Merge pull request #354 from flixr/sim_chooser

Sim chooser in paparazzi center

.gitignore

@@ -138,7 +138,6 @@
 # /sw/simulator/
 /sw/simulator/gaia
 /sw/simulator/simhitl
-/sw/simulator/launchsitl
 
 # /sw/supervision/
 /sw/supervision/gtk_process.ml

Makefile

@@ -208,18 +208,12 @@ sim: sim_static
 include Makefile.lpctools
 lpctools: lpc21iap usb_lib
 
-commands: paparazzi sw/simulator/launchsitl
+commands: paparazzi
 
 paparazzi:
 	cat src/paparazzi | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
 	chmod a+x $@
 
-sw/simulator/launchsitl:
-	cat src/$(@F) | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
-	chmod a+x $@
-
-run_sitl :
-	$(PAPARAZZI_HOME)/var/$(AIRCRAFT)/sim/simsitl
 
 install :
 	$(MAKE) -f Makefile.install PREFIX=$(PREFIX)
@@ -238,7 +232,6 @@ clean:
 	$(Q)find . -mindepth 2 -name Makefile -a ! -path "./sw/ext/*" -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
 	$(Q)$(MAKE) -C $(EXT) clean
 	$(Q)find . -name '*~' -exec rm -f {} \;
-	$(Q)rm -f paparazzi sw/simulator/launchsitl
 
 cleanspaces:
 	find sw -path sw/ext -prune -o -name '*.[ch]' -exec sed -i {} -e 's/[ \t]*$$//' \;
@@ -279,7 +272,6 @@ test: all replace_current_conf_xml run_tests restore_conf_xml
 
 .PHONY: all print_build_version update_google_version ground_segment \
 subdirs $(SUBDIRS) conf ext lib multimon cockpit tmtc tools\
-static sim_static lpctools \
-commands run_sitl install uninstall \
+static sim_static lpctools commands install uninstall \
 clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
 test replace_current_conf_xml run_tests restore_conf_xml

Makefile.install

@@ -90,7 +90,7 @@ install_bin:
 	$(INSTALL) paparazzi-make $(PREFIX)/usr/bin/
 	$(INSTALLDATA) -d $(DESTDIR)/sw/simulator
 	$(INSTALL) sw/simulator/*.cmo $(DESTDIR)/sw/simulator
-	$(INSTALL) sw/simulator/launchsitl $(DESTDIR)/sw/simulator
+	$(INSTALL) sw/simulator/pprzsim-launch $(DESTDIR)/sw/simulator
 	$(INSTALL) -d  $(DESTDIR)/sw/ground_segment/cockpit
 	$(INSTALL) -d  $(DESTDIR)/sw/ground_segment/tmtc
 	$(INSTALL) -d  $(DESTDIR)/sw/ground_segment/multimon

conf/control_panel.xml.example

@@ -49,7 +49,7 @@
       <arg flag="-b" variable="ivy_bus"/>
     </program>
 
-    <program name="Simulator" command="sw/simulator/launchsitl">
+    <program name="Simulator" command="sw/simulator/pprzsim-launch">
       <arg flag="-b" variable="ivy_bus"/>
     </program>
 

sw/lib/ocaml/gtk_tools.ml

@@ -68,6 +68,14 @@ let combo_value = fun ((combo: #GEdit.combo_box), (_,column)) ->
   | None -> raise Not_found
   | Some row -> combo#model#get ~row ~column
 
+let combo_values_list = fun (combo : combo) ->
+  let (store, column) = combo_model combo in
+  let values = ref [] in
+  store#foreach (fun _ row ->
+    values := !values @ [store#get ~row ~column];
+    false);
+  !values
+
 let combo_separator = "--"
 
 let combo = fun strings vbox ->

sw/lib/ocaml/gtk_tools.mli

@@ -54,6 +54,7 @@ val add_to_combo : combo -> string -> unit
 val combo_separator : string
 
 val combo_value : combo -> string
+val combo_values_list : combo -> string list
 val select_in_combo : combo -> string -> unit
 val combo_connect : combo -> (string -> unit) -> unit
 

sw/simulator/Makefile

@@ -53,7 +53,7 @@ VARINCLUDE=$(PAPARAZZI_HOME)/var/include
 ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
 
 
-all : gaia sitl.cma $(LAUNCHSITL) simhitl
+all : gaia sitl.cma simhitl
 
 simhitl : fg.o $(SIMHCMO) simhitl.cmo
 	@echo OL $@
@@ -90,10 +90,6 @@ diffusion : stdlib.cmo diffusion.cmo
 	@echo OC $<
 	$(Q)$(OCAMLC) $(INCLUDES) -c $<
 
