main (int argc, char**argv)
{
/* handling of -b option */
const char* bus = 0;
char c;
while (c = getopt (argc, argv, "b:") != EOF) {
switch (c) {
case 'b':
bus = optarg;
break;
}
}
/* handling of environment variable */
if (!bus)
bus = getenv ("IVYBUS");
/* initializations */
IvyInit ("IvyTranslater", "Hello le monde", 0, 0, 0, 0);
IvyStart (bus);
/* binding of HelloCallback to messages starting with 'Hello' */
IvyBindMsg (HelloCallback, 0, "^Hello(.*)");
/* binding of ByeCallback to 'Bye' */
IvyBindMsg (ByeCallback, 0, "^Bye$");
/* main loop */
IvyMainLoop();
}
int main(int argc, char **argv)
{
double angular_velocity_covariance, angular_velocity_stdev;
double linear_acceleration_covariance, linear_acceleration_stdev;
double orientation_covariance, orientation_stdev;
std::string frame_id;
// Initializing ROS
ros::init(argc, argv, "imu");
ros::NodeHandle nh("~");
imu_message = nh.advertise<sensor_msgs::Imu>("data", 10);
att_message = nh.advertise<sensor_msgs::Imu>("att", 10);
mag_message = nh.advertise<geometry_msgs::Vector3Stamped>("mag", 10);
acc_message = nh.advertise<geometry_msgs::Vector3Stamped>("acc", 10);
// Getting Parameters
nh.param<std::string>("frame_id", frame_id, "imu");
imu_data.header.frame_id = frame_id;
mag_data.header.frame_id = frame_id;
nh.param("linear_acceleration_stdev", linear_acceleration_stdev, 0.0);
nh.param("orientation_stdev", orientation_stdev, 0.0);
nh.param("angular_velocity_stdev", angular_velocity_stdev, 0.0);
angular_velocity_covariance = pow(angular_velocity_stdev,2);
orientation_covariance = pow(orientation_stdev,2);
linear_acceleration_covariance = pow(linear_acceleration_stdev,2);
// Fill IMU Message with covariances
imu_data.linear_acceleration_covariance[0] = linear_acceleration_covariance;
imu_data.linear_acceleration_covariance[4] = linear_acceleration_covariance;
imu_data.linear_acceleration_covariance[8] = linear_acceleration_covariance;
imu_data.angular_velocity_covariance[0] = angular_velocity_covariance;
imu_data.angular_velocity_covariance[4] = angular_velocity_covariance;
imu_data.angular_velocity_covariance[8] = angular_velocity_covariance;
imu_data.orientation_covariance[0] = orientation_covariance;
imu_data.orientation_covariance[4] = orientation_covariance;
imu_data.orientation_covariance[8] = orientation_covariance;
// Initializing Ivy
IvyInit ("imu_parser", "'Imu Parser' is READY!", 0, 0, 0, 0);
IvyStart("127.255.255.255");
TimerRepeatAfter (TIMER_LOOP, 500, ROSCallback, 0);
// Binding Messages
IvyBindMsg(ATTCallback, 0, "BOOZ2_AHRS_EULER(.*)");
IvyBindMsg(GYROCallback, 0, "IMU_GYRO_SCALED(.*)");
IvyBindMsg(ACCELCallback, 0, "IMU_ACCEL_SCALED(.*)");
IvyBindMsg(MAGCallback, 0, "IMU_MAG_SCALED(.*)");
ROS_INFO("IMU: Starting Aquisition Loop");
IvyMainLoop();
return 0;
}
void nps_ivy_init(void) {
const char* agent_name = AIRFRAME_NAME"_NPS";
const char* ready_msg = AIRFRAME_NAME"_NPS Ready";
IvyInit(agent_name, ready_msg, NULL, NULL, NULL, NULL);
IvyBindMsg(on_DL_PING, NULL, "^(\\S*) DL_PING");
IvyBindMsg(on_DL_SETTING, NULL, "^(\\S*) DL_SETTING (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_DL_GET_SETTING, NULL, "^(\\S*) DL_GET_SETTING (\\S*) (\\S*)");
IvyBindMsg(on_DL_BLOCK, NULL, "^(\\S*) BLOCK (\\S*) (\\S*)");
IvyBindMsg(on_DL_MOVE_WP, NULL, "^(\\S*) MOVE_WP (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyStart("127.255.255.255");
}
void calibrator_init(void) {
IvyInit ("IrCalib", "IrCalib READY", NULL, NULL, NULL, NULL);
IvyBindMsg(on_Attitude, NULL, "^(\\S*) ATTITUDE (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_GPS, NULL, "^(\\S*) GPS (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_Wind, NULL, "^(\\S*) WIND (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_IrSensors, NULL, "^(\\S*) IR_SENSORS (\\S*) (\\S*) (\\S*)");
IvyStart("127.255.255.255");
reset_average();
}
void nps_ivy_init(char* ivy_bus) {
/* init ivy and bind some messages common to fw and rotorcraft */
