Solved sim problem

paparazzi · Mar 28, 2012 · 155dcbb · 155dcbb
1 parent d8c046c
commit 155dcbb
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Showing 9 changed files with 14 additions and 28 deletions.
diff --git a/conf/telemetry/default_fixedwing_imu_9k6.xml b/conf/telemetry/default_fixedwing_imu_9k6.xml
@@ -5,8 +5,6 @@
     <mode name="default">
       <message name="AIRSPEED"            period="1.4"/>
       <message name="ALIVE"               period="5"/>
-      <message name="FORMAT_TEST"         period="1.5"/>
-      <message name="FORMAT_TEST2"         period="1.6"/>
       <message name="GPS"                 period="0.5"/>
       <message name="NAVIGATION"          period="1."/>
       <message name="ATTITUDE"            period="0.7"/>

diff --git a/sw/airborne/arch/sim/ivy_transport.h b/sw/airborne/arch/sim/ivy_transport.h
@@ -14,10 +14,9 @@ extern char* ivy_p;
 
 #define IvyTransportPutUint8(_dev,x) { ivy_p += sprintf(ivy_p, "%u ", x); }
 #define IvyTransportPutNamedUint8(_dev,_name, _x) { ivy_p += sprintf(ivy_p, "%s ", _name); }
+#define IvyTransportPutClassUint8(_dev,_name, _x)
 
-#define IvyTransportPutPacketSequence(_dev) { \
-    IvyTransportPutUint8(_dev, 0); \
-}
+#define IvyTransportPutPacketSequence(_dev)
 
 #define Space() ivy_p += sprintf(ivy_p, " ");
 #define Comma() ivy_p += sprintf(ivy_p, ",");

diff --git a/sw/airborne/firmwares/fixedwing/ap_downlink.h b/sw/airborne/firmwares/fixedwing/ap_downlink.h
@@ -60,19 +60,6 @@
 extern uint8_t telemetry_mode_Ap_DefaultChannel;
 #endif
 
-#define PERIODIC_SEND_FORMAT_TEST(_trans, _dev) \
-	int64_t sixtyfouri = -1234567890123456;\
-	uint64_t sixtyfouru[3] = {1234567890123456,66666666666666,1010101010101010};\
-	Downlink({ \
-      		DOWNLINK_SEND_FORMAT_TEST(_trans, _dev, &sixtyfouri , 3, sixtyfouru); \
-})
-
-#define PERIODIC_SEND_FORMAT_TEST2(_trans, _dev) \
-	char ctest[] = {'x','a','v','i'}; \
-	Downlink({ \
-      		DOWNLINK_SEND_FORMAT_TEST2(_trans, _dev, 4, ctest); \
-})
-
 #define PERIODIC_SEND_ALIVE(_trans, _dev)  DOWNLINK_SEND_ALIVE(_trans, _dev, 16, MD5SUM);
 
 #define PERIODIC_SEND_BAT(_trans, _dev) {                      \

diff --git a/sw/airborne/subsystems/datalink/downlink.h b/sw/airborne/subsystems/datalink/downlink.h
@@ -74,10 +74,13 @@ extern uint16_t downlink_nb_msgs;
  *
  * call transport functions from channel
  */
+#if DOWNLINK
 #define __Transport(dev, _x) dev##_x
 #define _Transport(dev, _x) __Transport(dev, _x)
 #define Transport(_chan, _fun) _Transport(_chan, _fun)
-
+#else /** DOWNLINK */
+#define Transport(_chan, _fun)
+#endif /** DOWNLINK */
 
 /** Set of macros for generated code (messages_<class_name>.h) from messages.xml */
 /** 4 = packet_sequence + ac_id + class_id + msg_id */
@@ -121,7 +124,7 @@ extern uint16_t downlink_nb_msgs;
   Transport(_trans, Header(_dev, DownlinkIDsSize(_trans, _dev, payload_len))); \
   Transport(_trans, PutPacketSequence(_dev));\
   Transport(_trans, PutUint8(_dev, AC_ID)); \
-  Transport(_trans, PutNamedUint8(_dev, _classname, class_id)); \
+  Transport(_trans, PutClassUint8(_dev, _classname, class_id)); \
   Transport(_trans, PutNamedUint8(_dev, _name, msg_id)); \
 }
 

diff --git a/sw/airborne/subsystems/datalink/pprz_transport.h b/sw/airborne/subsystems/datalink/pprz_transport.h
@@ -83,6 +83,7 @@ extern uint8_t ck_a, ck_b, pprz_down_packet_seq;
 }
 
 #define PprzTransportPutNamedUint8(_dev, _name, _byte) PprzTransportPutUint8(_dev, _byte)
+#define PprzTransportPutClassUint8(_dev, _name, _byte) PprzTransportPutUint8(_dev, _byte)
 
