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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.
*
*)
module G = MapCanvas
open Latlong
module LL = Latlong
open Printf
module Tele_Pprz = Pprz.Messages(struct let name = "telemetry" end)
module Ground_Pprz = Pprz.Messages(struct let name = "ground" end)
module Alert_Pprz = Pprz.Messages(struct let name = "alert" end)
let (//) = Filename.concat
let gcs_id = "GCS"
let approaching_alert_time = 3.
let track_size = ref 500
let _auto_hide_fp = ref false
let min_height = 200
let lines_height = 30
let is_int = fun x ->
try let _ = int_of_string x in true with _ -> false
let ok_modes = ["MANUAL"; "AUTO1"; "AUTO2"]
let rotate = fun a (x, y) ->
let cosa = cos a and sina = sin a in
(cosa *.x +. sina *.y, -. sina*.x +. cosa *. y)
let rec list_casso x = function
[] -> raise Not_found
| (a,b)::abs -> if x = b then a else list_casso x abs
let rec list_iter3 = fun f l1 l2 l3 ->
match l1, l2, l3 with
[], [], [] -> ()
| x1::x1s, x2::x2s, x3::x3s ->
f x1 x2 x3;
list_iter3 f x1s x2s x3s
| _ -> invalid_arg "list_iter3"
type color = string
type aircraft = {
ac_name : string;
ac_speech_name : string;
config : Pprz.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;
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, clockwise from North *)
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
}
let aircrafts = Hashtbl.create 3
exception AC_not_found
let find_ac = fun ac_id ->
try
Hashtbl.find aircrafts ac_id
with
Not_found -> raise AC_not_found
let active_ac = ref ""
let get_ac = fun vs ->
let ac_id = Pprz.string_assoc "ac_id" vs in
find_ac ac_id
let show_fp = fun ac ->
ac.fp_group#show ();
ac.fp_show#set_active true
let hide_fp = fun ac ->
ac.fp_group#hide ();
ac.fp_show#set_active false
(* callback for FP check button in menu *)
let show_mission = fun ac on_off ->
let a = find_ac ac in
if on_off then
a.fp_group#show ()
else
a.fp_group#hide ()
let auto_hide_fp = fun hide ->
let _hide_fp = fun () ->
Hashtbl.iter (fun _ a -> hide_fp a) aircrafts;
if !active_ac <> "" then begin
let a = find_ac !active_ac in
show_fp a
end;
in
_auto_hide_fp := hide;
if hide then _hide_fp () else Hashtbl.iter (fun _ a -> show_fp a) aircrafts
let select_ac = fun acs_notebook ac_id ->
if !active_ac <> ac_id then
let ac = Hashtbl.find aircrafts ac_id in
(* Show the buttons in the active strip and hide the previous active one *)
ac.strip#show_buttons ();
if !active_ac <> "" then begin
let ac' = find_ac !active_ac in
ac'.strip#hide_buttons ();
ac'.notebook_label#set_width_chars (String.length ac'.notebook_label#text);
if !_auto_hide_fp then hide_fp ac'
end;
(* Set the new active *)
active_ac := ac_id;
if !_auto_hide_fp then show_fp ac;
(* Select and enlarge the label of the A/C notebook *)
let n = acs_notebook#page_num ac.pages in
acs_notebook#goto_page n;
ac.notebook_label#set_width_chars 20;
module M = Map.Make (struct type t = string let compare = compare end)
let log =
let last = ref M.empty in
fun ?(say = false) (a:Pages.alert) ac_id s ->
if not (M.mem ac_id !last) || M.find ac_id !last <> s then begin
last := M.add ac_id s (M.remove ac_id !last);
if say then Speech.say s;
a#add s
end
let log_and_say = fun a ac_id s -> log ~say:true a ac_id s
let resize_track = fun ac track ->
match
GToolbox.input_string ~text:(string_of_int track#size) ~title:ac "Track size"
with
None -> ()
| Some s -> track#resize (int_of_string s)
let send_move_waypoint_msg = fun ac i w ->
let wgs84 = w#pos in
let vs = ["ac_id", Pprz.String ac;
"wp_id", Pprz.Int i;
"lat", Pprz.Float ((Rad>>Deg)wgs84.posn_lat);
"long", Pprz.Float ((Rad>>Deg)wgs84.posn_long);
"alt", Pprz.Float w#alt
] in
Ground_Pprz.message_send "gcs" "MOVE_WAYPOINT" vs
let commit_changes = fun ac ->
let a = find_ac ac in
List.iter
(fun w ->
let (i, w) = a.fp_group#index w in
if w#moved then
send_move_waypoint_msg ac i w)
a.fp_group#waypoints
let center = fun geomap track () ->
match track#last with
None -> ()
| Some geo ->
geomap#center geo;
geomap#canvas#misc#draw None
let blocks_of_stages = fun stages ->
let blocks = ref [] in
List.iter (fun x ->
let name = ExtXml.attrib x "block_name"
and id = ExtXml.int_attrib x "block" in
