Skip to content

Commit

Permalink
Merge pull request paparazzi#1247 from paparazzi/pprz_center_commands
Browse files Browse the repository at this point in the history 
[pprz center] improve handling of programs from control_panel.xml

Add possibility to launch global commands from tools menu.
Prefixing a program command in control_panel.xml with $ will strip the $ and then execute the command.

This makes it possible to start programs without knowing their absolute path.
Already used to start a simple http server from python.

Also parse the args from the programs section of control_panel.xml when starting them from the tools menu.
This makes it possible to specify default args.
  • Loading branch information
@flixr
flixr committed Jul 17, 2015
2 parents c84c74b + a224ba0 commit 7f4ffbb
Show file tree
Hide file tree
Showing 2 changed files with 36 additions and 72 deletions.
78 changes: 16 additions & 62 deletions conf/control_panel_example.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2,99 +2,53 @@

<control_panel name="paparazzi control panel">

<section name="variables">
<variable name="downlink_serial_port" value="/dev/ttyUSB0"/>
<variable name="fbw_serial_port" value="/dev/ttyS1"/>
<variable name="ap_serial_port" value="/dev/ttyS0"/>
<variable name="ivy_bus" value="127:2010"/>
<variable name="map" value="muret_UTM.xml"/>
<variable name="flight_plan" value="flight_plans/muret1.xml"/>
</section>

<section name="programs">
<program name="Server" command="sw/ground_segment/tmtc/server">
<arg flag="-b" variable="ivy_bus"/>
</program>

<program name="Server" command="sw/ground_segment/tmtc/server"/>
<program name="Data Link" command="sw/ground_segment/tmtc/link">
<arg flag="-b" variable="ivy_bus"/>
<arg flag="-d" constant="/dev/ttyUSB0"/>
</program>

<program name="Link Combiner" command="sw/ground_segment/python/redundant_link/link_combiner.py"/>

<program name="GCS" command="sw/ground_segment/cockpit/gcs">
<arg flag="-b" variable="ivy_bus"/>
</program>

<program name="Flight Plan Editor" command="sw/ground_segment/cockpit/gcs -edit">
<program name="GCS" command="sw/ground_segment/cockpit/gcs"/>
<program name="Flight Plan Editor" command="sw/ground_segment/cockpit/gcs">
<arg flag="-edit"/>
</program>

<program name="Messages" command="sw/ground_segment/tmtc/messages">
<arg flag="-b" variable="ivy_bus"/>
</program>

<program name="Messages" command="sw/ground_segment/tmtc/messages"/>
<program name="Messages (Python)" command="sw/ground_segment/python/messages_app/messagesapp.py"/>

<program name="Settings" command="sw/ground_segment/tmtc/settings">
<arg flag="-b" variable="ivy_bus"/>
<arg flag="-ac" constant="@AIRCRAFT"/>
</program>

<program name="Settings (Python)" command="sw/ground_segment/python/settings_app/settingsapp.py"/>

<program name="GPSd position display" command="sw/ground_segment/tmtc/gpsd2ivy"/>

<program name="Log Plotter" command="sw/logalizer/logplotter"/>

<program name="Real-time Plotter" command="sw/logalizer/plotter"/>
<program name="Real-time Plotter (Python)" command="sw/ground_segment/python/real_time_plot/messagepicker.py"/>

<program name="Log File Player" command="sw/logalizer/play">
<arg flag="-b" variable="ivy_bus"/>
</program>

<program name="Simulator" command="sw/simulator/pprzsim-launch">
<arg flag="-b" variable="ivy_bus"/>
</program>

<program name="Log File Player" command="sw/logalizer/play"/>
<program name="Simulator" command="sw/simulator/pprzsim-launch"/>
<program name="Video Synchronizer" command="sw/ground_segment/misc/video_synchronizer"/>

<program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
<arg flag="-b" variable="ivy_bus"/>
<arg flag="-ac" constant="@AIRCRAFT"/>
<arg flag="xbox_gamepad.xml"/>
</program>

