request&answer on Ivy mechanisms

conf/messages.xml

@@ -257,17 +257,18 @@
   </message>
 
   <message name="CONFIG_REQ" ID="0x07">
-    <field name="aircraft_id" type="string"/>
+    <field name="ac_id" type="string"/>
   </message>
 
   <message name="CONFIG" ID="0x08">
-    <field name="aircraft_id" type="string"/>
+    <field name="ac_id" type="string"/>
     <field name="flight_plan" type="string" unit="url"/>
     <field name="airframe" type="string" unit="url"/>
     <field name="radio" type="string" unit="url"/>
   </message>
 
   <message name="FLIGHT_PARAM" ID="0x04">
+    <field name="ac_id" type="string"/>
     <field name="roll"    type="float" unit="deg"/>
     <field name="pitch"   type="float" unit="deg"/>
     <field name="east"    type="float" unit="m"/>
@@ -279,6 +280,7 @@
   </message>
 
   <message name="AP_STATUS" ID="0x05">
+    <field name="ac_id" type="string"/>
     <field name="mode"   type="uint8" values="MANUAL|AUTO1|AUTO2|HOME"/>
     <field name="h_mode" type="uint8" values="NONE|ROLLDOT|ROLL|HEADING_DOT|HEADING|WP|ROUTE|CIRCLE"/>
     <field name="v_mode" type="uint8" values="NONE|CLIMB|ALT|GLIDE|PARABOLIC"/>
@@ -288,6 +290,7 @@
   </message>
 
   <message name="NAV_STATUS" ID="0x06">
+    <field name="ac_id" type="string"/>
     <field name="cur_block"   type="uint8"/>
     <field name="cur_stage"   type="uint8"/>
     <field name="flight_time" type="uint32"/>
@@ -298,6 +301,7 @@
   </message>
 
   <message name="ENGINE_STATUS" ID="0x07">
+    <field name="ac_id" type="string"/>
     <field name="throttle" type="float" unit="%"/>
     <field name="rpm"      type="float" unit="rpm"/>
     <field name="temp"     type="float" unit="celcius"/>

sw/ground_segment/cockpit/Makefile

@@ -1,4 +1,4 @@
-OCAMLC=ocamlc -g
+OCAMLC=ocamlc
 OCAMLOPT=ocamlopt
 INCLUDES=-I +lablgtk2 -I +camlimages -I ../../lib/ocaml
 LIBS=glibivy-ocaml.cma lablgtk.cma ci_core.cma ci_png.cma ci_gif.cma ci_jpeg.cma ci_tiff.cma ci_bmp.cma ci_ppm.cma ci_ps.cma lib-pprz.cma lablgnomecanvas.cma xlib-pprz.cma
@@ -9,7 +9,7 @@ all : map2d
 
 
 map2d : map2d.ml
-	$(OCAMLC) -custom $(INCLUDES) $(LIBS) gtkInit.cmo $(CMO) -o /dev/null #to Check
+	$(OCAMLC) -custom $(INCLUDES) $(LIBS) gtkInit.cmo $< -o /dev/null #to Check
 	cat ../../../pprz_src_test.sh > $@
 	echo 'lablgtk2 str.cma unix.cma xml-light.cma -I +camlimages glibivy-ocaml.cma ci_core.cma ci_png.cma ci_gif.cma ci_jpeg.cma ci_tiff.cma ci_bmp.cma ci_ppm.cma ci_ps.cma -I $$PAPARAZZI_SRC/sw/lib/ocaml lib-pprz.cma xlib-pprz.cma $$PAPARAZZI_SRC/sw/ground_segment/cockpit/$< $$*' >> $@
 	chmod a+x $@

sw/ground_segment/cockpit/map2d.ml

@@ -1,5 +1,32 @@
+(*
+ * $Id$
+ *
+ * Multi aircrafts map display
+ *  
+ * Copyright (C) 2004 CENA/ENAC, Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ *)
+
 open Printf
 open Latlong
+module Ground_Pprz = Pprz.Protocol(struct let name = "ground" end)
 
 type color = string
 
@@ -72,8 +99,11 @@ let file_of_url = fun url ->
     String.sub url 7 (String.length url - 7)
   else
     let tmp_file = Filename.temp_file "fp" ".xml" in
-    Sys.command (sprintf "wget -O %s %s" tmp_file url);
-    tmp_file
+    let c = sprintf "wget -O %s %s" tmp_file url in
+    if Sys.command c = 0 then
+      tmp_file
+    else
+      failwith c
 
 let load_mission = fun color geomap url ->
   let file = file_of_url url in
@@ -132,24 +162,12 @@ let new_color =
     | [] -> failwith "new_color"
 