if not (List.mem_assoc id !blocks) then
blocks := (id, name) :: !blocks)
(Xml.children stages);
List.sort compare !blocks
let jump_to_block = fun ac_id id ->
Ground_Pprz.message_send "gcs" "JUMP_TO_BLOCK"
["ac_id", Pprz.String ac_id; "block_id", Pprz.Int id]
let dl_setting = fun ac_id idx value ->
let vs = ["ac_id", Pprz.String ac_id; "index", Pprz.Int idx;"value", Pprz.Float value] in
Ground_Pprz.message_send "dl" "DL_SETTING" vs
let get_dl_setting = fun ac_id idx ->
let vs = ["ac_id", Pprz.String ac_id; "index", Pprz.Int idx] in
Ground_Pprz.message_send "dl" "GET_DL_SETTING" vs
let menu_entry_of_block = fun ac_id (id, name) ->
let send_msg = fun () -> jump_to_block ac_id id in
`I (name, send_msg)
let reset_waypoints = fun fp () ->
List.iter (fun w ->
let (_i, w) = fp#index w in
w#reset_moved ())
fp#waypoints
let icon = ref None
let show_snapshot = fun (geomap:G.widget) geo_FL geo_BR point pixbuf name ev ->
match ev with
| `BUTTON_PRESS _ev ->
let image = GMisc.image ~pixbuf () in
let icon = image#coerce in
begin
match GToolbox.question_box ~title:name ~buttons:["Delete"; "Close"] ~icon "" with
1 ->
point#destroy ()
| _ -> ()
end;
true
| `LEAVE_NOTIFY _ev ->
begin
match !icon with
None -> ()
| Some i -> i#destroy ()
end;
false
| `ENTER_NOTIFY _ev ->
let w = GdkPixbuf.get_width pixbuf
and h = GdkPixbuf.get_height pixbuf in
icon := Some (geomap#display_pixbuf ((0,0), geo_FL) ((w,h), geo_BR) pixbuf);
point#raise_to_top ();
false
| _ -> false
let mark = fun (geomap:G.widget) ac_id track plugin_frame ->
let i = ref 1 in fun () ->
match track#last with
Some geo ->
begin
let group = geomap#background in
let point = geomap#circle ~group ~fill_color:"blue" geo 5. in
point#raise_to_top ();
let lat = (Rad>>Deg)geo.posn_lat
and long = (Rad>>Deg)geo.posn_long in
Tele_Pprz.message_send ac_id "MARK"
["ac_id", Pprz.String ac_id;
"lat", Pprz.Float lat;
"long", Pprz.Float long];
let frame =
match plugin_frame with
None -> geomap#canvas#coerce
| Some pf -> pf#coerce in
let width, height = Gdk.Drawable.get_size frame#misc#window in
let dest = GdkPixbuf.create width height() in
GdkPixbuf.get_from_drawable ~dest ~width ~height frame#misc#window;
let name = sprintf "Snapshot-%s-%d_%f_%f_%f.png" ac_id !i lat long (track#last_heading) in
let png = sprintf "%s/var/logs/%s" Env.paparazzi_home name in
GdkPixbuf.save png "png" dest;
incr i;
(* Computing the footprint: front_left and back_right *)
let cam_aperture = 2.4/.1.9 in (* width over distance FIXME *)
let alt = track#last_altitude -. float (Srtm.of_wgs84 geo) in
let width = cam_aperture *. alt in
let height = width *. 3. /. 4. in
let utm = utm_of WGS84 geo in
let a = (Deg>>Rad)track#last_heading in
let (xfl,yfl) = rotate a (-.width/.2., height/.2.)
and (xbr,ybr) = rotate a (width/.2., -.height/.2.) in
let geo_FL = of_utm WGS84 (utm_add utm (xfl,yfl))
and geo_BR = of_utm WGS84 (utm_add utm (xbr,ybr)) in
ignore (point#connect#event (show_snapshot geomap geo_FL geo_BR point dest name))
end
| None -> ()
(** Light display of attributes in the flight plan. *)
let attributes_pretty_printer = fun attribs ->
(* Remove the optional attributes *)
let valid = fun a ->
let a = String.lowercase a in
a <> "no" && a <> "strip_icon" && a <> "strip_button" && a <> "pre_call"
&& a <> "post_call" && a <> "key" && a <> "group" in
let sprint_opt = fun b s ->
if String.length b > 0 then
sprintf " %s%s%s" s b s
else
""
in
let elt = Xml.Element("", attribs, []) in
let pre_call = ExtXml.attrib_or_default elt "pre_call" ""
and post_call = ExtXml.attrib_or_default elt "post_call" "" in
let attribs = List.filter (fun (a, _) -> valid a) attribs in
(* Don't print the name of the attribute if there is only one *)
match attribs with
[(_, v)] -> v ^ sprint_opt pre_call "]" ^ sprint_opt post_call "["
| _ -> XmlEdit.string_of_attribs attribs
(** Load a mission. Returns the XML window *)
let load_mission = fun ?editable color geomap xml ->
Map2d.set_georef_if_none geomap (MapFP.georef_of_xml xml);
new MapFP.flight_plan ~format_attribs:attributes_pretty_printer ?editable ~show_moved:true geomap color Env.flight_plan_dtd xml
let get_bat_levels = fun af_xml ->
let default_catastrophic_level = 9.