<program name="Hardware in the Loop" command="sw/simulator/simhitl">
<arg flag="-fbw" variable="fbw_serial_port"/>
<arg flag="-ap" variable="ap_serial_port"/>
</program>

<program name="Environment Simulator" command="sw/simulator/gaia">
<arg flag="-b" variable="ivy_bus"/>
<program name="Hardware in the Loop" command="sw/simulator/simhitl"/>
<program name="Environment Simulator" command="sw/simulator/gaia"/>
<program name="Http Server" command="$python">
<arg flag="-m" constant="SimpleHTTPServer"/>
<arg flag="8889"/>
</program>

<program name="Plot Meteo Profile" command="sw/logalizer/plotprofile"/>

<program name="Weather Station" command="sw/ground_segment/misc/davis2ivy">
<arg flag="-b" variable="ivy_bus"/>
<arg flag="-d" constant="/dev/ttyUSB1"/>
</program>

<program name="Attitude Visualizer" command="sw/tools/attitude_viz.py"/>

<program name="App Server" command="sw/ground_segment/tmtc/app_server"/>

<program name="NatNet" command="sw/ground_segment/misc/natnet2ivy"/>

<program name="Ivy2Nmea" command="sw/ground_segment/tmtc/ivy2nmea">
<arg flag="--ivy_bus" variable="ivy_bus"/>
<arg flag="--port" constant="/dev/ttyUSB1"/>
<arg flag="--id" constant="1"/>
</program>

</section>




<section name="sessions">

<session name="ARDrone2 Flight">
Expand Down
30 changes: 20 additions & 10 deletions sw/supervision/pc_control_panel.ml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -36,12 +36,15 @@ let programs =
(fun p -> Hashtbl.add h (ExtXml.attrib p "name") p)
(Xml.children s);
h

let program_command = fun x ->
try
let xml = Hashtbl.find programs x in
let cmd = ExtXml.attrib xml "command" in
if cmd.[0] = '/' then
cmd
else if cmd.[0] = '$' then
String.sub cmd 1 ((String.length cmd) - 1)
else
Env.paparazzi_src // cmd
with Not_found ->
Expand Down Expand Up @@ -234,22 +237,28 @@ let supervision = fun ?file gui log (ac_combo : Gtk_tools.combo) (target_combo :
register_custom_sessions ();
Gtk_tools.select_in_combo session_combo "Simulation";

let execute_custom = fun session_name ->
let session = try Hashtbl.find sessions session_name with Not_found -> failwith (sprintf "Unknown session: %s" session_name) in
let get_program_args = fun program ->
let args = ref "" in
List.iter
(fun program ->
let name = ExtXml.attrib program "name" in
let p = ref "" in
List.iter
(fun arg ->
let constant =
match try double_quote (Xml.attrib arg "constant") with _ -> "" with
"@AIRCRAFT" -> (Gtk_tools.combo_value ac_combo)
| "@AC_ID" -> gui#entry_ac_id#text
| const -> const in
p := sprintf "%s %s %s" !p (ExtXml.attrib arg "flag") constant)
args := sprintf "%s %s %s" !args (ExtXml.attrib arg "flag") constant)
(Xml.children program);
run_and_monitor ?file gui log name !p)
!args
in


let execute_custom = fun session_name ->
let session = try Hashtbl.find sessions session_name with Not_found -> failwith (sprintf "Unknown session: %s" session_name) in
List.iter
(fun program ->
let name = ExtXml.attrib program "name" in
let args = get_program_args program in
run_and_monitor ?file gui log name args)
(Xml.children session)
in

Expand Down Expand Up @@ -279,9 +288,10 @@ let supervision = fun ?file gui log (ac_combo : Gtk_tools.combo) (target_combo :
(* Tools *)
let entries = ref [] in
Hashtbl.iter
(fun name _prog ->
(fun name prog ->
let cb = fun () ->
run_and_monitor ?file gui log name "" in
let args = get_program_args prog in
run_and_monitor ?file gui log name args in
entries := `I (name, cb) :: !entries)
programs;
let compare = fun x y ->
Expand Down

0 comments on commit 7f4ffbb

Please sign in to comment.