-launchsitl :
-	cat ../../src/$(@F) | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@
-	chmod a+x $@
-
 # dependency on lib-pprz
 simhitl diffusion gaia:  $(LIBPPRZCMA)
 

sw/simulator/nps/nps_main.c

@@ -88,6 +88,13 @@ int main ( int argc, char** argv) {
 
   if (!nps_main_parse_options(argc, argv)) return 1;
 
+  /* disable buffering for stdout,
+   * so it properly works in paparazzi center
+   * where it is not detected as interactive
+   * and hence fully buffered instead of line buffered
+   */
+  setbuf(stdout, NULL);
+
   nps_main_init();
 
   signal(SIGCONT, cont_hdl);

sw/simulator/ppzsim-launch → sw/simulator/pprzsim-launch

@@ -36,16 +36,16 @@ def main():
     usage = "usage: %prog -a <ac_name> -t <sim_type> [sim arguments]\nRun %prog --help to list the options."
     parser = OptionParser(usage)
     parser.add_option("-a", "--aircraft", dest="ac_name",
-                      action="store",
-                      help="aircraft name to use")
+                      action="store", metavar="NAME",
+                      help="Aircraft name to use")
     parser.add_option("-t", "--type", dest="simtype",
-                      type='choice', choices=['simple_fw', 'jsbsim', 'nps'],
-                      action="store", default="simple_fw",
-                      help="Simlator type to start: simple_fw, jsbsim or nps (Default: %default)")
+                      type='choice', choices=['sim', 'jsbsim', 'nps'],
+                      action="store", default="sim",
+                      help="Simlator type to start: sim, jsbsim or nps (Default: %default)")
     parser.add_option("-b", "--ivy_bus", dest="ivy_bus", action="store",
-                      help="Ivy Bus broadcast address.")
-    parser.add_option("-f", "--fg_host", dest="fg_host", action="store",
-                     help="FlightGear host to connect to for visualization, e.g. 127.0.0.1")
+                      metavar="BUS", help="Ivy Bus broadcast address (127.255.255.255)")
+    parser.add_option("-f", "--fg_host", dest="fg_host", action="store", metavar="HOST",
+                     help="Host for FlightGear visualization (e.g. 127.0.0.1)")
     parser.add_option("-v", "--verbose",
                       action="store_true", dest="verbose")
 
@@ -59,19 +59,23 @@ def main():
 
     # special options for NPS
     nps_opts = OptionGroup(parser, "NPS Options", "These are only relevant to the NPS sim")
-    nps_opts.add_option("-p", "--fg_port", dest="fg_port", type="int", default=5501,
-                        help="Port on FlightGear host to connect to (default %default)")
-    nps_opts.add_option("--fg_time_offset", type="int", action="store",
-                        help="Time offset in seconds for FlightGear, e.g. 21600 for 6h.")
-    nps_opts.add_option("-j", "--js_dev", dest="js_dev", metavar="DEVICE_INDEX", action="store", type="int", default=-1,
+    nps_opts.add_option("-p", "--fg_port", dest="fg_port", metavar="PORT",
+                        type="int", default=5501, action="store",
+                        help="Port on FlightGear host to connect to (Default: %default)")
+    nps_opts.add_option("--fg_time_offset", type="int", action="store", metavar="SEC",
+                        help="FlightGear time offset in seconds (e.g. 21600 for 6h)")
+    nps_opts.add_option("-j", "--js_dev", dest="js_dev", metavar="IDX",
+                        type="int", default=-1, action="store",
                         help="Use joystick with specified index (e.g. 0)")
-    nps_opts.add_option("--spektrum_dev", type="string", action="callback", callback=spektrum_callback,
-                        help="Spektrum device to use, e.g. /dev/ttyUSB0")
-    nps_opts.add_option("--rc_script", type="int", action="store",
-                        help="Number of RC script to use.")
+    nps_opts.add_option("--spektrum_dev", type="string", action="callback",
+                        callback=spektrum_callback, metavar="DEV",
+                        help="Spektrum device to use (e.g. /dev/ttyUSB0)")
+    nps_opts.add_option("--rc_script", type="int", action="store", metavar="NO",
+                        help="Number of RC script to use")
 
     # special options for the JSBSim sim (without sensor models)
-    #jsbsim_opts = OptionGroup(parser, "JSBSim options", "These are only relevant to the jsbsim sim")
+    #jsbsim_opts = OptionGroup(parser, "JSBSim options",
+    #                          "These are only relevant to the jsbsim sim")
 
     parser.add_option_group(ocamlsim_opts)
     parser.add_option_group(nps_opts)
@@ -84,7 +88,7 @@ def main():
 
     simargs = []
 
