[pprzlink] allow to compile paparazzi with PPRZLINK v2

To activate, build project with correct option:
 PPRZLINK_LIB_VERSION=2.0 make
(note that 'make clean' is usualy required before that)

Makefile

@@ -78,6 +78,11 @@ LOGALIZER=sw/logalizer
 
 SUBDIRS = $(PPRZCENTER) $(MISC) $(LOGALIZER) sw/tools
 
+#
+# Communication protocol version
+#
+PPRZLINK_LIB_VERSION ?= 1.0
+
 #
 # xml files used as input for header generation
 #
@@ -91,7 +96,7 @@ XSENS_XML = $(CONF)/xsens_MTi-G.xml
 # generated header files
 #
 PPRZLINK_DIR=sw/ext/pprzlink
-PPRZLINK_INSTALL=$(PAPARAZZI_HOME)/var/lib/ocaml
+PPRZLINK_INSTALL=$(PAPARAZZI_HOME)/var/lib
 MESSAGES_INSTALL=$(PAPARAZZI_HOME)/var
 UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
 MTK_PROTOCOL_H=$(STATICINCLUDE)/mtk_protocol.h
@@ -137,7 +142,7 @@ static: cockpit tmtc generators sim_static joystick static_h
 
 libpprzlink:
 	$(MAKE) -C $(EXT) pprzlink.update
-	$(Q)Q=$(Q) DESTDIR=$(PPRZLINK_INSTALL) $(MAKE) -C $(PPRZLINK_DIR) libpprzlink-install
+	$(Q)Q=$(Q) DESTDIR=$(PPRZLINK_INSTALL) PPRZLINK_LIB_VERSION=${PPRZLINK_LIB_VERSION} $(MAKE) -C $(PPRZLINK_DIR) libpprzlink-install
 
 libpprz: libpprzlink _save_build_version
 	$(MAKE) -C $(LIB)/ocaml
@@ -191,10 +196,10 @@ pprzlink_protocol :
 	$(Q)test -d $(STATICLIB) || mkdir -p $(STATICLIB)
 ifeq ("$(wildcard $(CUSTOM_MESSAGES_XML))","")
 	@echo GENERATE $@ with default messages
-	$(Q)Q=$(Q) MESSAGES_INSTALL=$(MESSAGES_INSTALL) VALIDATE_XML=FALSE $(MAKE) -C $(PPRZLINK_DIR) pymessages
+	$(Q)Q=$(Q) MESSAGES_INSTALL=$(MESSAGES_INSTALL) VALIDATE_XML=FALSE PPRZLINK_LIB_VERSION=${PPRZLINK_LIB_VERSION} $(MAKE) -C $(PPRZLINK_DIR) pymessages
 else
 	@echo GENERATE $@ with custome messages from $(CUSTOM_MESSAGES_XML)
-	$(Q)Q=$(Q) MESSAGES_XML=$(CUSTOM_MESSAGES_XML) MESSAGES_INSTALL=$(MESSAGES_INSTALL) $(MAKE) -C $(PPRZLINK_DIR) pymessages
+	$(Q)Q=$(Q) MESSAGES_XML=$(CUSTOM_MESSAGES_XML) MESSAGES_INSTALL=$(MESSAGES_INSTALL) PPRZLINK_LIB_VERSION=${PPRZLINK_LIB_VERSION} $(MAKE) -C $(PPRZLINK_DIR) pymessages
 endif
 
 

sw/airborne/subsystems/datalink/datalink.c

@@ -66,81 +66,121 @@ void dl_parse_msg(struct link_device *dev, struct transport_tx *trans, uint8_t *
       }
     }
   } else {
-    /* parse telemetry messages coming from ground station */
-    switch (msg_id) {
-      case  DL_PING: {
-        pprz_msg_send_PONG(trans, dev, AC_ID);
-      }
-      break;
-
-      case DL_SETTING : {
-        if (DL_SETTING_ac_id(buf) != AC_ID) { break; }
-        uint8_t i = DL_SETTING_index(buf);
-        float var = DL_SETTING_value(buf);
-        DlSetting(i, var);
-        pprz_msg_send_DL_VALUE(trans, dev, AC_ID, &i, &var);
-      }
-      break;
+#if PPRZLINK_DEFAULT_VER == 2
+    // Check that the message is really a datalink message
+    if (pprzlink_get_msg_class_id(buf) == DL_datalink_CLASS_ID) {
+#endif
+      /* parse datalink messages coming from ground station */
+      switch (msg_id) {
+        case  DL_PING: {
+#if PPRZLINK_DEFAULT_VER == 2
+          // Reply to the sender of the message
+          struct pprzlink_msg msg;
+          msg.trans = trans;
+          msg.dev = dev;
+          msg.sender_id = AC_ID;
+          msg.receiver_id = sender_id;
+          msg.component_id = 0;
+          pprzlink_msg_send_PONG(&msg);
+#else
+          pprz_msg_send_PONG(trans, dev, AC_ID);
+#endif
+        }
+        break;
 
