*** empty log message ***

sw/airborne/modem.h

@@ -61,12 +61,12 @@ extern uint8_t ck_a, ck_b;
 
 #if TX_BUF_SIZE == 256
 #define UPDATE_HEAD() {			   \
-  tx_head++;				   \
-  if (tx_head >= TX_BUF_SIZE) tx_head = 0; \
+    tx_head++;				   \
 }
 #else
 #define UPDATE_HEAD() {			   \
-    tx_head++;				   \
+  tx_head++;				   \
+  if (tx_head >= TX_BUF_SIZE) tx_head = 0; \
 }
 #endif
 

sw/cgi/configuration.cgi

@@ -35,7 +35,7 @@ print
   Tr(th(["Id", "Name", "Airframe", "Radio", "Flight plan"]));
 foreach my $ac (@{$configuration->{aircrafts}}) {
   print
-    Tr(td([$ac->{ac_id}, $ac->{name}, 
+    Tr(td([$ac->{ac_id}, $ac->{name},
 	   a({href=>"../conf/$ac->{airframe}"}, foo($ac->{airframe}) ),
 	   a({href=>"../conf/$ac->{radio}"}, foo($ac->{radio}) ),
 	   a({href=>"../conf/$ac->{flight_plan}"}, foo($ac->{flight_plan}) )]));

sw/ground_segment/cockpit/Paparazzi/Strip.pm

@@ -31,7 +31,6 @@ use Subject;
 use Tk;
 use Tk::Zinc;
 
-use XML::DOM;
 use Data::Dumper;
 
 use strict;
@@ -40,10 +39,18 @@ use warnings;
 use Paparazzi::Traces;
 use Paparazzi::Utils;
 use Paparazzi::GuiConfig;
+use Paparazzi::SimpleLinearGauge;
+
+
+my $modes_data = 
+    {
+     ap_mode => { 'MANUAL' => 'sienna', 'AUTO1' => 'blue', 'AUTO2' => 'brown', 'HOME' => 'red'},
+     rc_status => {'OK' => 'brown', 'LOST' => 'orange', 'REALLY_LOST' => 'red'},
+     rc_mode   => {'AUTO'=> 'orange', 'MANUAL' => 'brown', 'FAILSAFE' => 'red'},
+     contrast_status => {'DEFAULT' => 'orange', 'WAITING' => 'brown', 'SET' => 'green'},
+     gps_mode => {'NOFIX' => 'red', 'DRO' => 'red', '2D' => 'orange', '3D' => 'brown', 'GPSDRO' => 'red'},
+    };
 
-# populate:
-#   this sub is the subject constructor method
-############################################################################## 
 sub populate {
   my ($self, $args) = @_;
   $self->SUPER::populate($args);
@@ -57,24 +64,12 @@ sub populate {
 		   );
 }
 
-# completeinit:
-#   this sub complete the init of subject object
-##############################################################################
 sub completeinit {
   my $self = shift;
   $self->SUPER::completeinit();
 
   my $zinc = $self->get(-zinc);
 
-  $self->{new_modes} = 
-    {
-     ap_mode => { 'MANUAL' => 'sienna', 'AUTO1' => 'blue', 'AUTO2' => 'brown', 'HOME' => 'red'},
-     rc_status => {'OK' => 'brown', 'LOST' => 'orange', 'REALLY_LOST' => 'red'},
-     rc_mode   => {'AUTO'=> 'orange', 'MANUAL' => 'brown', 'FAILSAFE' => 'red'},
-     contrast_status => {'DEFAULT' => 'orange', 'WAITING' => 'brown', 'SET' => 'green'},
-     gps_mode => {'NOFIX' => 'red', 'DRO' => 'red', '2D' => 'orange', '3D' => 'brown', 'GPSDRO' => 'red'},
-    };
-
   $self->{frame} = undef;
   $self->{frame_clip} = undef;
 
@@ -103,13 +98,15 @@ sub completeinit {
 # draw
 #   draw elements of the strip
 ##############################################################################
+
+use constant MARGIN => 3;
 sub draw {
   my $self = shift;
   my $zinc = $self->get(-zinc);
   my $ident = $self->get(-aircraft)->get('-ac_id');
   my ($x, $y) = @{$self->get('-origin')};
-  my $width = 300;
-
+  my $width = $self->get('-width');
+  my $height = $self->get('-height');
 
   ## main group of the strip
   $self->{topgroup} = $zinc->add('group', scalar $self->get('-parent_grp'), -sensitive => 1,
@@ -117,9 +114,18 @@ sub draw {
   $self->{contentgroup} = $zinc->add('group', $self->{topgroup}, -composealpha=>0, -sensitive=>1);
 
