">26</property>
<property name="visible">True</property>
<property name="can_focus">False</property>
<property name="label" translatable="yes">Elevation trim °</property>
</object>
<packing>
<property name="x">398</property>
<property name="y">314</property>
</packing>
</child>
<child>
<object class="GtkScale" id="azimuth_trim_scale">
<property name="width_request">200</property>
<property name="height_request">50</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="tooltip_text" translatable="yes">Adjust the azimuth of the Antenna in case the best reception is not parallel with the antenna's mechanical longitudinal axis.
This adjustment works realtime in both modes.</property>
<property name="adjustment">azimuth_trim_adjustment</property>
<property name="show_fill_level">True</property>
<property name="round_digits">1</property>
<signal name="value-changed" handler="on_azim_trim_changed" swapped="no"/>
</object>
<packing>
<property name="x">123</property>
<property name="y">333</property>
</packing>
</child>
<child>
<object class="GtkScale" id="elevation_pw_span_scale">
<property name="width_request">200</property>
<property name="height_request">50</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="tooltip_text" translatable="yes">After you find the correct setting you can make a shell script and run the Antenna tracker command with the --tilt_epa=xxxx option so the changes became more permanent.
From command prompt run the antenna tracker executable with the --help parameter for more help. </property>
<property name="adjustment">elev_pw_span_adjustment</property>
<property name="show_fill_level">True</property>
<property name="round_digits">1</property>
<signal name="value-changed" handler="on_elev_pw_span_changed" swapped="no"/>
</object>
<packing>
<property name="x">341</property>
<property name="y">433</property>
</packing>
</child>
<child>
<object class="GtkScale" id="azimuth_pw_span_scale">
<property name="width_request">200</property>
<property name="height_request">50</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="tooltip_text" translatable="yes">After you find the correct setting you can make a shell script and run the Antenna tracker command with the --pan_epa=xxxx option so the changes became more permanent.
From command prompt run the antenna tracker executable with the --help parameter for more help. </property>
<property name="adjustment">azim_pw_span_adjustment</property>
<property name="show_fill_level">True</property>
<property name="round_digits">1</property>
<signal name="value-changed" handler="on_azim_pw_span_changed" swapped="no"/>
</object>
<packing>
<property name="x">126</property>
<property name="y">432</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="azim_trim_label">
<property name="width_request">89</property>
<property name="height_request">20</property>
<property name="visible">True</property>
<property name="can_focus">False</property>
<property name="label" translatable="yes">Azimuth trim °</property>
</object>
<packing>
<property name="x">181</property>
<property name="y">319</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="elev_pw_span_label">
<property name="width_request">181</property>
<property name="height_request">28</property>
<property name="visible">True</property>
<property name="can_focus">False</property>
<property name="label" translatable="yes">Elevation servo PW range (us)
decrease -- increase</property>
</object>
<packing>
<property name="x">354</property>
<property name="y">408</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="azim_pw_span_label">
<property name="width_request">176</property>
<property name="height_request">28</property>
<property name="visible">True</property>
<property name="can_focus">False</property>
<property name="label" translatable="yes">Azimuth servo PW range (us)
decrease -- increase</property>
</object>
<packing>
<property name="x">143</property>
<property name="y">407</property>
</packing>
</child>
<child>
<object class="GtkLabel" id="servo_pw_label">
<property name="width_request">69</property>
<property name="height_request">21</property>
<property name="visible">True</property>
<property name="can_focus">False</property>
<property name="label" translatable="yes">Servo PW</property>
</object>
<packing>
<property name="x">556</property>
<property name="y">76</property>
</packing>
</child>
</object>
</child>
</object>
</interface>
sw/ground_segment/cockpit/compass.ml
-155
View File
@@ -1,155 +0,0 @@
(*
* Compass display for a manned vehicle
*
* Copyright (C) 2004-2009 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
open Latlong
module Tm_Pprz = PprzLink.Messages (struct let name = "telemetry" end)
let width = 200
let height = width
let background = `NAME "grey"
let fore = `BLACK
let arrow = [1,1; 2,1; 0,3; -2,1; -1,1; -1,-3; 1,-3; 1,1]
let rot = fun angle ->
let angle = (Deg>>Rad)(-. angle) in
let ca = cos angle and sa = sin angle in
fun (x,y) ->
let x = float x and y = float y in
(truncate (ca*.x-.sa*.y), truncate (sa*.x+.ca*.y))
let n = 100
let circle = fun (dr:GDraw.pixmap) (x,y) r ->
let r = float r in
let points = Array.init n
(fun i ->
let a = float i /. float n *. 2.*.pi in
(x + truncate (r*.cos a), y + truncate (r*.sin a))) in
dr#polygon (Array.to_list points)
let draw = fun (da_object:Gtk_tools.pixmap_in_drawin_area) desired_course course_opt distance ->
let da = da_object#drawing_area in
let {Gtk.width=width; height=height} = da#misc#allocation in
let dr = da_object#get_pixmap () in
dr#set_foreground background;
dr#rectangle ~x:0 ~y:0 ~width ~height ~filled:true ();
let s = (min width height) / 8 in
(* Text *)
let context = da#misc#create_pango_context in
context#set_font_by_name (sprintf "sans %d" (s/3));
let print_string = fun x y string ->
let layout = context#create_layout in
let fd = Pango.Context.get_font_description (Pango.Layout.get_context layout) in
Pango.Font.modify fd ~weight:`BOLD ();
context#set_font_description fd;
let from_codeset = "ISO-8859-15"
and to_codeset = "UTF-8" in
Pango.Layout.set_text layout (Glib.Convert.convert ~from_codeset ~to_codeset string);
let (w,h) = Pango.Layout.get_pixel_size layout in
dr#put_layout ~x:(x-w/2) ~y:(y-h/2) ~fore layout in
let course = match course_opt with None -> 0. | Some c -> c in
let rotation = rot (desired_course -. course) in
let translate = fun (x, y) -> (4*s+x, 4*s-y) in
(* Arrow *)
if distance > 5. then
match course_opt with
None ->
print_string (4*s) (4*s) "?"
| Some _ ->
let points = List.map (fun (x, y) -> translate (rotation (x*s/2,y*s/2))) arrow in
dr#set_foreground fore;
dr#polygon ~filled:true points;
circle dr (4*s,4*s) (2*s);
circle dr (4*s,4*s) (3*s)
else
print_string (4*s) (4*s) "STOP";
(* Distance and bearing to target, current track *)
print_string (7*s) s (sprintf "%.0f m" distance);
print_string (7*s) (s/2) "Dist.";
print_string s s (sprintf "%.0f°" desired_course);
print_string s (s/2) "Brg";
print_string s (7*s) (match course_opt with None -> "---" | _ -> sprintf "%.0f°" course);
print_string s (7*s+s/2) "Track";
(* Cardinal points *)
let rotation = rot (-. course) in
let cards = [(0, 10, "N"); (0, -10, "S"); (10, 0, "E"); (-10, 0, "W");
(7, 7, "NE"); (7, -7, "SE");(-7,-7,"SW");(-7,7,"NW")] in
List.iter (fun (x,y,string)->
let (x,y) = translate (rotation ((x*5*s)/20, (y*5*s)/20)) in
print_string x y string)
cards;
(new GDraw.drawable da#misc#window)#put_pixmap ~x:0 ~y:0 dr#pixmap
(*********************** Main ************************************************)
let _ =
let ivy_bus = ref Defivybus.default_ivy_bus in
Arg.parse
[ "-b", Arg.String (fun x -> ivy_bus := x), (sprintf "<ivy bus> Default is %s" !ivy_bus)]
(fun x -> prerr_endline ("WARNING: don't do anything with "^x))
"Usage: ";
(** Connect to the Ivy bus *)
Ivy.init "Paparazzi UGV Compass" "READY" (fun _ _ -> ());
Ivy.start !ivy_bus;
(** Open the window *)
let icon = GdkPixbuf.from_file Env.icon_file in
let window = GWindow.window ~icon ~title:"UGV Compass" () in
let quit = fun () -> GMain.Main.quit (); exit 0 in
ignore (window#connect#destroy ~callback:quit);
let da = new Gtk_tools.pixmap_in_drawin_area ~width ~height ~packing:window#add () in
da#drawing_area#misc#realize ();
(* Listening messages *)
let course = ref None in (* deg *)
let desired_course = ref 0. in (* deg *)
let get_navigation = fun _ values ->
let distance = (try sqrt (PprzLink.float_assoc "dist2_wp" values) with _ -> PprzLink.float_assoc "dist_wp" values) in
draw da !desired_course !course distance in
ignore (Tm_Pprz.message_bind "NAVIGATION" get_navigation);
let get_gps = fun _ values ->
(* if speed < 1m/s, the course information is not relevant *)
course :=
if PprzLink.int_assoc "speed" values > 100 then
Some (float (PprzLink.int_assoc "course" values) /. 10.)
else
None in
ignore (Tm_Pprz.message_bind "GPS" get_gps);
let get_desired = fun _ values ->
desired_course := (Rad>>Deg) (PprzLink.float_assoc "course" values) in
ignore (Tm_Pprz.message_bind "DESIRED" get_desired);
(** Start the main loop *)
window#show ();
GMain.main ()
sw/ground_segment/cockpit/editFP.ml
-228
View File
@@ -1,228 +0,0 @@
(***************** Editing ONE (single) flight plan **************************)
open Printf
open Latlong
let (//) = Filename.concat
let fp_example = Env.flight_plans_path // "example.xml"
let default_path_maps = Env.paparazzi_home // "data" // "maps"
(** Dummy flight plan (for map calibration) *)
let dummy_fp = fun latlong ->
Xml.Element("flight_plan",
["lat0", string_of_float ((Rad>>Deg)latlong.posn_lat);
"lon0", string_of_float ((Rad>>Deg)latlong.posn_long);
"alt", "42.";
"MAX_DIST_FROM_HOME", "1000."],
[Xml.Element("waypoints", [],[]);
Xml.Element("blocks", [],[])])
let current_fp = ref None
(** Wrapper checking there is currently no flight plan loaded *)
let if_none = fun f ->
match !current_fp with
Some _ ->
GToolbox.message_box ~title:"Error" "Only one editable flight plan at a time"
| None ->
f ()
let set_window_title = fun geomap ->
let title_suffix =
match !current_fp with
None -> ""
| Some (_fp, xml_file) -> sprintf " (%s)" (Filename.basename xml_file) in
match GWindow.toplevel geomap#canvas with
Some w ->
w#set_title (sprintf "Flight Plan Editor%s" title_suffix)
| None -> ()
let save_fp = fun geomap ->
match !current_fp with
None -> () (* Nothing to save *)
| Some (fp, filename) ->
match GToolbox.select_file ~title:"Save Flight Plan" ~filename () with
None -> ()
| Some file ->
let f = open_out file in
let fp_path = Str.replace_first (Str.regexp Env.flight_plans_path) "" (Filename.dirname file) in
let rel_path = Str.global_replace (Str.regexp (Printf.sprintf "%s[^%s]+" Filename.dir_sep Filename.dir_sep)) (Filename.parent_dir_name // "") fp_path in
fprintf f "<!DOCTYPE flight_plan SYSTEM \"%s%s\">\n\n" rel_path "flight_plan.dtd";
fprintf f "%s\n" (ExtXml.to_string_fmt fp#xml);
close_out f;
current_fp := Some (fp, file);
set_window_title geomap
let close_fp = fun geomap ->
match !current_fp with
None -> () (* Nothing to close *)
| Some (fp, _filename) ->
let close = fun () ->
fp#destroy ();
geomap#clear_georefs ();
current_fp := None in
match GToolbox.question_box ~title:"Closing flight plan" ~buttons:["Close"; "Save&Close"; "Cancel"] "Do you want to save/close ?" with
2 -> save_fp geomap; close ()
| 1 -> close ()
| _ -> ()
let load_xml_fp = fun geomap editor_frame _accel_group ?(xml_file=Env.flight_plans_path) xml ->
Map2d.set_georef_if_none geomap (MapFP.georef_of_xml xml);
let fp = new MapFP.flight_plan ~editable:true ~show_moved:false geomap "red" Env.flight_plan_dtd xml in
editor_frame#add fp#window;
current_fp := Some (fp,xml_file);
(** Add waypoints as geo references *)
List.iter
(fun w ->
let (_i, w) = fp#index w in
geomap#add_info_georef (sprintf "%s" w#name) (w :> < pos : Latlong.geographic >))
fp#waypoints;
fp
let labelled_entry = fun ?width_chars text value h ->
let _ = GMisc.label ~text ~packing:h#add () in
GEdit.entry ?width_chars ~text:value ~packing:h#add ()
let new_fp = fun geomap editor_frame accel_group () ->
if_none (fun () ->
let dialog = GWindow.window ~border_width:10 ~title:"New flight plan" () in
let dvbx = GPack.box `VERTICAL ~packing:dialog#add () in
let h = GPack.hbox ~packing:dvbx#pack () in
let default_latlong =
match geomap#georef with
None -> "WGS84 37.21098 -113.45678"
| Some geo -> Latlong.string_of geo in
let latlong = labelled_entry ~width_chars:25 "Geographic Reference" default_latlong h in
let alt0 = labelled_entry ~width_chars:4 "Ground Alt" "380" h in
let h = GPack.hbox ~packing:dvbx#pack () in
let alt = labelled_entry ~width_chars:4 "Default Alt" "430" h in
let qfu = labelled_entry ~width_chars:4 "QFU" "270" h in
let mdfh = labelled_entry ~width_chars:4 "Max distance from HOME" "500" h in
let h = GPack.hbox ~packing:dvbx#pack () in
let name = labelled_entry "Name" "Test flight" h in
let h = GPack.hbox ~packing:dvbx#pack () in
let cancel = GButton.button ~stock:`CANCEL ~packing: h#add () in
ignore(cancel#connect#clicked ~callback:dialog#destroy);
let createfp = GButton.button ~stock:`OK ~packing: h#add () in
createfp#grab_default ();
ignore(createfp#connect#clicked ~callback:
begin fun _ ->
let xml = ExtXml.parse_file fp_example in
let s = ExtXml.subst_attrib in
let wgs84 = Latlong.of_string latlong#text in
let xml = s "lat0" (deg_string_of_rad wgs84.posn_lat) xml in
let xml = s "lon0" (deg_string_of_rad wgs84.posn_long) xml in
let xml = s "ground_alt" alt0#text xml in
let xml = s "qfu" qfu#text xml in
let xml = s "alt" alt#text xml in
let xml = s "max_dist_from_home" mdfh#text xml in
let xml = s "name" name#text xml in
ignore (load_xml_fp geomap editor_frame accel_group xml);
dialog#destroy ()
end);
dialog#show ())
let loading_error = fun xml_file e ->
let m = sprintf "Error while loading %s:\n%s" xml_file e in
GToolbox.message_box ~title:"Error" m
let load_xml_file = fun geomap editor_frame accel_group xml_file ->
try
let xml = Xml.parse_file xml_file in
ignore (load_xml_fp geomap editor_frame accel_group ~xml_file xml);
geomap#fit_to_window ();
set_window_title geomap
with
Dtd.Prove_error(e) -> loading_error xml_file (Dtd.prove_error e)
| Dtd.Check_error(e) -> loading_error xml_file (Dtd.check_error e)
| Xml.Error e -> loading_error xml_file (Xml.error e)
(** Loading a flight plan for edition *)
let load_fp = fun geomap editor_frame accel_group () ->
if_none (fun () ->
match GToolbox.select_file ~title:"Open flight plan" ~filename:(Env.flight_plans_path // "*.xml") () with
None -> ()
| Some xml_file -> load_xml_file geomap editor_frame accel_group xml_file)
let create_wp = fun geomap geo ->
match !current_fp with
None ->
GToolbox.message_box ~title:"Error" "Load a flight plan first";
failwith "create_wp"
| Some (fp,_) ->
let w = fp#add_waypoint geo in
geomap#add_info_georef (sprintf "%s" w#name) (w :> < pos : Latlong.geographic >);
w
let ref_point_of_waypoint = fun xml ->
Xml.Element("point", ["x",Xml.attrib xml "x";
"y",Xml.attrib xml "y";
"geo", Xml.attrib xml "name"],[])
(** Calibration of chosen image (requires a dummy flight plan) *)
let calibrate_map = fun (geomap:MapCanvas.widget) editor_frame accel_group () ->
match !current_fp with
| Some (_fp,_) -> GToolbox.message_box ~title:"Error" "Close current flight plan before calibration"
| None ->
match GToolbox.select_file ~filename:(default_path_maps // "") ~title:"Open Image" () with
None -> ()
| Some image ->
(** Displaying the image in the NW corner *)
let pixbuf = GdkPixbuf.from_file image in
let pix = GnoCanvas.pixbuf ~pixbuf ~props:[`ANCHOR `NW] geomap#canvas#root in
let (x0, y0) = geomap#canvas#get_scroll_offsets in
let (x,y) = geomap#canvas#window_to_world ~winx:(float x0) ~winy:(float y0) in
pix#move ~x ~y;
(** Open a dummy flight plan *)
let dummy_georef =
match geomap#georef with
None -> {posn_lat = (Deg>>Rad)43.; posn_long = (Deg>>Rad)1. }
| Some geo -> geo in
let fp_xml = dummy_fp dummy_georef in
let fp = load_xml_fp geomap editor_frame accel_group fp_xml in
(** Dialog to finish calibration *)
let dialog = GWindow.window ~border_width:10 ~title:"Map calibration" () in
let v = GPack.vbox ~packing:dialog#add () in
let _ = GMisc.label ~text:"Choose 2 (or more) waypoints (Ctrl-Left)\nRename the waypoints with their geographic coordinates\nFor example: 'WGS84 43.123456 1.234567' or 'UTM 530134 3987652 12' or 'LBT2e 123456 543210'\nClick the button below to save the XML result file\n" ~packing:v#add () in
let h = GPack.hbox ~packing:v#pack () in
let cancel = GButton.button ~stock:`CLOSE ~packing:h#add () in
let cal = GButton.button ~stock:`OK ~packing:h#add () in
let destroy = fun () ->
dialog#destroy ();
close_fp geomap;
pix#destroy () in
ignore(cancel#connect#clicked ~callback:destroy);
ignore(cal#connect#clicked ~callback:(fun _ ->
let points = List.map XmlEdit.xml_of_node fp#waypoints in
let points = List.map ref_point_of_waypoint points in
let xml = Xml.Element ("map",
["file", Filename.basename image;
"projection", geomap#projection],
points) in
match GToolbox.select_file ~filename:(default_path_maps//".xml") ~title:"Save calibrated map" () with
None -> ()
| Some xml_file ->
let f = open_out xml_file in
Printf.fprintf f "%s\n" (Xml.to_string_fmt xml);
close_out f));
cal#grab_default ();
dialog#show ()
sw/ground_segment/cockpit/editFP.mli
-8
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@@ -1,8 +0,0 @@
val create_wp : MapCanvas.widget -> Latlong.geographic -> MapWaypoints.waypoint
val calibrate_map : MapCanvas.widget -> GBin.frame -> Gtk.accel_group -> unit -> unit
val new_fp : MapCanvas.widget -> GBin.frame -> Gtk.accel_group -> unit -> unit
val load_fp : MapCanvas.widget -> GBin.frame -> Gtk.accel_group -> unit -> unit
val load_xml_file : MapCanvas.widget -> GBin.frame -> Gtk.accel_group -> string -> unit
val save_fp : MapCanvas.widget -> unit
val close_fp : MapCanvas.widget -> unit
val set_window_title : MapCanvas.widget -> unit
sw/ground_segment/cockpit/gcs.glade
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sw/ground_segment/cockpit/gcs.ml
-825
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sw/ground_segment/cockpit/horizon.ml
-239
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@@ -1,239 +0,0 @@
(*
* Multi aircrafts map display and flight plan editor
*
* Copyright (C) 2004-2006 ENAC, Pascal Brisset, Antoine Drouin / 2011 Tobias Muench, Rolf Noellenburg
*
* 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
open Latlong
let affine_pos_and_angle xw yw angle =
let cos_a = cos angle in
let sin_a = sin angle in
[| cos_a ; sin_a ; ~-. sin_a; cos_a; xw; yw |]
let affine_pos xw yw = affine_pos_and_angle xw yw 0.
