[units] automatic conversion handles code and display

conf/settings/estimation/infrared.xml

@@ -3,8 +3,8 @@
 <settings>
   <dl_settings>
     <dl_settings NAME="ir">
-      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
+      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" alt_unit="deg"/>
+      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" alt_unit="deg"/>
 
       <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.lateral_correction" shortname="360_lat_corr" module="subsystems/sensors/infrared" param="IR_LATERAL_CORRECTION"/>
       <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>

conf/units.xml

@@ -1,10 +1,10 @@
 <!-- Table of default units convertion -->
 <!-- used to convert from unit to alt_unit (messages) or code_unit (airframe) -->
 <units>
-  <unit from="deg" to="rad" coef="0.0174532925" auto="true"/>
-  <unit from="rad" to="deg" coef="57.2957795131"/>
-  <unit from="deg/s" to="rad/s" coef="0.0174532925" auto="true"/>
-  <unit from="rad/s" to="deg/s" coef="57.2957795131"/>
+  <unit from="deg" to="rad" coef="0.0174532925" auto="code"/>
+  <unit from="rad" to="deg" coef="57.2957795131" auto="display"/>
+  <unit from="deg/s" to="rad/s" coef="0.0174532925" auto="code"/>
+  <unit from="rad/s" to="deg/s" coef="57.2957795131" auto="display"/>
   <unit from="m" to="cm" coef="100."/>
   <unit from="cm" to="m" coef="0.01"/>
   <unit from="m/s" to="cm/s" coef="100."/>

sw/ground_segment/cockpit/saveSettings.ml

@@ -137,11 +137,11 @@ let fill_data = fun (model:GTree.tree_store) settings airframe_xml ->
                 if uc = us then uc
                 else invalid_arg (Printf.sprintf "Warning: code unit in airframe (%s) and setting file (%s) are not matching for param %s\n" uc us param) (* raise Invalid_argument *)
             | Some u, None | None, Some u -> u
-            | None, None -> raise Exit
+            | None, None -> ""
           and unit_airframe =
             match airframe_unit with
             | Some u -> u
-            | None -> raise Exit
+            | None -> ""
           in
           (* Printf.fprintf stderr "param %s: unit_code=%s unit_airframe=%s\n" param unit_code unit_airframe; flush stderr; *)
           Pprz.scale_of_units unit_airframe unit_code

sw/lib/ocaml/pprz.ml

@@ -160,7 +160,7 @@ let payload_size_of_message = fun message ->
 
 exception Unit_conversion_error of string
 exception Unknown_conversion of string * string
-exception No_automatic_conversion of string
+exception No_automatic_conversion of string * string
 
 let scale_of_units = fun from_unit to_unit ->
   if (from_unit = to_unit) then
@@ -173,16 +173,16 @@ let scale_of_units = fun from_unit to_unit ->
           (* will raise Xml.No_attribute if not a valid attribute *)
           let f = Xml.attrib u "from"
           and t = Xml.attrib u "to"
-          and a = String.lowercase (ExtXml.attrib_or_default u "auto" "false") in
-          if f = from_unit && (t = to_unit || a = "true") then true else false
+          and a = String.lowercase (ExtXml.attrib_or_default u "auto" "") in
+          if (f = from_unit || a = "display") && (t = to_unit || a = "code") then true else false
         ) (Xml.children units_xml) in
       (* return coef, raise Failure if coef is not a numerical value *)
       float_of_string (Xml.attrib _unit "coef")
     with Xml.File_not_found _ -> raise (Unit_conversion_error ("Parse error of conf/units.xml"))
       | Xml.No_attribute _ | Xml.Not_element _ -> raise (Unit_conversion_error ("File conf/units.xml has errors"))
       | Failure "float_of_string" -> raise (Unit_conversion_error ("Unit coef is not numerical value"))
       | Not_found ->
-          if to_unit = "" then raise (No_automatic_conversion from_unit)
+          if from_unit = "" || to_unit = "" then raise (No_automatic_conversion (from_unit, to_unit))
           else raise (Unknown_conversion (from_unit, to_unit))
       | _ -> raise (Unknown_conversion (from_unit, to_unit))
 
@@ -193,7 +193,7 @@ let alt_unit_coef_of_xml = function xml ->
     let u = try Xml.attrib xml "unit" with _ -> "" in
     let au = try Xml.attrib xml "alt_unit" with _ -> "" in
     let coef = try string_of_float (scale_of_units u au) with
-      Unit_conversion_error s -> prerr_endline (sprintf "Unit conversion error: %s" s); flush stderr; exit 1
+      Unit_conversion_error s -> prerr_endline (sprintf "Unit conversion error: %s" s); flush stderr; "1." (* Use coef 1. *)
     | Unknown_conversion _ -> "1." (* Use coef 1. *)
     | _ -> "1."
     in

sw/lib/ocaml/pprz.mli

@@ -90,9 +90,9 @@ exception Unit_conversion_error of string
 (** Unit_conversion_error raised when parsing error occurs *)
 exception Unknown_conversion of string * string
 (** Unknown_conversion raised when conversion fails *)
-exception No_automatic_conversion of string
+exception No_automatic_conversion of string * string
 (** No_automatic_conversion raised when no conversion found
- *  and to_unit is an empty string
+ *  and from_unit or to_unit are empty string
  *)
 
 val scale_of_units : string -> string -> float