 
-let ivy_request = fun s f ->
-  let b = ref (Obj.magic ()) in
-  let cb = fun response ->
-    Ivy.unbind !b;
-    f response in
-  let id = sprintf "%s_%d" (Filename.basename Sys.argv.(1)) (Unix.getpid ()) in
-  b := Ivy.bind (fun _ args -> cb args.(0)) (sprintf "response %s (.*)" id);
-  Ivy.send (sprintf "request %s %s" id s)
-
-
 let ask_fp = fun geomap ac ->
-  let b = ref (Obj.magic ()) in
-  let load_fp = fun file ->
-    Ivy.unbind !b;
+  let get_config = fun _sender values ->
+    let file = Pprz.string_assoc "flight_plan" values in
     let ac = Hashtbl.find live_aircrafts ac in
     ac.fp_group <- Some (load_mission ac.color  geomap file) in
-  b := Ivy.bind (fun _ args -> load_fp args.(0)) (sprintf "ground FLIGHT_PLAN %s (.*)" ac);
-  Ivy.send (sprintf "ask FLIGHT_PLAN %s" ac)
+  Ground_Pprz.message_req "map2d" "CONFIG" ["ac_id", Pprz.String ac] get_config
 
 
 let show_mission = fun geomap ac on_off ->
@@ -171,6 +189,8 @@ let resize_track = fun ac track ->
 
 
 let live_aircrafts_msg = fun (geomap:MapCanvas.widget) acs ->
+  let acs = Pprz.string_assoc "ac_list" acs in
+  let acs = Str.split list_separator acs in
   List.iter
     (fun ac ->
       if not (Hashtbl.mem live_aircrafts ac) then begin
@@ -180,21 +200,33 @@ let live_aircrafts_msg = fun (geomap:MapCanvas.widget) acs ->
 	ignore (fp#connect#toggled (fun () -> show_mission geomap ac fp#active));
 	let color = new_color () in
 	let track = new MapTrack.track ~name:ac ~color:color geomap in
-	ignore (ac_menu_fact#add_item "Clear Track" ~callback:(fun () -> track#clear)) ;
-	ignore (ac_menu_fact#add_item "Resize Track" ~callback:(fun () -> resize_track ac track)) ;
-	let b =
-	  Ivy.bind
-	    (fun _ args -> aircraft_pos_msg track (fos args.(0)) (fos args.(1))(fos args.(2))) 
-	    (sprintf "%s +FLIGHT_PARAM +[^ ]* +[^ ]* +([0-9\\.]*) +([0-9\\.]*) +[0-9\\.]* +([0-9\\.]*)" ac)  in
-	let b =
-	  Ivy.bind
-	    (fun _ args -> carrot_pos_msg track (fos args.(0)) (fos args.(1))) 
-	    (sprintf "%s +NAV_STATUS +[^ ]* +[^ ]* +[^ ]* +[^ ]* +[^ ]* +([\\-0-9\\.]*) +([\\-0-9\\.]*)" ac)  in
+	ignore (ac_menu_fact#add_item "Clear Track" ~callback:(fun () -> track#clear));
+	ignore (ac_menu_fact#add_item "Resize Track" ~callback:(fun () -> resize_track ac track));
 	Hashtbl.add live_aircrafts ac { track = track; color = color; fp_group = None }
-      end
-    )
+      end)
     acs
-  
+
+
+let listen_flight_params = fun () ->
+  let get_fp = fun _sender vs ->
+    let ac_id = Pprz.string_assoc "ac_id" vs in
+    try
+      let ac = Hashtbl.find live_aircrafts ac_id in
+      let a = fun s -> Pprz.float_assoc s vs in
+      aircraft_pos_msg ac.track (a "east") (a "north") (a "heading")
+    with Not_found -> ()
+  in
+  ignore (Ground_Pprz.message_bind "FLIGHT_PARAM" get_fp);
+
+  let get_ns = fun _sender vs ->
+    let ac_id = Pprz.string_assoc "ac_id" vs in
+    try
+      let ac = Hashtbl.find live_aircrafts ac_id in
+      let a = fun s -> Pprz.float_assoc s vs in
+      carrot_pos_msg ac.track (a "target_east") (a "target_north") 
+    with Not_found -> ()
+  in
+  ignore (Ground_Pprz.message_bind "NAV_STATUS" get_ns)
 