let arc = fun n r start stop ->
let s = (stop -. start) /. float (n-1) in
Array.init n (fun i -> let a = start+.float i*.s in (r*.cos a, r*.sin a))
let floats_of_points = fun ps ->
let n = Array.length ps in
let a = Array.make (2*n) 0. in
for i = 0 to n - 1 do
let (x, y) = ps.(i) in
a.(2*i)<-x;
a.(2*i+1)<-y
done;
a
let ruler = fun ?(index_on_right=false) ~text_props ~max_value ~scale ~w ~index_width ~step ~h root ->
let r = GnoCanvas.group root in
let height = scale *. float max_value in
(* Grey background *)
let _ = GnoCanvas.rect ~x1:0. ~y1:(-.height) ~x2:w ~y2:height ~fill_color:"#808080" r in
let props = (text_props@[`ANCHOR `EAST]) in
(* One step drawer *)
let tab = Array.make (max_value/step) false in
let draw = fun i ->
let i = i * step in
let y = -. scale *. float i in
let text = Printf.sprintf "%d" i in
let _ = GnoCanvas.text ~text ~props ~y ~x:(w*.0.75) r in
let _ = GnoCanvas.line ~points:[|w*.0.8;y;w;y|] ~fill_color:"white" r in
let y = y -. float step /. 2. *. scale in
let _ = GnoCanvas.line ~points:[|w*.0.8;y;w;y|] ~fill_color:"white" r in
() in
let lazy_drawer = fun v ->
let v = truncate v / step in
for i = max 0 (v - 5) to min (v + 5) (Array.length tab - 1) do (* FIXME *)
if not tab.(i) then begin
tab.(i) <- true;
draw i
end
done in
(** Yellow index *)
let _ = GnoCanvas.line ~points:[|0.;0.;w;0.|] ~props:[`WIDTH_PIXELS 2] ~fill_color:"yellow" root in
let s = index_width in
let idx = GnoCanvas.polygon ~points:[|0.;0.;-.s;s/.2.;-.s;-.s/.2.|] ~fill_color:"yellow" root in
if index_on_right then
idx#affine_absolute (affine_pos_and_angle w 0. pi);
(** Mask (bottom & top) *)
let _ = GnoCanvas.rect ~x1:0. ~y1:(-.height) ~x2:w ~y2:(-.h) ~fill_color:"black" root in
let _ = GnoCanvas.rect ~x1:0. ~y1:height ~x2:w ~y2:h ~fill_color:"black" root in
r, lazy_drawer
class h = fun ?packing size ->
let canvas = GnoCanvas.canvas ~aa:true ~width:size ~height:size ?packing () in
let _ =
canvas#set_center_scroll_region false;
in
let size = float size in
let size2 = size /. 2. in
let left_margin = size2 /. 10. in
let pitch_scale = fun pitch -> pitch *. size2 *. 2. in
let speed_scale = size2 /. 10. in
let alt_scale = size2 /. 50. in
let speed_width = size2/.3. in
let alt_width = size2/.2.25 in
let index_width = size2 /. 10. in
let xc = left_margin +. speed_width +. size2
and yc = size2*.1.25 in
let text_props = [`FONT "Sans 8"; `ANCHOR `CENTER; `FILL_COLOR "white"] in
let disc = GnoCanvas.group canvas#root in
let _top = GnoCanvas.rect ~x1:(-.size) ~y1:(-.size2*.5.) ~x2:size ~y2:0. ~fill_color:"#0099cb" disc
and _bottom = GnoCanvas.rect ~x1:(-.size) ~y1:0. ~x2:size ~y2:(size2*.5.) ~fill_color:"#986701" disc
and _line = GnoCanvas.line ~props:[`WIDTH_PIXELS 4] ~points:[|-.size;0.;size;0.|] ~fill_color:"white" disc
and _ = GnoCanvas.line ~points:[|0.;-.size;0.;size|] ~fill_color:"white" disc
in
let grads = fun ?(text=false) n s a b ->
for i = 0 to n do
let deg = float i *. a +. b in
let y = pitch_scale ((Deg>>Rad)deg) in
ignore (GnoCanvas.line ~points:[|-.s; y; s; y|] ~fill_color:"white" disc);
ignore (GnoCanvas.line ~points:[|-.s; -.y; s; -.y|] ~fill_color:"white" disc);
if text then
let text = Printf.sprintf "%d" (truncate deg)
and x = 2.*.s in
ignore (GnoCanvas.text ~props:text_props ~text ~y:(-.y) ~x disc);
ignore (GnoCanvas.text ~props:text_props ~text ~y:(-.y) ~x:(-.x) disc);
let text = "-"^text in
ignore (GnoCanvas.text ~props:text_props ~text ~y ~x disc);
ignore (GnoCanvas.text ~props:text_props ~text ~y ~x:(-.x) disc);
done in
let _ =
grads 10 (size2/.10.) 5. 2.5;
grads 5 (size2/.7.) 10. 5.;
grads ~text:true 5 (size2/.5.) 10. 10. in
let mask = GnoCanvas.group ~x:xc ~y:yc canvas#root in
let _center = GnoCanvas.ellipse ~x1:(-3.) ~y1:(-.3.) ~x2:3. ~y2:3. ~fill_color:"black" mask in
let pi6 = pi/.6. in
let n = 20 in
let arc_above = arc n size2 pi6 (5.*.pi6) in
let (x, _y) = arc_above.(n-1) in
let rest = [|(x, 0.);(10.*.size, 0.); (10.*.size, 10.*.size); (-.size, 10.*.size);(-.size,0.);(-.x,0.)|] in
let points = floats_of_points (Array.append arc_above rest) in
let _ =
ignore (GnoCanvas.polygon ~fill_color:"black" ~points mask);
for i = 0 to Array.length points / 2 - 1 do
points.(2*i+1) <- -. points.(2*i+1)
done;
ignore (GnoCanvas.polygon ~fill_color:"black" ~points mask);
let s = size2/. 5. in
ignore (GnoCanvas.line ~props:[`WIDTH_PIXELS 4] ~points:[|-.x;0.;-.x-.s;0.;-.x-.s;s|] ~fill_color:"black" mask);
ignore (GnoCanvas.line ~props:[`WIDTH_PIXELS 4] ~points:[|x;0.;x+.s;0.;x+.s;s|] ~fill_color:"black" mask);
(* Top and bottom graduations *)
let g = fun a ->
let l = GnoCanvas.line~props:[`WIDTH_PIXELS 1] ~fill_color:"white" ~points:[|0.;-.size2;0.;-.1.07*.size2|] mask in
l#affine_relative (affine_pos_and_angle 0. 0. ((Deg>>Rad)a)) in
for i = 1 to 5 do
let a = float (i*10) in
g a; g (-.a)
done;
let gg = fun a ->
let l = GnoCanvas.line~props:[`WIDTH_PIXELS 2] ~fill_color:"white" ~points:[|0.;-.size2;0.;-.1.15*.size2|] mask in
l#affine_relative (affine_pos_and_angle 0. 0. ((Deg>>Rad)a)) in
gg 30.; gg (-30.);
gg 0.; gg 0.;
let _30 = fun a ->
let t = GnoCanvas.text ~text:"30" ~props:text_props ~x:0. ~y:(-1.28*.size2) mask in
t#affine_relative (affine_pos_and_angle 0. 0. ((Deg>>Rad)a)) in
_30 30.; _30 (-30.)
in
(* Speedometer on the left side *)
let speed, mi, mx, lazy_speed =
let g = GnoCanvas.group ~x:left_margin ~y:yc canvas#root in
let r, lazy_ruler = ruler ~text_props ~index_on_right:true ~max_value:50 ~scale:speed_scale ~w:speed_width ~step:2 ~index_width ~h:(0.75*.size2) g in
let mx =
GnoCanvas.text ~x:(speed_width/.2.) ~y:(-0.88*.size2) ~props:text_props g
and mi =
GnoCanvas.text ~x:(speed_width/.2.) ~y:(0.875*.size2) ~props:text_props g in
mx#set [`FILL_COLOR "yellow"];
mi#set [`FILL_COLOR "yellow"];
lazy_ruler 0.;
r, mi, mx, lazy_ruler
(* Altimeter on the right side *)
and alt, lazy_alt =
let g = GnoCanvas.group ~x:(xc+.size2) ~y:yc canvas#root in
ruler ~text_props ~max_value:3000 ~scale:alt_scale ~w:alt_width ~step:10 ~index_width ~h:(0.75*.size2) g
in
object
method set_attitude = fun roll pitch ->
disc#affine_absolute (affine_pos_and_angle (xc+.((sin roll)*.(pitch_scale pitch))) (yc+.pitch_scale pitch*.(cos roll)) (-.roll))
val mutable max_speed = 0.
val mutable min_speed = max_float
method set_speed = fun (s:float) ->
speed#affine_absolute (affine_pos 0. 0.);
lazy_speed s;
speed#affine_absolute (affine_pos 0. (speed_scale*.s));
min_speed <- min min_speed s;
max_speed <- max max_speed s;
mi#set [`TEXT (sprintf "%.1f" min_speed)];
mx#set [`TEXT (sprintf "%.1f" max_speed)]
initializer
ignore (speed#connect#event ~callback:(function
`BUTTON_PRESS _ev ->
max_speed <- 0.; min_speed <- max_float; true
| _ -> false))
method set_alt = fun (s:float) ->
alt#affine_absolute (affine_pos 0. 0.);
lazy_alt s;
alt#affine_absolute (affine_pos 0. (alt_scale*.s))
end
(*****************************************************************************)
(* pfd page *)
(*****************************************************************************)
class pfd ?(visible = fun _ -> true) (widget: GBin.frame) =
let horizon = new h ~packing: widget#add 150 in
let _lazy = fun f x -> if visible widget then f x in
object
method set_attitude roll pitch =
_lazy (horizon#set_attitude ((Deg>>Rad)roll)) ((Deg>>Rad)pitch)
method set_alt (a:float) = _lazy horizon#set_alt a
method set_climb (_c:float) = ()
method set_speed (c:float) = _lazy horizon#set_speed c
end
sw/ground_segment/cockpit/horizon.mli
-8
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@@ -1,8 +0,0 @@
class pfd : ?visible:(GBin.frame -> bool) -> GBin.frame ->
object
method set_speed : float -> unit
method set_alt : float -> unit
method set_climb : float -> unit
method set_attitude : float -> float -> unit
end
sw/ground_segment/cockpit/intruders.ml
-61
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@@ -1,61 +0,0 @@
(*
* Copyright (C) 2015 Gautier Hattenberger <gautier.hattenberger@enac.fr>
*
* 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, see
* <http://www.gnu.org/licenses/>.
*
*)
(*open Latlong*)
type intruder = {
intruder_track : MapTrack.track;
mutable last_update : float
}
(*let intruders = (string, intruder) Hashtbl.t*)
let intruders = Hashtbl.create 1
let new_intruder = fun id name time geomap ->
let track = new MapTrack.track ~size:200 ~icon:"intruder" ~name ~show_carrot:false id geomap in
let intruder = { intruder_track = track; last_update = time } in
Hashtbl.add intruders id intruder
let remove_intruder = fun id ->
try
let intruder = Hashtbl.find intruders id in
intruder.intruder_track#destroy ();
Hashtbl.remove intruders id
with _ -> () (* no intruder *)
let update_intruder = fun id wgs84 heading alt speed climb time ->
try
let intruder = Hashtbl.find intruders id in
intruder.intruder_track#move_icon wgs84 heading alt speed climb;
intruder.last_update <- time;
with _ -> () (* no intruder, add a new one ? *)
let intruder_exist = fun id ->
Hashtbl.mem intruders id
(* remove old intruders after 20s *)
let remove_old_intruders = fun () ->
Hashtbl.iter
(fun id i ->
if (Unix.gettimeofday () -. i.last_update) > 20.0 then
remove_intruder id
) intruders
sw/ground_segment/cockpit/lib/.gitignore
-2
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@@ -1,2 +0,0 @@
gtk_*.ml
sw/ground_segment/cockpit/lib/META.gcslib
-8
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@@ -1,8 +0,0 @@
description = "Paparazzi GCS lib"
requires = "pprz.xlib,pprzlink,lablgtk2-gnome.gnomecanvas,lablgtk2.glade"
version = "1.0"
directory = ""
archive(byte) = "gcslib-pprz.cma"
archive(native) = "gcslib-pprz.cmxa"
sw/ground_segment/cockpit/lib/Makefile
-142
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@@ -1,142 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Copyright (C) 2003 Pascal Brisset, Antoine Drouin
# Copyright (C) 2022 Gautier Hattenberger
#
# 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.
#
Q=@
include ../../../Makefile.ocaml
# verbose ocamlmklib: Print commands before executing them
#VERBOSITY = -verbose
VERBOSITY =
UNAME = $(shell uname -s)
ifeq ("$(UNAME)","Darwin")
MKTEMP = gmktemp
else
MKTEMP = mktemp
endif
LABLGTK2GNOMECANVAS = $(shell ocamlfind query -p-format lablgtk2-gnome.gnomecanvas 2>/dev/null)
ifeq ($(LABLGTK2GNOMECANVAS),)
LABLGTK2GNOMECANVAS = $(shell ocamlfind query -p-format lablgtk2.gnomecanvas 2>/dev/null)
endif
INCLUDES=
PKGCOMMON=pprzlink
XINCLUDES=
XPKGCOMMON=pprzlink,xml-light,glibivy,$(LABLGTK2GNOMECANVAS),lablgtk2.glade
PKG = -package lablgtk2,pprzlink,pprz.xlib
LINKPKG = $(PKG) -linkpkg -dllpath-pkg lablgtk2,pprz.xlib,pprzlink
XSRC = contrastLabel.ml acIcon.ml wind_sock.ml gtk_papget_editor.ml gtk_papget_text_editor.ml gtk_papget_gauge_editor.ml gtk_papget_led_editor.ml papget_common.ml papget_renderer.ml papget.ml mapCanvas.ml mapWaypoints.ml mapTrack.ml mapGoogle.ml mapIGN.ml ml_gtk_drag.o xmlEdit.ml mapFP.ml
XCMO = $(XSRC:.ml=.cmo)
XCMX = $(XSRC:.ml=.cmx)
all : byte native
byte : gcslib-pprz.cma
native : gcslib-pprz.cmxa
gcslib-pprz.cma libgcslib-pprz.a: $(XCMO)
@echo OL $@
$(Q)$(OCAMLMKLIB) $(VERBOSITY) $(XINCLUDES) -o gcslib-pprz $^
gcslib-pprz.cmxa dllgcslib-pprz.so: $(XCMX)
@echo OOL $@
$(Q)$(OCAMLMKLIB) $(VERBOSITY) $(XINCLUDES) -o gcslib-pprz $^
# trying to set correct dependencies for parallel build
# these are order only depedencies
gcslib-pprz.cma: | libgcslib-pprz.a dllgcslib-pprz.so
gcslib-pprz.cmxa: | libgcslib-pprz.a dllgcslib-pprz.so
%.o : %.c
@echo OC $<
$(Q)$(OCAMLC) -ccopt -fPIC $(INCLUDES) -package $(PKGCOMMON) -c $<
$(XCMO) $(XCMX): PKGCOMMON=$(XPKGCOMMON)
GTKCFLAGS := $(shell pkg-config --cflags gtk+-2.0) -DGTK_DISABLE_DEPRECATED
ml_gtk_drag.o : ml_gtk_drag.c
@echo OC $<
$(Q)$(OCAMLC) $(INCLUDES) -package $(PKGCOMMON) -c -ccopt "$(GTKCFLAGS)" $<
%.cmo : %.ml
@echo OC $<
$(Q)$(OCAMLC) $(INCLUDES) $(PKG) -c $<
%.cmx : %.ml
@echo OOC $<
$(Q)$(OCAMLOPT) $(INCLUDES) $(PKG) -c $<
%.cmi : %.mli
@echo OC $<
$(Q)$(OCAMLC) $(XINCLUDES) $(INCLUDES) $(PKG) $<
gtk_papget_editor.ml : widgets.glade
@echo GLADE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)grep -v invisible_char $< > $($@_TMP)
$(Q)lablgladecc2 -root papget_editor -hide-default $($@_TMP) | grep -B 1000000 " end" > $@
$(Q)rm -f $($@_TMP)
gtk_papget_text_editor.ml : widgets.glade
@echo GLADE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)grep -v invisible_char $< > $($@_TMP)
$(Q)lablgladecc2 -root table_text_editor -hide-default $($@_TMP) | grep -B 1000000 " end" > $@
$(Q)rm -f $($@_TMP)
gtk_papget_gauge_editor.ml : widgets.glade
@echo GLADE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)grep -v invisible_char $< > $($@_TMP)
$(Q)lablgladecc2 -root table_gauge_editor -hide-default $($@_TMP) | grep -B 1000000 " end" > $@
$(Q)rm -f $($@_TMP)
gtk_papget_led_editor.ml : widgets.glade
@echo GLADE $@
$(eval $@_TMP := $(shell $(MKTEMP)))
$(Q)grep -v invisible_char $< > $($@_TMP)
$(Q)$(Q)lablgladecc2 -root table_led_editor -hide-default $($@_TMP) | grep -B 1000000 " end" > $@
$(Q)rm -f $($@_TMP)
clean :
$(Q)rm -f *~ *.cm* *.out *.opt .depend *.a *.o *.so gtk_papget_*.ml
.PHONY: all byte native clean
#
# Dependencies
#
.depend: Makefile
@echo DEPEND $@
$(Q)$(OCAMLDEP) $(XSRC) *.mli >> .depend
ifneq ($(MAKECMDGOALS),clean)
-include .depend
endif
sw/ground_segment/cockpit/lib/acIcon.ml
-214
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@@ -1,214 +0,0 @@
(*
* A Label with a contrasting outline
*
* Copyright (C) 2013 Piotr Esden-Tempski <piotr@esden.net>
*
* 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.