nps_ivy_common_init(ivy_bus);
IvyBindMsg(on_DL_MOVE_WP, NULL,
"^(\\S*) MOVE_WP (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
//Get the commands from the Autopilot for this simulation
IvyBindMsg(on_NPS_ATP_CMD, NULL, "^NPS_ATP_CMD(.*)");
//Get the standard commands from the Autopilot for this simulation
IvyBindMsg(on_COMMANDS, NULL, "^\\S* COMMANDS (\\S*)");
}
int main (int argc, char** argv) {
gtk_init(&argc, &argv);
GtkWidget* window = build_gui();
gtk_widget_show_all(window);
IvyInit ("AntennaTracker", "AntennaTracker READY", NULL, NULL, NULL, NULL);
IvyBindMsg(on_GPS_STATUS, NULL, "^\\S* GPS (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_NAV_STATUS, NULL, "^\\S* NAVIGATION (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyStart("127.255.255.255");
gtk_main();
return 0;
}
static int
IvyBindCmd(ClientData clientData,
Tcl_Interp *interp,
int argc,
const char **argv)
{
filter_struct *filter;
Tcl_HashEntry *entry;
int dummy;
char msg[INTEGER_SPACE];
if (argc != 3) {
Tcl_AppendResult(interp, "wrong # of args: \"",
argv[0], " filter script\"", (char *) NULL);
return TCL_ERROR;
}
filter = (filter_struct *) ckalloc(sizeof(filter_struct));
filter->filter = ckalloc(strlen(argv[1])+1); /* regexp */
strcpy(filter->filter, argv[1]);
filter->script = ckalloc(strlen(argv[2])+1); /* callback proc name */
strcpy(filter->script, argv[2]);
filter->id = IvyBindMsg(IvyMsgCB, (void *) filter, filter->filter, NULL); /* MsgPtr id */
filter->interp = interp;
entry = Tcl_CreateHashEntry(&filter_table, (char *) (long) filter_id, &dummy);
Tcl_SetHashValue(entry, (ClientData) filter);
sprintf(msg, "%d", filter_id);
filter_id++;
Tcl_SetResult(interp, msg, TCL_VOLATILE);
return TCL_OK;
}
void nps_ivy_init(char* ivy_bus) {
/* init ivy and bind some messages common to fw and rotorcraft */
nps_ivy_common_init(ivy_bus);
IvyBindMsg(on_DL_MOVE_WP, NULL, "^(\\S*) MOVE_WP (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
}
void nps_ivy_init(char* ivy_bus) {
const char* agent_name = AIRFRAME_NAME"_NPS";
const char* ready_msg = AIRFRAME_NAME"_NPS Ready";
IvyInit(agent_name, ready_msg, NULL, NULL, NULL, NULL);
IvyBindMsg(on_DL_PING, NULL, "^(\\S*) DL_PING");
IvyBindMsg(on_DL_SETTING, NULL, "^(\\S*) DL_SETTING (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_DL_GET_SETTING, NULL, "^(\\S*) GET_DL_SETTING (\\S*) (\\S*)");
IvyBindMsg(on_DL_BLOCK, NULL, "^(\\S*) BLOCK (\\S*) (\\S*)");
IvyBindMsg(on_DL_MOVE_WP, NULL, "^(\\S*) MOVE_WP (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
#ifdef RADIO_CONTROL_TYPE_DATALINK
IvyBindMsg(on_DL_RC_3CH, NULL, "^(\\S*) RC_3CH (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_DL_RC_4CH, NULL, "^(\\S*) RC_4CH (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
#endif
#ifdef __APPLE__
const char* default_ivy_bus = "224.255.255.255";
#else
const char* default_ivy_bus = "127.255.255.255";
#endif
if (ivy_bus == NULL) {
IvyStart(default_ivy_bus);
} else {
IvyStart(ivy_bus);
}
}
int main (int argc, char** argv) {
gtk_init(&argc, &argv);
GtkWidget* window = build_gui();
gtk_widget_show_all(window);
IvyInit ("MotorBench", "MotorBench READY", NULL, NULL, NULL, NULL);
IvyBindMsg(on_MOTOR_BENCH_STATUS, NULL, "^\\S* MOTOR_BENCH_STATUS (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_MOTOR_BENCH_STATIC, NULL, "^\\S* MOTOR_BENCH_STATIC (\\S*) (\\S*) (\\S*) (\\S*)");
IvyStart("127.255.255.255");
g_timeout_add(40, timeout_callback, NULL);
mb_state.log_channel = NULL;
gtk_main();
return 0;
}
int main( int argc, char *argv[] )
{
GtkWidget *window;
GtkWidget *button;
GtkWidget *box1;
char *bus=getenv("IVYBUS");
gtk_init(&argc, &argv);
window = gtk_window_new(GTK_WINDOW_TOPLEVEL);
gtk_container_set_border_width(GTK_CONTAINER(window), 10);
gtk_window_set_title (GTK_WINDOW (window), "River Tracking");
box1 = gtk_hbox_new (FALSE, 0);
gtk_container_add (GTK_CONTAINER (window), box1);
//first button...