 let _ =
   let ivy_bus = ref "127.255.255.255:2010"
@@ -229,7 +261,9 @@ let _ =
     load_map geomap xml_map_file
   end;
 
-  Ivy.bind (fun _ args -> live_aircrafts_msg geomap (Str.split list_separator args.(0))) "ground +AIRCRAFTS +(.*)";
+  ignore (Ground_Pprz.message_bind "AIRCRAFTS" (fun _sender vs -> live_aircrafts_msg geomap vs));
+
+  listen_flight_params ();
 
   window#add_accel_group accel_group;
   window#show ();

sw/ground_segment/tmtc/receive.ml

@@ -24,15 +24,15 @@
  *
  *)
 
+let my_id = "ground"
+
 open Printf
 module U = Unix
 
 module Tele_Class = struct let name = "telemetry_ap" end
-module Tc_Class = struct let name = "non" end
-module AcInfo = struct let name = "aircraft_info" end
+module Ground = struct let name = "ground" end
 module Tele_Pprz = Pprz.Protocol(Tele_Class)
-module Tc_Pprz = Pprz.Protocol(Tc_Class)
-module AcInfo_Pprz = Pprz.Protocol(AcInfo)
+module Ground_Pprz = Pprz.Protocol(Ground)
 
 let (//) = Filename.concat
 let logs_path = Env.paparazzi_home // "var" // "logs"
@@ -76,11 +76,10 @@ let aircrafts = Hashtbl.create 3
 let aircrafts_msg_period = 5000 (* ms *)
 let aircraft_msg_period = 1000 (* ms *)
 let traffic_info_period = 2000 (* ms *)
-let send_aircrafts_msg = fun () ->
-  let t = U.gettimeofday () in
-  let names = String.concat "," (Hashtbl.fold (fun k v r -> k::r) aircrafts [])  in
-  Ivy.send (sprintf "ground AIRCRAFTS %s" names)
-(*  Ivy.send (sprintf "YOUOPIIIII") *)
+let send_aircrafts_msg = fun _asker _values ->
+  assert(_values = []);
+  let names = String.concat "," (Hashtbl.fold (fun k v r -> k::r) aircrafts []) ^ "," in
+  ["ac_list", Pprz.String names]
 
 (* Opens the log file *)
 (* FIXME : shoud open also an associated config file *)
@@ -164,7 +163,8 @@ let send_aircraft_msg = fun ac ->
     let sof = fun f -> sprintf "%.1f" f in
     let a = Hashtbl.find aircrafts ac in
     let f = fun x -> Pprz.Float x in
-    let values = ["roll", f (Geometry_2d.rad2deg a.roll);
+    let values = ["ac_id", Pprz.String ac;
+		  "roll", f (Geometry_2d.rad2deg a.roll);
 		  "pitch", f (Geometry_2d.rad2deg a.pitch);
 		  "east", f a.east;
 		  "north", f a.north;
@@ -172,46 +172,25 @@ let send_aircraft_msg = fun ac ->
 		  "heading", f (Geometry_2d.rad2deg a.course);
 		  "alt", f a.alt;
 		  "climb", f a.climb] in
-    let _, fp_msg = AcInfo_Pprz.message_of_name "FLIGHT_PARAM" in
-    Ivy.send (sprintf "%s %s" ac (AcInfo_Pprz.string_of_message fp_msg values));
+    Ground_Pprz.message_send my_id "FLIGHT_PARAM" values;
 