*
*)
type icon = {
lines : float array list;
ellipse : float array list;
width: int
}
let icon_fixedwing_template = {
lines = [
[| 0.; -6.; 0.; 14.|];
[| -9.; 0.; 9.; 0.|];
[| -4.; 10.; 4.; 10.|]
];
ellipse = [];
width = 4
}
let icon_flyingwing_template = {
lines = [
[| -13.; 4.; 0.; -7.; 13.; 4.|];
[| -13.; 5.; 0.; 0.; 13.; 5.|];
];
ellipse = [];
width = 4
}
let icon_rotorcraft_template = {
lines = [
[| 0.; -8.; 0.; 8.|];
[| -8.; 0.; 8.; 0.|];
[| 6.; -15.; 0.; -24.; -6.; -15.|];
];
ellipse = [
[| 8.; -5.; 18.; 5.|];
[| -8.; -5.; -18.; 5.|];
[| -5.; 8.; 5.; 18.|];
[| -5.; -8.; 5.; -18.|];
];
width = 2
}
let icon_quadrotor_template = {
lines = [
[| 6.; -15.; 0.; -24.; -6.; -15.|]; (** Front Marker **)
];
ellipse = [
[| -8.; -8.; 8.; 8.|]; (** Center Ring **)
[| 8.; -5.; 18.; 5.|];
[| -8.; -5.; -18.; 5.|];
[| -5.; 8.; 5.; 18.|];
[| -5.; -8.; 5.; -18.|];
];
width = 1
}
let icon_hexarotor_template = {
lines = [
[| 6.; -15.; 0.; -24.; -6.; -15.|]; (** Front Marker **)
];
ellipse = [
[| -8.00; -8.00; 8.00; 8.00|]; (** Center Ring **)
[| 6.26; 1.50; 16.26; 11.50|];
[| -6.26; -1.50; -16.26; -11.50|];
[| -5.00; 8.00; 5.00; 18.00|];
[| -5.00; -8.00; 5.00; -18.00|];
[| 6.26; -1.50; 16.26; -11.50|];
[| -6.26; 1.50; -16.26; 11.50|];
];
width = 1
}
let icon_octorotor_template = {
lines = [
[| 6.; -15.; 0.; -24.; -6.; -15.|]; (** Front Marker **)
];
ellipse = [
[| -8.00; -8.00; 8.00; 8.00|]; (** Center Ring **)
[| 8.00; -5.00; 18.00; 5.00|];
[| -8.00; -5.00; -18.00; 5.00|];
[| -5.00; 8.00; 5.00; 18.00|];
[| -5.00; -8.00; 5.00; -18.00|];
[| 4.19; -4.19; 14.19; -14.19|];
[| -4.19; 4.19; -14.19; 14.19|];
[| 14.19; 14.19; 4.19; 4.19|];
[| -14.19; -14.19; -4.19; -4.19|];
];
width = 1
}
let icon_quadrotor_x_template = {
lines = [
[| 6.; -15.; 0.; -24.; -6.; -15.|]; (** Front Marker **)
];
ellipse = [
[| -8.00; -8.00; 8.00; 8.00|]; (** Center Ring **)
[| 4.19; 4.19; 14.19; 14.19|];
[| -4.19; -4.19; -14.19; -14.19|];
[| -4.19; 4.19; -14.19; 14.19|];
[| 4.19; -4.19; 14.19; -14.19|];
];
width = 1
}
let icon_quadrotor_xi_template = {
lines = [
[| 6.;-15.; 0.;-24.; -6.;-15.|]; (** Front Marker **)
[| 0.; -4.; 0.; 4.|];
[|-4.; -6.; 0.; -4.; 4.; -6.|];
[|-4.; 6.; 0.; 4.; 4.; 6.|];
];
ellipse = [
[| 4.19; 4.19; 14.19; 14.19|];
[| -4.19; -4.19; -14.19; -14.19|];
[| -4.19; 4.19; -14.19; 14.19|];
[| 4.19; -4.19; 14.19; -14.19|];
];
width = 1
}
let icon_hexarotor_x_template = {
lines = [
[| 6.; -15.; 0.; -24.; -6.; -15.|]; (** Front Marker **)
];
ellipse = [
[| -8.0; -8.00; 8.0; 8.00|]; (** Center Ring **)
[| 1.5; 6.26; 11.5; 16.26|];
[| -1.5; -6.26; -11.5; -16.26|];
[| 8.0; -5.00; 18.0; 5.00|];
[| -8.0; -5.00; -18.0; 5.00|];
[| 1.5; -6.26; 11.5; -16.26|];
[| -1.5; 6.26; -11.5; 16.26|];
];
width = 1
}
let icon_octorotor_x_template = {
lines = [
[| 6.; -15.; 0.; -24.; -6.; -15.|]; (** Front Marker **)
];
ellipse = [
[| -8.; -8.; 8.; 8.|]; (** Center Ring **)
[| 0.; 7.; 10.; 17.|];
[| 7.; 0.; 17.; 10.|];
[| 0.; -7.; 10.; -17.|];
[| -7.; 0.; -17.; 10.|];
[| 0.; 7.; -10.; 17.|];
[| 7.; 0.; 17.; -10.|];
[| 0.; -7.; -10.; -17.|];
[| -7.; 0.; -17.; -10.|];
];
width = 1
}
let icon_home_template = {
lines = [
[| -9.; -9.; -9.; 9.; 9.; 9.; 9.; -9.|];
[| -12.; -7.; 0.; -15.; 12.; -7.|];
];
ellipse = [];
width = 3;
}
let icon_intruder_template = {
lines = [
[| 0.; 0.; 0.; -24. |];
[| 6.; -15.; 0.; -24.; -6.; -15.|]; (** Front Marker **)
];
ellipse = [
[| -8.; -8.; 8.; 8.|];
];
width = 1
}
class widget = fun ?(color="red") ?(icon_template=icon_fixedwing_template) (group:GnoCanvas.group) ->
let new_line width color points =
GnoCanvas.line ~fill_color:color ~props:[`WIDTH_PIXELS width; `CAP_STYLE `ROUND] ~points:points group in
let new_ellipse width color points =
GnoCanvas.ellipse ~props:[`OUTLINE_COLOR color; `WIDTH_PIXELS width] ~x1:points.(0) ~y1:points.(1) ~x2:points.(2) ~y2:points.(3) group in
let icon_bg =
(List.map (fun points -> new_line (icon_template.width+2) "black" points) icon_template.lines,
List.map (fun points -> new_ellipse (icon_template.width+2) "black" points) icon_template.ellipse) in
let icon =
(List.map (fun points -> new_line icon_template.width color points) icon_template.lines,
List.map (fun points -> new_ellipse icon_template.width color points) icon_template.ellipse) in
object(self)
method set_color color =
List.iter2 (fun segment ellipse -> segment#set [`FILL_COLOR color]; ellipse#set [`FILL_COLOR color]) (fst icon) (snd icon)
method set_bg_color color =
List.iter2 (fun segment ellipse -> segment#set [`FILL_COLOR color]; ellipse#set [`FILL_COLOR color]) (fst icon_bg) (snd icon_bg)
end
sw/ground_segment/cockpit/lib/acIcon.mli
-52
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@@ -1,52 +0,0 @@
(*
* A Label with a contrasting outline
*
* Copyright (C) 2013 Piotr Esden-Tempski <piotr@esden.net>
*
* 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.
*
*)
type icon = {
lines : float array list;
ellipse : float array list;
width: int
}
val icon_fixedwing_template : icon
val icon_flyingwing_template : icon
val icon_rotorcraft_template : icon
val icon_quadrotor_template : icon
val icon_hexarotor_template : icon
val icon_octorotor_template : icon
val icon_quadrotor_x_template : icon
val icon_hexarotor_x_template : icon
val icon_octorotor_x_template : icon
val icon_quadrotor_xi_template : icon
val icon_home_template : icon
val icon_intruder_template : icon
class widget :
?color : string ->
?icon_template : icon ->
GnoCanvas.group ->
object
method set_color : string -> unit
method set_bg_color : string -> unit
end
sw/ground_segment/cockpit/lib/contrastLabel.ml
-60
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@@ -1,60 +0,0 @@
(*
* A Label with a contrasting outline
*
* Copyright (C) 2013 Piotr Esden-Tempski <piotr@esden.net>
*
* 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.
*
*)
(*
* This module creates labels with outlines by creating 9
* overlapping labels slightly offset from eachother. Where the 8
* labels in the background have a different color from last center one.
*)
let label_offset_matrix =
[
(* X Y *)
( 0., -1.); (* N *)
( 0., 1.); (* S *)
( 1., 0.); (* E *)
(-1., 0.); (* W *)
( 1., -1.); (* NE *)
( 1., 1.); (* SE *)
(-1., 1.); (* SW *)
(-1., -1.); (* NW *)
( 0., 0.); (* Z *)
]
class widget = fun ?(name = "Noname") ?(size = 500) ?(bg_color = "black") ?(color = "white") x y (group:GnoCanvas.group) ->
let new_text offset =
GnoCanvas.text group ~props:[`TEXT name;
`X (x +. (fst offset)); `Y (y +. (snd offset));
`ANCHOR `SW;
`FILL_COLOR (if offset = (0., 0.) then color else bg_color)] in
let labels = List.map new_text label_offset_matrix in
object(self)
method set_name s = List.iter (fun label -> label#set [`TEXT s]) labels
method set_x x = List.iter2 (fun label offset -> label#set [`X (x +. (fst offset))])
labels label_offset_matrix
method set_y y = List.iter2 (fun label offset -> label#set [`Y (y +. (snd offset))])
labels label_offset_matrix
method affine_absolute a = List.iter (fun label -> label#affine_absolute a) labels
end
sw/ground_segment/cockpit/lib/contrastLabel.mli
-39
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@@ -1,39 +0,0 @@
(*
* A Label with a contrasting outline
*
* Copyright (C) 2013 Piotr Esden-Tempski <piotr@esden.net>
*
* 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.
*
*)
class widget :
?name:string ->
?size:int ->
?bg_color:string ->
?color:string ->
float ->
float ->
GnoCanvas.group ->
object
method set_name : string -> unit
method set_x : float -> unit
method set_y : float -> unit
method affine_absolute : float array -> unit
end
sw/ground_segment/cockpit/lib/mapCanvas.ml
-899
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sw/ground_segment/cockpit/lib/mapCanvas.mli
-135
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@@ -1,135 +0,0 @@
(*
* Geographic display
*
* Copyright (C) 2004-2008 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.
*
*)
type projection = Mercator | UTM | LambertIIe
class type geographic = object method pos : Latlong.geographic end
class widget :
?height:int ->
?srtm:bool ->
?width:int ->
?projection:projection ->
?georef:Latlong.geographic ->
unit ->
object
method add_info_georef : string -> < pos : Latlong.geographic > -> unit
method edit_georef_name : string -> string -> unit
method delete_georef : string -> unit
method clear_georefs : unit -> unit
method altitude : Latlong.geographic -> int
method any_event : GdkEvent.any -> bool
method arc :
?nb_points:int ->
?width:int ->
?fill_color:string ->
float * float -> float -> float -> float -> GnoCanvas.line
method background : GnoCanvas.group
method background_event : GnoCanvas.item_event -> bool
method maps : GnoCanvas.group array
method canvas : GnoCanvas.canvas
method center : Latlong.geographic -> unit
method circle :
?group:GnoCanvas.group ->
?width:int ->
?fill_color:string ->
?opacity:int ->
?color:string -> Latlong.geographic -> Latlong.fmeter -> GnoCanvas.ellipse
method convert_positions_to_points : Latlong.geographic array -> float array
method connect_view : (unit -> unit) -> unit
method current_zoom : float
method display_alt : Latlong.geographic -> unit
method display_geo : Latlong.geographic -> unit
method display_group : string -> unit
method display_pixbuf :
?opacity:int ->
?level:int ->
(int * int) * Latlong.geographic ->
(int * int) * Latlong.geographic -> GdkPixbuf.pixbuf -> GnoCanvas.pixbuf
method display_xy : string -> unit
method factory : GMenu.menu_shell GMenu.factory
method file_menu : GMenu.menu
method fit_to_window : unit -> unit
method fix_bg_coords : Latlong.fmeter * Latlong.fmeter -> Latlong.fmeter * Latlong.fmeter
method frame : GPack.box
method georef : Latlong.geographic option
method georefs : (string * < pos : Latlong.geographic >) list
method get_center : unit -> Latlong.geographic
method goto : unit -> unit
method info : GPack.box
method key_press : GdkEvent.Key.t -> bool
method menubar : GMenu.menu_shell
method mouse_motion : GdkEvent.Motion.t -> bool
method move_item :
?z:float ->
GnomeCanvas.re_p GnoCanvas.item -> Latlong.geographic -> unit
method moveto : Latlong.geographic -> unit
method of_world : Latlong.fmeter * Latlong.fmeter -> Latlong.geographic
method pack_labels : unit
method projection : string
method photoprojection :
?group:GnoCanvas.group ->
?width:int ->
?fill_color:string ->
?color:string ->
?number:string -> Latlong.geographic -> Latlong.fmeter -> GnoCanvas.text
method polygon :
?group:GnoCanvas.group ->
?width:int ->
?fill_color:string ->
?opacity:int ->
?color:string -> Latlong.geographic array -> GnoCanvas.polygon
method pt2D_of : Latlong.geographic -> Geometry_2d.pt_2D
method region : ((float * float) * (Latlong.fmeter * Latlong.fmeter)) option
method register_to_fit : geographic -> unit
method root : GnoCanvas.group
method segment :
?group:GnoCanvas.group ->
?width:int ->
?fill_color:string -> Latlong.geographic -> Latlong.geographic -> GnoCanvas.line
method set_georef : Latlong.geographic -> unit
method set_utc_time : int -> int -> int -> unit
method set_wind_sock : float -> string -> unit
method still : GnoCanvas.group
method switch_background : bool -> unit
method switch_utc_time : bool -> unit
method switch_utm_grid : bool -> unit
method text :
?group:GnoCanvas.group ->
?fill_color:string ->
?x_offset:float ->
?y_offset:float -> Latlong.geographic -> string -> GnoCanvas.text
method toolbar : GPack.box
method top_still : float
method utc_time : GnoCanvas.text
method wind_sock : Wind_sock.item
method window_to_world :
winx:float -> winy:float -> Latlong.fmeter * Latlong.fmeter
method world_of : Latlong.geographic -> Latlong.fmeter * Latlong.fmeter
method zoom : float -> unit
method zoom_adj : GData.adjustment
method zoom_down : unit -> unit
method zoom_in_place : float -> unit
method zoom_in_center : float -> unit
method zoom_up : unit -> unit
end
sw/ground_segment/cockpit/lib/mapFP.ml
-401
View File
@@ -1,401 +0,0 @@
(*
* Displaying and editing a flight plan on a MapCanvas
*
* Copyright (C) 2004-2006 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
open Latlong
let (//) = Filename.concat
let sof = string_of_float
let sof1 = fun x -> sprintf "%.1f" x
let sof6 = fun x -> sprintf "%.6f" x
let float_attr = fun xml a -> float_of_string (ExtXml.attrib xml a)
let rec assoc_nocase at = function
[] -> raise Not_found
| (a, v)::avs ->
if String.uppercase_ascii at = String.uppercase_ascii a then v else assoc_nocase at avs
(** Returns the WGS84 coordinates of a waypoint, either from its relative x and
y coordinates or from its lat and long *)
let geo_of_xml = fun utm_ref get_attrib ->
try
let x = get_attrib "x"
and y = get_attrib "y" in
Latlong.of_utm WGS84 (utm_add utm_ref (x, y))
with
Not_found | Xml.No_attribute _ ->
try
let lat = get_attrib "lat"
and lon = get_attrib "lon" in
make_geo_deg lat lon
with
Not_found -> failwith (sprintf "x and y or lat and lon attributes expected in waypoint")
(** Connect a change in the XML editor to the graphical rep *)
let update_wp utm_ref (wp:MapWaypoints.waypoint) = function
XmlEdit.Deleted -> wp#delete ()
| XmlEdit.New_child _ -> failwith "update_wp"
| XmlEdit.Modified attribs ->
try
let float_attrib = fun a -> float_of_string (assoc_nocase a attribs) in
let wgs84 = geo_of_xml utm_ref float_attrib in
wp#geomap#edit_georef_name wp#name (assoc_nocase "name" attribs);
wp#set wgs84;
wp#set_name (assoc_nocase "name" attribs)
with
_ -> ()
let iter_stages = fun f xml_tree ->
let xml_blocks = XmlEdit.child (XmlEdit.root xml_tree) "blocks" in
let rec loop = fun n ->
f n;
List.iter loop (XmlEdit.children n) in
loop xml_blocks
let try_replace_attrib = fun node tag prev_v v ->
try
if XmlEdit.attrib node tag = prev_v then
XmlEdit.set_attrib node (tag, v)
with
Not_found -> ()
(** Update all the references to waypoint names (attribute "wp") *)
(** FIXME This function is disabled for now since it is making
* a huge mess when reordering the waypoints *)
(*let update_wp_refs previous_name xml_tree = function
XmlEdit.Deleted -> () (** FIXME *)
| XmlEdit.New_child _ -> ()
| XmlEdit.Modified attribs ->
try
let new_name = assoc_nocase "name" attribs in
let update = fun node ->
try_replace_attrib node "wp" !previous_name new_name;
try_replace_attrib node "from" !previous_name new_name in
iter_stages update xml_tree;
previous_name := new_name
with
Not_found -> ()
*)
let waypoints_node = fun xml_tree ->
let xml_root = XmlEdit.root xml_tree in
XmlEdit.child xml_root "waypoints"
let is_relative_waypoint = fun node ->
try
ignore (XmlEdit.attrib node "x");
ignore (XmlEdit.attrib node "y");
true
with
Not_found -> false
let absolute_coords = fun wp ->
let wgs84 = wp#pos in
[ "lat", sof6 ((Rad>>Deg) wgs84.posn_lat);
"lon", sof6 ((Rad>>Deg) wgs84.posn_long) ]
(** Connect a change from the graphical rep to the xml tree *)
let update_xml = fun xml_tree utm0 wp id ->
let xml_wpts = XmlEdit.children (waypoints_node xml_tree) in
let node = List.find (fun w -> XmlEdit.id w = id) xml_wpts in
let default_alt = float_of_string (XmlEdit.attrib (XmlEdit.root xml_tree) "alt") in
if wp#deleted then begin
XmlEdit.delete node
end else
let coords =
if is_relative_waypoint node then
let utm = utm_of WGS84 wp#pos in
try
let (dx, dy) = utm_sub utm utm0 in
["x",sof1 dx; "y",sof1 dy]
with
_ ->
prerr_endline "MapFP.update_xml: waypoint too far from ref; using absolute geodetic coordinates";
absolute_coords wp
else (* Absolute waypoint: use lat and lon attributes *)
absolute_coords wp in
let alt_attrib =
if abs_float (wp#alt -. default_alt) < 1. then [] else ["alt", sof1 wp#alt] in
XmlEdit.set_attribs node (("name",wp#name) :: alt_attrib @ coords)
let new_wp = fun ?(editable = false) (geomap:MapCanvas.widget) xml_tree waypoints utm_ref ?(alt = 0.) node ->
let float_attrib = fun a -> float_of_string (XmlEdit.attrib node a) in
let wgs84 = geo_of_xml utm_ref float_attrib in
let alt = try float_attrib "alt" with _ -> alt in
let name = XmlEdit.attrib node "name" in
let show = editable || name.[0] <> '_' in
let wp = MapWaypoints.waypoint ~show waypoints ~name ~alt wgs84 in
geomap#register_to_fit (wp:>MapCanvas.geographic);
XmlEdit.connect node (update_wp utm_ref wp);
(*XmlEdit.connect node (update_wp_refs (ref name) xml_tree);*) (* FIXME broken functionality *)
let id = XmlEdit.id node in
if editable then
wp#connect (fun () -> update_xml xml_tree utm_ref wp id);
wp
let gensym =
let x = ref 0 in
fun p -> incr x; Printf.sprintf "%s%d" p !x
let rec new_gensym = fun p l ->
let s = gensym p in
if List.mem s l then new_gensym p l else s
let georef_of_xml = fun xml ->
let lat0 = Latlong.deg_of_string (ExtXml.attrib xml "lat0")
and lon0 = Latlong.deg_of_string (ExtXml.attrib xml "lon0") in
{ posn_lat = (Deg>>Rad)lat0; posn_long = (Deg>>Rad)lon0 }
let display_lines = fun ?group color (geomap:MapCanvas.widget) points ->
let n = Array.length points in
let l = ref [] in
for i = 0 to n - 1 do
l := !l @ [(geomap#segment ?group ~width:3 ~fill_color:color points.(i) points.((i+1)mod n))]