-    if options.simtype == "simple_fw":
+    if options.simtype == "sim":
         simdir = "sim"
         if options.boot:
             simargs.append("-boot")

sw/supervision/paparazzicenter.ml

@@ -236,7 +236,7 @@ let () =
 
   AC.build_handler ~file gui ac_combo target_combo log;
 
-  let session_combo, execute_session = CP.supervision ~file gui log ac_combo in
+  let session_combo, execute_session = CP.supervision ~file gui log ac_combo target_combo in
 
   (* Quit button *)
   ignore (gui#menu_item_quit#connect#activate ~callback:(quit_button_callback gui ac_combo session_combo target_combo));

sw/supervision/pc_control_panel.ml

@@ -141,13 +141,36 @@ let double_quote = fun s ->
   else
     s
 
-let supervision = fun ?file gui log (ac_combo : Gtk_tools.combo) ->
+let get_simtype = fun (target_combo : Gtk_tools.combo) ->
+  (* get the list of possible targets *)
+  let targets = Gtk_tools.combo_values_list target_combo in
+  (* filter non simulator targets *)
+  let sim_targets = ["sim"; "jsbsim"; "nps"] in
+  let targets = List.filter (fun t -> List.mem t sim_targets) targets in
+  (* open question box and return corresponding simulator type *)
+  match targets with
+    [] -> "none"
+  | [t] -> t
+  | l ->
+      match GToolbox.question_box ~title:"Simulator type" ~buttons:l "Choose the simulator type:" with
+      | 0 -> "none"
+      | choice -> List.nth targets (choice-1)
+
+let supervision = fun ?file gui log (ac_combo : Gtk_tools.combo) (target_combo : Gtk_tools.combo) ->
   let run_gcs = fun () ->
     run_and_monitor ?file gui log "GCS" ""
   and run_server = fun args ->
     run_and_monitor ?file gui log "Server" args
   and run_sitl = fun ac_name ->
-    let args = sprintf "-a %s -boot -norc" ac_name in
+    let get_args = fun simtype ac_name ->
+      match simtype with
+          "sim" -> sprintf "-a %s -t %s --boot --norc" ac_name simtype
+        | "jsbsim" -> sprintf "-a %s -t %s" ac_name simtype
+        | "nps" -> sprintf "-a %s -t %s" ac_name simtype
+        | _ -> sprintf "-a %s" ac_name
+    in
+    let sim_type = get_simtype target_combo in
+    let args = get_args sim_type ac_name in
     run_and_monitor ?file gui log "Simulator" args
   in
 
@@ -196,9 +219,9 @@ let supervision = fun ?file gui log (ac_combo : Gtk_tools.combo) ->
 
   (* Simulations *)
   let simulation = fun () ->
+    run_sitl (Gtk_tools.combo_value ac_combo);
     run_gcs ();
-    run_server "-n";
-    run_sitl (Gtk_tools.combo_value ac_combo) in
+    run_server "-n" in
 
   (* Run session *)
   let callback = fun () ->

tests/sim/01_Microjet.t

@@ -25,12 +25,12 @@ my $server = Proc::Background->new($server_command, @server_options);
 sleep 2; # The service should die in this time if there's an error
 ok($server->alive(), "The server process started successfully");
 
-# Start the launchsitl process
-my $launchsitl_command = "$ENV{'PAPARAZZI_HOME'}/sw/simulator/launchsitl";
-my @launchsitl_options = qw(-a Microjet -boot -norc);
+# Start the pprzsim-launch process
+my $pprzsim_command = "$ENV{'PAPARAZZI_HOME'}/sw/simulator/pprzsim-launch";
+my @pprzsim_options = qw(-a Microjet --boot --norc);
 sleep 2; # The service should die in this time if there's an error
-my $launchsitl = Proc::Background->new($launchsitl_command, @launchsitl_options);
-ok($launchsitl->alive(), "The launchsitl process started successfully");
+my $pprzsim = Proc::Background->new($pprzsim_command, @pprzsim_options);
+ok($pprzsim->alive(), "The pprzsim-launch process started successfully");
 
 # Open the Ivy bus and read from it...
 SKIP : {
@@ -39,9 +39,9 @@ SKIP : {
 	# TODO: learn how to read and write to the Ivy bus
 }
 
-# Shutdown the server and launchsitl processes
+# Shutdown the server and pprzsim-launch processes
 ok($server->die(), "The server process shutdown successfully.");
-ok($launchsitl->die(), "The launchsitl process shutdown successfully.");
+ok($pprzsim->die(), "The pprzsim-launch process shutdown successfully.");
 
 ################################################################################
 # functions used by this test script.