and default_max_level = 12.5 in
try
let bat_section = ExtXml.child af_xml ~select:(fun x -> Xml.attrib x "name" = "BAT") "section" in
let fvalue = fun name default ->
try ExtXml.float_attrib (ExtXml.child bat_section ~select:(fun x -> ExtXml.attrib x "name" = name) "define") "value" with _ -> default in
fvalue "CATASTROPHIC_BAT_LEVEL" default_catastrophic_level, fvalue "MAX_BAT_LEVEL" default_max_level
with _ -> (default_catastrophic_level, default_max_level)
let get_alt_shift = fun af_xml ->
let default_plus_plus = 30.
and default_plus = 5.
and default_minus = -5. in
try
let gcs_section = ExtXml.child af_xml ~select:(fun x -> Xml.attrib x "name" = "GCS") "section" in
let fvalue = fun name default ->
try ExtXml.float_attrib (ExtXml.child gcs_section ~select:(fun x -> ExtXml.attrib x "name" = name) "define") "value" with _ -> default in
fvalue "ALT_SHIFT_PLUS_PLUS" default_plus_plus,
fvalue "ALT_SHIFT_PLUS" default_plus,
fvalue "ALT_SHIFT_MINUS" default_minus
with _ -> (default_plus_plus, default_plus, default_minus)
let get_speech_name = fun af_xml def_name ->
let default_speech_name = def_name in
try
let gcs_section = ExtXml.child af_xml ~select:(fun x -> Xml.attrib x "name" = "GCS") "section" in
let fvalue = fun name default ->
try ExtXml.attrib (ExtXml.child gcs_section ~select:(fun x -> ExtXml.attrib x "name" = name) "define") "value" with _ -> default in
fvalue "SPEECH_NAME" default_speech_name
with _ -> default_speech_name
let get_icon_and_track_size = fun af_xml ->
(* firmware name as default if fixedwing or rotorcraft *)
let firmware = ExtXml.child af_xml "firmware" in
let firmware_name = ExtXml.attrib firmware "name" in
try
(* search AC_ICON in GCS section *)
let gcs_section = ExtXml.child af_xml ~select:(fun x -> Xml.attrib x "name" = "GCS") "section" in
let ac_icon = ExtXml.child gcs_section ~select:(fun x -> ExtXml.attrib x "name" = "AC_ICON") "define" in
match ExtXml.attrib ac_icon "value" with
| "home" -> ("home", 1) (* no track for home icon *)
| x -> (x, !track_size)
with _ -> (firmware_name, !track_size)
let key_press_event = fun keys do_action ev ->
try
let (modifiers, action) = List.assoc (GdkEvent.Key.keyval ev) keys in
let ev_modifiers = GdkEvent.Key.state ev in
if List.for_all (fun m -> List.mem m ev_modifiers) modifiers then begin
do_action action;
true
end else
false
with
| _ -> false
(*****************************************************************************)
let create_ac = fun alert (geomap:G.widget) (acs_notebook:GPack.notebook) (ac_id:string) config ->
let color = Pprz.string_assoc "default_gui_color" config
and name = Pprz.string_assoc "ac_name" config in
(** Get the flight plan **)
let fp_url = Pprz.string_assoc "flight_plan" config in
let fp_file = Http.file_of_url fp_url in
let fp_xml_dump = ExtXml.parse_file ~noprovedtd:true fp_file in
let stages = ExtXml.child fp_xml_dump "stages" in
let blocks = blocks_of_stages stages in
(** Get the airframe file *)
let af_url = Pprz.string_assoc "airframe" config in
let af_file = Http.file_of_url af_url in
let af_xml = ExtXml.parse_file af_file in
(** Get an alternate speech name if available *)
let speech_name = get_speech_name af_xml name in
(* Aicraft menu decorated with a colored box *)
let image = GBin.event_box ~width:10 ~height:10 () in
image#coerce#misc#modify_bg [`NORMAL, `NAME color];
let ac_mi = GMenu.image_menu_item ~label:name ~image ~packing:geomap#menubar#append () in
let ac_menu = GMenu.menu () in
ac_mi#set_submenu ac_menu;
let ac_menu_fact = new GMenu.factory ac_menu in
let fp_show = ac_menu_fact#add_check_item "Fligh Plan" ~active:true in
ignore (fp_show#connect#toggled (fun () -> show_mission ac_id fp_show#active));
let (icon, size) = get_icon_and_track_size af_xml in
let track = new MapTrack.track ~size ~icon ~name ~color:color ac_id geomap in
track#set_event_cb (select_ac acs_notebook);
geomap#register_to_fit (track:>MapCanvas.geographic);
let center_ac = center geomap track in
ignore (ac_menu_fact#add_item "Center A/C" ~callback:center_ac);
ignore (ac_menu_fact#add_item "Clear Track" ~callback:(fun () -> track#clear_map2D));
ignore (ac_menu_fact#add_item "Resize Track" ~callback:(fun () -> resize_track ac_id track));