done;
!l
let space_regexp = Str.regexp " "
let comma_regexp = Str.regexp ","
let wgs84_of_kml_point = fun s ->
match Str.split comma_regexp s with
[long; lat; altitude] ->
let lat = float_of_string lat
and long = float_of_string long in
{posn_lat = (Deg>>Rad) lat; posn_long = (Deg>>Rad) long}
| _ -> failwith (Printf.sprintf "wgs84_of_kml_point: %s" s)
(** It should be somewhere else ! *)
let display_kml = fun ?group color geomap xml ->
try
let document = ExtXml.child xml "Document" in
let rec loop = fun child ->
let tag = String.lowercase_ascii (Xml.tag child) in
match tag with
| "linestring" | "linearring" ->
let coordinates = ExtXml.child child "coordinates" in
begin
match Xml.children coordinates with
[Xml.PCData text] ->
let points = Str.split space_regexp text in
let points = List.map wgs84_of_kml_point points in
(* remove a point if polygon (first in this case) since first and last are the same *)
let points = if tag = "linearring" && List.length points > 0 then List.tl points else points in
ignore(display_lines ?group color geomap (Array.of_list points))
| _ -> failwith "coordinates expected"
end
| "folder" | "placemark" | "polygon" | "outerboundaryis" ->
List.iter loop (Xml.children child)
| _ -> () in
List.iter loop (Xml.children document)
with Xml.Not_element xml -> failwith (Xml.to_string xml)
class flight_plan = fun ?format_attribs ?editable ~show_moved geomap color fp_dtd xml ->
(** Xml Editor *)
let xml_tree_view, xml_window = XmlEdit.create ?format_attribs ?editable (Dtd.parse_file fp_dtd) xml in
let xml_root = XmlEdit.root xml_tree_view in
let xml_wpts = XmlEdit.child xml_root "waypoints" in
(** Geographic ref *)
let alt = float_attr xml "alt" in
let ref_wgs84 = georef_of_xml xml in
let utm0 = utm_of WGS84 ref_wgs84 in
(** The graphical waypoints *)
let wpts_group = new MapWaypoints.group ~show_moved ~color ?editable geomap in
let array_of_waypoints = ref (Array.make 13 None) in
let add_wp_to_array = fun index w ->
let n = Array.length !array_of_waypoints in
if index >= n then begin
let new_array = Array.make (n*2) None in
Array.blit !array_of_waypoints 0 new_array 0 n;
array_of_waypoints := new_array
end;
!array_of_waypoints.(index) <- Some w in
let yaws = Hashtbl.create 5 in (* Yes Another Waypoints Store *)
let create_wp =
let i = ref 1 in
fun node ->
let w = new_wp ?editable geomap xml_tree_view wpts_group utm0 ~alt node in
Hashtbl.add yaws (XmlEdit.attrib node "name") (!i, w);
add_wp_to_array !i w;
incr i;
w in
(* The sectors *)
(* Parse and store sectors *)
let sectors =
let waypoints = ExtXml.child xml "waypoints" in
try
List.fold_left (fun l x ->
match String.lowercase_ascii (Xml.tag x) with
"kml" ->
let file = ExtXml.attrib x "file" in
display_kml ~group:wpts_group#group color geomap (ExtXml.parse_file (Env.flight_plans_path // file));
l
| "sector" ->
let wgs84 = fun wp_name ->
let wp_name = Xml.attrib wp_name "name" in
let select = fun wp -> Xml.attrib wp "name" = wp_name in
let wp = ExtXml.child waypoints ~select "waypoint" in
let float_attr = fun xml a -> float_of_string (Xml.attrib xml a) in
geo_of_xml utm0 (float_attr wp) in
let points = List.map wgs84 (Xml.children x) in
let points = Array.of_list points in
let color_sector = ExtXml.attrib_or_default x "color" color in
let segments = display_lines ~group:wpts_group#group color_sector geomap points in
let wp_names = List.map (fun wp -> Xml.attrib wp "name") (Xml.children x) in
[(wp_names, segments, color_sector)] @ l
| _ -> failwith "Unknown sectors child")
[] (Xml.children (ExtXml.child xml "sectors"))
with Not_found -> [] in
(* The waypoints *)
let _ = List.iter
(fun wp ->
let w = create_wp wp in
let name = XmlEdit.attrib wp "name" in
if name = "HOME" then begin
let c = ref (GnoCanvas.ellipse geomap#canvas#root) in
let update = fun _ ->
try
let max_dist_from_home = float_of_string (XmlEdit.attrib xml_root "MAX_DIST_FROM_HOME") in
!c#destroy ();
c := geomap#circle ~group:wpts_group#group ~width:5 ~color w#pos max_dist_from_home
with _ -> () in
update ();
w#connect update;
XmlEdit.connect wp update;
XmlEdit.connect xml_root update
end)
(XmlEdit.children xml_wpts) in
(** Expands the blocks *)
let _ =
XmlEdit.expand_node xml_tree_view xml_root;
let blocks = XmlEdit.child xml_root "blocks" in
XmlEdit.expand_node xml_tree_view blocks in
object
method georef = ref_wgs84
method window = xml_window
method destroy () =
wpts_group#group#destroy ();
xml_window#destroy ()
method show () = wpts_group#group#show ()
method hide () = wpts_group#group#hide ()
method index wp = Hashtbl.find yaws (XmlEdit.attrib wp "name")
method get_wp = fun i ->
if i >= Array.length !array_of_waypoints then
raise Not_found;
match !array_of_waypoints.(i) with
None -> raise Not_found
| Some w -> w
method waypoints = XmlEdit.children (waypoints_node xml_tree_view)
method xml = XmlEdit.xml_of_view xml_tree_view
method highlight_stage = fun block_no stage_no ->
let block_no = string_of_int block_no in
let stage_no = string_of_int stage_no in
let blocks = XmlEdit.child xml_root "blocks" in
List.iter
(fun b ->
if XmlEdit.attrib b "no" = block_no then begin
XmlEdit.set_background ~all:true b "#00c000";
let rec f = fun s ->
try
if XmlEdit.attrib s "no" = stage_no then
XmlEdit.set_background s "#00ff00"
else
List.iter f (XmlEdit.children s)
with
Not_found -> () in
List.iter f (XmlEdit.children b)
end else
XmlEdit.set_background ~all:true b "white")
(XmlEdit.children blocks)
method add_waypoint (geo:geographic) =
let wpt_names = List.map (fun n -> XmlEdit.attrib n "name") (XmlEdit.children xml_wpts) in
let name = new_gensym "wp" wpt_names in
let utm = utm_of WGS84 geo in
let (dx, dy) = utm_sub utm utm0 in
let node = XmlEdit.add_child xml_wpts "waypoint" ["x",sof dx;"y",sof dy;"name",name] in
create_wp node
method insert_path = fun path ->
let xml_block =
try XmlEdit.parent (XmlEdit.selection xml_tree_view) "block" with
_ ->
let xml_blocks = XmlEdit.child xml_root "blocks" in
XmlEdit.child xml_blocks "block" in
let path_node = XmlEdit.add_child xml_block "path" ["radius", "42."] in
List.iter
(fun ((wp:MapWaypoints.waypoint), r) ->
let _n = XmlEdit.add_child path_node "path_point" ["wp", wp#name; "radius", sof r] in
()
)
path
method connect_activated = fun cb -> XmlEdit.connect_activated xml_tree_view cb
method update_sectors = fun wp_name ->
List.iter (fun (wps_name, segments, color) ->
let wp_in_sector = List.exists (fun name -> name = wp_name) wps_name in
if wp_in_sector then begin
(* Build WP array *)
let points = List.map (fun n -> let (_, w) = Hashtbl.find yaws n in w#pos) wps_name in
let points = Array.of_list points in
let segments = Array.of_list segments in
let n = Array.length points in
(* Update segments *)
for i = 0 to n - 1 do
let (x1, y1) = geomap#world_of points.(i)
and (x2, y2) = geomap#world_of (points.((i+1)mod n)) in
segments.(i)#set [`POINTS [|x1; y1; x2; y2 |]]
done
end
) sectors
initializer (
(** Create a graphic waypoint when it is created from the xml editor *)
XmlEdit.connect xml_wpts (function XmlEdit.New_child node -> ignore (create_wp node) | _ -> ())
)
end
sw/ground_segment/cockpit/lib/mapFP.mli
-56
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@@ -1,56 +0,0 @@
(*
* Displaying and editing a flight plan on a MapCanvas
*
* Copyright (C) 2004-2006 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.
*
*)
(** [flight_plan geomap color dtd_tile xml] *)
class flight_plan :
?format_attribs:((string * string) list -> string) ->
?editable:bool ->
show_moved:bool ->
MapCanvas.widget ->
string ->
string ->
Xml.xml ->
object
method add_waypoint : Latlong.geographic -> MapWaypoints.waypoint
method destroy : unit -> unit
method georef : Latlong.geographic
method hide : unit -> unit
method index : XmlEdit.node -> int * MapWaypoints.waypoint
method get_wp : int -> MapWaypoints.waypoint (** May raise Not_found *)
method show : unit -> unit
method window : GObj.widget
method waypoints : XmlEdit.node list
method xml : Xml.xml
method insert_path : (MapWaypoints.waypoint * float) list -> unit
method highlight_stage : int -> int -> unit
method connect_activated : (XmlEdit.node->unit) -> unit
method update_sectors : string -> unit
end
(** Extracts [lat0] and [Lon0] attributes *)
val georef_of_xml : Xml.xml -> Latlong.geographic
(** Display a polygon based on a kml file *)
val display_kml : ?group:GnoCanvas.group -> string -> MapCanvas.widget -> Xml.xml -> unit
sw/ground_segment/cockpit/lib/mapGoogle.ml
-219
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@@ -1,219 +0,0 @@
(*
* Displaying Google Maps on a MapCanvas object
*
* Copyright (C) 2004-2006 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.
*
*)
let array_forall = fun f a ->
Array.fold_right (fun x r -> f x && r) a true
open Printf
module LL = Latlong
(** Quadtreee of displayed tiles *)
type tiles_tree =
Empty
| Tile
| Node of tiles_tree array
let gm_tiles = Node (Array.make 4 Empty)
(** Google Maps paths in the quadtree are coded with q,r,s and t*)
let index_of = function
'q' -> 0 | 'r' -> 1 | 's' -> 2 | 't' -> 3
| _ -> invalid_arg "index_of"
let char_of = function
0 -> 'q' | 1 -> 'r' | 2 -> 's' | 3 -> 't'
| _ -> invalid_arg "char_of"
(** Checking that a tile is already displayed *)
let mem_tile = fun tile_key ->
let rec loop = fun i tree ->
tree = Tile ||
i < String.length tile_key &&
match tree with
Empty -> false
| Tile -> true
| Node sons -> loop (i+1) sons.(index_of tile_key.[i]) in
loop 0 gm_tiles
(** Adding a tile to the store *)
let add_tile = fun tile_key ->
let rec loop = fun i tree j ->
if i < String.length tile_key then
match tree.(j) with
Empty ->
let sons = Array.make 4 Empty in
tree.(j) <- Node sons;
loop (i+1) sons (index_of tile_key.[i])
| Tile -> () (* Already there *)
| Node sons ->
loop (i+1) sons (index_of tile_key.[i])
else
tree.(j) <- Tile in
loop 0 [|gm_tiles|] 0
let display_the_tile = fun (geomap:MapCanvas.widget) tile jpg_file level ->
let south_lat = tile.Gm.sw_corner.LL.posn_lat
and west_long = tile.Gm.sw_corner.LL.posn_long in
let north_lat = south_lat +. tile.Gm.height
and east_long = west_long +. tile.Gm.width in
let ne = LL.make_geo north_lat east_long in
let (tx, ty) = Gm.tile_size in
try
let pixbuf = GdkPixbuf.from_file jpg_file in
ignore (GMain.Idle.add (fun () ->
let map = geomap#display_pixbuf ((0,tx), tile.Gm.sw_corner) ((ty,0),ne) pixbuf ~level in
map#raise 1;
false));
add_tile tile.Gm.key
with
GdkPixbuf.GdkPixbufError(_, msg) ->
match GToolbox.question_box ~title:"Corrupted file" ~buttons:["Erase"; "Cancel"] (sprintf "%s. Erase ?" msg) with
1 ->
Sys.remove jpg_file
| _ -> ()
(** Displaying the tile around the given point *)
let display_tile = fun (geomap:MapCanvas.widget) wgs84 level ->
let desired_tile = Gm.tile_of_geo ~level wgs84 1 in
let key = desired_tile.Gm.key in
if not (mem_tile key) then
let (tile, jpg_file) = Gm.get_image key in
display_the_tile geomap tile jpg_file (String.length tile.Gm.key)
exception New_displayed of int
(** [New_displayed zoom] Raised when a new is loadded *)
let fill_window = fun (geomap:MapCanvas.widget) zoomlevel ->
(** First estimate the coverage of the window *)
let width_c, height_c = Gdk.Drawable.get_size geomap#canvas#misc#window
and (xc0, yc0) = geomap#canvas#get_scroll_offsets in
let (xw0, yw0) = geomap#window_to_world ~winx:(float xc0) ~winy:(float (yc0+height_c))
and (xw1, yw1) = geomap#window_to_world ~winx:(float (xc0+width_c)) ~winy:(float yc0) in
let sw = geomap#of_world (xw0, yw0)
and ne = geomap#of_world (xw1, yw1) in
let west = sw.LL.posn_long /. LL.pi
and east = ne.LL.posn_long /. LL.pi
and north = LL.mercator_lat ne.LL.posn_lat /. LL.pi
and south = LL.mercator_lat sw.LL.posn_lat /. LL.pi in
let east = if east < west then east +. 2. else east in
(** Get Hashtbl from cache *)
let tbl = Gm.get_hashtbl_of_cache () in
(** Go through the quadtree and look for the holes *)
let rec loop = fun twest tsouth tsize trees i zoom key ->
(* Check for intersection *)
if not (twest > east || (twest+.tsize < west && (east < 1. (* Standard case *) || twest+.2.>east (* Over 180� *))) || tsouth > north || tsouth+.tsize < south) then
let tsize2 = tsize /. 2. in
try
match trees.(i) with
Tile -> ()
| Empty ->
if zoom = 1 then
let tile, image = Gm.get_image ~tbl key in
let level = String.length tile.Gm.key in
display_the_tile geomap tile image level;
raise (New_displayed (zoomlevel+1-String.length tile.Gm.key))
else begin
trees.(i) <- Node (Array.make 4 Empty);
loop twest tsouth tsize trees i zoom key
end
| Node sons ->
let continue = fun j tw ts ->
loop tw ts tsize2 sons j (zoom-1) (key^String.make 1 (char_of j)) in
continue 0 twest (tsouth+.tsize2);
continue 1 (twest+.tsize2) (tsouth+.tsize2);
continue 2 (twest+.tsize2) tsouth;
continue 3 twest tsouth;
(* If the current node is complete, replace it by a Tile *)
if array_forall (fun x -> x = Tile) sons then begin
trees.(i) <- Tile
end
with
New_displayed z when z = zoom ->
trees.(i) <- Tile
| Gm.Not_available -> () in
loop (-1.) (-1.) 2. [|gm_tiles|] 0 zoomlevel "t"
exception To_copy of int * string
let gdk_pixbuf_safe_copy_area ~dest ~dest_x ~dest_y ~width ~height ~src_x ~src_y pixbuf =
let dest_x, width, src_x =
if dest_x < 0 then 0, width+dest_x, src_x-dest_x else dest_x, width, src_x in
let dest_y, height, src_y =
if dest_y < 0 then 0, height+dest_y, src_y-dest_y else dest_y, height, src_y in
let width = min width (GdkPixbuf.get_width dest - dest_x)
and height = min height (GdkPixbuf.get_height dest -dest_y) in
GdkPixbuf.copy_area ~dest ~dest_x ~dest_y ~width ~height ~src_x ~src_y pixbuf
let pixbuf = fun sw ne zoomlevel->
assert (sw.LL.posn_lat < ne.LL.posn_lat);
assert (sw.LL.posn_long < ne.LL.posn_long);
let west = sw.LL.posn_long /. LL.pi
and east = ne.LL.posn_long /. LL.pi
and north = LL.mercator_lat ne.LL.posn_lat /. LL.pi
and south = LL.mercator_lat sw.LL.posn_lat /. LL.pi in
let pixel_size = 1. /. (2. ** 16.) /. 256. in
let width = truncate ((east -. west) /. pixel_size)
and height = truncate ((north -. south) /. pixel_size) in
let dest = GdkPixbuf.create ~width ~height () in
let rec loop = fun twest tsouth tsize zoom key ->
if not (twest > east || twest+.tsize < west || tsouth > north || tsouth+.tsize < south) then
let tsize2 = tsize /. 2. in
try
if zoom = 1
then
let tile, image = Gm.get_image key in
raise (To_copy (zoomlevel+1-String.length tile.Gm.key, image))
else begin
let continue = fun j tw ts ->
loop tw ts tsize2 (zoom-1) (key^String.make 1 (char_of j)) in
continue 0 twest (tsouth+.tsize2);
continue 1 (twest+.tsize2) (tsouth+.tsize2);
continue 2 (twest+.tsize2) tsouth;
continue 3 twest tsouth;
end
with
To_copy (z, image) when z = zoom ->
let dest_x = truncate ((twest -. west) /. pixel_size)
and dest_y = truncate ((north -. (tsouth+.tsize)) /. pixel_size) in
let width = truncate (tsize /. pixel_size) in
let src_x = 0
and src_y = 0 in
let pixbuf = GdkPixbuf.from_file image in
gdk_pixbuf_safe_copy_area ~dest ~dest_x ~dest_y ~width ~height:width ~src_x ~src_y pixbuf
| Gm.Not_available -> () in
loop (-1.) (-1.) 2. zoomlevel "t";
dest
sw/ground_segment/cockpit/lib/mapGoogle.mli
-32
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@@ -1,32 +0,0 @@
(*
* Displaying Google Maps on a MapCanvas object
*
* Copyright (C) 2004-2006 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.
*
*)
val display_tile : MapCanvas.widget -> Latlong.geographic -> int -> unit
(** Displaying the Google Maps tile around the given point (zoom=1) up to max level *)
val fill_window : MapCanvas.widget -> int -> unit
(** Filling the canvas window with Google Maps tiles at given zoomlevel*)
val pixbuf : Latlong.geographic -> Latlong.geographic -> int -> GdkPixbuf.pixbuf
(** [pixbuf south_west north_east zoomlevel] Returns a map background of the given area *)
sw/ground_segment/cockpit/lib/mapIGN.ml
-46
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@@ -1,46 +0,0 @@
(*
* Displaying IGN Maps on a MapCanvas object
*
* Copyright (C) 2004-2006 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.
*
*)
module LL = Latlong
let displayed_tiles = Hashtbl.create 41
let mem_tile = fun t -> Hashtbl.mem displayed_tiles t.IGN.key
let add_tile = fun t -> Hashtbl.add displayed_tiles t.IGN.key ()
let opacity = 100 (* FIXME *)
(** Displaying the tile around the given point *)
let display_tile = fun (geomap:MapCanvas.widget) wgs84 ->
let tile = IGN.tile_of_geo wgs84 in
if not (mem_tile tile) then
let jpg_file = IGN.get_tile tile in
let (sx,sy) = IGN.tile_size in
let pixbuf = GdkPixbuf.from_file jpg_file in
let map = geomap#display_pixbuf ~opacity ((0,sx), tile.IGN.sw_corner) ((sy,0),tile.IGN.ne_corner) pixbuf in
map#raise 1;
add_tile tile
sw/ground_segment/cockpit/lib/mapIGN.mli
-25
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@@ -1,25 +0,0 @@
(*
* Displaying IGN Maps on a MapCanvas object
*
* Copyright (C) 2004-2006 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.