button = gtk_button_new_with_label("(Re)define region of interest");
g_signal_connect(G_OBJECT(button), "clicked", G_CALLBACK(init_river_tracking), 0);
gtk_box_pack_start(GTK_BOX(box1), button, TRUE, TRUE, 0);
gtk_widget_show (button);
//second button...
button = gtk_button_new_with_label("Quit");
g_signal_connect(G_OBJECT(button), "clicked", G_CALLBACK(destroy), 0);
gtk_box_pack_start(GTK_BOX (box1), button, TRUE, TRUE, 0);
gtk_widget_show (button);
gtk_widget_show(box1);
gtk_widget_show(window);
IvyInit("river_track", "river_track READY", NULL, NULL, NULL, NULL);
IvyBindMsg(textCallback,0,"^river_track hello(.*)");
IvyBindMsg(start_track,0,"(NAV_STATUS 1 1 +.*)");
IvyBindMsg(set_end,0,"(WAYPOINT_MOVED 1 5 +.*)");
IvyStart(bus);
gtk_main();
return 0;
}
void nps_ivy_init(char *ivy_bus)
{
const char *agent_name = AIRFRAME_NAME"_NPS";
const char *ready_msg = AIRFRAME_NAME"_NPS Ready";
IvyInit(agent_name, ready_msg, NULL, NULL, NULL, NULL);
// bind on a general WORLD_ENV (not a reply to request)
IvyBindMsg(on_WORLD_ENV, NULL, "^(\\S*) WORLD_ENV (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
// to be able to change datalink_enabled setting back on
IvyBindMsg(on_DL_SETTING, NULL, "^(\\S*) DL_SETTING (\\S*) (\\S*) (\\S*)");
#ifdef __APPLE__
const char *default_ivy_bus = "224.255.255.255";
#else
const char *default_ivy_bus = "127.255.255.255";
#endif
if (ivy_bus == NULL) {
IvyStart(default_ivy_bus);
} else {
IvyStart(ivy_bus);
}
}
int main ( int argc, char** argv)
{
if (argc < 2)
{
fprintf(stderr, "USE: mavlink-ivy-interface IP \n");
return -1;
}
fprintf(stderr,"mavlink-ivy-interface forwarding to '%s' \n",argv[1]);
udp_init(argv[1]);
GMainLoop *ml = g_main_loop_new(NULL, FALSE);
IvyInit ("mavlink-ivy-interface", "mavlink-ivy-interface READY", NULL, NULL, NULL, NULL);
IvyBindMsg(on_Attitude, NULL, "^(\\S*) ATTITUDE (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_Gps, NULL, "^(\\S*) GPS (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyStart("127.255.255.255");
g_main_loop_run(ml);
return 0;
}
int main(int argc,char *argv[]){
Widget toplevel,pushb;
XtAppContext app_context;
Arg myargs[10];
char *bus=getenv("IVYBUS");
char *tosend="foo";
toplevel=XtAppInitialize(&app_context,"Ivy Button",NULL,0,&argc,argv,NULL,myargs,0);
pushb=XmCreatePushButton(toplevel,"send message",myargs,1);
XtManageChild(pushb);
XtAddCallback(pushb,XmNactivateCallback,myMotifCallback,&tosend);
XtRealizeWidget(toplevel);
IvyXtChannelAppContext(app_context);
IvyInit("IvyMotif","IvyMotif connected",NULL,NULL,DieCallback,NULL);
IvyBindMsg(textCallback,&tosend,"^Ivy Button text=(.*)");
IvyStart(bus);
XtAppMainLoop(app_context);
return 0;
}
Mav2Ivy::Mav2Ivy(ros::NodeHandle nh, ros::NodeHandle nh_private):
nh_(nh),
nh_private_(nh_private)
{
ROS_INFO("Starting Mav2Ivy");
// NodeHandle for mav data
ros::NodeHandle nh_data (nh_, mav::ROS_NAMESPACE);
// **** get parameters
initializeParams();
// **** initialize vaiables
//motors_on_ = false;
//engaging_ = false;
// TODO handle motors on
motors_on_ = true;
engaging_ = false;
ctrl_roll_ = 0;
ctrl_pitch_ = 0;
ctrl_yaw_ = 0;
ctrl_thrust_ = 0;
// *** register publishers
imu_publisher_ = nh_data.advertise<sensor_msgs::Imu>(mav::IMU_TOPIC, 10);
height_publisher_ = nh_data.advertise<mav_msgs::Height>(mav::P_HEIGHT_TOPIC, 10);
// **** register subscribers
// Replace by IVY stuff
IvyBindMsg(ivyFPCallback,this, "^(\\S*) ROTORCRAF_FP (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*");
