[ocaml][messages] use quotes for char arrays

- char[] are now treated as 'real' strings
- no more delimiters for other arrays (where space characters should not
  appear)
- INFO_MSG are printed in the GCS console

conf/messages.xml

@@ -1923,10 +1923,14 @@
     <field name="wn"          type="float"/>
   </message>
 
- <!--215 is free -->
- <!--216 is free -->
- <!--217 is free -->
- <!--218 is free -->
+  <message name="INFO_MSG" id="215">
+    <field name="msg" type="char[]"/>
+  </message>
+
+  <!--216 is free -->
+  <!--217 is free -->
+  <!--218 is free -->
+
   <message name="WEATHER" id="219">
     <field name="p_amb" type="float" unit="Pa" alt_unit="mBar" alt_unit_coef="0.01"/>
     <field name="t_amb" type="float" unit="deg C"/>

sw/airborne/subsystems/datalink/ivy_transport.c

@@ -41,9 +41,9 @@ static void put_bytes(struct ivy_transport *trans, struct link_device *dev __att
 {
   const uint8_t *b = (const uint8_t *) bytes;
 
-  // Start delimiter for arrays
-  if (format == DL_FORMAT_ARRAY) {
-    trans->ivy_p += sprintf(trans->ivy_p, "|");
+  // Start delimiter "quote" for char arrays (strings)
+  if (format == DL_FORMAT_ARRAY && type == DL_TYPE_CHAR) {
+    trans->ivy_p += sprintf(trans->ivy_p, "\"");
   }
 
   int i = 0;
@@ -109,17 +109,24 @@ static void put_bytes(struct ivy_transport *trans, struct link_device *dev __att
         i++;
         break;
     }
-    // Coma delimiter for array, space otherwise
+    // Coma delimiter for array, no delimiter for char array (string), space otherwise
     if (format == DL_FORMAT_ARRAY) {
-      trans->ivy_p += sprintf(trans->ivy_p, ",");
+      if (type != DL_TYPE_CHAR) {
+        trans->ivy_p += sprintf(trans->ivy_p, ",");
+      }
     } else {
       trans->ivy_p += sprintf(trans->ivy_p, " ");
     }
   }
 
-  // End delimiter for arrays
+  // space end delimiter for arrays, additionally un-quote char arrays (strings)
   if (format == DL_FORMAT_ARRAY) {
-    trans->ivy_p += sprintf(trans->ivy_p, "| ");
+    if (type == DL_TYPE_CHAR) {
+      trans->ivy_p += sprintf(trans->ivy_p, "\" ");
+    }
+    else {
+      trans->ivy_p += sprintf(trans->ivy_p, " ");
+    }
   }
 }
 

sw/ground_segment/cockpit/live.ml

@@ -1382,6 +1382,13 @@ let listen_error = fun a ->
     log_and_say a "gcs" msg in
   safe_bind "TELEMETRY_ERROR" get_error
 
+let listen_info_msg = fun a ->
+  let get_msg = fun a _sender vs ->
+    let ac = find_ac _sender in
+    let msg_array = Pprz.assoc "msg" vs in
+    log_and_say a ac.ac_name (Pprz.string_of_value msg_array) in
+  tele_bind "INFO_MSG" (get_msg a)
+
 let listen_tcas = fun a ->
   let get_alarm_tcas = fun a txt _sender vs ->
     let ac = find_ac _sender in
@@ -1419,6 +1426,7 @@ let listen_acs_and_msgs = fun geomap ac_notebook my_alert auto_center_new_ac alt
   listen_telemetry_status ();
   listen_alert my_alert;
   listen_error my_alert;
+  listen_info_msg my_alert;
   listen_tcas my_alert;
   listen_dcshot geomap;
 