   ## the strip
-  $self->{frame} = $zinc->add('rectangle', $self->{topgroup}, [5,5,$width, 95], -fillcolor => $self->{options}->{background_color}, -filled=>1, -linecolor => $self->{options}->{border_color}, -sensitive => 1, -tags => ["strip_".$ident]);
+  my ($actual_width, $actual_height) = ($width - 2 * MARGIN, $height - 2 * MARGIN);
+  my $strip_rect= [MARGIN, MARGIN, $actual_width , $actual_height];
+  $self->{frame} = $zinc->add('rectangle', $self->{topgroup},
+			      , $strip_rect,
+			      -fillcolor => $self->{options}->{background_color},
+			      -filled=>1, -linecolor => $self->{options}->{border_color},
+			      -sensitive => 1,
+			      -tags => ["strip_".$ident]
+			     );
   # cliping contour of the strip
-  $self->{frame_clip} = $zinc->add('rectangle', $self->{contentgroup}, [5,5,$width, 95], -visible=>0);
+  $self->{frame_clip} = $zinc->add('rectangle', $self->{contentgroup}, 
+				   $strip_rect, -visible=>0);
   $zinc->itemconfigure($self->{contentgroup}, -clip=> $self->{frame_clip});
   
   ## bindings to highlight the strip when the mouse is over
@@ -127,20 +133,26 @@ sub draw {
   $zinc->bind($self->{frame}, '<Leave>', sub { $zinc->itemconfigure($self->{frame}, -linecolor => 'sienna'); });
   $zinc->bind($self->{frame}, '<1>', [\&onStripPressed, $self, $ident]);
 
+  my @col_x = ($actual_width * 0.03, $actual_width * 0.23, $actual_width * 0.53);
+  my @row_y = ($actual_height * 0.03, $actual_height * 0.23, $actual_height * 0.36,
+	       $actual_height * 0.48, $actual_height * 0.61, $actual_height * 0.74);
+
   ## ident of the plane
-  $self->{ident} = $zinc->add('text', $self->{contentgroup}, -text => uc($ident), -position=>[10,10], -font => $self->{options}->{normal_font}, -color => "midnightblue");
+  $self->{ident} = $zinc->add('text', $self->{contentgroup}, -text => uc($ident),
+			      -position=>[$col_x[0],$row_y[0]], -font => $self->{options}->{normal_font},
+			      -color => "midnightblue");
   
-  my @label_attr = (['AP',  'ap_mode',          70,  10],
-		    ['RC',  'rc_status',        70,  22],
-		    ['GPS', 'gps_mode',         70,  34],
-		    ['Wind','dir',              70,  46],
-		    ['     ', 'wspeed',         70,  58],
-		    ['Mas', 'mean_aspeed',      70,  70],
-		    ['alt:',  'alt',            160, 10],
-		    ['desired:','target_alt',   160, 22],
-		    ['throttle:',  'throttle',  160, 34],
-		    ['speed:',  'speed',        160, 46],
-		    ['climb:',  'climb',        160, 58],
+  my @label_attr = (['AP',  'ap_mode',          $col_x[1], $row_y[0]],
+		    ['RC',  'rc_status',        $col_x[1], $row_y[1]],
+		    ['GPS', 'gps_mode',         $col_x[1], $row_y[2]],
+		    ['Wind','dir',              $col_x[1], $row_y[3]],
+		    ['     ', 'wspeed',         $col_x[1], $row_y[4]],
+		    ['Mas', 'mean_aspeed',      $col_x[1], $row_y[5]],
+		    ['alt:',  'alt',            $col_x[2], $row_y[0]],
+		    ['desired:','target_alt',   $col_x[2], $row_y[1]],
+		    ['throttle:',  'throttle',  $col_x[2], $row_y[2]],
+		    ['speed:',  'speed',        $col_x[2], $row_y[3]],
+		    ['climb:',  'climb',        $col_x[2], $row_y[4]],
 		   );
   foreach my $attr (@label_attr) {
     $self->add_label($attr->[0], $attr->[1], $attr->[2], $attr->[3]);
@@ -160,10 +172,16 @@ sub draw {
   $self->{zinc_bat_value} = $zinc->add('text', $self->{contentgroup}, -text => sprintf("%s",$self->{battery}), -position=>[12,40], -font => $self->{options}->{small_font});
 