let reset_wp_menu = ac_menu_fact#add_item "Reset Waypoints" in
let jump_block_entries = List.map (menu_entry_of_block ac_id) blocks in
let commit_moves = fun () ->
commit_changes ac_id in
let sm = ac_menu_fact#add_submenu "Datalink" in
let dl_menu = [
`M ("Jump to block", jump_block_entries);
`I ("Commit Moves", commit_moves)] in
GToolbox.build_menu sm ~entries:dl_menu;
let cam = ac_menu_fact#add_check_item "Cam footprint" ~active:false in
ignore (cam#connect#toggled (fun () -> track#set_cam_state cam#active));
let params = ac_menu_fact#add_check_item "A/C label" ~active:false in
ignore (params#connect#toggled (fun () -> track#set_params_state params#active));
(** Add a new tab in the A/Cs notebook, with a colored label *)
let eb = GBin.event_box () in
let _label = GMisc.label ~text:name ~packing:eb#add () in
eb#coerce#misc#modify_bg [`NORMAL, `NAME color;`ACTIVE, `NAME color];
(** Put a notebook for this A/C *)
let ac_frame = GBin.frame () in
ignore (acs_notebook#append_page ~tab_label:eb#coerce ac_frame#coerce);
let ac_notebook = GPack.notebook ~packing: ac_frame#add () in
let visible = fun w ->
ac_notebook#page_num w#coerce = ac_notebook#current_page in
(** Add a strip *)
let min_bat, max_bat = get_bat_levels af_xml in
let alt_shift_plus_plus, alt_shift_plus, alt_shift_minus = get_alt_shift af_xml in
let param = { Strip.color = color; min_bat = min_bat; max_bat = max_bat;
alt_shift_plus_plus = alt_shift_plus_plus;
alt_shift_plus = alt_shift_plus;
alt_shift_minus = alt_shift_minus; } in
(*let strip = Strip.add config color min_bat max_bat in*)
let strip = Strip.add config param in
strip#connect (fun () -> select_ac acs_notebook ac_id);
strip#connect_mark (mark geomap ac_id track !Plugin.frame);
(** Build the XML flight plan, connect then "jump_to_block" *)
let fp_xml = ExtXml.child fp_xml_dump "flight_plan" in
let fp = load_mission ~editable:false color geomap fp_xml in
fp#connect_activated (fun node ->
if XmlEdit.tag node = "block" then
let block = XmlEdit.attrib node "name" in
let id = list_casso block blocks in
jump_to_block ac_id id);
ignore (reset_wp_menu#connect#activate (reset_waypoints fp));
(** Monitor waypoints changes *)
List.iter
(fun w ->
let (i, w) = fp#index w in
w#set_commit_callback (fun () -> send_move_waypoint_msg ac_id i w))
fp#waypoints;
(** Add waypoints as geo references *)
List.iter
(fun w ->
let (_i, w) = fp#index w in
geomap#add_info_georef (sprintf "%s.%s" name w#name) (w :> < pos : Latlong.geographic >))
fp#waypoints;
(** Add the short cut buttons in the strip *)
let tooltips = GData.tooltips () in
let keys = ref [] in (* Associations between keys and block ids *)
List.iter (fun block ->
let id = ExtXml.int_attrib block "no" in
begin (* Is it a key short cut ? *)
try
let key, modifiers = GtkData.AccelGroup.parse (Pprz.key_modifiers_of_string (Xml.attrib block "key")) in
keys := (key, (modifiers, id)) :: !keys
with
_ -> ()
end;
try (* Is it a strip button ? *)
let label = ExtXml.attrib block "strip_button"
and block_name = ExtXml.attrib block "name"
and group = ExtXml.attrib_or_default block "group" "" in
let b =
try (* Is it an icon ? *)
let icon = Xml.attrib block "strip_icon" in
let b = GButton.button () in
let pixbuf = GdkPixbuf.from_file (Env.gcs_icons_path // icon) in
ignore (GMisc.image ~pixbuf ~packing:b#add ());
(* Drag for Drop *)
let papget = Papget_common.xml "goto_block" "button"
[ "block_name", block_name;
"icon", icon] in
Papget_common.dnd_source b#coerce papget;
(* Associates the label as a tooltip *)
tooltips#set_tip b#coerce ~text:label;
b
with
Xml.No_attribute _ -> (* It's not an icon *)
GButton.button ~label ()
| exc ->
fprintf stderr "Error: '%s' Using a standard button" (Printexc.to_string exc);
GButton.button ~label ()
in
strip#add_widget b#coerce ~group;
ignore (b#connect#clicked (fun _ -> jump_to_block ac_id id))
with
_ -> ())
(Xml.children (ExtXml.child (ExtXml.child fp_xml_dump "flight_plan") "blocks"));
(** Handle key shortcuts for block selection *)
let key_press = key_press_event !keys (fun block_id -> jump_to_block ac_id block_id) in
ignore (geomap#canvas#event#connect#after#key_press key_press);
(** Insert the flight plan tab *)
