Added sbus fakerator for simulating SBUS transmitters on your laptop. (…

…#1890)

Useful for HITL testing.

sw/tools/sbus_fakerator/README.md

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+#SBUS Fakerator
+###Using
+```bash
+python main.py -$OPTIONS
+```
+
+###Options
+There are the following options.
+<table>
+	<tr>
+    	<th>option</th>
+        <th>description</th>
+        <th>args</th>
+   	</tr>
+	<tr>
+    	<td>-i</td>
+        <td>Activates the SIM's Ivy Interface and send data on it.</td>
+        <td></td>
+  	</tr>
+    <tr>
+    	<td>-l</td>
+        <td>Artifically introduce latency</td>
+        <td>Amount of latency introduced.</td>
+   	</tr>
+    <tr>
+    	<td>-p</td>
+        <td>Port</td>
+        <td>Serial port address that the RC of the plane is connected to.</td>
+  	</tr>
+
+</table>
+
+If there is no -i or -p (the output options) an error is thrown that terminates the program.
+

sw/tools/sbus_fakerator/lib/__init__.py

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+'''
+ Copyright (C) 2016 Kason Bennett, Michal Podhradsky <michal.podhradsky@aggiemail.usu.edu>
+
+ 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, see
+ <http://www.gnu.org/licenses/>.
+
+ Sbus fakerator: simulated SBUS radio for HITL testing
+'''
+

sw/tools/sbus_fakerator/lib/channel.py

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+'''
+ Copyright (C) 2016 Kason Bennett, Michal Podhradsky <michal.podhradsky@aggiemail.usu.edu>
+
+ 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, see
+ <http://www.gnu.org/licenses/>.
+
+ Sbus fakerator: simulated SBUS radio for HITL testing
+'''
+from Tkinter import *
+from lxml import etree
+from _hotshot import resolution
+from Tkconstants import HORIZONTAL, VERTICAL
+import os
+
+c_types = ["Bi-switch", "Tri-switch", "Trigger-switch", "Dial-360", "Dial-180", "Throttle", "Hor-stick", "Vert-stick"]
+
+class Channel(Scale):
+    '''
+    @var value: current value of Channel
+    
+    '''
+
+    def __init__(self, child, number, master=None, cnf={}, **kw):
+        '''
+        Constructor
+        @param number: Channel number 
+        '''
+        self.bind = ""
+        self.number = number
+        self.c_type = ""
+        kw['to'] = -100
+        kw['from_'] = 100
+        kw['variable'] = self.value
+        Scale.__init__(self, cnf, kw)
+
+    def add_value(self, val):
+        '''
+        Add a number to val. To subtract, enter a negative number.
+        @param val: value to add to Channel value
+        '''
+        self.value += val
+        self.set(self.value)
+
+    def rebind(self, key):
+        self.bind = key
+
+    def set_type(self, new_type):
+        if new_type in c_types:
+            self.c_type = new_type
+        else:
+            print "Type not known for {}".format(self.name)
+
+    def repr_xml(self):
+        c_root = etree.Element("Channel")
+        c_root.attrib['key'] = self.bind
+        c_root.attrib['name'] = self.name
+        c_root.attrib['type'] = self.c_type
+        return c_root
+
+    def parse_xml(self, xml):
+        self.bind = xml['key']
+        self.name = xml['name']
+        self.set_type(xml['type'])
+
+
+class bi_switch(Channel):
+
+    __name__ = "bi_switch"
+
+    def __init__(self, number, orientation, name, scale_length, master=None, cnf={}, **kw):
+        '''
+        Constructor
+        @param number: Channel number 
+        '''
+        self.value = IntVar(value=-100)
+        self.state = 0
+        self.bind = ""
+        self.number = number
+        self.c_type = ""
+        self.name = name
+        Channel.__init__(self, number, master, cnf, label=name, length = scale_length, orient = orientation, variable=self.value)
+        self.set(-100)
+
+
+    def add_value(self, num):
+        self.state = (self.state + 1) % 2
+        if self.state == 0:
+            self.value.set(-100)
+        elif self.state == 1:
+            self.value.set(100)
+
+    def key_off(self):
+        pass
+
+
+class tri_switch(Channel):
+
+    __name__ = "tri_switch"
+
+    def __init__(self, number, orientation, name, scale_length, master=None, cnf={}, **kw):
+        '''
+        Constructor
+        @param number: Channel number 
+        '''
+        self.value = IntVar(value=-100)
+        self.state = 0
+        self.bind = ""
+        self.number = number
+        self.c_type = ""
+        self.name = name
+        Channel.__init__(self, number, master, cnf, label = name, length = scale_length, resolution=100, orient = orientation, variable=self.value)
+
+    def add_value(self, in_state):
+        '''
+        @param val: value to add to Channel value
+        '''
+        # 0=-100
+        # 1=0
+        # 2=100
+
+        if in_state > 0:
+            if self.value.get() == -100:
+                self.value.set(0)
+            elif self.value.get() == 0:
+                self.value.set(100)
+        elif in_state < 0:
+            if self.value.get() == 100:
+                self.value.set(0)
+            elif self.value.get() == 0:
+                self.value.set(-100)
+
+    def key_off(self):
+        pass
+
+class trigger_switch(Channel):
+
+    __name__ = "trigger_switch"
+
+    def __init__(self, number, orientation, name, scale_length, master=None, cnf={}, **kw):
+        '''
+        Constructor
+        @param number: Channel number 
+        '''
+        self.value = IntVar(value=-100)
+        self.state = 0
+        self.bind = ""
+        self.number = number
+        self.c_type = ""
+        self.name = name
+        Channel.__init__(self, number, master, cnf, label = name, length = scale_length, orient=orientation, variable=self.value)
+
+    def add_value(self, state):
+        '''
+        @param state: state of the switch (i.e., flipped or not)
+        '''
+        os.system('xset r off')
+        if state < 0:
+            self.value.set(-100)
+        else:
+            self.value.set(100)
+
+    def key_off(self):
+        os.system('xset r on')
+        self.add_value(-1)
+
+class dial(Channel):
+
+    __name__ = "dial"
+    def __init__(self, number, total_degrees, orientation, name, scale_length, master=None, cnf={}, **kw):
+        '''
+        Constructor
+        @param number: Channel number 
+        '''
+        self.value = DoubleVar(0)
+        self.t_degrees = total_degrees
+        self.resolution = 200.0 / total_degrees
+        self.bind = ""
+        self.number = number
+        self.c_type = ""
+        self.name = name
+        Channel.__init__(self, number, master, cnf, label = name, length = scale_length, orient = orientation, resolution=self.resolution, variable=self.value)
+
+    def add_value(self, in_value):
+        '''
+        @param state: state of the switch (i.e., flipped or not)
+        '''
+        self.value.get()
+        self.value.set((in_value * self.resolution) + self.value.get())
+
+    def key_off(self):
+        pass
+
+class stick(Channel):
+    __name__ = "stick"
+    def __init__(self, number, orientation, name, scale_length, master=None, cnf={}, **kw):
+        '''
+        Constructor
+        @param number: Channel number 
+        '''
+        self.value = IntVar(0)
+        self.bind = ""
+        self.number = number
+        self.c_type = ""
+        Channel.__init__(self, number, master, cnf, orient = orientation, label = name, length = scale_length, variable=self.value)
+
+    def add_value(self, value):
+        '''
+        @param state: state of the switch (i.e., flipped or not)
+        '''
+        self.value.set(self.value.get() + value)
+
+    def key_off(self):
+        pass
+