 #define PprzTransportPut1ByteByAddr(_dev, _byte) {	 \
     uint8_t _x = *(_byte);		 \

diff --git a/sw/airborne/subsystems/datalink/xbee.h b/sw/airborne/subsystems/datalink/xbee.h
@@ -131,6 +131,7 @@ void xbee_init( void );
 #define XBeeTransportPutUint32ByAddr(_dev, _x) XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
 #define XBeeTransportPutFloatByAddr(_dev, _x) XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
 #define XBeeTransportPutNamedUint8(_dev, _name, _byte) XBeeTransportPutUint8(_dev, _byte)
+#define XBeeTransportPutClassUint8(_dev, _name, _byte) XBeeTransportPutUint8(_dev, _byte)
 #define XBeeTransportPutCharByAddr(_dev, _x) XBeeTransportPut1ByteByAddr(_dev, (const uint8_t*)_x)
 
 #define XBeeTransportPutArray(_dev, _put, _n, _x) { \

diff --git a/sw/ground_segment/tmtc/server.ml b/sw/ground_segment/tmtc/server.ml
@@ -675,7 +675,7 @@ let jump_block = fun logging _sender vs ->
 
 (** Got a RAW_DATALINK,send its contents *)
 let raw_datalink = fun logging _sender vs ->
-	let ac_id = Pprz.string_assoc "ac_id" vs
+	let ac_id = Pprz.string_assoc "ac_id" vs 
 	and m = Pprz.string_assoc "message" vs in
 	let msg_id, vs = Dl_Pprz.values_of_string_unsorted m in
 	let msg = Dl_Pprz.message_of_id msg_id in

diff --git a/sw/lib/ocaml/pprz.ml b/sw/lib/ocaml/pprz.ml
@@ -663,7 +663,6 @@ module MessagesOfXml(Class:CLASS_Xml) = struct
       msg_name::args ->
 	begin
 	  try
-			prerr_endline ("**** USING PPRZ.values_of_string_unsorted WITH MESSAGE: "^msg_name);
 	    let msg_id, msg = message_of_name msg_name in
 
 			let assoc_args = ref [] in
@@ -674,7 +673,6 @@ module MessagesOfXml(Class:CLASS_Xml) = struct
 
 			let values = List.map (fun (field_name, field) ->
 				let v = List.assoc field_name !assoc_args in
-				prerr_endline ("!!! field_name="^field_name^" | v="^v); 
 				(field_name, value field._type v) ) msg.fields in
 	    (msg_id, values)
 	  with
@@ -703,7 +701,6 @@ module MessagesOfXml(Class:CLASS_Xml) = struct
 	 msg.fields)
 
   let message_send = fun ?timestamp sender msg_name values ->
-		prerr_endline("****************** PPRZ.MESSAGE_SEND: "^msg_name);
     let m = snd (message_of_name msg_name) in
     let s = string_of_message m values in
     let timestamp_string =

diff --git a/sw/tools/gen_messages.ml b/sw/tools/gen_messages.ml
@@ -158,7 +158,7 @@ module Gen_onboard = struct
     let size = (size_fields fields "0") in
     fprintf h "\tif (DownlinkCheckFreeSpace(_trans, _dev, DownlinkSizeOf(_trans, _dev, %s))) {\\\n" size;
     fprintf h "\t  DownlinkCountBytes(_trans, _dev, DownlinkSizeOf(_trans, _dev, %s)); \\\n" size;
-    fprintf h "\t  DownlinkStartMessage(_trans, _dev, %s, %s, \"%s\", DL_%s, %s) \\\n" class_ class_id s s size;
+    fprintf h "\t  DownlinkStartMessage(_trans, _dev, \"%s\", %s, \"%s\", DL_%s, %s) \\\n" class_ class_id s s size;
     List.iter (print_field h) fields;
     fprintf h "\t  DownlinkEndMessage(_trans, _dev ) \\\n";
     fprintf h "\t} else \\\n";
@@ -303,11 +303,11 @@ let () =
 		let u_class_name = String.uppercase class_name in
 		Printf.fprintf h "#ifndef MSG_%s_H\n" u_class_name;
 		Printf.fprintf h "#define MSG_%s_H\n" u_class_name;
-    Printf.fprintf h "#if DOWNLINK\n";
+    (*Printf.fprintf h "#if DOWNLINK\n";*)
     Gen_onboard.print_downlink_macros h class_name class_id messages;
-	  Printf.fprintf h "#else // DOWNLINK\n";
+	  (*Printf.fprintf h "#else // DOWNLINK\n";
 	  Gen_onboard.print_null_downlink_macros h messages;
-	  Printf.fprintf h "#endif // DOWNLINK\n";
+	  Printf.fprintf h "#endif // DOWNLINK\n";*)
 
     (** Macros for airborne datalink (receiving) *)
 		match check_align with