-    let values = ["cur_block", Pprz.Int a.cur_block;"cur_stage", Pprz.Int a.cur_stage; "target_east", f (a.nav_ref_east+.a.desired_east); "target_north", f (a.nav_ref_north+.a.desired_north)]
-    and _, ns_msg =  AcInfo_Pprz.message_of_name "NAV_STATUS" in
-    Ivy.send (sprintf "%s %s" ac (AcInfo_Pprz.string_of_message ns_msg values));
+    let values = ["ac_id", Pprz.String ac; "cur_block", Pprz.Int a.cur_block;"cur_stage", Pprz.Int a.cur_stage; "target_east", f (a.nav_ref_east+.a.desired_east); "target_north", f (a.nav_ref_north+.a.desired_north)] in
+    Ground_Pprz.message_send my_id "NAV_STATUS" values;
 
-    let values = ["throttle", f a.throttle;"rpm", f a.rpm;"temp", f a.temp;"bat", f a.bat;"amp", f a.amp;"energy", f a.energy]
-    and _, es_msg = AcInfo_Pprz.message_of_name "ENGINE_STATUS" in
-    Ivy.send (sprintf "%s %s" ac (AcInfo_Pprz.string_of_message es_msg values));
+    let values = ["ac_id", Pprz.String ac; "throttle", f a.throttle;"rpm", f a.rpm;"temp", f a.temp;"bat", f a.bat;"amp", f a.amp;"energy", f a.energy] in
+    Ground_Pprz.message_send my_id "ENGINE_STATUS" values;
 
-    let values = ["mode", Pprz.Int a.ap_mode; "v_mode", Pprz.Int a.ap_altitude]
-    and _, as_msg =  AcInfo_Pprz.message_of_name "AP_STATUS" in
-    Ivy.send (sprintf "%s %s" ac (AcInfo_Pprz.string_of_message as_msg values))
+    let values = ["ac_id", Pprz.String ac; "mode", Pprz.Int a.ap_mode; "v_mode", Pprz.Int a.ap_altitude] in
+    Ground_Pprz.message_send my_id "AP_STATUS" values 
   with
     Not_found -> prerr_endline ac
-
-let send_traffic_info = fun ac ->
-  (* TODO: should send up on the datalink *)
-  (* Sending on the Ivy bus for the simulators *)
-  let a = Hashtbl.find aircrafts ac in
-  let f = fun x -> Pprz.Float x in
-  let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "ac_id" = ac) in
-  let values = ["ac_id", Pprz.Int (int_of_string (ExtXml.attrib conf "ac_id"));
-                "east", f a.east;
-		"north", f a.north;
-		"speed", f a.gspeed;
-		"heading", f (Geometry_2d.rad2deg a.course);
-		"alt", f a.alt;
-		"climb", f a.climb] in
-  let _, fp_msg = Tc_Pprz.message_of_name "TRAFFIC_INFO" in
-  Ivy.send (sprintf "%s %s" ac (Tc_Pprz.string_of_message fp_msg values))
       
 let new_aircraft = fun id ->
     { port = id ; roll = 0.; pitch = 0.; east = 0.; north = 0.; nav_ref_east = 0.; nav_ref_north = 0.; desired_east = 0.; desired_north = 0.; gspeed=0.; course = 0.; alt=0.; climb=0.; cur_block=0; cur_stage=0; throttle = 0.; rpm = 0.; temp = 0.; bat = 0.; amp = 0.; energy = 0.; ap_mode=0; ap_altitude=0; if_calib_mode=0; mcu1_status=0; lls_calib=0 }
     
 let register_aircraft = fun name a ->
   Hashtbl.add aircrafts name a;
-  ignore (Glib.Timeout.add aircraft_msg_period (fun () -> send_aircraft_msg name; true));
-  ignore (Glib.Timeout.add traffic_info_period (fun () -> send_traffic_info name; true))
+  ignore (Glib.Timeout.add aircraft_msg_period (fun () -> send_aircraft_msg name; true))
 
 
 (** Identifying message from a A/C *)
@@ -220,41 +199,37 @@ let ident_msg = fun log id name ->
     let ac = new_aircraft id in
     let b = Ivy.bind (fun _ args -> ac_msg log name ac args.(0)) (sprintf "^%s +(.*)" id) in
     register_aircraft name ac;
-    send_aircrafts_msg ()
+    Ground_Pprz.message_send my_id "NEW_AIRCRAFT" ["ac_id", Pprz.String id]
   end
 