let fp_label = GMisc.label ~text: "Flight Plan" () in
ignore ((ac_notebook:GPack.notebook)#append_page ~tab_label:fp_label#coerce fp#window#coerce);
let infrared_label = GMisc.label ~text: "Infrared" () in
let infrared_frame = GBin.frame ~show:false ~shadow_type:`NONE () in
ignore (ac_notebook#append_page ~tab_label: infrared_label#coerce infrared_frame#coerce);
let ir_page = new Pages.infrared infrared_frame in
let gps_label = GMisc.label ~text: "GPS" () in
let gps_frame = GBin.frame ~shadow_type: `NONE () in
ignore (ac_notebook#append_page ~tab_label: gps_label#coerce gps_frame#coerce);
let gps_page = new Pages.gps ~visible gps_frame in
let pfd_label = GMisc.label ~text: "PFD" () in
let pfd_frame = GBin.frame ~shadow_type: `NONE () in
ignore (ac_notebook#append_page ~tab_label: pfd_label#coerce pfd_frame#coerce);
let pfd_page = new Horizon.pfd pfd_frame
and _pfd_page_num = ac_notebook#page_num pfd_frame#coerce in
let link_label = GMisc.label ~text: "Link" () in
let link_frame = GBin.frame ~shadow_type: `NONE () in
ignore (ac_notebook#append_page ~tab_label: link_label#coerce link_frame#coerce);
let link_page = new Pages.link ~visible link_frame in
let misc_label = GMisc.label ~text: "Misc" () in
let misc_frame = GBin.frame ~shadow_type: `NONE () in
ignore (ac_notebook#append_page ~tab_label:misc_label#coerce misc_frame#coerce);
let misc_page = new Pages.misc ~packing:misc_frame#add misc_frame in
let settings_url = Pprz.string_assoc "settings" config in
let settings_file = Http.file_of_url settings_url in
let settings_xml =
try
if String.compare "replay" settings_file <> 0 then
ExtXml.parse_file ~noprovedtd:true settings_file
else
Xml.Element("empty", [], [])
with exc ->
prerr_endline (Printexc.to_string exc);
Xml.Element("empty", [], [])
in
let dl_setting_callback = fun idx value ->
if classify_float value = FP_normal || classify_float value = FP_zero then
dl_setting ac_id idx value
else
get_dl_setting ac_id idx
in
let dl_settings_page =
try
let xml_settings = Xml.children (ExtXml.child settings_xml "dl_settings") in
let settings_tab = new Page_settings.settings ~visible xml_settings dl_setting_callback (fun group x -> strip#add_widget ~group x) in
(** Connect key shortcuts *)
let key_press = fun ev ->
key_press_event settings_tab#keys (fun commit -> commit ()) ev in
ignore (geomap#canvas#event#connect#after#key_press key_press);
let tab_label = GPack.hbox () in
let _label = (GMisc.label ~text:"Settings" ~packing:tab_label#pack ()) in
let button_save_settings = GButton.button ~packing:tab_label#pack () in
ignore (GMisc.image ~stock:`SAVE ~packing:button_save_settings#add ());
button_save_settings#set_border_width 0;
ignore (button_save_settings#connect#clicked (fun () -> settings_tab#save af_file));
ignore (ac_notebook#append_page ~tab_label:tab_label#coerce settings_tab#widget);
Some settings_tab
with exc ->
log alert ac_id (Printexc.to_string exc);
None in
let rc_settings_page =
try
let xml_settings = Xml.children (ExtXml.child settings_xml "rc_settings") in
if xml_settings = [] then
raise Exit
else
let settings_tab = new Pages.rc_settings ~visible xml_settings in
let tab_label = (GMisc.label ~text:"RC Settings" ())#coerce in
ignore (ac_notebook#append_page ~tab_label settings_tab#widget);
Some settings_tab
with _ -> None in
let wp_HOME =
let rec loop = function
[] -> None
| w::ws ->
let (_i, w) = fp#index w in
if w#name = "HOME" then Some w else loop ws in
loop fp#waypoints in
let ac = { track = track; color = color; last_dist_to_wp = 0.;
fp_group = fp; fp_show = fp_show ; config = config ;
wp_HOME = wp_HOME; fp = fp_xml;
ac_name = name; ac_speech_name = speech_name;
blocks = blocks; last_ap_mode= "";
last_stage = (-1,-1);
ir_page = ir_page; flight_time = 0;
gps_page = gps_page;
pfd_page = pfd_page;
link_page = link_page;
misc_page = misc_page;
dl_settings_page = dl_settings_page;
rc_settings_page = rc_settings_page;
strip = strip; first_pos = true;
last_block_name = ""; alt = 0.; target_alt = 0.;
in_kill_mode = false; speed = 0.;
wind_dir = 42.; ground_prox = true;
wind_speed = 0.;
pages = ac_frame#coerce;
notebook_label = _label;
got_track_status_timer = 1000;
dl_values = [||]; last_unix_time = 0.;
airspeed = 0.