*
*)
val display_tile : MapCanvas.widget -> Latlong.geographic -> unit
sw/ground_segment/cockpit/lib/mapTrack.ml
-337
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@@ -1,337 +0,0 @@
(*
* Track objects
*
* 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
module G2d = Geometry_2d
module LL = Latlong
module G = MapCanvas
module CL = ContrastLabel
module ACI = AcIcon
let affine_pos_and_angle z xw yw angle =
let rad_angle = angle /. 180. *. acos(-1.) in
let cos_a = cos rad_angle in
let sin_a = sin rad_angle in
[| cos_a /. z ; sin_a /. z ; ~-. sin_a /. z; cos_a /. z; xw ; yw |]
let rec norm_angle_360 = fun alpha ->
if alpha > 360.0 then norm_angle_360 (alpha -. 360.0)
else if alpha < 0.0 then norm_angle_360 (alpha +. 360.0)
else alpha
(** variables used for handling cam moves: *)
let cam_half_aperture = LL.pi /. 6.0
let half_pi = LL.pi /. 2.0
type desired =
NoDesired
| DesiredCircle of LL.geographic*float*GnoCanvas.ellipse
| DesiredSegment of LL.geographic*LL.geographic*GnoCanvas.line
class track = fun ?(name="Noname") ?(icon="fixedwing") ?(size = 500) ?(color="red") ?(show_carrot=true) (ac_id:string) (geomap:MapCanvas.widget) ->
let group = GnoCanvas.group geomap#canvas#root in
let empty = ({LL.posn_lat=0.; LL.posn_long=0.}, GnoCanvas.line group) in
let v_empty = ({LL.posn_lat=0.; LL.posn_long=0.}, 0.0) in
let aircraft = GnoCanvas.group group
and track = GnoCanvas.group group in
let icon_template = match icon with
| "home" -> ACI.icon_home_template
| "rotorcraft" -> ACI.icon_rotorcraft_template
| "quadrotor" -> ACI.icon_quadrotor_template
| "hexarotor" -> ACI.icon_hexarotor_template
| "octorotor" -> ACI.icon_octorotor_template
| "quadrotor_x" -> ACI.icon_quadrotor_x_template
| "hexarotor_x" -> ACI.icon_hexarotor_x_template
| "octorotor_x" -> ACI.icon_octorotor_x_template
| "quadrotor_xi" -> ACI.icon_quadrotor_xi_template
| "flyingwing" -> ACI.icon_flyingwing_template
| "intruder" -> ACI.icon_intruder_template
| "fixedwing" | _ -> ACI.icon_fixedwing_template
in
let _ac_icon = new ACI.widget ~color ~icon_template aircraft in
let ac_label = new CL.widget ~name ~color 25. 25. group in
let carrot = GnoCanvas.group group in
let _ac_carrot =
if show_carrot then
ignore (GnoCanvas.polygon ~points:[|0.;0.;-5.;-10.;5.;-10.|] ~props:[`WIDTH_UNITS 1.;`FILL_COLOR "orange"; `OUTLINE_COLOR "orange"; `FILL_STIPPLE (Gdk.Bitmap.create_from_data ~width:2 ~height:2 "\002\001")] carrot)
else ()
in
let cam = GnoCanvas.group group in
(** rectangle representing the field covered by the cam *)
let _ac_cam_targeted =
ignore ( GnoCanvas.ellipse ~x1: (-. 2.5) ~y1: (-. 2.5 ) ~x2: 2.5 ~y2: 2.5 ~fill_color:color ~props:[`WIDTH_UNITS 1.; `OUTLINE_COLOR color; `FILL_STIPPLE (Gdk.Bitmap.create_from_data ~width:2 ~height:2 "\002\001")] cam) in
let _ = cam#hide () in
let mission_target = GnoCanvas.group group in
(** red circle : target of the mission *)
let _ac_mission_target =
ignore ( GnoCanvas.ellipse ~x1: (-5.) ~y1: (-5.) ~x2: 5. ~y2: 5. ~fill_color:"red" ~props:[`WIDTH_UNITS 1.; `OUTLINE_COLOR "red"; `FILL_STIPPLE (Gdk.Bitmap.create_from_data ~width:2 ~height:2 "\002\001")] mission_target) in
let _ = mission_target#hide () in
let _desired_circle = GnoCanvas.ellipse group
and _desired_segment = GnoCanvas.line group in
let _ = aircraft#raise_to_top () in
object (self)
val mutable top = 0
val mutable color = color
val mutable segments = Array.make size empty
val mutable v_segments = Array.make size empty
val mutable v_top = 0
val mutable v_path = Array.make 10 v_empty
val mutable last = None
val mutable last_heading = 0.0
val mutable last_altitude = 0.0
val mutable last_speed = 0.0
val mutable last_climb = 0.0
val mutable last_flight_time = 0.0
val mutable last_x_val = 0.0
val mutable cam_on = false
val mutable params_on = false
val mutable v_params_on = false
val mutable desired_track = NoDesired
val zone = GnoCanvas.rect group
val mutable ac_cam_cover = GnoCanvas.polygon ~fill_color:"grey" ~props:[`WIDTH_PIXELS 1 ; `FILL_STIPPLE (Gdk.Bitmap.create_from_data ~width:2 ~height:2 "\002\001")] cam
val mutable event_cb = None
val mutable destroyed = false
method color = color
method set_color c = color <- c
method track = track
method v_path = v_path
method aircraft = aircraft
method id = ac_id
method name = name
method set_label = fun s ->
ac_label#set_name s
method clear_one = fun i ->
if segments.(i) != empty then begin
(snd segments.(i))#destroy ();
segments.(i) <- empty
end
method incr = fun seg ->
let s = Array.length seg in
top <- (top + 1) mod s
method v_incr = fun path ->
let s = Array.length path in
v_top <- (v_top + 1) mod s
method clear = fun () ->
for i = 0 to Array.length segments - 1 do
self#clear_one i
done;
top <- 0
method set_cam_state = fun b ->
cam_on <- b;
if b then begin
cam#show ();
mission_target#show ()
end else begin
cam#hide ();
mission_target#hide ()
end
method update_ap_status = fun time ->
last_flight_time <- time
method set_params_state = fun b ->
params_on <- b;
if not b then (* Reset to the default simple label *)
ac_label#set_name name;
ac_label#set_y 25.
method set_v_params_state = fun b -> v_params_on <- b
method set_last = fun x -> last <- x
method last = last
method pos = match last with Some pos -> pos | None -> failwith "No pos"
method last_heading = last_heading
method last_altitude = last_altitude
method last_speed = last_speed
method last_climb = last_climb
method height = fun () ->
match last with
None -> last_altitude
| Some wgs84 ->
let h = try float (Srtm.of_wgs84 wgs84) with _ -> 0. in
last_altitude -. h
(** add track points on map2D, according to the
track parameter and store altitude for the vertical path *)
method add_point = fun geo alt ->
self#clear_one top;
let last_geo =
match last with
None -> geo
| Some last_geo -> last_geo in
segments.(top) <- (geo, geomap#segment ~group ~fill_color:color last_geo geo);
self#incr segments;
self#set_last (Some geo);
v_path.(v_top) <- (geo, alt);
self#v_incr v_path
method clear_map2D = self#clear ()
method move_icon = fun wgs84 heading altitude speed climb ->
let (xw,yw) = geomap#world_of wgs84 in
aircraft#affine_absolute (affine_pos_and_angle geomap#zoom_adj#value xw yw heading);
last_heading <- heading;
last_altitude <- altitude;
last_speed <- speed ;
last_climb <- climb;
if params_on then begin
let last_height = self#height () in
ac_label#set_name (sprintf "%s\n%+.0f m\n%.1f m/s" name last_height last_speed);
ac_label#set_y 70.
end;
ac_label#affine_absolute (affine_pos_and_angle geomap#zoom_adj#value xw yw 0.);
self#add_point wgs84 altitude;
method move_carrot = fun wgs84 ->
let (xw,yw) = geomap#world_of wgs84 in
carrot#affine_absolute (affine_pos_and_angle geomap#zoom_adj#value xw yw 0.);
(** draws the circular path to be followed by the aircraft in circle mode *)
method draw_circle = fun en radius ->
let create = fun () ->
desired_track <- DesiredCircle (en, radius, geomap#circle ~color:"#00ff00" en radius) in
match desired_track with
DesiredCircle (c, r, circle) ->
if c <> en || r <> radius then begin
circle#destroy ();
create ()
end
| DesiredSegment (p1,p2,s) ->
s#destroy ();
create ()
| NoDesired ->
create ()
(** draws the linear path to be followed by the aircraft between two waypoints *)
method draw_segment = fun en1 en2 ->
let create = fun () ->
desired_track <- DesiredSegment (en1, en2, geomap#segment ~fill_color:"#00ff00" en1 en2) in
match desired_track with
DesiredCircle (c, r, circle) ->
circle#destroy ();
create ()
| DesiredSegment (p1,p2,s) ->
if p1 <> en1 || p2 <> en2 then begin
s#destroy ();
create ()
end
| NoDesired ->
create ()
method delete_desired_track = fun () ->
begin
match desired_track with
DesiredCircle (c, r, circle) ->
circle#destroy ()
| DesiredSegment (p1,p2,s) ->
s#destroy ();
| NoDesired ->
()
end;
desired_track <- NoDesired
method draw_zone = fun geo1 geo2 ->
let (x1, y1) = geomap#world_of geo1
and (x2, y2) = geomap#world_of geo2 in
zone#set [`X1 x1; `Y1 y1; `X2 x2; `Y2 y2; `OUTLINE_COLOR "#ffc0c0"; `WIDTH_PIXELS 2]
(** moves the rectangle representing the field covered by the camera *)
method move_cam = fun positions mission_target_wgs84 ->
match last, cam_on with
Some last_ac, true ->
let points = geomap#convert_positions_to_points positions in
ac_cam_cover#set [`POINTS points;
`OUTLINE_COLOR color];
let (mission_target_xw, mission_target_yw) = geomap#world_of mission_target_wgs84 in
mission_target#affine_absolute (affine_pos_and_angle geomap#zoom_adj#value mission_target_xw mission_target_yw 0.0)
| _ -> ()
method zoom = fun z ->
let a = aircraft#i2w_affine in
let z' = sqrt (a.(0)*.a.(0)+.a.(1)*.a.(1)) in
for i = 0 to 3 do a.(i) <- a.(i) /. z' *. 1./.z done;
aircraft#affine_absolute a
method resize = fun new_size ->
let a = Array.make new_size empty in
let size = Array.length segments in
let m = min new_size size in
let j = ref ((top - m + size) mod size) in
for i = 0 to m - 1 do
a.(i) <- segments.(!j);
j := (!j + 1) mod size
done;
for i = 1 to size - new_size do (* Never done if new_size > size *)
self#clear_one !j;
j := (!j + 1) mod size
done;
top <- m mod new_size;
segments <- a
method size = Array.length segments
method event (ev : GnoCanvas.item_event) =
begin
match ev with
| `BUTTON_PRESS ev ->
begin
match GdkEvent.Button.button ev with
| 1 ->
begin
match event_cb with
| Some cb -> cb ac_id
| None -> ()
end
| _ -> ()
end
| _ -> ()
end;
true
initializer ignore(aircraft#connect#event ~callback:self#event)
method set_event_cb = fun (cb: string -> unit) -> event_cb <- Some cb
initializer
(* could not properly disconnect adjustment signal, so only calling zoom method if group is still displayed *)
ignore(geomap#zoom_adj#connect#value_changed ~callback:(fun () -> if not destroyed then self#zoom geomap#zoom_adj#value));
ignore(group#connect#destroy ~callback:(fun () -> destroyed <- true))
(* destroy method *)
method destroy = fun () -> group#destroy ()
initializer
Gc.finalise (fun self -> self#destroy ()) self
end
sw/ground_segment/cockpit/lib/mapTrack.mli
-74
View File
@@ -1,74 +0,0 @@
(*
* Track objects
*
* Copyright (C) 2004-2010 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.
*
*)
class track :
?name:string ->
?icon:string ->
?size:int ->
?color:string ->
?show_carrot:bool ->
string ->
MapCanvas.widget ->
object
method add_point : Latlong.geographic -> float -> unit
method aircraft : GnoCanvas.group
method id : string
method name : string
method clear : unit -> unit
method clear_map2D : unit
method clear_one : int -> unit
method color : string
method delete_desired_track : unit -> unit
method draw_circle : Latlong.geographic -> Latlong.fmeter -> unit
method draw_segment : Latlong.geographic -> Latlong.geographic -> unit
method draw_zone : Latlong.geographic -> Latlong.geographic -> unit
method height : unit -> float
method incr : (Latlong.geographic * GnoCanvas.line) array -> unit
method last : Latlong.geographic option
method last_altitude : float
method last_climb : float
method last_heading : float
method last_speed : float
method move_cam : Latlong.geographic array -> Latlong.geographic -> unit
method move_carrot : Latlong.geographic -> unit
method move_icon :
Latlong.geographic -> float -> float -> float -> float -> unit
method pos : Latlong.geographic
method resize : int -> unit
method set_cam_state : bool -> unit
method set_color : string -> unit
method set_label : string -> unit
method set_last : Latlong.geographic option -> unit
method set_params_state : bool -> unit
method set_v_params_state : bool -> unit
method size : int
method track : GnoCanvas.group
method update_ap_status : float -> unit
method v_incr : (Latlong.geographic * float) array -> unit
method v_path : (Latlong.geographic * float) array
method zoom : float -> unit
method event : GnoCanvas.item_event -> bool
method set_event_cb : (string -> unit) -> unit
method destroy : unit -> unit
end
sw/ground_segment/cockpit/lib/mapWaypoints.ml
-309
View File
@@ -1,309 +0,0 @@
(*
* Waypoints objects
*
* 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.
*
*)
module LL = Latlong
open Printf
open LL
module CL = ContrastLabel
(*
* Waypoint label offsets
*)
let s = 6. (* x offset *)
class group = fun ?(color="red") ?(editable=true) ?(show_moved=false) (geomap:MapCanvas.widget) ->
let g = GnoCanvas.group geomap#canvas#root in
object
method group=g
method geomap=geomap
method color=color
method editable=editable
method show_moved = show_moved
end
let rotation_45 =
let s = sin (Latlong.pi/.4.) in
[|s;s;-.s;s;0.;0.|]
class waypoint = fun ?(show = true) (wpts_group:group) (name :string) ?(alt=0.) wgs84 ->
let geomap=wpts_group#geomap
and color = wpts_group#color
and editable = wpts_group#editable in
let xw, yw = geomap#world_of wgs84 in
let callbacks = Hashtbl.create 5 in
let updated () =
Hashtbl.iter (fun cb _ -> cb ()) callbacks in
let wpt_group = GnoCanvas.group wpts_group#group in
let item =
GnoCanvas.rect wpt_group ~x1:(-.s) ~y1:(-.s) ~x2:s ~y2:s ~props:[`FILL_COLOR color; `OUTLINE_COLOR "black"] in
let anim = function
None ->
Some (Glib.Timeout.add ~ms:500 ~callback:(fun () -> Gdk.X.beep (); item#affine_relative rotation_45; true))
| Some x -> Some x in
object (self)
val mutable x0 = 0.
val mutable y0 = 0.
val label = new CL.widget ~name:name ~color:"white" s 0. wpt_group
val mutable name = name (* FIXME: already in label ! *)
val mutable alt = alt
val mutable ground_alt = 0.
val mutable moved = None
val mutable deleted = false
val mutable commit_cb = None
initializer
if not show then wpt_group#hide ()
initializer
item#affine_absolute rotation_45;
self#move xw yw
method connect = fun (cb:unit -> unit) ->
Hashtbl.add callbacks cb ()
method set_commit_callback = fun (cb:unit -> unit) -> commit_cb <- Some cb
method name = name
method set_name n =
if n <> name then begin
name <- n;
label#set_name name
end
method geomap = geomap
method alt = alt
method label = label
method xy = let a = wpt_group#i2w_affine in (a.(4), a.(5))
method move dx dy =
wpt_group#move ~x:dx ~y:dy;
wpt_group#raise_to_top ()
method edit =
let dialog = GWindow.window ~type_hint:`DIALOG ~modal:true ~position:`MOUSE ~border_width:10 ~title:"Waypoint Edit" () in
let dvbx = GPack.box `VERTICAL ~packing:dialog#add () in
let ename = GEdit.entry ~text:name ~editable ~packing:dvbx#add () in
let hbox = GPack.hbox ~packing:dvbx#add () in
let optmenu = GMenu.option_menu ~packing:hbox#add () in
let e_pos = GEdit.entry ~width_chars:25 ~packing:hbox#add () in
(* We would like to share the menu of the map: it does not work ! *)
let selected_georef = ref WGS84_dec in
let display_coordinates = fun () ->
e_pos#set_text (string_of_coordinates !selected_georef self#pos)
and set_coordinates = fun () ->
self#set (geographic_of_coordinates !selected_georef e_pos#text) in
display_coordinates ();
let initial_wgs84 = self#pos in
let menu = GMenu.menu () in
let set = fun kind () ->
set_coordinates ();
selected_georef := kind;
display_coordinates () in
let mi = GMenu.menu_item ~label:"WGS84" ~packing:menu#append () in
ignore (mi#connect#activate ~callback:(set WGS84_dec));
let mi = GMenu.menu_item ~label:"WGS84_dms" ~packing:menu#append () in
ignore (mi#connect#activate ~callback:(set WGS84_dms));
let mi = GMenu.menu_item ~label:"LambertIIe" ~packing:menu#append () in
ignore (mi#connect#activate ~callback:(set LBT2e));
List.iter (fun (label, geo) ->
let mi = GMenu.menu_item ~label ~packing:menu#append () in
ignore (mi#connect#activate ~callback:(set (Bearing geo))))
geomap#georefs;
optmenu#set_menu menu;
let ha = GPack.hbox ~packing:dvbx#add () in
let minus10= GButton.button ~label:"-10" ~packing:ha#add () in
(* let ea = GEdit.entry ~text:(string_of_float alt) ~packing:ha#add () in *)
let ea = GEdit.spin_button ~rate:0. ~digits:2 ~width:50 ~packing:ha#add ()
and adj = GData.adjustment
~value:alt ~lower:(-100.) ~upper:10000.
