New paparazzicenter in Python (#1811)

This is the result of a student project to develop a new paparazzi center based on Python/Qt.
See http://wiki.paparazziuav.org/wiki/Paparazzi_Center/Evolutions for the main idea and development process.
It can be tested by running the main paparazzi launcher with the -python option. I more convenient way might be added later.
This PR is mostly a way to not loose this work, and other people are encourage to improve it in many aspects (HMI, functionalities, ...).

.gitignore

@@ -23,6 +23,8 @@
 
 *.gdb_history
 
+.cache.xml
+
 # Eclipse IDE project files
 *.cproject
 *.project

paparazzi-python.sh

@@ -0,0 +1,3 @@
+#!/usr/bin/env /bin/sh
+cd $PAPARAZZI_SRC/sw/supervision/python
+./main.py

src/paparazzi

@@ -9,7 +9,16 @@ let env =
    let value = if value = "." then Sys.getcwd () else value in
    Printf.sprintf "%s=%s" var value)
    [|"PAPARAZZI_SRC"; "PAPARAZZI_HOME"|]
-let com = dirname // "sw/supervision/paparazzicenter";;
+let com =
+  if Array.length (Sys.argv) > 1 then begin
+    Printf.printf "%d\n" (Array.length (Sys.argv));
+    if Sys.argv.(1) = "-python" then
+      dirname // "paparazzi-python.sh"
+    else
+      dirname // "sw/supervision/paparazzicenter"
+    end
+  else
+    dirname // "sw/supervision/paparazzicenter";;
 Sys.argv.(0) <- com;;
 let env = Array.append env (Unix.environment ());;
 Unix.execve com Sys.argv env

sw/supervision/python/.cache.dtd

@@ -0,0 +1,44 @@
+<!ELEMENT cache (system|data)*>
+<!ELEMENT system (window|filters)*>
+<!ELEMENT window (x|y|width|height)*>
+<!ELEMENT x (#PCDATA)>
+<!ATTLIST x
+        value CDATA #REQUIRED>
+<!ELEMENT y (#PCDATA)>
+<!ATTLIST y
+        value CDATA #REQUIRED>
+<!ELEMENT width (#PCDATA)>
+<!ATTLIST width
+        value CDATA #REQUIRED>
+<!ELEMENT height (#PCDATA)>
+<!ATTLIST height
+        value CDATA #REQUIRED>
+<!ELEMENT filters (level|info|warning|error)*>
+<!ELEMENT level (#PCDATA)>
+<!ATTLIST level
+        value CDATA #REQUIRED>
+<!ELEMENT info (#PCDATA)>
+<!ATTLIST info
+        value CDATA #REQUIRED>
+<!ELEMENT warning (#PCDATA)>
+<!ATTLIST warning
+        value CDATA #REQUIRED>
+<!ELEMENT error (#PCDATA)>
+<!ATTLIST error
+        value CDATA #REQUIRED>
+<!ELEMENT data (set|config|target|device|session)*>
+<!ELEMENT set (#PCDATA)>
+<!ATTLIST set
+        value CDATA #REQUIRED>
+<!ELEMENT config (#PCDATA)>
+<!ATTLIST config
+        value CDATA #REQUIRED>
+<!ELEMENT target (#PCDATA)>
+<!ATTLIST target
+        value CDATA #REQUIRED>
+<!ELEMENT device (#PCDATA)>
+<!ATTLIST device
+        value CDATA #REQUIRED>
+<!ELEMENT session (#PCDATA)>
+<!ATTLIST session
+        value CDATA #REQUIRED>