} in
Hashtbl.add aircrafts ac_id ac;
select_ac acs_notebook ac_id;
(** Periodically send the wind estimation through
a WIND_INFO message packed into a RAW_DATALINK *)
let send_wind = fun () ->
if misc_page#periodic_send then begin
(* FIXME: Disabling the timer would be preferable *)
try
let a = (pi/.2. -. ac.wind_dir)
and w = ac.wind_speed in
let wind_east = sprintf "%.1f" (-. cos a *. w)
and wind_north = sprintf "%.1f" (-. sin a *. w)
and airspeed = sprintf "%.1f" ac.airspeed in
let msg_items = ["WIND_INFO"; ac_id; "42"; wind_east; wind_north;airspeed] in
let value = String.concat ";" msg_items in
let vs = ["ac_id", Pprz.String ac_id; "message", Pprz.String value] in
Ground_Pprz.message_send "dl" "RAW_DATALINK" vs;
with
exc -> log alert ac_id (sprintf "send_wind (%s): %s" ac_id (Printexc.to_string exc))
end;
true
in
if is_int ac_id then
ignore (Glib.Timeout.add 10000 send_wind);
begin
match dl_settings_page with
Some settings_tab ->
(** Connect the strip buttons *)
let connect = fun ?(warning=true) setting_name strip_connect ->
try
let id = settings_tab#assoc setting_name in
strip_connect (fun x -> dl_setting_callback id x)
with Not_found ->
if warning then
fprintf stderr "Warning: %s not setable from GCS strip (i.e. not listed in the xml settings file)\n" setting_name in
connect "flight_altitude" (fun f -> ac.strip#connect_shift_alt (fun x -> f (ac.target_alt+.x)));
connect "launch" ~warning:false ac.strip#connect_launch;
connect "kill_throttle" ac.strip#connect_kill;
(* try to connect either pprz_mode (fixedwing) or autopilot_mode (rotorcraft) *)
connect "pprz_mode" ~warning:false (ac.strip#connect_mode 2.);
connect "autopilot_mode" ~warning:false (ac.strip#connect_mode 13.);
connect "nav_shift" ~warning:false ac.strip#connect_shift_lateral;
connect "autopilot_flight_time" ac.strip#connect_flight_time;
let get_ac_unix_time = fun () -> ac.last_unix_time in
connect ~warning:false "snav_desired_tow" (ac.strip#connect_apt get_ac_unix_time);
begin (* Periodically update the appointment *)
try
let id = settings_tab#assoc "snav_desired_tow" in
let set_appointment = fun _ ->
begin try
let v = match ac.dl_values.(id) with None -> raise Not_found | Some x -> int_of_string x in
let t = Unix.gmtime (Latlong.unix_time_of_tow v) in
ac.strip#set_label "apt" (sprintf "%d:%02d:%02d" t.Unix.tm_hour t.Unix.tm_min t.Unix.tm_sec)
with _ -> () end;
true
in
ignore (Glib.Timeout.add 1000 set_appointment)
with Not_found -> ()
end;
(** Connect the GPS reset button *)
begin
try
let gps_reset_id = settings_tab#assoc "gps.reset" in
gps_page#connect_reset
(fun x -> dl_setting_callback gps_reset_id (float x))
with Not_found -> ()
end
| None -> ()
end;
(* Monitor track status *)
let monitor_track_status = fun () ->
ac.got_track_status_timer <- ac.got_track_status_timer + 1;
if ac.got_track_status_timer > 5 then
ac.track#delete_desired_track ();
true in
ignore (Glib.Timeout.add 1000 monitor_track_status);;
(* since tcl8.6 "green" refers to "darkgreen" and the former "green" is now "lime", but that is not available in older versions, so hardcode the color to #00ff00*)
let ok_color = "#00ff00"
let warning_color = "orange"
let alert_color = "red"
(** Bind to message while catching all the esceptions of the callback *)
let safe_bind = fun msg cb ->
let safe_cb = fun sender vs ->
try cb sender vs with
AC_not_found -> () (* A/C not yet registed; silently ignore *)
| x -> fprintf stderr "%s: safe_bind (%s:%a): %s\n%!" Sys.argv.(0) msg (fun c vs -> List.iter (fun (_,v) -> fprintf c "%s " (Pprz.string_of_value v)) vs) vs (Printexc.to_string x) in
ignore (Ground_Pprz.message_bind msg safe_cb)
let alert_bind = fun msg cb ->
let safe_cb = fun sender vs ->
try cb sender vs with _ -> () in
ignore (Alert_Pprz.message_bind msg safe_cb)
let tele_bind = fun msg cb ->
let safe_cb = fun sender vs ->
