Ivy

Ivy is a text-based software bus featuring regular expression based message subscription and is used as the Paparazzi project's components' principal communication cord. Including the libivy headers and library and using a predefined set of messages it is possible for any software component to take part in communication in a Paparazzi biotope. The protocol itself is independent of the Paparazzi project and can be obtained along with examples and documentation from http://www.tls.cena.fr/products/ivy/ .

Ivy is used in Paparazzi as a bus to link the different programs of the ground network. See Overview#System_Architecture. Also see DevGuide/Server_GCS_com for some more details.

Tools

ivyprobe

ivyprobe is a nice debug tool that lets you display messages sent on the Ivy bus as specified by a regex.

Run it with the -h option to display the help:

$ ivyprobe -h

E.g. to simply display all messages:

$ ivyprobe '(.*)'