IvyBindMsg(ivyImuCallback, this, "^(\\S*) AHRS_LKF (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(ivyStatusCallback, this, "^(\\S*) ROTORCRAFT_STATUS (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
//imu_calcdata_subscriber_ = nh_rawdata.subscribe(
// asctec::IMU_CALCDATA_TOPIC, 10, &Mav2Ivy::imuCalcDataCallback, this);
//ll_status_subscriber_ = nh_rawdata.subscribe(
// asctec::LL_STATUS_TOPIC, 5, &Mav2Ivy::llStatusCallback, this);
cmd_thrust_subscriber_ = nh_data.subscribe(
mav::CMD_THRUST_TOPIC, 1, &Mav2Ivy::cmdThrustCallback, this);
cmd_roll_subscriber_ = nh_data.subscribe(
mav::CMD_ROLL_TOPIC, 1, &Mav2Ivy::cmdRollCallback, this);
cmd_pitch_subscriber_ = nh_data.subscribe(
mav::CMD_PITCH_TOPIC, 1, &Mav2Ivy::cmdPitchCallback, this);
cmd_yaw_subscriber_ = nh_data.subscribe(
mav::CMD_YAW_RATE_TOPIC, 5, &Mav2Ivy::cmdYawCallback, this);
// **** services
//set_motors_on_off_srv_ = nh_data.advertiseService(
// "setMotorsOnOff", &Mav2Ivy::setMotorsOnOff, this);
get_motors_on_off_srv_ = nh_data.advertiseService(
"getMotorsOnOff", &Mav2Ivy::getMotorsOnOff, this);
}
int main ( int argc, char** argv)
{
int s = sizeof(local_uav);
gtk_init(&argc, &argv);
if (argc < 3)
{
printf("Use: ivy2serial ac_id serial_device\n");
printf("or\n");
printf("Use: ivy2serial ac_id serial_device xbee_power_level [0-4] to configure the xbee as broadcast, no retries\n");
return -1;
}
if (argc == 4)
{
printf("Programming XBee Modem\n");
power_level = (int) (argv[3][0]) - (int) '0';
if (power_level < 0)
power_level = 0;
else if (power_level > 4)
power_level = 4;
printf("Set Power Level To: '%d'\n", power_level);
}
else
{
power_level = -1;
}
local_uav.ac_id = atoi(argv[1]);
sprintf(status_str, "Listening to AC=%d, Serial Data Size = %d",local_uav.ac_id, s);
sprintf(status_ivy_str, "---");
sprintf(status_serial_str, "---");
printf("%s\n",status_str);
// Open Serial or Die
port = argv[2];
open_port(port);
// Init UAV
remote_uav.ac_id = 6;
remote_uav.phi = 1000;
remote_uav.theta = 200;
remote_uav.psi = -3140;
// Start IVY
IvyInit ("IVY <-> Serial", "IVY <-> Serial READY", NULL, NULL, NULL, NULL);
IvyBindMsg(on_Desired, NULL, "^%d DESIRED (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)",local_uav.ac_id);
IvyBindMsg(on_Estimator, NULL, "^%d ESTIMATOR (\\S*) (\\S*)",local_uav.ac_id);
IvyBindMsg(on_Navigation, NULL, "^%d NAVIGATION (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)",local_uav.ac_id);
IvyBindMsg(on_Attitude, NULL, "^%d ATTITUDE (\\S*) (\\S*) (\\S*)", local_uav.ac_id);
IvyBindMsg(on_Gps, NULL, "^%d GPS (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)",local_uav.ac_id);
IvyStart("127.255.255.255");
// Add Timer
gtk_timeout_add(delay / 4, timeout_callback, NULL);
// GTK Window
GtkWidget *window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
gtk_window_set_title (GTK_WINDOW (window), "IVY_Serial_Bridge");
gtk_signal_connect (GTK_OBJECT (window), "delete_event",
GTK_SIGNAL_FUNC (delete_event), NULL);
GtkWidget *box = gtk_vbox_new(TRUE, 1);
gtk_container_add (GTK_CONTAINER (window), box);
GtkWidget *hbox = gtk_hbox_new(FALSE, 1);
gtk_container_add (GTK_CONTAINER (box), hbox);
status = gtk_label_new( "Status:" );
gtk_box_pack_start(GTK_BOX(hbox), status, FALSE, FALSE, 1);
gtk_label_set_justify( (GtkLabel*) status, GTK_JUSTIFY_LEFT );
status = gtk_label_new( status_str );
gtk_box_pack_start(GTK_BOX(hbox), status, FALSE, FALSE, 1);
gtk_label_set_justify( (GtkLabel*) status, GTK_JUSTIFY_LEFT );