 
+#  my $bat_gauge = Paparazzi::SimpleLinearGauge->new(-zinc => $zinc, -parent_grp => $self->{contentgroup},
+#						    -origin => [10,25], -width => 30, -height => 60 );
+  
+
   $zinc->translate($self->{topgroup}, $x, $y);
   $zinc->raise($self->{topgroup});
   $zinc->raise($self->{contentgroup});
 
+  
+
   return $self->{topgroup};
 }
 
@@ -231,18 +249,16 @@ sub attach_to_aircraft {
   }
 }
 
-
 sub get_color {
   my ($self, $mode, $value) = @_;
-  if (defined $self->{new_modes}->{$mode}->{$value}) {
-    return $self->{new_modes}->{$mode}->{$value};
+  if (defined $modes_data->{$mode}->{$value}) {
+    return $modes_data->{$mode}->{$value};
   }
   else {
     return 'black';
   }
 }
 
-
 sub aircraft_config_changed {
   my ($self, $aircraft, $event, $new_value) = @_;
 #  print "in strip aircraft_config_changed $event $new_value\n";

sw/ground_segment/cockpit/Paparazzi/StripPanel.pm

@@ -29,6 +29,9 @@ sub completeinit {
   $self->build_gui();
 }
 
+use constant H_MARGIN => 5;
+use constant V_MARGIN => 7;
+
 sub build_gui {
   my ($self) = @_;
   my $zinc = $self->get('-zinc');
@@ -40,7 +43,7 @@ sub build_gui {
   $zinc->coords($self->{sp_main_group}, $origin);
 
   my $board = $zinc->add('rectangle', $self->{sp_main_group} ,
-			 [0, 0, $width-5, $height-7],
+			 [0, 0, $width - H_MARGIN , $height - V_MARGIN],
 			 -linewidth => 0,
 			 -filled => 1,
 			 -fillcolor => 'blue',
@@ -52,21 +55,27 @@ sub build_gui {
 
 }
 
+use constant NB_STRIP => 3;
+
 sub add_strip {
   my ($self, $aircraft) = @_;
   # add strip only once
   return if (defined $self->{strips}->{$aircraft->get('-ac_id')});
   my $zinc = $self->get('-zinc');
-  use constant NB_STRIP => 3;
-  my $step = $self->get('-height') / NB_STRIP;
+  my $strip_vspacing = ($self->get('-height') - 2 * V_MARGIN) / NB_STRIP;
+  my $strip_width = $self->get('-width') - H_MARGIN;
+  my $strip_height = $strip_vspacing;
   my $nb_strips = keys %{$self->{strips}};
-  my ($p, $w, $h) = ([5, 5 + $step * $nb_strips], 120, 45);
+  my ($p, $w, $h) = ([H_MARGIN, V_MARGIN + $strip_vspacing * $nb_strips], $strip_width, $strip_height);
   my $strip = Paparazzi::Strip->new( -zinc => $zinc, -parent_grp => $self->{sp_main_group},
 				     -origin => $p, -width  => $w, -height => $h,
 				     -aircraft => $aircraft);
   my $ac_id = $aircraft->get('-ac_id');
   $zinc->bind($strip->{'frame'},'<ButtonPress-1>',[\&OnStripPressed,$self, $ac_id]);
   $self->{strips}->{$ac_id} = $strip;
+  if ($nb_strips == 0) {
+    OnStripPressed($zinc, $self, $ac_id);
+  }
 }
 
 sub OnStripPressed {

sw/ground_segment/cockpit/cockpit.pl

@@ -41,6 +41,8 @@ my $options =
    render => 1,
    vertical => 0,
    tracelevel => 1,
+   width => 250,
+   height => 750,
   };
 
 sub populate {
@@ -81,17 +83,17 @@ sub on_new_aircraft {
 sub build_gui {
   my ($self) = @_;
   $self->{mw} = MainWindow->new();
-  my $size = 250;
+  my $size = $options->{width};
   my $top_frame =  $self->{mw}->Frame()->pack(-side => 'top', -fill => 'both');
   my ($stp_p, $stp_w, $stp_h) = ([0, 0],                   $size, $size);
   my ($pfd_p, $pfd_w, $pfd_h) = ([$stp_w, 0]             , $size, $size);
   my ($nd_p,  $nd_w,  $nd_h) =  ([$pfd_p->[0]+ $pfd_w, 0], $size, $size);
-  my ($z_w, $z_h) = ($stp_w + $pfd_w + $nd_w, $nd_h);
+  my ($z_w, $z_h) = ($stp_w + $pfd_w + $nd_w, $size);
   