sw/ground_segment/tmtc/server.ml

@@ -201,7 +201,7 @@ let send_dl_values = fun a ->
     for i = 0 to a.nb_dl_setting_values - 1 do
       csv := sprintf "%s%f," !csv a.dl_setting_values.(i)
     done;
-    let vs = ["ac_id", Pprz.String a.id; "values", Pprz.String ("|"^ !csv ^"|")] in
+    let vs = ["ac_id", Pprz.String a.id; "values", Pprz.String !csv] in
     Ground_Pprz.message_send my_id "DL_VALUES" vs
 
 let send_svsinfo = fun a ->
@@ -223,7 +223,7 @@ let send_svsinfo = fun a ->
     concat azim a.svinfo.(i).azim;
     concat age a.svinfo.(i).age
   done;
-  let f = fun s r -> (s, Pprz.String ("|"^ !r ^"|")) in
+  let f = fun s r -> (s, Pprz.String !r) in
   let vs = ["ac_id", Pprz.String a.id;
             "pacc", Pprz.Int a.gps_Pacc;
             f "svid" svid; f "flags" flags; f "qi" qi;  f "msg_age" age;

sw/lib/ocaml/pprz.ml

@@ -146,7 +146,7 @@ let rec value = fun t v ->
     | Scalar "uint32" -> Int64 (Int64.of_string v)
     | Scalar ("uint64" | "int64") -> Int64 (Int64.of_string v)
     | Scalar ("float" | "double") -> Float (float_of_string v)
-    | Scalar "string" -> String v
+    | ArrayType "char" | FixedArrayType ("char", _) | Scalar "string" -> String v
     | Scalar "char" -> Char v.[0]
     | ArrayType t' ->
         Array (Array.map (value (Scalar t')) (Array.of_list (split_array v)))
@@ -162,7 +162,11 @@ let rec string_of_value = function
   | Int64 x -> Int64.to_string x
   | Char c -> String.make 1 c
   | String s -> s
-  | Array a -> "|"^(String.concat separator (Array.to_list (Array.map string_of_value a)))^"|"
+  | Array a ->
+      let l = (Array.to_list (Array.map string_of_value a)) in
+      match a.(0) with
+      | Char _ -> "\""^(String.concat "" l)^"\""
+      | _ -> String.concat separator l
 
 
 let magic = fun x -> (Obj.magic x:('a,'b,'c) Pervasives.format)
@@ -182,7 +186,11 @@ let rec formatted_string_of_value = fun format v ->
     | Int64 x -> sprintf (magic format) x
     | Char x -> sprintf (magic format) x
     | String x -> sprintf (magic format) x
-    | Array a -> "|"^(String.concat separator (Array.to_list (Array.map (formatted_string_of_value format) a)))^"|"
+    | Array a ->
+        let l = (Array.to_list (Array.map (formatted_string_of_value format) a)) in
+        match a.(0) with
+        | Char _ -> "\""^(String.concat "" l)^"\""
+        | _ -> String.concat separator l
 
 
 let sizeof = fun f ->
@@ -681,15 +689,15 @@ module MessagesOfXml(Class:CLASS_Xml) = struct
 
 
   let space = Str.regexp "[ \t]+"
-  let array_sep = Str.regexp "|"
+  let array_sep = Str.regexp "\""
   let values_of_string = fun s ->
     (* split arguments and arrays *)
     let array_split = Str.full_split array_sep s in
     let rec loop = fun fields ->
       match fields with
       | [] -> []
-      | (Str.Delim "|")::((Str.Text l)::[Str.Delim "|"]) -> [l]
-      | (Str.Delim "|")::((Str.Text l)::((Str.Delim "|")::xs)) -> [l] @ (loop xs)
+      | (Str.Delim "\"")::((Str.Text l)::[Str.Delim "\""]) -> [l]
+      | (Str.Delim "\"")::((Str.Text l)::((Str.Delim "\"")::xs)) -> [l] @ (loop xs)
       | [Str.Text x] -> Str.split space x
       | (Str.Text x)::xs -> (Str.split space x) @ (loop xs)
       | (Str.Delim _)::_ -> failwith "Pprz.values_of_string: incorrect array delimiter"