~step_incr:1. ~page_incr:10.0 ~page_size:0. () in
ea#set_adjustment adj;
ea#set_value alt; (* this should be done by set_adjustment but seems to fail on ubuntu 13.10 (at least) *)
let agl = alt -. (try float (Srtm.of_wgs84 initial_wgs84) with _ -> ground_alt) in
let agl_lab = GMisc.label ~text:(sprintf " AGL: %4.0fm" agl) ~packing:ha#add () in
let plus10= GButton.button ~label:"+10" ~packing:ha#add () in
let change_alt = fun x ->
ea#set_value (ea#value +. x) in
ignore(minus10#connect#pressed ~callback:(fun _ -> change_alt (-10.)));
ignore(plus10#connect#pressed ~callback:(fun _ -> change_alt (10.)));
(* called when ok button is clicked in WP Edit dialog *)
let callback = fun _ ->
geomap#edit_georef_name name ename#text;
self#set_name ename#text;
alt <- ea#value;
label#set_name name;
set_coordinates ();
updated ();
if wpts_group#show_moved then
moved <- anim moved;
begin
match commit_cb with
Some cb -> cb ()
| None -> ()
end;
dialog#destroy ()
in
let dhbx = GPack.box `HORIZONTAL ~packing: dvbx#add () in
let cancel = GButton.button ~stock:`CANCEL ~packing: dhbx#add () in
let destroy = fun () ->
self#set initial_wgs84;
self#reset_moved ();
wpt_group#lower_to_bottom ();
dialog#destroy () in
ignore(cancel#connect#clicked ~callback:destroy);
(** Delete button for editable waypoints *)
if editable then begin
let delete = GButton.button ~stock:`DELETE ~packing: dhbx#add () in
let delete_callback = fun () ->
dialog#destroy ();
self#delete ();
geomap#delete_georef name;
updated ()
in
ignore(delete#connect#clicked ~callback:delete_callback)
end;
let ok = GButton.button ~stock:`OK ~packing: dhbx#add () in
List.iter
(fun e -> ignore (e#connect#activate ~callback))
[ename; e_pos];
ok#grab_default ();
ignore(ok#connect#clicked ~callback:(fun _ -> callback (); dialog#destroy ()));
(* Update AGL on pos or alt change *)
let callback = fun _ ->
try
set_coordinates ();
let wgs84 = self#pos in
let agl = ea#value -. (try float (Srtm.of_wgs84 wgs84) with _ -> ground_alt) in
agl_lab#set_text (sprintf " AGL: %4.0fm" agl)
with _ -> ()
in
ignore (ea#connect#changed ~callback);
ignore (e_pos#connect#changed ~callback);
dialog#show ()
val mutable motion = false
method event (ev : GnoCanvas.item_event) =
begin
match ev with
| `BUTTON_PRESS ev ->
begin
match GdkEvent.Button.button ev with
| 1 ->
motion <- false;
let x = GdkEvent.Button.x ev
and y = GdkEvent.Button.y ev in
x0 <- x; y0 <- y;
let curs = Gdk.Cursor.create `FLEUR in
item#grab [`POINTER_MOTION; `BUTTON_RELEASE] curs
(GdkEvent.Button.time ev)
| _ -> ()
end
| `MOTION_NOTIFY ev ->
let state = GdkEvent.Motion.state ev in
if Gdk.Convert.test_modifier `BUTTON1 state then begin
motion <- true;
let x = GdkEvent.Motion.x ev
and y = GdkEvent.Motion.y ev in
let dx = geomap#current_zoom *. (x-. x0)
and dy = geomap#current_zoom *. (y -. y0) in
self#move dx dy ;
updated ();
if wpts_group#show_moved then
moved <- anim moved;
x0 <- x; y0 <- y
end
| `BUTTON_RELEASE ev ->
if GdkEvent.Button.button ev = 1 then begin
item#ungrab (GdkEvent.Button.time ev);
self#edit
end
| _ -> ()
end;
true
initializer ignore(item#connect#event ~callback:self#event)
method moved = moved <> None
method reset_moved () =
match moved with
| None -> ()
| Some x ->
Glib.Timeout.remove x;
item#affine_absolute rotation_45;
moved <- None
method deleted = deleted
method item = item
method pos = geomap#of_world self#xy
method set ?altitude ?(update=false) wgs84 =
let (xw, yw) = geomap#world_of wgs84
and (xw0, yw0) = self#xy
and z = geomap#zoom_adj#value in
let dx = (xw-.xw0)*.z
and dy = (yw-.yw0)*.z
and dz = match altitude with Some a -> a -. alt | _ -> 0. in
let current_ecef = ecef_of_geo WGS84 self#pos self#alt
and new_ecef = ecef_of_geo WGS84 wgs84 (alt+.dz) in
let new_pos = ecef_distance current_ecef new_ecef > 2. in
match moved, new_pos with
| None, _ ->
self#move dx dy;
alt <- alt+.dz;
if update then updated ()
| Some _, true -> ()
| Some _, false -> self#reset_moved ()
method set_ground_alt ga = ground_alt <- ga
method delete () =
deleted <- true; (* BOF *)
geomap#delete_georef name;
wpt_group#destroy ()
method zoom (z:float) =
if List.length wpt_group#get_items > 0 then
let a = wpt_group#i2w_affine in
a.(0) <- 1./.z; a.(3) <- 1./.z;
wpt_group#affine_absolute a
initializer wpt_group#raise_to_top ()
initializer self#zoom geomap#zoom_adj#value
initializer ignore(geomap#zoom_adj#connect#value_changed ~callback:(fun () -> self#zoom geomap#zoom_adj#value))
end
let gensym = let n = ref 0 in fun prefix -> incr n; prefix ^ string_of_int !n
let waypoint = fun ?show group ?(name = gensym "wp") ?alt en ->
new waypoint ?show group name ?alt en
sw/ground_segment/cockpit/lib/mapWaypoints.mli
-68
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@@ -1,68 +0,0 @@
(*
* Waypoints objects
*
* 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.
*
*)
class group :
?color:string ->
?editable:bool ->
?show_moved:bool ->
MapCanvas.widget ->
object
method color : string
method editable : bool
method show_moved : bool
method geomap : MapCanvas.widget
method group : GnoCanvas.group
end
class waypoint :
?show:bool ->
group ->
string ->
?alt:float ->
Latlong.geographic ->
object
method alt : float
method geomap : MapCanvas.widget
method delete : unit -> unit
method edit : unit
method pos : Latlong.geographic
method event : GnoCanvas.item_event -> bool
method item : GnoCanvas.rect
method label : ContrastLabel.widget
method move : float -> float -> unit
method name : string
method set : ?altitude:float -> ?update:bool -> Latlong.geographic -> unit
method set_ground_alt : float -> unit
method set_name : string -> unit
method xy : float * float
method zoom : float -> unit
method moved : bool
method reset_moved : unit -> unit
method deleted : bool
method connect : (unit -> unit) -> unit
method set_commit_callback : (unit -> unit) -> unit
end
val waypoint : ?show:bool -> group -> ?name:string -> ?alt:float -> Latlong.geographic -> waypoint
sw/ground_segment/cockpit/lib/ml_gtk_drag.c
-32
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@@ -1,32 +0,0 @@
#include <string.h>
#include <gtk/gtk.h>
#include <caml/mlvalues.h>
#include <caml/alloc.h>
#include <caml/memory.h>
#include <caml/callback.h>
#include <caml/fail.h>
extern value Val_GtkTreePath(GtkTreePath*);
#define Pointer_val(val) ((void*)Field(val,1))
#ifdef G_DISABLE_CAST_CHECKS
#define check_cast(f,v) f(Pointer_val(v))
#else
#define check_cast(f,v) (Pointer_val(v) == NULL ? NULL : f(Pointer_val(v)))
#endif
#define GtkTreeView_val(val) check_cast(GTK_TREE_VIEW,val)
CAMLprim value
ml_gtk_tree_view_get_drag_dest_row(value val_tree) {
CAMLparam0();
CAMLlocal1(ret);
GtkTreePath *path;
GtkTreeViewDropPosition pos;
gtk_tree_view_get_drag_dest_row(GtkTreeView_val(val_tree), &path, &pos);
ret = alloc_tuple(2);
Store_field(ret,0,Val_GtkTreePath(path));
Store_field(ret,1,Val_int(pos));
CAMLreturn(ret);
}
sw/ground_segment/cockpit/lib/papget.ml
-423
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@@ -1,423 +0,0 @@
(*
* Paparazzi widgets
*
* Copyright (C) 2008 ENAC
*
* 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
module PC = Papget_common
module PR = Papget_renderer
module E = Expr_syntax
let (//) = Filename.concat
class type item = object
method config : unit -> Xml.xml
method deleted : bool
end
class type value =
object
method last_value : string
method connect : (string -> unit) -> unit
method config : unit -> Xml.xml list
method type_ : string
end
(** [index_of_fields s] Returns i if s matches x[i] else 0. *)
let base_and_index =
let field_regexp = Str.regexp "\\([^\\.]+\\)\\[\\([0-9]+\\)\\]" in
fun field_descr ->
if Str.string_match field_regexp field_descr 0 then
( Str.matched_group 1 field_descr,
int_of_string (Str.matched_group 2 field_descr))
else
(field_descr, 0)
class message_field = fun ?sender ?(class_name="telemetry") msg_name field_descr ->
object
val mutable callbacks = []
val mutable last_value = "0."
method last_value = last_value
method connect = fun cb -> callbacks <- cb :: callbacks
method config = fun () ->
let field = sprintf "%s:%s" msg_name field_descr in
let ac_id = match sender with None -> [] | Some id -> [PC.property "ac_id" id] in
[ PC.property "field" field ] @ ac_id
method type_ = "message_field"
initializer
let module P = PprzLink.Messages (struct let name = class_name end) in
let process_message = fun _sender values ->
let (field_name, index) = base_and_index field_descr in
let value =
match PprzLink.assoc field_name values with
PprzLink.Array array -> array.(index)
| scalar -> scalar in
last_value <- PprzLink.string_of_value value;
List.iter (fun cb -> cb last_value) callbacks in
ignore (P.message_bind ?sender msg_name process_message)
end
let hash_vars = fun ?sender expr ->
let htable = Hashtbl.create 3 in
let rec loop = function
E.Ident i -> prerr_endline i
| E.Int _ | E.Float _ -> ()
| E.Call (_id, list) | E.CallOperator (_id, list) -> List.iter loop list
| E.Index (_id, e) -> loop e
| E.Deref (_e, _f) as deref -> fprintf stderr "Warning: Deref operator is not allowed in Papgets expressions (%s)" (E.sprint deref)
| E.Field (i, f) ->
if not (Hashtbl.mem htable (i,f)) then
let msg_obj = new message_field ?sender i f in
Hashtbl.add htable (i, f) msg_obj in
loop expr;
htable
let wrap = fun f ->
fun x y -> string_of_float (f (float_of_string x) (float_of_string y))
let eval_bin_op = function
| "*" -> wrap ( *. )
| "+" -> wrap ( +. )
| "-" -> wrap ( -. )
| "/" -> wrap ( /. )
| "**" -> wrap ( ** )
| op -> failwith (sprintf "Papget.eval_expr '%s'" op)
let eval_expr = fun (extra_functions:(string * (string list -> string)) list) h e ->
let rec loop = function
E.Ident ident -> failwith (sprintf "Papget.eval_expr '%s'" ident)
| E.Int int -> string_of_int int
| E.Float float -> string_of_float float
| E.CallOperator (ident, [e1; e2]) ->
eval_bin_op ident (loop e1) (loop e2)
| E.Call (ident, args) when List.mem_assoc ident extra_functions ->
(List.assoc ident extra_functions) (List.map loop args)
| E.Call (ident, _l) | E.CallOperator (ident, _l) ->
failwith (sprintf "Papget.eval_expr '%s(...)'" ident)
| E.Index (ident, _e) -> failwith (sprintf "Papget.eval_expr '%s[...]'" ident)
| E.Deref (_e, _f) as deref -> failwith (sprintf "Papget.eval_expr Deref operator is not allowed in Papgets expressions (%s)" (E.sprint deref))
| E.Field (i, f) ->
try
(Hashtbl.find h (i,f))#last_value
with
Not_found -> failwith (sprintf "Papget.eval_expr '%s.%s'" i f)
in loop e
class expression = fun ?(extra_functions=[]) ?sender expr ->
let h = hash_vars ?sender expr in
object
val mutable callbacks = []
val mutable last_value = "0."
method last_value = last_value
method connect = fun cb -> callbacks <- cb :: callbacks
method config = fun () ->
let ac_id = match sender with None -> [] | Some id -> [PC.property "ac_id" id] in
[ PC.property "expr" (Expr_syntax.sprint expr)] @ ac_id
method type_ = "expression"
initializer
Hashtbl.iter
(fun (i,f) (msg_obj:value) ->
let val_updated = fun _new_val ->
last_value <- eval_expr extra_functions h expr;
List.iter (fun cb -> cb last_value) callbacks
in
msg_obj#connect val_updated)
h
end
class type canvas_item_type =
object
method connect : unit -> unit
method deleted : bool
method edit : unit -> unit
method event : GnoCanvas.item_event -> bool
method renderer : Papget_renderer.t
method update : string -> unit
method xy : float * float
end
class canvas_item = fun ~config canvas_renderer ->
let canvas_renderer = (canvas_renderer :> PR.t) in
object (self)
val mutable motion = false
val mutable renderer = canvas_renderer
val mutable x_press = 0.
val mutable y_press = 0.
val mutable deleted = false
val mutable dialog_widget = None
method renderer = renderer
method xy =
let (x0, y0) = renderer#item#i2w ~x:0. ~y:0. in
renderer#item#parent#w2i ~x:x0 ~y:y0
method deleted = deleted
method update = fun value ->
try
(renderer#update:string->unit) value
with
exc -> prerr_endline (Printexc.to_string exc)
method event = fun (ev : GnoCanvas.item_event) ->
let item = (renderer#item :> PR.movable_item) in
match ev with
`BUTTON_PRESS ev ->
begin
match GdkEvent.Button.button ev with
| 1 ->
motion <- false;
let x = GdkEvent.Button.x ev and y = GdkEvent.Button.y ev in
let (xm, ym) = renderer#item#parent#w2i ~x ~y in
let (x0, y0) = renderer#item#i2w ~x:0. ~y:0. in
let (xi, yi) = renderer#item#parent#w2i ~x:x0 ~y:y0 in
x_press <- xm -. xi; y_press <- ym -. yi;
let curs = Gdk.Cursor.create `FLEUR in
item#grab [`POINTER_MOTION; `BUTTON_RELEASE] curs
(GdkEvent.Button.time ev)
| _ -> ()
end;
true
| `MOTION_NOTIFY ev ->
let state = GdkEvent.Motion.state ev in
if Gdk.Convert.test_modifier `BUTTON1 state then begin
motion <- true;
let x = GdkEvent.Motion.x ev
and y = GdkEvent.Motion.y ev in
let (xw, yw) = renderer#item#parent#w2i ~x ~y in
item#set [`X (xw-.x_press); `Y (yw-.y_press)];
renderer#item#parent#affine_relative [|1.;0.;0.;1.;0.;0.|]
end;
true
| `BUTTON_RELEASE ev ->
if GdkEvent.Button.button ev = 1 then begin
item#ungrab (GdkEvent.Button.time ev);
(* get item and window size *)
let bounds = item#get_bounds in
let w, h = Gdk.Drawable.get_size item#canvas#misc#window in
if not motion then begin
self#edit ()
end
else if (truncate bounds.(0) > w) || (truncate bounds.(2) < 0) || (truncate bounds.(1) > h) || (truncate bounds.(3) < 0) then begin
(* delete an item if placed out of the window on the left or top side *)
item#destroy ();
deleted <- true
end;
motion <- false
end;
true
| _ -> false
method edit = fun () ->
let file = Env.paparazzi_src // "sw" // "lib" // "ocaml" // "widgets.glade" in
let dialog = new Gtk_papget_editor.papget_editor ~file () in
let ac_id = PC.get_prop "ac_id" config "Any" in
dialog#toplevel#set_title ("Papget Editor (A/C: "^ac_id^")");
let tagged_renderers = Lazy.force PR.lazy_tagged_renderers in
let strings = List.map fst tagged_renderers in
let (combo, (tree, column)) = GEdit.combo_box_text ~packing:dialog#box_item_chooser#add ~strings () in
tree#foreach
(fun _path row ->
if tree#get ~row ~column = renderer#tag then begin
combo#set_active_iter (Some row);
true
end else
false);
let connect_item_editor = fun () ->
begin (* Remove the current child ? *)
try
let child = dialog#box_item_editor#child in
dialog#box_item_editor#remove child
with
Gpointer.Null -> ()
end;
renderer#edit dialog#box_item_editor#add in
connect_item_editor ();
(* Connect the renderer chooser *)
ignore (combo#connect#changed
~callback:(fun () ->
match combo#active_iter with
| None -> ()
| Some row ->
let data = combo#model#get ~row ~column in
if data <> renderer#tag then
let new_renderer = List.assoc data tagged_renderers in
let group = renderer#item#parent in
let (x, y) = renderer#item#i2w ~x:0. ~y:0. in
let (x, y) = group#w2i ~x ~y in
renderer#item#destroy ();
renderer <- new_renderer group x y;
self#connect ();
connect_item_editor ()));
(* Connect the buttons *)
ignore (dialog#button_delete#connect#clicked
~callback:(fun () ->
dialog#papget_editor#destroy ();
renderer#item#destroy ();
deleted <- true));
ignore (dialog#button_ok#connect#clicked ~callback:(fun () -> dialog#papget_editor#destroy ()));
dialog_widget <- Some dialog
val mutable connection =
canvas_renderer#item#connect#event ~callback:(fun _ -> false)
method connect = fun () ->
if PC.get_prop "locked" config "false" = "false" then
let item = (renderer#item :> PR.movable_item) in
connection <- item#connect#event ~callback:self#event
initializer
self#connect ()
end
class canvas_float_item = fun ~config canvas_renderer ->
object
inherit canvas_item ~config canvas_renderer as super
val mutable affine = "1"
method update = fun value ->
let scaled_value =
try
let (a, b) = Ocaml_tools.affine_transform affine
and fvalue = float_of_string value in
string_of_float (fvalue *. a +. b)
with
_ -> value in
super#update scaled_value
method edit = fun () ->
super#edit ();
match dialog_widget with
None -> ()
| Some dialog ->
(* Set the current value *)
dialog#entry_scale#set_text affine;
(* Connect the scale entry *)
let callback = fun () ->
affine <- dialog#entry_scale#text in
ignore (dialog#entry_scale#connect#activate ~callback);
dialog#hbox_scale#misc#show ()
end
class canvas_display_float_item = fun ~config (msg_obj:value) (canvas_renderer:PR.t) ->
object (self)
inherit canvas_float_item ~config canvas_renderer as item
initializer
affine <- PC.get_prop "scale" config "1";
msg_obj#connect self#update_field
method update_field = fun value ->
if not deleted then begin
item#update value
end
method config = fun () ->
let renderer_props = renderer#config ()
and val_props = msg_obj#config ()
and scale_prop = PC.property "scale" affine in
let (x, y) = item#xy in
let attrs =
[ "type", msg_obj#type_;
"display", String.lowercase_ascii item#renderer#tag;
"x", sprintf "%.0f" x; "y", sprintf "%.0f" y ] in
Xml.Element ("papget", attrs, scale_prop::val_props@renderer_props)
end
(****************************************************************************)
(** A clickable item is not editable: The #edit method is overiden with a
provided callback *)
class canvas_clickable_item = fun type_ properties callback canvas_renderer ->
object
inherit canvas_item ~config:properties canvas_renderer as item
method edit = fun () -> callback ()
method config = fun () ->
let props = renderer#config () in
let (x, y) = item#xy in
let attrs =
[ "type", type_;
"display", String.lowercase_ascii item#renderer#tag;
"x", sprintf "%.0f" x; "y", sprintf "%.0f" y ] in
Xml.Element ("papget", attrs, properties@props)
end
class canvas_goto_block_item = fun properties callback (canvas_renderer:PR.t) ->
object
inherit canvas_clickable_item "goto_block" properties callback canvas_renderer as item
end
class canvas_variable_setting_item = fun properties callback (canvas_renderer:PR.t) ->
object
inherit canvas_clickable_item "variable_setting" properties callback canvas_renderer
end
(****************************************************************************)
class canvas_video_plugin_item = fun properties (canvas_renderer:PR.t) (adj:GData.adjustment) ->
object (self)
inherit canvas_item ~config:properties canvas_renderer as item
method update_zoom = fun zoom ->
item#update zoom
method config = fun () ->
let props = renderer#config () in
let (x, y) = item#xy in
let attrs =
[ "type", "video_plugin";
"display", String.lowercase_ascii item#renderer#tag;
"x", sprintf "%.0f" x; "y", sprintf "%.0f" y ] in
Xml.Element ("papget", attrs, properties@props)
initializer ignore(adj#connect#value_changed ~callback:(fun () -> self#update_zoom (string_of_float adj#value)))
end
sw/ground_segment/cockpit/lib/papget.mli
-123
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@@ -1,123 +0,0 @@
(*
* Paparazzi widgets
*
* Copyright (C) 2008 ENAC
*
* 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.