   if ($options->{vertical}) {
     ($pfd_p, $pfd_w, $pfd_h) = ([0, $stp_h] , $size, $size);
     ($nd_p,  $nd_w,  $nd_h) =  ([0, $pfd_p->[1]+ $pfd_h], $size, $size);
-    ($z_w, $z_h) = ($stp_w, $stp_h + $pfd_h + $nd_h)
+    ($z_w, $z_h) = ($size, $stp_h + $pfd_h + $nd_h)
   }
   
   my $zinc = $top_frame->Zinc(-width => $z_w ,

sw/lib/ocaml/Makefile

@@ -61,7 +61,7 @@ ignutm.opt : latlong.cmx ignutm.ml
 utm_of.opt : latlong.cmx utm_of.ml
 	$(OCAMLOPT) -o $@ $^
 
-GTKCFLAGS := -I /usr/lib/gtk-2.0/include -I/usr/include/gtk-2.0 -I/usr/include/atk-1.0 -I/usr/include/glib-2.0 -I/usr/lib/glib-2.0/include -I/usr/include/pango-1.0
+GTKCFLAGS := -I /usr/lib/gtk-2.0/include -I/usr/include/gtk-2.0 -I/usr/include/atk-1.0 -I/usr/include/glib-2.0 -I/usr/lib/glib-2.0/include -I/usr/include/pango-1.0 -I /usr/include/cairo
 # GTKCFLAGS := $(shell gtk-config --cflags)
 
 %.o   : %.c

sw/lib/perl/Paparazzi/Aircraft.pm

@@ -34,6 +34,8 @@ sub populate {
   $self->configspec(
                     -ac_id        => [S_NEEDINIT, S_PASSIVE,  S_RDONLY, S_OVRWRT, S_NOPRPG, undef],
                     -callsign     => [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, ""],
+                    ac_name       => [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, ""],
+		    default_gui_color => [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, ""],
 
                     flight_plan   => [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, undef],
                     airframe      => [S_NOINIT,   S_PASSIVE,  S_RDWR,   S_OVRWRT, S_NOPRPG, undef],

sw/simulator/fg.c

@@ -29,7 +29,7 @@ value fg_msg_native(value s, value lat, value lon, value z, value phi, value the
 
   msg.longitude = Double_val(lon);
   msg.latitude = Double_val(lat);
-  msg.altitude = Double_val(z) + 20;
+  msg.altitude = Double_val(z) + 50;
   msg.agl = 0.;
   msg.phi = Double_val(phi);
   msg.theta = Double_val(theta);

sw/supervision/Paparazzi/CpSessionMgr.pm

@@ -25,9 +25,10 @@ sub populate {
 sub completeinit {
   my ($self) = @_;
   $self->SUPER::completeinit();
-  my $cfg_file = $self->get('-config_file');
-  my $variables = $self->get('-variables');
-  $self->read_cfg($cfg_file);
+#  my $cfg_file = $self->get('-config_file');
+#  my $variables = $self->get('-variables');
+#  $self->read_cfg($cfg_file);
+  $self->check_config();
 }
 
 sub prepare_args {
@@ -89,6 +90,7 @@ sub toggle_program {
 
 sub toggle_program_in_session {
   my ($self, $session_name, $pgm_idx) = @_;
+  $self->check_config();
   my $session = $self->get('-sessions')->{$session_name};
   my $session_program = $session->{pgms}->[$pgm_idx];
 #  print "processing program in session context\n".Dumper($session);
@@ -114,6 +116,7 @@ sub toggle_program_in_session {
 
 sub start_session {
   my ($self, $session_name) = @_;
+  $self->check_config();
 #  print "starting session $session_name\n";
   my $sessions = $self->get('-sessions');
   my $session = $sessions->{$session_name};
@@ -140,6 +143,25 @@ sub get_session_program_status {
   return (defined $session_program->{pid});
 }
 
+
+#
+# check if the config file has been modified since we parsed it and
+# eventually reread it
+#
+sub check_config {
+  my ($self) = @_;
+  my $cfg_file = $self->get('-config_file');
+  my ($dev,$ino,$mode,$nlink,$uid,$gid,$rdev,$size,
+      $atime,$mtime,$ctime,$blksize,$blocks)
+    = stat($cfg_file);
+
+  if (not exists $self->{last_cfg_read_time} or $mtime > $self->{last_cfg_read_time}) {
+    print("(re) reading config\n");
+    $self->read_cfg($cfg_file);
+    $self->{last_cfg_read_time} = $mtime;
+  }
+}
+
 sub xml_parse_args {
   my ($args) = @_;
   my @args_a;