hbox = gtk_hbox_new(FALSE, 1);
gtk_container_add (GTK_CONTAINER (box), hbox);
status_ivy = gtk_label_new( "IVY->SERIAL:" );
gtk_box_pack_start(GTK_BOX(hbox), status_ivy, FALSE, FALSE, 1);
gtk_label_set_justify( (GtkLabel*) status_ivy, GTK_JUSTIFY_LEFT );
status_ivy = gtk_label_new( status_ivy_str );
gtk_box_pack_start(GTK_BOX(hbox), status_ivy, FALSE, FALSE, 1);
gtk_label_set_justify( (GtkLabel*) status_ivy, GTK_JUSTIFY_LEFT );
hbox = gtk_hbox_new(FALSE, 1);
gtk_container_add (GTK_CONTAINER (box), hbox);
status_serial = gtk_label_new( "SERIAL->IVY:" );
gtk_box_pack_start(GTK_BOX(hbox), status_serial, FALSE, FALSE, 1);
gtk_label_set_justify( (GtkLabel*) status_serial, GTK_JUSTIFY_LEFT );
status_serial = gtk_label_new( status_serial_str );
gtk_label_set_justify( GTK_LABEL(status_serial), GTK_JUSTIFY_LEFT );
gtk_box_pack_start(GTK_BOX(hbox), status_serial, FALSE, FALSE, 1);
gtk_widget_show_all(window);
gtk_main();
// Clean up
fprintf(stderr,"Stopping\n");
return 0;
}
int main (int argc, char **argv)
{
GtkWidget *window;
GtkWidget *da;
GdkGLConfig *glconfig;
int xid=-1;
/* handling of -b option */
const char* bus = 0;
char c;
while ((c = getopt (argc, argv, "b:p:")) != EOF) {
switch (c) {
case 'b':
bus = optarg;
break;
case 'p':
xid = strtol(optarg,NULL,0);
break;
}
}
printf("xid %d \nbus %s \n",xid,bus);
/* handling of environment variable */
if (!bus) bus = getenv ("IVYBUS");
gtk_init (&argc, &argv);
gtk_gl_init (&argc, &argv);
if (xid==-1){
window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
gtk_window_set_default_size (GTK_WINDOW (window), 512, 400);
}
else {
window = gtk_window_new(GTK_WINDOW_POPUP);
}
da = gtk_drawing_area_new ();
gtk_container_add (GTK_CONTAINER (window), da);
g_signal_connect_swapped (window, "destroy",
G_CALLBACK (gtk_main_quit), NULL);
gtk_widget_set_events (da, GDK_EXPOSURE_MASK);
gtk_widget_show (window);
if (xid!=-1){
XReparentWindow(GDK_WINDOW_XDISPLAY(window->window), GDK_WINDOW_XWINDOW(window->window), xid, 0,0);
gtk_widget_map(window);
}
/* prepare GL */
glconfig = gdk_gl_config_new_by_mode (
GDK_GL_MODE_RGB |
GDK_GL_MODE_DEPTH |
GDK_GL_MODE_DOUBLE);
if (!glconfig)
{
g_assert_not_reached ();
}
if (!gtk_widget_set_gl_capability (da, glconfig, NULL, TRUE,
GDK_GL_RGBA_TYPE))
{
g_assert_not_reached ();
}
g_signal_connect (da, "configure-event",
G_CALLBACK (configure), NULL);
g_signal_connect (da, "expose-event",
G_CALLBACK (expose), NULL);
gtk_widget_show_all (window);
g_timeout_add (1000 / 60, update, da);
IvyInit ("pprzopengl", "pprzopengl READY", NULL, NULL, NULL, NULL);
IvyBindMsg(on_GPS_STATUS, NULL, "^\\S* GPS (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_ATTITUDE, NULL, "^\\S* ATTITUDE (\\S*) (\\S*) (\\S*)");
IvyStart(bus);
gtk_main ();
return(0);
}
int main(int argc, char** argv) {
currentPlayingTime = 0.0;
startVideoAfter = 0.0;
airframeID = 1;
currentMode = MODE_REPLAY;
replayMode = MANUAL_REPLAY;
ml = g_main_loop_new(NULL, FALSE);
g_timeout_add(1000 , __timeout_func , ml);
IvyInit("Video Synchronizer", "Video Synchronizer READY", NULL, NULL, NULL, NULL);
IvyBindMsg(on_Message, NULL, "^time(\\S*) (\\S*)");
IvyBindMsg(on_Message_Video, NULL, "^(\\S*) VIDEO_SYNC(\\S*) (\\S*)");
IvyBindMsg(on_Airframe_ID, NULL, "^replay(\\S*) PONG(\\S*) (\\S*)");
#ifdef __APPLE__
IvyStart("224.255.255.255");
#else
IvyStart("127.255.255.255");
#endif
/* Ugly because remove every possibility of translation.
* But needed to prevent the use of the comma as float separator.