try cb sender vs with
AC_not_found -> () (* A/C not yet registed; silently ignore *)
| x -> fprintf stderr "tele_bind (%s): %s\n%!" msg (Printexc.to_string x) in
ignore (Tele_Pprz.message_bind msg safe_cb)
let ask_config = fun alert geomap fp_notebook ac ->
let get_config = fun _sender values ->
if not (Hashtbl.mem aircrafts ac) then
create_ac alert geomap fp_notebook ac values
in
Ground_Pprz.message_req "gcs" "CONFIG" ["ac_id", Pprz.String ac] get_config
let one_new_ac = fun alert (geomap:G.widget) fp_notebook ac ->
if not (Hashtbl.mem aircrafts ac) then
ask_config alert geomap fp_notebook ac
let get_wind_msg = fun (geomap:G.widget) _sender vs ->
let ac = get_ac vs in
let value = fun field_name -> Pprz.float_assoc field_name vs in
let airspeed = value "mean_aspeed" in
ac.airspeed <- airspeed;
ac.strip#set_airspeed airspeed;
ac.misc_page#set_value "Mean airspeed" (sprintf "%.1f" airspeed);
ac.wind_speed <- value "wspeed";
let deg_dir = value "dir" in
ac.wind_dir <- (Deg>>Rad)deg_dir;
ac.misc_page#set_value "Wind speed" (sprintf "%.1f" ac.wind_speed);
ac.misc_page#set_value "Wind direction" (sprintf "%.1f" deg_dir);
let ac_id = Pprz.string_assoc "ac_id" vs in
if !active_ac = ac_id && ac.wind_speed > 1. then begin
geomap#wind_sock#set_color ac.color;
geomap#wind_sock#item#show ();
geomap#set_wind_sock deg_dir (sprintf "%.1f" ac.wind_speed)
end
let get_fbw_msg = fun alarm _sender vs ->
let ac = get_ac vs in
let status = Pprz.string_assoc "rc_status" vs
and rate = (Pprz.int_assoc "rc_rate" vs) / 5 in
(* divide by 5 to have normal values between 0 and 10 *)
(* RC rate max approx. 50 Hz *)
ac.strip#set_rc rate status;
let mode = Pprz.string_assoc "rc_mode" vs in
if mode = "FAILSAFE" then begin
log_and_say alarm ac.ac_name (sprintf "%s, mayday, AP Failure. Switch to manual." ac.ac_speech_name)
end
let get_telemetry_status = fun alarm _sender vs ->
let ac = get_ac vs in
let link_id = Pprz.string_assoc "link_id" vs in
(* Update color and lost time in the strip *)
let time_lost = Pprz.float_assoc "time_since_last_msg" vs in
let (links_up, total_links) = ac.link_page#links_ratio () in
let link_ratio_string =
if ac.link_page#multiple_links () then sprintf "%i/%i" links_up total_links else "" in
ac.strip#set_label "telemetry_status" (if time_lost > 2. then sprintf "%.0f" time_lost else link_ratio_string);
ac.strip#set_color "telemetry_status" (if time_lost > 5. then alert_color else if links_up < total_links then warning_color else ok_color);
(* Update link page *)
let rx_msgs_rate = Pprz.float_assoc "rx_bytes_rate" vs
and downlink_bytes_rate = Pprz.int_assoc "downlink_rate" vs
and uplink_lost_time = Pprz.int_assoc "uplink_lost_time" vs in
let ping_time = Pprz.float_assoc "ping_time" vs in
if (not (ac.link_page#link_exists link_id)) then begin
ac.link_page#add_link link_id;
log_and_say alarm ac.ac_name (sprintf "%s, new link detected: %s" ac.ac_speech_name link_id)
end;
let link_changed = ac.link_page#update_link link_id time_lost ping_time rx_msgs_rate downlink_bytes_rate uplink_lost_time in
let (links_up, _) = ac.link_page#links_ratio () in
match (link_changed, links_up) with
(_, 0) -> log_and_say alarm ac.ac_name (sprintf "%s, all links lost" ac.ac_speech_name)
| (Pages.Linkup, _)-> log_and_say alarm ac.ac_name (sprintf "%s, link %s re-connected" ac.ac_speech_name link_id)
| (Pages.Nochange, _) -> ()
| (Pages.Linkdown, _) -> log_and_say alarm ac.ac_name (sprintf "%s, link %s lost" ac.ac_speech_name link_id)
let get_engine_status_msg = fun _sender vs ->
let ac = get_ac vs in
ac.strip#set_throttle ~kill:ac.in_kill_mode (Pprz.float_assoc "throttle" vs);
ac.strip#set_bat (Pprz.float_assoc "bat" vs)
let get_if_calib_msg = fun _sender vs ->
let ac = get_ac vs in
match ac.rc_settings_page with
None -> ()
| Some p ->
p#set_rc_setting_mode (Pprz.string_assoc "if_mode" vs);