 (* Waits for new aircrafts *)
 let listen_acs = fun log ->
   ignore (Ivy.bind (fun _ args -> ident_msg log args.(0) args.(1)) "^(.*) IDENT +(.*)")
 
-(* Server on the Ivy bus *)
-let send_flight_plan = fun id ->
-  try
-    let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "ac_id" = id) in
-    let f = ExtXml.attrib conf "flight_plan" in
-    Ivy.send (sprintf "ground FLIGHT_PLAN %s file://%s/conf/%s" id Env.paparazzi_home f)
-  with
-    Not_found ->
-      Ivy.send (sprintf "ground UNKNOWN %s" id)
-
-let send_config = fun id_ac id_req ->
-  try
-    prerr_endline (sprintf "[%s] [%s]\n" id_ac id_req);
-    let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "ac_id" = id_ac) in
-    let fp = sprintf "%s/conf/%s" Env.paparazzi_home (ExtXml.attrib conf "flight_plan") and
-	af = sprintf "%s/conf/%s" Env.paparazzi_home (ExtXml.attrib conf "airframe") and
-	rc = sprintf "%s/conf/%s" Env.paparazzi_home (ExtXml.attrib conf "radio")in
-    let resp = sprintf "%s CONFIG_RES %s %s %s %s" id_ac id_req fp af rc in 
-    Ivy.send (resp);
-    prerr_endline (resp)
-  with
-    Not_found ->
-      Ivy.send (sprintf "ground UNKNOWN %s" id_req)     
+let send_config = fun _asker args ->
+  match args with
+    ["ac_id", Pprz.String ac_id] -> begin
+      try
+	let conf = ExtXml.child conf_xml "aircraft" ~select:(fun x -> ExtXml.attrib x "ac_id" = ac_id) in
+	let prefix = fun s -> sprintf "file://%s/conf/%s" Env.paparazzi_home s in
+	let fp = prefix (ExtXml.attrib conf "flight_plan")
+	and af = prefix (ExtXml.attrib conf "airframe")
+	and rc = prefix (ExtXml.attrib conf "radio") in
+	["ac_id", Pprz.String ac_id;
+	 "flight_plan", Pprz.String fp;
+	 "airframe", Pprz.String af;
+	 "radio", Pprz.String rc]
+      with
+	Not_found ->
+	  failwith (sprintf "ground UNKNOWN %s" ac_id)     
+    end
+  | _ ->
+      let s = String.concat " " (List.map (fun (a,v) -> a^"="^Pprz.string_of_value v) args) in
+      failwith (sprintf "Error, Receive.send_config: %s" s)
     
 let ivy_server = fun () ->
-  ignore (Ivy.bind (fun _ args -> send_aircrafts_msg ()) "^ask AIRCRAFTS");
-  ignore (Ivy.bind (fun _ args -> send_flight_plan args.(0)) "^ask FLIGHT_PLAN +(.*)");
-  ignore (Ivy.bind (fun _ args -> send_config args.(0) args.(1)) "^(.*) CONFIG_REQ +(.*)")
+  ignore (Ground_Pprz.message_answerer my_id "AIRCRAFTS" send_aircrafts_msg);
+  ignore (Ground_Pprz.message_answerer my_id "CONFIG" send_config)
 
 
 
@@ -278,7 +253,12 @@ let _ =
   listen_acs log;
 
   (* Sends periodically alive aircrafts *)
-  ignore (Glib.Timeout.add aircrafts_msg_period (fun () -> send_aircrafts_msg (); true));
+  let sending = fun () ->
+    let vs = send_aircrafts_msg "event" [] in
+    Ground_Pprz.message_send my_id "AIRCRAFTS" vs;
+    true
+  in
+  ignore (Glib.Timeout.add aircrafts_msg_period sending);
 