*/
gtk_disable_setlocale();
gtk_init(&argc, &argv);
GtkWidget *window = gtk_window_new(GTK_WINDOW_TOPLEVEL);
gtk_window_set_title(GTK_WINDOW(window), "Video synchronizer");
g_signal_connect(GTK_OBJECT(window), "destroy", G_CALLBACK(on_quit), NULL);
GtkNotebook *tab = (GtkNotebook*)gtk_notebook_new();
g_signal_connect(GTK_OBJECT(tab), "switch-page", G_CALLBACK(on_change_mode), NULL);
GtkNotebook *tabReplay = (GtkNotebook*)gtk_notebook_new();
g_signal_connect(GTK_OBJECT(tabReplay), "switch-page", G_CALLBACK(on_change_replay), NULL);
//Manual mode
//create a box to align the widgets
//false -> unheaven sizes; 0 space between widgets
GtkWidget *box = gtk_hbox_new(FALSE, 0);
//add a label to explain the values to enter
GtkWidget *label = gtk_label_new("How long the video must be started \nafter the log file (may be negative) : ");
gtk_box_pack_start(GTK_BOX(box), label, FALSE, FALSE, 0);
gtk_widget_show(label);
//add a spinbutton (to enter the value of the video synchronisation)
//startValue, lower, upper, step_increment, page_increment, page_size
GtkAdjustment *adj = (GtkAdjustment *) gtk_adjustment_new(0.0, -999999999999.99, 999999999999.99, 0.1, 1.0, 0.0);
spinButton = gtk_spin_button_new(adj, 0.1, 1);
g_signal_connect(GTK_OBJECT(adj), "value_changed", G_CALLBACK(on_video_sync_changed), NULL);
gtk_box_pack_start(GTK_BOX(box), spinButton, TRUE, TRUE, 0);
gtk_widget_show(spinButton);
//add the unit label at the end of the window
label = gtk_label_new("s");
gtk_box_pack_start(GTK_BOX(box), label, FALSE, FALSE, 0);
gtk_widget_show(label);
gtk_notebook_append_page(tabReplay, box, gtk_label_new("Manual"));
//Auto mode
//create a box to align the widgets
//false -> unheaven sizes; 0 space between widgets
GtkWidget *boxAuto = gtk_hbox_new(FALSE, 0);
//add a label to explain the values to enter
label = gtk_label_new("At what time is the clap in the video : ");
gtk_box_pack_start(GTK_BOX(boxAuto), label, FALSE, FALSE, 0);
gtk_widget_show(label);
//add a spinbutton (to enter the value of the video synchronisation)
//startValue, lower, upper, step_increment, page_increment, page_size
GtkAdjustment *adjAuto = (GtkAdjustment *) gtk_adjustment_new(0.0, 0.00, 999999999999.99, 0.1, 1.0, 0.0);
spinButtonVideo = gtk_spin_button_new(adjAuto, 0.1, 1);
g_signal_connect(GTK_OBJECT(adjAuto), "value_changed", G_CALLBACK(on_video_time_tag_changed), NULL);
gtk_box_pack_start(GTK_BOX(boxAuto), spinButtonVideo, TRUE, TRUE, 0);
gtk_widget_show(spinButtonVideo);
//add the unit label at the end of the window
label = gtk_label_new("s");
gtk_box_pack_start(GTK_BOX(boxAuto), label, FALSE, FALSE, 0);
gtk_widget_show(label);
gtk_notebook_append_page(tabReplay, boxAuto, gtk_label_new("Auto"));
//create the capture page
GtkWidget *captureBox = gtk_hbox_new(FALSE, 0);
GtkWidget *button = gtk_button_new_with_label("sync");
gtk_box_pack_start(GTK_BOX(captureBox), button, FALSE, FALSE, 0);
g_signal_connect(GTK_OBJECT(button), "clicked", G_CALLBACK(on_sync_clicked), NULL);
gtk_widget_show(button);
gtk_notebook_append_page(tab, (GtkWidget*)tabReplay, gtk_label_new("Replay"));
gtk_notebook_append_page(tab, (GtkWidget*)captureBox, gtk_label_new("Capture"));
gtk_container_add(GTK_CONTAINER(window), (GtkWidget*)tab);
gtk_window_set_icon(GTK_WINDOW(window), create_pixbuf("data/pictures/penguin_icon_vid.png"));
gtk_widget_show_all(window);
gtk_main();
return 0;
}
int main(int argc, char **argv) {
int i;
//Get process id
ProcessID= getpid();
// default password
AppPass = defaultAppPass;
// try environment variable first, set to default if failed
IvyBus = getenv("IVYBUS");
if (IvyBus == NULL) IvyBus = defaultIvyBus;
// Parse options
for (i = 1; i < argc; ++i) {
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-h") == 0) {
print_help();
exit(0);
}
else if (strcmp(argv[i], "-t") == 0) {
tcp_port = atoi(argv[++i]);
}
else if (strcmp(argv[i], "-u") == 0) {
udp_port = atoi(argv[++i]);
}
else if (strcmp(argv[i], "-b") == 0) {
IvyBus = argv[++i];
}
else if (strcmp(argv[i], "-p") == 0) {
AppPass = argv[++i];