-      case DL_GET_SETTING : {
-        if (DL_GET_SETTING_ac_id(buf) != AC_ID) { break; }
-        uint8_t i = DL_GET_SETTING_index(buf);
-        float val = settings_get_value(i);
-        pprz_msg_send_DL_VALUE(trans, dev, AC_ID, &i, &val);
-      }
-      break;
+        case DL_SETTING : {
+          if (DL_SETTING_ac_id(buf) != AC_ID) { break; }
+          uint8_t i = DL_SETTING_index(buf);
+          float var = DL_SETTING_value(buf);
+          DlSetting(i, var);
+#if PPRZLINK_DEFAULT_VER == 2
+          // Reply to the sender of the message
+          struct pprzlink_msg msg;
+          msg.trans = trans;
+          msg.dev = dev;
+          msg.sender_id = AC_ID;
+          msg.receiver_id = sender_id;
+          msg.component_id = 0;
+          pprzlink_msg_send_DL_VALUE(&msg, &i, &var);
+#else
+          pprz_msg_send_DL_VALUE(trans, dev, AC_ID, &i, &var);
+#endif
+        }
+        break;
 
-#ifdef RADIO_CONTROL_TYPE_DATALINK
-      case DL_RC_3CH :
-#ifdef RADIO_CONTROL_DATALINK_LED
-        LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
+        case DL_GET_SETTING : {
+          if (DL_GET_SETTING_ac_id(buf) != AC_ID) { break; }
+          uint8_t i = DL_GET_SETTING_index(buf);
+          float val = settings_get_value(i);
+#if PPRZLINK_DEFAULT_VER == 2
+          // Reply to the sender of the message
+          struct pprzlink_msg msg;
+          msg.trans = trans;
+          msg.dev = dev;
+          msg.sender_id = AC_ID;
+          msg.receiver_id = sender_id;
+          msg.component_id = 0;
+          pprzlink_msg_send_DL_VALUE(&msg, &i, &val);
+#else
+          pprz_msg_send_DL_VALUE(trans, dev, AC_ID, &i, &val);
 #endif
-        parse_rc_3ch_datalink(
-          DL_RC_3CH_throttle_mode(buf),
-          DL_RC_3CH_roll(buf),
-          DL_RC_3CH_pitch(buf));
+        }
         break;
-      case DL_RC_4CH :
-        if (DL_RC_4CH_ac_id(buf) == AC_ID) {
+
+#ifdef RADIO_CONTROL_TYPE_DATALINK
+        case DL_RC_3CH :
 #ifdef RADIO_CONTROL_DATALINK_LED
           LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
 #endif
-          parse_rc_4ch_datalink(DL_RC_4CH_mode(buf),
-                                DL_RC_4CH_throttle(buf),
-                                DL_RC_4CH_roll(buf),
-                                DL_RC_4CH_pitch(buf),
-                                DL_RC_4CH_yaw(buf));
-        }
-        break;
+          parse_rc_3ch_datalink(
+            DL_RC_3CH_throttle_mode(buf),
+            DL_RC_3CH_roll(buf),
+            DL_RC_3CH_pitch(buf));
+          break;
+        case DL_RC_4CH :
+          if (DL_RC_4CH_ac_id(buf) == AC_ID) {
+#ifdef RADIO_CONTROL_DATALINK_LED
+            LED_TOGGLE(RADIO_CONTROL_DATALINK_LED);
+#endif
+            parse_rc_4ch_datalink(DL_RC_4CH_mode(buf),
+                                  DL_RC_4CH_throttle(buf),
+                                  DL_RC_4CH_roll(buf),
+                                  DL_RC_4CH_pitch(buf),
+                                  DL_RC_4CH_yaw(buf));
+          }
+          break;
 #endif // RADIO_CONTROL_TYPE_DATALINK
 
 #if USE_GPS
-      case DL_GPS_INJECT : {
-        // Check if the GPS is for this AC
-        if (DL_GPS_INJECT_ac_id(buf) != AC_ID) { break; }
-
-        // GPS parse data
-        gps_inject_data(
-          DL_GPS_INJECT_packet_id(buf),
-          DL_GPS_INJECT_data_length(buf),
-          DL_GPS_INJECT_data(buf)
-        );
-      }
-      break;
+        case DL_GPS_INJECT : {
+          // Check if the GPS is for this AC
+          if (DL_GPS_INJECT_ac_id(buf) != AC_ID) { break; }
+
+          // GPS parse data
+          gps_inject_data(
+            DL_GPS_INJECT_packet_id(buf),
+            DL_GPS_INJECT_data_length(buf),
+            DL_GPS_INJECT_data(buf)
+          );
+        }
+        break;
 #if USE_GPS_UBX_RTCM
-      case DL_RTCM_INJECT : {
-        // GPS parse data
-        gps_inject_data(DL_RTCM_INJECT_packet_id(buf),
-                        DL_RTCM_INJECT_data_length(buf),
-                        DL_RTCM_INJECT_data(buf));
-      }
-      break;
+        case DL_RTCM_INJECT : {
+          // GPS parse data
+          gps_inject_data(DL_RTCM_INJECT_packet_id(buf),
+                          DL_RTCM_INJECT_data_length(buf),
+                          DL_RTCM_INJECT_data(buf));
+        }
+        break;
 #endif  // USE_GPS_UBX_RTCM
 #endif  // USE_GPS
 
-      default:
-        break;
+        default:
+          break;
+      }
+#if PPRZLINK_DEFAULT_VER == 2
     }
+#endif
   }
   /* Parse firmware specific datalink */
   firmware_parse_msg(dev, trans, buf);

sw/airborne/subsystems/datalink/datalink.h

@@ -36,10 +36,6 @@
 #include "std.h"
 #include "pprzlink/dl_protocol.h"
 
-/* Message id helpers */
-#define SenderIdOfPprzMsg(x) (x[0])
-#define IdOfPprzMsg(x) (x[1])
-
 /** Datalink kinds */
 #define PPRZ 1
 #define XBEE 2