p#set (Pprz.float_assoc "if_value1" vs) (Pprz.float_assoc "if_value2" vs)
let listen_wind_msg = fun (geomap:G.widget) ->
safe_bind "WIND" (get_wind_msg geomap)
let listen_fbw_msg = fun a ->
safe_bind "FLY_BY_WIRE" (get_fbw_msg a)
let listen_engine_status_msg = fun () ->
safe_bind "ENGINE_STATUS" get_engine_status_msg
let listen_if_calib_msg = fun () ->
safe_bind "INFLIGH_CALIB" get_if_calib_msg
let listen_telemetry_status = fun a ->
safe_bind "TELEMETRY_STATUS" (get_telemetry_status a)
let list_separator = Str.regexp ","
let aircrafts_msg = fun alert (geomap:G.widget) fp_notebook acs ->
let acs = Pprz.string_assoc "ac_list" acs in
let acs = Str.split list_separator acs in
List.iter (one_new_ac alert geomap fp_notebook) acs
let listen_dl_value = fun () ->
let get_dl_value = fun _sender vs ->
let ac = get_ac vs in
match ac.dl_settings_page with
Some settings ->
let csv = Pprz.string_assoc "values" vs in
let string_value = fun v -> match v with "?" -> None | _ -> Some v in
let values = Array.map string_value (Array.of_list (Str.split list_separator csv)) in
ac.dl_values <- values;
for i = 0 to min (Array.length values) settings#length - 1 do
try
settings#set i values.(i)
with _ -> ()
done
| None -> () in
safe_bind "DL_VALUES" get_dl_value
let highlight_fp = fun ac b s ->
if (b, s) <> ac.last_stage then begin
ac.last_stage <- (b, s);
ac.fp_group#highlight_stage b s
end
let check_approaching = fun ac geo alert ->
match ac.track#last with
None -> ()
| Some ac_pos ->
let d = LL.wgs84_distance ac_pos geo in
if d < ac.speed *. approaching_alert_time then
log_and_say alert ac.ac_name (sprintf "%s, approaching" ac.ac_speech_name)
let ac_alt_graph = [14,0;-5,0;-7,-6]
let translate = fun l dx dy -> List.map (fun (x, y) -> (x + dx, y + dy)) l
let rotate_and_translate = fun l angle dx dy ->
translate (List.map (fun (x, y) -> (
truncate ((cos angle) *. (float x) -. (sin angle) *. (float y)),
truncate ((sin angle) *. (float x) +. (cos angle) *. (float y)))
) l) dx dy
let flip = fun l -> List.map (fun (x, y) -> (-x, y)) l
let draw_altgraph = fun (da_object:Gtk_tools.pixmap_in_drawin_area) (geomap:MapCanvas.widget) aircrafts ->
(** First estimate the coverage of the window *)
let width_c, height_c = Gdk.Drawable.get_size geomap#canvas#misc#window in
let (xc0, yc0) = geomap#canvas#get_scroll_offsets in
let (east, _y0) = geomap#window_to_world (float xc0) (float (yc0+height_c))
and (west, _y1) = geomap#window_to_world (float (xc0+width_c)) (float yc0) in
let da = da_object#drawing_area in
let width, height = Gdk.Drawable.get_size da#misc#window in
let dr = da_object#get_pixmap () in
dr#set_background `BLACK;
dr#set_foreground `BLACK;
(* Background *)
dr#rectangle ~x:0 ~y:0 ~width ~height ~filled:true ();
(* Text *)
let context = da#misc#create_pango_context in
let print_string = fun x y string color ->
let layout = context#create_layout in
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 ~y:(y-h) ~fore:(`NAME color) layout in
(* find min and max alt *)
let max_alt = ref 0
and min_alt = ref 35786000 in
Hashtbl.iter (fun _ac_id ac ->
let track = ac.track in
let alt = (truncate track#last_altitude) in
let ground_alt = alt - (truncate (track#height ())) in
if ground_alt < !min_alt then min_alt := ground_alt;
if alt > !max_alt then max_alt := alt
) aircrafts;
min_alt := min !min_alt !max_alt;
if (!min_alt mod lines_height) < (min 10 (lines_height / 2)) then
min_alt := (!min_alt / lines_height - 1) * lines_height
else
min_alt := (!min_alt / lines_height) * lines_height;
min_alt := max !min_alt 0;
let height_alt = max (!max_alt - !min_alt + 10) min_height in
(* lines *)
dr#set_foreground (`NAME "grey");
let n = height_alt / lines_height in
for i = 0 to n do
let y = height - i * height / n in
dr#line ~x:0 ~y ~x:width ~y;
print_string 6 y (sprintf "%d" (!min_alt + i * lines_height)) "red";