}
else if (strcmp(argv[i], "-v") == 0) {
verbose = 1;
}
else if (strcmp(argv[i], "-utcp") == 0) {
uTCP = 1;
}
else {
printf("App Server: Unknown option\n");
print_help();
exit(0);
}
}
if (verbose) {
printf("### Paparazzi App Server ###\n");
printf("Server listen port (TCP) : %d\n", tcp_port);
if (uTCP) {
printf("Server using TCP communication..\n");
}else{
printf("Server broadcast port (UDP) : %d\n", udp_port);
}
printf("Control Pass : %s\n", AppPass);
printf("Ivy Bus : %s\n", IvyBus);
fflush(stdout);
}
//Create tcp listener
#if !GLIB_CHECK_VERSION (2, 35, 1)
// init GLib type system (only for older version)
g_type_init();
#endif
GSocketService *service = g_socket_service_new();
GInetAddress *address = g_inet_address_new_any(G_SOCKET_FAMILY_IPV6); //G_SOCKET_FAMILY_IPV4 could be used
GSocketAddress *socket_address = g_inet_socket_address_new(address, tcp_port);
//Add listener
g_socket_listener_add_address(G_SOCKET_LISTENER(service), socket_address, G_SOCKET_TYPE_STREAM,
G_SOCKET_PROTOCOL_TCP, NULL, NULL, NULL);
g_object_unref(socket_address);
g_object_unref(address);
g_socket_service_start(service);
//Connect listening signal
g_signal_connect(service, "incoming", G_CALLBACK(new_connection), NULL);
//Here comes the ivy bindings
IvyInit ("PPRZ_App_Server", "Papparazzi App Server Ready!", NULL, NULL, NULL, NULL);
IvyBindMsg(Ivy_All_Msgs, NULL, "(^ground (\\S*) (\\S*) .*)");
IvyBindMsg(on_app_server_NEW_AC, NULL, "ground NEW_AIRCRAFT (\\S*)");
IvyBindMsg(on_app_server_GET_CONFIG, NULL, "(\\S*) ground CONFIG (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_app_server_AIRCRAFTS, NULL, "(\\S*) ground AIRCRAFTS (\\S*)");
IvyStart(IvyBus);
GMainLoop *loop = g_main_loop_new(NULL, FALSE);
if (verbose) {
printf("Starting App Server\n");
fflush(stdout);
}
IvySendMsg("app_server");
g_timeout_add(100, request_ac_list, NULL);
g_main_loop_run(loop);
if (verbose) {
printf("Stoping App Server\n");
fflush(stdout);
}
return 0;
}
int main ( int argc, char** argv) {
//chaines de caracteres pour stocker les messages
char bindMsgADC_GENERIC[32];
char bindMsgCAMERA_SNAPSHOT[32];
char bindMsgTOUT[32];
char bindMsgGPS[32];
char bindMsgNAV[32];
char bindMsgATTITUDE[32];
char bindMsgNAVREF[32];
char bindMsgon_Attitude[40];
//int id=1; //id de l'avion a monitorer par défaut, réglé avec GCS
char sid[10]="."; //id de l'avion a monitorer par défaut, réglé avec GCS
printf("usage: c_ivy_client_alarm id\nid is the identifier of the plane, for instance 3 for N3, . for any 1 caracter id(default)\n ");
if (argc>=2)
//sscanf(argv[1],"%d",&id);
sscanf(argv[1],"%s",sid);
printf("binding Ivy frame for id: %s \n",sid);
GMainLoop *ml = g_main_loop_new(NULL, FALSE);
IvyInit ("c_ivy_client_alarm", "c_ivy_client_alarm READY", NULL, NULL, NULL, NULL);
// IvyBindMsg(on_Attitude, NULL,"^(\\S*) ATTITUDE (\\S*) (\\S*) (\\S*)");
/* snprintf(bindMsgon_Attitude,40,"^(\\S*) ATTITUDE (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_Attitude,0,bindMsgon_Attitude);
printf(bindMsgon_Attitude);
printf("\n");
*/
/*
snprintf(bindMsgTOUT,32,"(.*)");
IvyBindMsg(readTOUTIvyBus,0,bindMsgTOUT);
printf(bindMsgTOUT);
printf("\n");
*/
snprintf(bindMsgADC_GENERIC,32,"%s%s%s","(",sid," ADC_GENERIC .*)");
IvyBindMsg(readADC_GENERICIvyBus,0,bindMsgADC_GENERIC);
printf(bindMsgADC_GENERIC);
printf("\n");
snprintf(bindMsgCAMERA_SNAPSHOT,32,"%s%s%s","(",sid," CAMERA_SNAPSHOT .*)");
IvyBindMsg(readCAMERA_SNAPSHOTIvyBus,0,bindMsgCAMERA_SNAPSHOT);
printf(bindMsgCAMERA_SNAPSHOT);
printf("\n");
/*
snprintf(bindMsgGPS,32,"%s%s%s","(",sid," GPS 3.*)");
IvyBindMsg(readGPSIvyBus,0,bindMsgGPS);
printf(bindMsgGPS);
printf("\n");
*/
/*
snprintf(bindMsgGPS,32,"%s","(* GPS 3.*)");
IvyBindMsg(readGPSIvyBus,0,bindMsgGPS);
printf(bindMsgGPS);
printf("\n");
/*
snprintf(bindMsgNAV,32,"%s%s%s","(",sid," NAVIGATION .*)");
IvyBindMsg(readNAVIvyBus,0,bindMsgNAV);
printf(bindMsgNAV);
printf("\n");
snprintf(bindMsgATTITUDE,32,"%s%s%s","(",sid," ATTITUDE .*)");
IvyBindMsg(readATTITUDEIvyBus,0,bindMsgATTITUDE);
printf(bindMsgATTITUDE);