sw/supervision/python/README.md

@@ -0,0 +1,69 @@
+###############################################################################
+#               Welcome in the future Paparazzi Center !                      #
+###############################################################################
+
+1) Run instructions :
+
+To run the new Paparazzi Center, you need :
+
+> A Linux or IOS system
+
+> A correctly installed version of Paparazzi UAV software
+
+> Python 3.4 (install package 'python3')
+
+> PyQt5 (install package 'python3-pyqt5')
+
+First "git pull" my part of code or copy the current "./sw/supervision/python"
+version into your own "./sw/supervision" directory. No installation nor
+compilation is needed.
+Then, make the 'main.py' file executable ('chmod +x main.py') and launch the
+program in a terminal ('./main.py') or from the paparazzi launcher (soon).
+
+###############################################################################
+
+2) Feedback :
+
+I'm an intern student at the ENAC and my mission is to reconceive the Paparazzi
+Center in Python/Qt to make it more intuitive and 'maintainable' (that can
+evolve easily). So I'd really like to have your feeling about my propositions !
+
+If you have any question or comment about it, please contact me by
+Github (my pseudo is 'floienac' and I use Gitter) or by mail
+('f.bitard@gmail.com').
+I'd be glad to be criticized, especially if you're directly concerned as a
+final user or a developer of Paparazzi UAV.
+
+Thanks by advance :)
+
+Florian BITARD - intern student at the ENAC's drones lab
+(February to June 2016)
+
+http://wiki.paparazziuav.org/wiki/Paparazzi_Center/Evolutions
+###############################################################################
+
+3) GNU License :
+
+As this new Paparazzi Center is a free and open source software part, feel
+free to correct bugs, improve the functions and add new ones to it.
+
+# Paparazzi center utilities
+#
+# Copyright (C) 2016 ENAC, Florian BITARD (intern student)
+#
+# 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.

sw/supervision/python/dialogs.py

@@ -0,0 +1,103 @@
+# Paparazzi center utilities
+#
+# Copyright (C) 2016 ENAC, Florian BITARD (intern student)
+#
+# 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.
+
+###############################################################################
+# [Imports]
+
+import ui.set_manager as manager
+import ui.popup as popup
+
+import PyQt5.QtWidgets as Widgets
+import logging
+import os
+
+
+###############################################################################
+# [Constants]
+
+LOGGER = logging.getLogger("[DIALOGS]")
+
+UI_DIR = "ui"
+
+DATA_CHANGED_POPUP_TYPE = "data changed"
+DATA_CHANGED_POPUP_HTML = "data_changed.html"
+CREDITS_POPUP_TYPE = "credits"
+CREDITS_POPUP_HTML = "credits.html"
+TUTORIAL_POPUP_TYPE = "tutorial"
+TUTORIAL_POPUP_HTML = "tutorial.html"
+
+
+###############################################################################
+# [SettingsManager class]
+
+class SettingsManager(Widgets.QDialog):
+    """Class to manage the settings manager HMI."""
+    def __init__(self):
+        super(SettingsManager, self).__init__()
+        self.ui = manager.Ui_Dialog()
+        self.ui.setupUi(self)
+
+
+###############################################################################
+# [SettingsManager class]
+
+class Popup(Widgets.QDialog):
+    """Class to manage the settings manager HMI."""
+    def __init__(self, popup_type=None):
+        super(Popup, self).__init__()
+        self.ui = popup.Ui_Dialog()
+        self.ui.setupUi(self)
+        self.ui.textBrowser.setOpenExternalLinks(True)
+
+        self.type = popup_type
+
+        self.set_popup_details()
+
+    def set_popup_details(self):
+        """
+        -> Set the title, the text and the dialog buttons of the popup window
+        according to its type.
+        """
+        if self.type == DATA_CHANGED_POPUP_TYPE:
+            self.setWindowTitle("/!\ Some unsaved data found !")
+            self.ui.buttonBox.setStandardButtons(
+                Widgets.QDialogButtonBox.Cancel | Widgets.QDialogButtonBox.Save)
+            html_file = DATA_CHANGED_POPUP_HTML
+        elif self.type == CREDITS_POPUP_TYPE:
+            self.setWindowTitle("Paparazzi UAV Center credits "
+                                "(Python/Qt version)")
+            self.ui.buttonBox.setStandardButtons(Widgets.QDialogButtonBox.Close)
+            html_file = CREDITS_POPUP_HTML
+        elif self.type == TUTORIAL_POPUP_TYPE:
+            self.setWindowTitle("Tutorials and documents")
+            self.ui.buttonBox.setStandardButtons(Widgets.QDialogButtonBox.Close)
+            html_file = TUTORIAL_POPUP_HTML
+        else:
+            self.setWindowTitle("Popup without specific type.")
+            html_file = "none.html"
+
+        try:
+            html_config_path = os.path.join(UI_DIR, html_file)
+            with open(html_config_path, 'r') as popup_html_content:
+                self.ui.textBrowser.setHtml(popup_html_content.read())
+        except FileNotFoundError:
+            print("Popup HTML configuration file not found ! "
+                  "('%s' should be in 'ui' directory.)" % html_file)