*
*)
class type item =
object
method config : unit -> Xml.xml
method deleted : bool
end
class type value =
object
method last_value : string
method connect : (string -> unit) -> unit
method config : unit -> Xml.xml list
method type_ : string
end
class message_field :
?sender:string ->
?class_name:string ->
string ->
string ->
value
class expression :
?extra_functions:(string * (string list -> string)) list ->
?sender:string ->
Expr_syntax.expression ->
value
class type canvas_item_type =
object
method connect : unit -> unit
method deleted : bool
method edit : unit -> unit
method event : GnoCanvas.item_event -> bool
method renderer : Papget_renderer.t
method update : string -> unit
method xy : float * float
end
class canvas_display_float_item :
config:Xml.xml list ->
value ->
Papget_renderer.t ->
object
inherit canvas_item_type
method config : unit -> Xml.xml
method connect : unit -> unit
method update_field : string -> unit
end
class canvas_goto_block_item :
Xml.xml list ->
(unit -> unit) ->
Papget_renderer.t ->
object
method config : unit -> Xml.xml
method connect : unit -> unit
method deleted : bool
method edit : unit -> unit
method event : GnoCanvas.item_event -> bool
method renderer : Papget_renderer.t
method update : string -> unit
method xy : float * float
end
class canvas_variable_setting_item :
Xml.xml list ->
(unit -> unit) ->
Papget_renderer.t ->
object
method config : unit -> Xml.xml
method connect : unit -> unit
method deleted : bool
method edit : unit -> unit
method event : GnoCanvas.item_event -> bool
method renderer : Papget_renderer.t
method update : string -> unit
method xy : float * float
end
class canvas_video_plugin_item :
Xml.xml list ->
Papget_renderer.t ->
GData.adjustment ->
object
inherit canvas_item_type
method config : unit -> Xml.xml
method update_zoom : string -> unit
(*
method connect : unit -> unit
method deleted : bool
method edit : unit -> unit
method event : GnoCanvas.item_event -> bool
method renderer : Papget_renderer.t
method xy : float * float
*)
end
sw/ground_segment/cockpit/lib/papget_common.ml
-49
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@@ -1,49 +0,0 @@
(*
* Commons for papgets
*
* Copyright (C) 2008 ENAC
*
* 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.
*
*)
let get_property = fun attr_name xml ->
let attr = ExtXml.child ~select:(fun x -> ExtXml.attrib x "name" = attr_name) xml "property" in
ExtXml.attrib attr "value"
let get_prop = fun name children default ->
let xml = Xml.Element ("", [], children) in
try get_property name xml with _ -> default
let property = fun name value ->
Xml.Element("property", [ "name", name; "value", value ], [])
let xml = fun type_ display_ properties ->
Xml.Element ("papget", ["type", type_; "display", display_],
List.map (fun (x, y) -> property x y) properties)
let float_property = fun name value ->
property name (string_of_float value)
let dnd_source = fun (widget:GObj.widget) papget_xml ->
let dnd_targets = [ { Gtk.target = "STRING"; flags = []; info = 0} ] in
widget#drag#source_set dnd_targets ~modi:[`BUTTON1] ~actions:[`COPY];
let data_get = fun _ (sel:GObj.selection_context) ~info ~time ->
sel#return (Xml.to_string papget_xml) in
ignore (widget#drag#connect#data_get ~callback:data_get);
sw/ground_segment/cockpit/lib/papget_common.mli
-34
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@@ -1,34 +0,0 @@
(*
* Commons for papgets
*
* Copyright (C) 2008 ENAC
*
* 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.
*
*)
val get_property : string -> Xml.xml -> string
(** [get_property name config] *)
val get_prop : string -> Xml.xml list -> string -> string
(** [get_prop name config_list default_value] *)
val property : string -> string -> Xml.xml
val xml : string -> string -> (string * string) list -> Xml.xml
val float_property : string -> float -> Xml.xml
val dnd_source : GObj.widget -> Xml.xml -> unit
sw/ground_segment/cockpit/lib/papget_renderer.ml
-392
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@@ -1,392 +0,0 @@
(*
* Paparazzi widget renderers
*
* Copyright (C) 2008-2009 ENAC, Pascal Brisset
*
* 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
module PC = Papget_common
let (//) = Filename.concat
class type movable_item =
object
inherit GnoCanvas.base_item
method set : GnomeCanvas.group_p list -> unit
end
class type t =
object
method tag : string
method edit : (GObj.widget -> unit) -> unit
method item : movable_item
method update : string -> unit
method config : unit -> Xml.xml list
end
(*************************** Text ***********************************)
class canvas_text = fun ?(config=[]) canvas_group x y ->
let group = GnoCanvas.group ~x ~y canvas_group in
let text = GnoCanvas.text ~text:"_" group in
object (self)
val mutable format = PC.get_prop "format" config "%.2f"
val mutable size = float_of_string (PC.get_prop "size" config "15.")
val mutable color = PC.get_prop "color" config "#00ff00"
method tag = "Text"
method item = (group :> movable_item)
method config = fun () ->
[ PC.property "format" format;
PC.float_property "size" size;
PC.property "color" color ]
method update = fun (value : string) ->
let renderer = fun x ->
try sprintf (Scanf.format_from_string format "%f") (float_of_string x) with _ -> x in
text#set [`SIZE_POINTS size; `TEXT (renderer value); `FILL_COLOR color; `ANCHOR `NW]
method edit = fun (pack:GObj.widget -> unit) ->
let file = Env.paparazzi_src // "sw" // "lib" // "ocaml" // "widgets.glade" in
let text_editor = new Gtk_papget_text_editor.table_text_editor ~file () in
pack text_editor#table_text_editor#coerce;
(* Initialize the entries *)
text_editor#entry_format#set_text format;
text_editor#spinbutton_size#set_value size;
text_editor#comboboxentry_color#set_active 0;
(* Connect the entries *)
let callback = fun () ->
format <- text_editor#entry_format#text in
ignore (text_editor#entry_format#connect#activate ~callback);
let callback = fun () ->
size <- text_editor#spinbutton_size#value in
ignore (text_editor#spinbutton_size#connect#value_changed ~callback);
let callback = fun () ->
color <- text_editor#comboboxentry_color#entry#text in
ignore (text_editor#comboboxentry_color#connect#changed ~callback);
end
(***************************Vertical Ruler ***********************************)
let affine_pos_and_angle xw yw angle =
let cos_a = cos angle in
let sin_a = sin angle in
[| cos_a ; sin_a ; ~-. sin_a; cos_a; xw ; yw |]
let affine_pos xw yw = affine_pos_and_angle xw yw 0.
class canvas_ruler = fun ?(config=[]) canvas_group x y ->
let h = float_of_string (PC.get_prop "height" config "100.")
and index_on_right = bool_of_string (PC.get_prop "index_on_right" config "false")
and point_per_unit = float_of_string (PC.get_prop "point_per_unit" config "2.")
and w = float_of_string (PC.get_prop "width" config "32.")
and step = int_of_string (PC.get_prop "step" config "10") in
let text_props=[`ANCHOR `CENTER; `FILL_COLOR "white"]
and index_width = 10. in
let root = GnoCanvas.group ~x ~y canvas_group in
let r = GnoCanvas.group root in
let props = (text_props@[`ANCHOR `EAST]) in
(* One step drawer *)
let draw = fun i value ->
let i = i * step in
let y = -. point_per_unit *. (float i -. value) in
if y >= -. h && y <= h then begin
let text = Printf.sprintf "%d" i in
ignore (GnoCanvas.text ~text ~props ~y ~x:(w*.0.75) r);
ignore (GnoCanvas.line ~points:[|w*.0.8;y;w-.1.;y|] ~fill_color:"white" r)
end;
let y = y -. float step /. 2. *. point_per_unit in
if y >= -. h && y <= h then
ignore(GnoCanvas.line ~points:[|w*.0.8;y;w-.1.;y|] ~fill_color:"white" r)
in
let drawer = fun value ->
(* Remove previous items *)
List.iter (fun i -> i#destroy ()) r#get_items;
let v = truncate value / step in
let k = truncate (h /. point_per_unit) / step in
for i = max 0 (v - k) to (v + k) do
draw i value
done
in
(** Yellow index *)
let _ = GnoCanvas.line ~points:[|0.;0.;w-.1.;0.|] ~fill_color:"yellow" root in
let s = index_width in
let idx = GnoCanvas.polygon ~points:[|0.;0.;-.s;s/.2.;-.s;-.s/.2.|] ~fill_color:"yellow" root in
let () =
if index_on_right then
idx#affine_absolute (affine_pos_and_angle w 0. Latlong.pi) in
object
method tag = "Ruler"
method edit = fun (pack:GObj.widget -> unit) -> ()
method update = fun value ->
let value = float_of_string value in
drawer value
method item = (root :> movable_item)
method config = fun () ->
[ PC.float_property "height" h;
PC.property "index_on_right" (sprintf "%b" index_on_right);
PC.float_property "width" w;
PC.float_property "point_per_unit" point_per_unit;
PC.property "step" (sprintf "%d" step) ]
end
(*************************** Gauge ***********************************)
class canvas_gauge = fun ?(config=[]) canvas_group x y ->
let size = PC.get_prop "size" config "50." in
(*let text_props = [`ANCHOR `CENTER; `FILL_COLOR "white"] in*)
let r1 = max 10. ((float_of_string size) /. 2.) in
let r2 = r1 +. 3. in
let r3 = 3.5 in
let max_rot = 2. *. Latlong.pi /. 3. in
let root = GnoCanvas.group ~x ~y canvas_group in
(*let gauge = GnoCanvas.group root in*)
(*let props = (text_props@[`ANCHOR `EAST]) in*)
let _ = GnoCanvas.ellipse ~x1:r2 ~y1:r2 ~x2:(-.r2) ~y2:(-.r2)
~props:[`NO_FILL_COLOR; `OUTLINE_COLOR "grey"; `WIDTH_PIXELS 6] root in
let points = [|0.;-.r1;0.;-.r1+.3.|] in
let props = [`WIDTH_PIXELS 2; `FILL_COLOR "red"] in
let _ = GnoCanvas.line ~points ~props root in
let il = GnoCanvas.line ~points ~props root in
let () = il#affine_absolute (affine_pos_and_angle 0. 0. (-. Latlong.pi /. 3.)) in
let ill = GnoCanvas.line ~points ~props root in
let () = ill#affine_absolute (affine_pos_and_angle 0. 0. (-. 2. *. Latlong.pi /. 3.)) in
let ir = GnoCanvas.line ~points ~props root in
let () = ir#affine_absolute (affine_pos_and_angle 0. 0. (Latlong.pi /. 3.)) in
let irr = GnoCanvas.line ~points ~props root in
let () = irr#affine_absolute (affine_pos_and_angle 0. 0. (2. *. Latlong.pi /. 3.)) in
let idx = GnoCanvas.polygon ~points:[|r3-.0.2;0.;0.;-.r1;-.(r3-.0.2);0.|]
~props:[`FILL_COLOR "red"; `OUTLINE_COLOR "white"] root in
let _ = GnoCanvas.ellipse ~x1:r3 ~y1:r3 ~x2:(-.r3) ~y2:(-.r3) ~props:[`OUTLINE_COLOR "grey"] ~fill_color:"red" root in
let text_min = GnoCanvas.text ~x:(-.r1) ~y:(r1/.2.) ~props:[`ANCHOR `NE; `FILL_COLOR "#00ff00"] root in
let text_max = GnoCanvas.text ~x:r1 ~y:(r1/.2.) ~props:[`ANCHOR `NW; `FILL_COLOR "#00ff00"] root in
let text_mid = GnoCanvas.text ~x:0. ~y:(-.r2-.3.) ~props:[`ANCHOR `SOUTH; `FILL_COLOR "#00ff00"] root in
let text_text = GnoCanvas.text ~x:0. ~y:(r2+.3.) ~props:[`ANCHOR `NORTH; `FILL_COLOR "#00ff00"] root in
object
val mutable min = PC.get_prop "min" config "-50."
val mutable max = PC.get_prop "max" config "50."
val mutable text = PC.get_prop "text" config ""
method tag = "Gauge"
method edit = fun (pack:GObj.widget -> unit) ->
let file = Env.paparazzi_src // "sw" // "lib" // "ocaml" // "widgets.glade" in
let gauge_editor = new Gtk_papget_gauge_editor.table_gauge_editor ~file () in
pack gauge_editor#table_gauge_editor#coerce;
(* Initialize the entries *)
gauge_editor#entry_min#set_text min;
gauge_editor#entry_max#set_text max;
gauge_editor#entry_text#set_text text;
(* Connect the entries *)
let callback = fun () ->
min <- gauge_editor#entry_min#text in
ignore (gauge_editor#entry_min#connect#activate ~callback);
let callback = fun () ->
max <- gauge_editor#entry_max#text in
ignore (gauge_editor#entry_max#connect#activate ~callback);
let callback = fun () ->
text <- gauge_editor#entry_text#text in
ignore (gauge_editor#entry_text#connect#activate ~callback);
method update = fun value ->
let value = float_of_string value in
(* Gauge drawer *)
let fmin = float_of_string min in
let fmax = float_of_string max in
let rot = ref (-.max_rot +. 2. *. max_rot *. (value -. fmin) /. (fmax -. fmin)) in
if !rot > max_rot then rot := max_rot;
if !rot < -.max_rot then rot := -.max_rot;
idx#affine_absolute (affine_pos_and_angle 0. 0. !rot);
text_min#set [`TEXT min];
text_max#set [`TEXT max];
text_mid#set [`TEXT (string_of_float ((fmin +. fmax)/.2.))];
text_text#set [`TEXT text]
method item = (root :> movable_item)
method config = fun () ->
[ PC.property "min" min;
PC.property "max" max;
PC.property "size" size;
PC.property "text" text ]
end
(*************************** Led ***********************************)
class canvas_led = fun ?(config=[]) canvas_group x y ->
let size = float_of_string (PC.get_prop "size" config "15.") in
let root = GnoCanvas.group ~x ~y canvas_group in
let r = (max 2. (size /. 2.)) +. 1. in
let led = GnoCanvas.ellipse ~x1:r ~y1:r ~x2:(-.r) ~y2:(-.r)
~props:[`NO_FILL_COLOR; `OUTLINE_COLOR "grey"; `WIDTH_UNITS 2.] root in
let led_text = GnoCanvas.text ~x:(-.r-.3.) ~y:0. ~props:[`ANCHOR `EAST; `FILL_COLOR "#00ff00"] root in
object
val mutable size = float_of_string (PC.get_prop "size" config "15.")
val mutable text = PC.get_prop "text" config ""
val mutable test_value = float_of_string (PC.get_prop "test_value" config "0.")
val mutable test_inv = bool_of_string (PC.get_prop "test_invert" config "false")
method tag = "Led"
method edit = fun (pack:GObj.widget -> unit) ->
let file = Env.paparazzi_src // "sw" // "lib" // "ocaml" // "widgets.glade" in
let led_editor = new Gtk_papget_led_editor.table_led_editor ~file () in
pack led_editor#table_led_editor#coerce;
(* Initialize the entries *)
led_editor#entry_text#set_text text;
led_editor#spinbutton_size#set_value size;
led_editor#spinbutton_test#set_value test_value;
(* Connect the entries *)
let callback = fun () ->
text <- led_editor#entry_text#text in
ignore (led_editor#entry_text#connect#activate ~callback);
let callback = fun () ->
size <- led_editor#spinbutton_size#value in
ignore (led_editor#spinbutton_size#connect#activate ~callback);
let callback = fun () ->
test_value <- led_editor#spinbutton_test#value in
ignore (led_editor#spinbutton_test#connect#activate ~callback);
let callback = fun () ->
test_inv <- led_editor#check_invert#active in
ignore (led_editor#check_invert#connect#toggled ~callback);
method update = fun value ->
let value = float_of_string value in
let inv = if test_inv then not else (fun x -> x) in
(* Led drawer *)
if inv (value = test_value) then led#set [`FILL_COLOR "red"]
else led#set [`FILL_COLOR "#00ff00"];
let r = (max 2. (size /. 2.)) +. 1. in
led#set [`X1 r; `Y1 r; `X2 (-.r); `Y2 (-.r)];
led_text#set [`TEXT text; `SIZE_POINTS size; `X (-.r-.3.)]
method item = (root :> movable_item)
method config = fun () ->
[ PC.float_property "size" size;
PC.property "text" text ]
end
(****************************************************************************)
class canvas_button = fun ?(config=[]) canvas_group x y ->
let icon = PC.get_prop "icon" config "icon_file" in
let pixbuf = GdkPixbuf.from_file (Env.gcs_icons_path // icon) in
let group = GnoCanvas.group ~x ~y canvas_group in
let _item = GnoCanvas.pixbuf ~pixbuf group in
object
method tag = "Button"
method item = (group :> movable_item)
method edit = fun (pack:GObj.widget -> unit) -> ()
method update = fun (value:string) -> ()
method config = fun () ->
[ PC.property "icon" icon]
initializer
group#raise_to_top ();
end
(****************************************************************************)
class canvas_mplayer = fun ?(config=[]) canvas_group x y ->
let video_feed = PC.get_prop "video_feed" config "video_URI" in
let width = float_of_string (PC.get_prop "width" config "320.")
and height = float_of_string (PC.get_prop "height" config "240.") in
let socket = GWindow.socket () in
let group = GnoCanvas.group ~x ~y canvas_group in
let item = GnoCanvas.widget ~width ~height ~widget:socket group in
object
method tag = "Mplayer"
method item = (group :> movable_item)
method edit = fun (pack:GObj.widget -> unit) -> ()
method update = fun (value:string) ->
let zoom = try float_of_string value with _ -> 1. in
item#set [`WIDTH (width /. zoom); `HEIGHT (height /. zoom)]
method config = fun () ->
[ PC.property "video_feed" video_feed;
PC.float_property "width" width;
PC.float_property "height" height ]
initializer
group#lower_to_bottom ();
let com = sprintf "exec mplayer -vo xv -really-quiet -nomouseinput %s -wid 0x%lx -geometry %.0fx%.0f" video_feed socket#xwindow width height in
let dev_null = Unix.descr_of_out_channel (open_out "/dev/null") in
ignore (Unix.create_process "/bin/sh" [|"/bin/sh"; "-c"; com|] dev_null dev_null dev_null)
end
(****************************************************************************)
class canvas_plugin = fun ?(config=[]) canvas_group x y ->
let command = PC.get_prop "command" config "missing_plugin_command" in
let width = float_of_string (PC.get_prop "width" config "320.")
and height = float_of_string (PC.get_prop "height" config "240.") in
let socket = GWindow.socket () in
let group = GnoCanvas.group ~x ~y canvas_group in
let item = GnoCanvas.widget ~width ~height ~widget:socket group in
object
method tag = "Plugin"
method item = (group :> movable_item)
method edit = fun (pack:GObj.widget -> unit) -> ()
method update = fun (value:string) ->
let zoom = try float_of_string value with _ -> 1. in
item#set [`WIDTH (width /. zoom); `HEIGHT (height /. zoom) ]
method config = fun () ->
[ PC.property "command" command;
PC.float_property "width" width;
PC.float_property "height" height ]
initializer
group#lower_to_bottom ();
let com = sprintf "exec %s0x%lx" command socket#xwindow in
let dev_null = Unix.descr_of_out_channel (open_out "/dev/null") in
ignore (Unix.create_process "/bin/sh" [|"/bin/sh"; "-c"; com|] dev_null dev_null dev_null)
end
let renderers =
[ (new canvas_text :> ?config:Xml.xml list -> #GnoCanvas.group -> float -> float -> t);
(new canvas_ruler :> ?config:Xml.xml list -> #GnoCanvas.group -> float -> float -> t);
(new canvas_gauge :> ?config:Xml.xml list -> #GnoCanvas.group -> float -> float -> t);
(new canvas_led :> ?config:Xml.xml list -> #GnoCanvas.group -> float -> float -> t) ]
let lazy_tagged_renderers = lazy
(let x = 0. and y = 0.
and group = (GnoCanvas.canvas ())#root in
List.map
(fun constructor ->
let o = constructor ?config:None group x y in
(o#tag, constructor))
renderers)
sw/ground_segment/cockpit/lib/papget_renderer.mli
-64
View File
@@ -1,64 +0,0 @@
(*
* Paparazzi widget renderers
*
* Copyright (C) 2008 ENAC
*
* 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.