printf("\n");
snprintf(bindMsgNAVREF,32,"%s%s%s","(",sid," NAVIGATION_REF .*)");
IvyBindMsg(readNAVREFIvyBus,0,bindMsgNAVREF);
printf(bindMsgNAVREF);
printf("\n");
*/
//
#ifdef __APPLE__
printf("Mac Os, network submask: 224.255.255.255\n");
IvyStart("224.255.255.255");
#else
printf("NO Mac Os, network submask: 127.255.255\n");
IvyStart("127.255.255.255");
#endif
// IvyStart("127.0.0.1");
g_main_loop_run(ml);
return 0;
}
void nps_ivy_mission_commands_init(void) {
IvyBindMsg(on_DL_MISSION_GOTO_WP, NULL, "^(\\S*) MISSION_GOTO_WP (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_DL_MISSION_GOTO_WP_LLA, NULL, "^(\\S*) MISSION_GOTO_WP_LLA (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_DL_MISSION_CIRCLE, NULL, "^(\\S*) MISSION_CIRCLE (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_DL_MISSION_CIRCLE_LLA, NULL, "^(\\S*) MISSION_CIRCLE_LLA (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_DL_MISSION_SEGMENT, NULL, "^(\\S*) MISSION_SEGMENT (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_DL_MISSION_SEGMENT_LLA, NULL, "^(\\S*) MISSION_SEGMENT_LLA (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_DL_MISSION_PATH, NULL, "^(\\S*) MISSION_PATH (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_DL_MISSION_PATH_LLA, NULL, "^(\\S*) MISSION_PATH_LLA (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
IvyBindMsg(on_DL_GOTO_MISSION, NULL, "^(\\S*) GOTO_MISSION (\\S*) (\\S*)");
IvyBindMsg(on_DL_NEXT_MISSION, NULL, "^(\\S*) NEXT_MISSION (\\S*)");
IvyBindMsg(on_DL_END_MISSION, NULL, "^(\\S*) END_MISSION (\\S*)");
}
int main(int argc, char **argv) {
int i;
// default password
AppPass = defaultAppPass;
// try environment variable first, set to default if failed
IvyBus = getenv("IVYBUS");
if (IvyBus == NULL) IvyBus = defaultIvyBus;
// Look for paparazzi folder (PAPARAZZI_HOME or assume local path by default)
char* PprzFolder = getenv("PAPARAZZI_HOME");
if (PprzFolder == NULL) PprzFolder = defaultPprzFolder;
// Parse options
for (i = 1; i < argc; ++i) {
if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-h") == 0) {
print_help();
exit(0);
}
else if (strcmp(argv[i], "-t") == 0) {
tcp_port = atoi(argv[++i]);
}
else if (strcmp(argv[i], "-u") == 0) {
udp_port = atoi(argv[++i]);
}
else if (strcmp(argv[i], "-b") == 0) {
IvyBus = argv[++i];
}
else if (strcmp(argv[i], "-p") == 0) {
AppPass = argv[++i];
}
else if (strcmp(argv[i], "-v") == 0) {
verbose = 1;
}
else {
printf("App Server: Unknown option\n");
print_help();
exit(0);
}
}
if (verbose) {
printf("### Paparazzi App Server ###\n");
printf("Using Paparazzi Folder : %s\n", PprzFolder);
printf("Server listen port (TCP) : %d\n", tcp_port);
printf("Server broadcast port (UDP) : %d\n", udp_port);
printf("Control Pass : %s\n", AppPass);
printf("Ivy Bus : %s\n", IvyBus);
fflush(stdout);
}
//Parse conf.xml
parse_ac_data(PprzFolder);
//Create tcp listener
#if !GLIB_CHECK_VERSION (2, 35, 1)
// init GLib type system (only for older version)
g_type_init();
#endif
GSocketService *service = g_socket_service_new();
GInetAddress *address = g_inet_address_new_any(G_SOCKET_FAMILY_IPV6); //G_SOCKET_FAMILY_IPV4 could be used
GSocketAddress *socket_address = g_inet_socket_address_new(address, tcp_port);
//Add listener
g_socket_listener_add_address(G_SOCKET_LISTENER(service), socket_address, G_SOCKET_TYPE_STREAM,
G_SOCKET_PROTOCOL_TCP, NULL, NULL, NULL);
g_object_unref(socket_address);
g_object_unref(address);
g_socket_service_start(service);
//Connect listening signal
g_signal_connect(service, "incoming", G_CALLBACK(new_connection), NULL);
//Here comes the ivy bindings
IvyInit ("PPRZ_App_Server", "Papparazzi App Server Ready", NULL, NULL, NULL, NULL);
IvyBindMsg(Ivy_All_Msgs, NULL, "(^ground .*)");
IvyBindMsg(Ivy_All_Msgs, NULL, "(^\\S* AIRSPEED (\\S*) (\\S*) (\\S*) (\\S*))");
IvyStart(IvyBus);
GMainLoop *loop = g_main_loop_new(NULL, FALSE);
if (verbose) {
printf("Starting App Server\n");
fflush(stdout);
}
g_main_loop_run(loop);
if (verbose) {
printf("Stoping App Server\n");
fflush(stdout);
}
return 0;
}