*
*)
class type movable_item =
object
inherit GnoCanvas.base_item
method set : GnomeCanvas.group_p list -> unit
end
class type t =
object
method config : unit -> Xml.xml list
method edit : (GObj.widget -> unit) -> unit
method item : movable_item
method tag : string
method update : string -> unit
end
class canvas_text : ?config:Xml.xml list -> #GnoCanvas.group -> float -> float -> t
(** [canvas_text config group x y] *)
class canvas_ruler : ?config:Xml.xml list -> #GnoCanvas.group -> float -> float -> t
(** [canvas_ruler config group x y] *)
class canvas_gauge : ?config:Xml.xml list -> #GnoCanvas.group -> float -> float -> t
(** [canvas_gauge config group x y] *)
class canvas_led : ?config:Xml.xml list -> #GnoCanvas.group -> float -> float -> t
(** [canvas_led config group x y] *)
class canvas_button : ?config:Xml.xml list -> #GnoCanvas.group -> float -> float -> t
(** [canvas_button config group x y] *)
class canvas_mplayer : ?config:Xml.xml list -> #GnoCanvas.group -> float -> float -> t
(** [canvas_mplayer config group x y] *)
class canvas_plugin : ?config:Xml.xml list -> #GnoCanvas.group -> float -> float -> t
(** [canvas_plugin config group x y] *)
val lazy_tagged_renderers :
(string * (?config:Xml.xml list -> GnoCanvas.group -> float -> float -> t))
list lazy_t
(** List of renderers available to display a telemetry field value *)
sw/ground_segment/cockpit/lib/widgets.glade
-399
View File
@@ -1,399 +0,0 @@
<?xml version="1.0"?>
<glade-interface>
<!-- interface-requires gtk+ 2.6 -->
<!-- interface-naming-policy toplevel-contextual -->
<widget class="GtkWindow" id="papget_text_editor">
<property name="visible">True</property>
<property name="title" translatable="yes">Text Papget Properties</property>
<property name="window_position">mouse</property>
<child>
<widget class="GtkTable" id="table_text_editor">
<property name="visible">True</property>
<property name="n_rows">3</property>
<property name="n_columns">2</property>
<child>
<widget class="GtkLabel" id="label39">
<property name="visible">True</property>
<property name="xalign">0</property>
<property name="label" translatable="yes">Format</property>
</widget>
<packing>
<property name="x_options">GTK_FILL</property>
<property name="y_options"></property>
</packing>
</child>
<child>
<widget class="GtkLabel" id="label40">
<property name="visible">True</property>
<property name="xalign">0</property>
<property name="label" translatable="yes">Size</property>
<property name="justify">right</property>
</widget>
<packing>
<property name="top_attach">1</property>
<property name="bottom_attach">2</property>
<property name="x_options">GTK_FILL</property>
<property name="y_options"></property>
</packing>
</child>
<child>
<widget class="GtkLabel" id="label45">
<property name="visible">True</property>
<property name="xalign">0</property>
<property name="label" translatable="yes">Color</property>
<property name="justify">right</property>
</widget>
<packing>
<property name="top_attach">2</property>
<property name="bottom_attach">3</property>
<property name="x_options">GTK_FILL</property>
<property name="y_options"></property>
</packing>
</child>
<child>
<widget class="GtkEntry" id="entry_format">
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="invisible_char">&#x25CF;</property>
</widget>
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
<property name="y_options"></property>
</packing>
</child>
<child>
<widget class="GtkSpinButton" id="spinbutton_size">
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="adjustment">1 0 100 1 10 0</property>
<property name="climb_rate">1</property>
</widget>
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
<property name="top_attach">1</property>
<property name="bottom_attach">2</property>
<property name="y_options"></property>
</packing>
</child>
<child>
<widget class="GtkComboBoxEntry" id="comboboxentry_color">
<property name="visible">True</property>
<property name="has_tooltip">True</property>
<property name="tooltip" translatable="yes">Colors defined in X11 rgb.txt</property>
<property name="items" translatable="yes">green
red
blue
yellow
orange
white</property>
</widget>
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
<property name="top_attach">2</property>
<property name="bottom_attach">3</property>
<property name="y_options"></property>
</packing>
</child>
</widget>
</child>
</widget>
<widget class="GtkWindow" id="papget_editor">
<property name="visible">True</property>
<property name="title" translatable="yes">Papget Editor (A/C: Any)</property>
<property name="modal">True</property>
<property name="default_width">300</property>
<child>
<widget class="GtkVBox" id="vbox">
<property name="visible">True</property>
<child>
<widget class="GtkEventBox" id="box_item_chooser">
<property name="visible">True</property>
<child>
<placeholder/>
</child>
</widget>
<packing>
<property name="expand">False</property>
<property name="position">0</property>
</packing>
</child>
<child>
<widget class="GtkHBox" id="hbox_scale">
<child>
<widget class="GtkLabel" id="label41">
<property name="visible">True</property>
<property name="label" translatable="yes">Scale</property>
</widget>
<packing>
<property name="expand">False</property>
<property name="fill">False</property>
<property name="position">0</property>
</packing>
</child>
<child>
<widget class="GtkEntry" id="entry_scale">
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="tooltip" translatable="yes">"a+b" to display value x as a.x+b</property>
<property name="invisible_char">&#x25CF;</property>
<property name="text" translatable="yes">1+0</property>
</widget>
<packing>
<property name="position">1</property>
</packing>
</child>
</widget>
<packing>
<property name="position">1</property>
</packing>
</child>
<child>
<widget class="GtkEventBox" id="box_item_editor">
<property name="visible">True</property>
<child>
<placeholder/>
</child>
</widget>
<packing>
<property name="position">2</property>
</packing>
</child>
<child>
<widget class="GtkHBox" id="hbox9">
<property name="visible">True</property>
<property name="homogeneous">True</property>
<child>
<widget class="GtkButton" id="button_delete">
<property name="label">gtk-delete</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="receives_default">False</property>
<property name="use_stock">True</property>
</widget>
<packing>
<property name="expand">False</property>
<property name="fill">False</property>
<property name="position">0</property>
</packing>
</child>
<child>
<widget class="GtkButton" id="button_ok">
<property name="label">gtk-close</property>
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="receives_default">False</property>
<property name="use_stock">True</property>
</widget>
<packing>
<property name="expand">False</property>
<property name="fill">False</property>
<property name="position">1</property>
</packing>
</child>
</widget>
<packing>
<property name="expand">False</property>
<property name="position">3</property>
</packing>
</child>
</widget>
</child>
</widget>
<widget class="GtkWindow" id="papget_gauge_editor">
<property name="visible">True</property>
<property name="title" translatable="yes">Gauge Papget Properties</property>
<property name="window_position">mouse</property>
<child>
<widget class="GtkTable" id="table_gauge_editor">
<property name="visible">True</property>
<property name="n_rows">3</property>
<property name="n_columns">2</property>
<child>
<widget class="GtkLabel" id="label42">
<property name="visible">True</property>
<property name="xalign">0</property>
<property name="label" translatable="yes">Min</property>
</widget>
<packing>
<property name="x_options">GTK_FILL</property>
<property name="y_options"></property>
</packing>
</child>
<child>
<widget class="GtkLabel" id="label43">
<property name="visible">True</property>
<property name="xalign">0</property>
<property name="label" translatable="yes">Max</property>
</widget>
<packing>
<property name="top_attach">1</property>
<property name="bottom_attach">2</property>
<property name="x_options">GTK_FILL</property>
<property name="y_options"></property>
</packing>
</child>
<child>
<widget class="GtkEntry" id="entry_min">
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="invisible_char">&#x25CF;</property>
</widget>
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
<property name="y_options"></property>
</packing>
</child>
<child>
<widget class="GtkEntry" id="entry_max">
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="invisible_char">&#x25CF;</property>
</widget>
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
<property name="top_attach">1</property>
<property name="bottom_attach">2</property>
<property name="y_options"></property>
</packing>
</child>
<child>
<widget class="GtkEntry" id="entry_text">
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="invisible_char">&#x25CF;</property>
</widget>
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
<property name="top_attach">2</property>
<property name="bottom_attach">3</property>
<property name="y_options"></property>
</packing>
</child>
<child>
<widget class="GtkLabel" id="label44">
<property name="visible">True</property>
<property name="xalign">0</property>
<property name="label" translatable="yes">Text</property>
</widget>
<packing>
<property name="top_attach">2</property>
<property name="bottom_attach">3</property>
<property name="x_options">GTK_FILL</property>
<property name="y_options"></property>
</packing>
</child>
</widget>
</child>
</widget>
<widget class="GtkWindow" id="papget_led_editor">
<property name="visible">True</property>
<property name="title" translatable="yes">Led Papget Properties</property>
<property name="window_position">mouse</property>
<child>
<widget class="GtkTable" id="table_led_editor">
<property name="visible">True</property>
<property name="n_rows">4</property>
<property name="n_columns">2</property>
<child>
<widget class="GtkLabel" id="label1">
<property name="visible">True</property>
<property name="label" translatable="yes">Text</property>
</widget>
<packing>
<property name="x_options">GTK_FILL</property>
</packing>
</child>
<child>
<widget class="GtkLabel" id="label2">
<property name="visible">True</property>
<property name="label" translatable="yes">Size</property>
</widget>
<packing>
<property name="top_attach">1</property>
<property name="bottom_attach">2</property>
<property name="x_options">GTK_FILL</property>
</packing>
</child>
<child>
<widget class="GtkSpinButton" id="spinbutton_size">
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="adjustment">15 2 100 1 10 0</property>
</widget>
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
<property name="top_attach">1</property>
<property name="bottom_attach">2</property>
</packing>
</child>
<child>
<widget class="GtkEntry" id="entry_text">
<property name="visible">True</property>
<property name="can_focus">True</property>
</widget>
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
</packing>
</child>
<child>
<widget class="GtkLabel" id="label3">
<property name="visible">True</property>
<property name="label" translatable="yes">Test invert</property>
</widget>
<packing>
<property name="top_attach">3</property>
<property name="bottom_attach">4</property>
<property name="x_options">GTK_FILL</property>
</packing>
</child>
<child>
<widget class="GtkCheckButton" id="check_invert">
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="receives_default">False</property>
<property name="draw_indicator">True</property>
</widget>
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
<property name="top_attach">3</property>
<property name="bottom_attach">4</property>
</packing>
</child>
<child>
<widget class="GtkLabel" id="label4">
<property name="visible">True</property>
<property name="label" translatable="yes">Test value</property>
</widget>
<packing>
<property name="top_attach">2</property>
<property name="bottom_attach">3</property>
<property name="x_options">GTK_FILL</property>
</packing>
</child>
<child>
<widget class="GtkSpinButton" id="spinbutton_test">
<property name="visible">True</property>
<property name="can_focus">True</property>
<property name="adjustment">0 0 100 1 10 0</property>
<property name="climb_rate">1</property>
</widget>
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
<property name="top_attach">2</property>
<property name="bottom_attach">3</property>
</packing>
</child>
</widget>
</child>
</widget>
</glade-interface>
sw/ground_segment/cockpit/lib/wind_sock.ml
-67
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(*
* Wind sock
*
* Copyright (C) 2007 ENAC
*
* 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.
*
*)
let flatten = fun s a ->
let n = Array.length a in
let b = Array.make (2*n) 0. in
for i = 0 to n - 1 do
let (x, y) = a.(i) in
b.(2*i) <- float x *. s;
b.(2*i+1) <- float y *. s
done;
b
class item = fun ?(show = false) size_unit group ->
let texture = `FILL_STIPPLE (Gdk.Bitmap.create_from_data ~width:2 ~height:2 "\002\001") in
let group = GnoCanvas.group group in
(* Text *)
let t = GnoCanvas.text group ~props:[`TEXT "12.1"; `X 0.; `Y 0.; `ANCHOR `CENTER; `FILL_COLOR "black"] in
(* Red left and right *)
let props = [`FILL_COLOR "red"; texture] in
let points = flatten size_unit [|(-6,4); (-2,3); (-2,-3); (-6,-4)|] in
let _ = GnoCanvas.polygon group ~props ~points in
let points = flatten size_unit [|(2,2); (6,1); (6,-1); (2,-2)|] in
let _ = GnoCanvas.polygon group ~props ~points in
(* White center *)
let props = [`FILL_COLOR "white"] in
let points = flatten size_unit [|(-2,3); (2,2); (2,-2); (-2,-3)|] in
let _ = GnoCanvas.polygon group ~props ~points in
(* contour *)
let points = flatten size_unit [|(-6,4); (6,1); (6,-1); (-6,-4)|] in
let props = [`OUTLINE_COLOR "white"; `WIDTH_PIXELS 1] in
let contour = GnoCanvas.polygon group ~props ~points in
object
method item = group
method label = t
initializer
t#raise_to_top ();
if not show then group#hide ()
method set_color = fun color -> contour#set [`OUTLINE_COLOR color]
end
sw/ground_segment/cockpit/lib/wind_sock.mli
-33
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@@ -1,33 +0,0 @@
(*
* Wind sock
*
* Copyright (C) 2007 ENAC
*
* 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.
*
*)
(** [item ?show size_unit group] Length of the wind sock is 6 times
[size_unit] *)
class item : ?show:bool -> float -> #GnoCanvas.group ->
object
method item : GnoCanvas.group
method label : GnoCanvas.text
method set_color : string -> unit
end
sw/ground_segment/cockpit/lib/xmlEdit.ml
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sw/ground_segment/cockpit/lib/xmlEdit.mli
-79
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(*
* XML graphics editor
*
* 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.
*
*)
(** XML types base on the xml-light library *)
type t
(** The whole XML data structure *)
type node
(** One data structure node. Warning: it is not an absolute
node designation: it may not remain valid after strucure modifications
(reordering, deletion addition, ... *)
type tag = string
type attribute = string * string
type attributes = attribute list
type event = Deleted | Modified of attributes | New_child of node
val create : ?format_attribs:((string * string) list -> string) -> ?editable:bool -> ?width:int -> Dtd.dtd -> Xml.xml -> (t * GObj.widget)
(** [create ?format_attribs ?editable dtd xml] Opens a display of [xml] with contextual right button
actions constrained by [dtd]. Returns the corresponding model. *)
val xml_of_node : node -> Xml.xml
val xml_of_view : t -> Xml.xml
(** [xml_of_view v] Returns the XML displayed data structure *)
val root : t -> node
val child : node -> tag -> node
val tag : node -> string
val attribs : node -> attributes
val attrib : node -> string -> string (* Safe case match *)
val children : node -> node list
val parent : node -> tag -> node (** May raise Failure *)
(** Xml-light like acces functions *)
val set_attrib : node -> attribute -> unit
val set_attribs : node -> attributes -> unit
val delete : node -> unit
val add_child : node -> tag -> attributes -> node
(** Modifications *)
val connect : node -> (event -> unit) -> unit
val connect_activated : t -> (node -> unit) -> unit
(** To be kept informed about modifications *)
val string_of_attribs : attributes -> string
(** Default formatter for attributes *)
val selection : t -> node
val expand_node : ?all:bool -> t -> node -> unit
val set_background : ?all:bool -> node -> string -> unit
type id = int
val id : node -> id
sw/ground_segment/cockpit/live.ml
-1597
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sw/ground_segment/cockpit/live.mli
-93
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(*
* Real time handling of flying A/Cs
*
* Copyright (C) 2004-2006 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.
*
*)
type color = string
type gps_acc_level = GPS_ACC_HIGH | GPS_ACC_LOW | GPS_ACC_VERY_LOW | GPS_NO_ACC
type aircraft = private {
ac_name : string;
ac_speech_name : string;
config : PprzLink.values;
track : MapTrack.track;
color: color;
fp_group : MapFP.flight_plan;
fp_show : GMenu.check_menu_item;
wp_HOME : MapWaypoints.waypoint option;
fp : Xml.xml;
blocks : (int * string) list;
mutable last_ap_mode : string;
mutable last_stage : int * int;
ir_page : Pages.infrared;
gps_page : Pages.gps;
pfd_page : Horizon.pfd;
link_page : Pages.link;
misc_page : Pages.misc;
dl_settings_page : Page_settings.settings option;
rc_settings_page : Pages.rc_settings option;
pages : GObj.widget;
notebook_label : GMisc.label;
strip : Strip.t;
rc_max_rate : float;
mutable first_pos : bool;
mutable last_block_name : string;
mutable in_kill_mode : bool;
mutable speed : float;
mutable alt : float;
mutable target_alt : float;
mutable flight_time : int;
mutable wind_speed : float;
mutable wind_dir : float; (* Rad *)
mutable ground_prox : bool;
mutable got_track_status_timer : int;
mutable last_dist_to_wp : float;
mutable dl_values : string option array;
mutable last_unix_time : float;
mutable airspeed : float;
mutable version : string;
mutable last_gps_acc : gps_acc_level;
mutable last_bat_warn_time : float;
time_link_lost: (string, float) Hashtbl.t
}
val aircrafts : (string, aircraft) Hashtbl.t
val safe_bind : string -> (string -> PprzLink.values -> unit) -> unit
val track_size : int ref
(** Default length for A/C tracks on the 2D view *)
val auto_hide_fp : bool -> unit
(** Automatically hide flight plan of not selected ac *)
val listen_acs_and_msgs : MapCanvas.widget -> GPack.notebook -> GPack.box -> bool -> Pages.alert -> bool -> string -> Gtk_tools.pixmap_in_drawin_area -> bool -> unit
(** [listen_acs_and_msgs geomap aircraft_notebook confirm_kill alert_page auto_center_new_ac alt_graph timestamp] *)
val jump_to_block : string -> int -> unit
(** [jump_to_block ac_id block_id] Sends a JUMP_TO_BLOCK message *)
val dl_setting : string -> int -> float -> unit
(** [dl_setting ac_id var_index value] Sends a DL_SETTING message *)
val filter_ac_ids: string -> unit
sw/ground_segment/cockpit/map2d.ml
-28
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@@ -1,28 +0,0 @@
(*
* Copyright (C) 2004-2006 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.
*
*)
let set_georef_if_none = fun geomap wgs84 ->
match geomap#georef with
None ->
geomap#set_georef wgs84;
geomap#center wgs84
| Some _ -> ()

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