   (* Waits for client requests on the Ivy bus *)
   ivy_server ();

sw/lib/ocaml/Makefile

@@ -39,7 +39,7 @@ all : lib-pprz.cma xlib-pprz.cma xml_get.out lib-pprz.cmxa
 
 
 lib-pprz.cma : $(CMO)
-	ocamlmklib -o lib-pprz str.cma xml-light.cma unix.cma $^
+	ocamlmklib -o lib-pprz str.cma unix.cma xml-light.cma ivy-ocaml.cma $^
 
 lib-pprz.cmxa : $(CMX)
 	ocamlmklib -o lib-pprz $^

sw/lib/ocaml/pprz.ml

@@ -49,6 +49,8 @@ type type_descr = {
     value : value
   }
 
+type values = (string * value) list
+
 
 
 
@@ -67,7 +69,8 @@ let types = [
   ("int8",   { format = "%d"; glib_type = "gint8";   size = 1; value= Int 42 });
   ("int16",  { format = "%d";  glib_type = "gint16";  size = 2; value= Int 42 });
   ("int32",  { format = "%ld" ;  glib_type = "gint32";  size = 4; value=Int 42 });
-  ("float",  { format = "%f" ;  glib_type = "gfloat";  size = 4; value=Float 4.2 })
+  ("float",  { format = "%f" ;  glib_type = "gfloat";  size = 4; value=Float 4.2 });
+  ("string",  { format = "%s" ;  glib_type = "gchar*";  size = max_int; value=String "42" })
 ]
 
 let int_of_string = fun x ->
@@ -106,6 +109,14 @@ let field_of_xml = fun xml ->
   let f = try Xml.attrib xml "format" with _ -> default_format t in
   (ExtXml.attrib xml "name", { _type = t; fformat = f })
 
+let float_assoc = fun (a:string) vs -> 
+  match List.assoc a vs with
+    Float x -> x
+  | _ -> invalid_arg "Pprz.float_assoc"
+
+let string_assoc = fun (a:string) (vs:values) -> string_of_value (List.assoc a vs)
+
+
 
 (** Table of msg classes indexed by name. Each class is a table of messages
    indexed by ids *)
@@ -237,6 +248,7 @@ module Protocol(Class:CLASS) = struct
 	    (msg_id, values)
 	  with
 	    Not_found -> raise (Unknown_msg_name msg_name)
+	  | Invalid_argument "List.map2" -> failwith (sprintf "Pprz.values_of_string: '%s'" s)
 	end
     | [] -> invalid_arg "Pprz.values_of_string"
 
@@ -248,4 +260,34 @@ module Protocol(Class:CLASS) = struct
 	   try string_of_value (List.assoc field_name values) with
 	     Not_found -> string_of_value (default_value field._type))
 	 msg.fields)
+
+  let message_send = fun sender msg_name values ->
+    let m = snd (message_of_name msg_name) in
+    let s = string_of_message m values in
+    Ivy.send (sprintf "%s %s" sender s)
+
+  let message_bind = fun msg_name cb ->
+    Ivy.bind (fun _ args -> cb args.(0) (snd (values_of_string args.(1)))) (sprintf "^([^ ]*) +(%s.*)" msg_name)
+
+  let message_answerer = fun sender msg_name cb ->
+    let ivy_cb = fun _ args ->
+      let asker = args.(0)
+      and asker_id = args.(1) in
+      let values = cb asker (snd (values_of_string args.(2))) in
+      let m = string_of_message (snd (message_of_name msg_name)) values in
+      Ivy.send (sprintf "%s %s %s" asker_id sender m) in
+    Ivy.bind ivy_cb (sprintf "^([^ ]*) +([^ ]*) +(%s_REQ.*)" msg_name)
+
+  let gen_id = let r = ref 0 in fun () -> incr r; !r
+  let message_req = fun sender msg_name values (f:string -> (string * value) list -> unit) ->
+    let b = ref (Obj.magic ()) in
+    let cb = fun _ args ->
+      Ivy.unbind !b;
+      f args.(0) (snd (values_of_string args.(1))) in
+    let id = sprintf "%d_%d" (Unix.getpid ()) (gen_id ()) in
+    let r = sprintf "^%s ([^ ]*) +(%s.*)" id msg_name in
+    b := Ivy.bind cb r;
+    let msg_name_req = msg_name ^ "_REQ" in
+    let m = sprintf "%s %s %s" sender id (string_of_message (snd (message_of_name msg_name_req)) values) in
+    Ivy.send m
 end

sw/lib/ocaml/pprz.mli

@@ -43,6 +43,13 @@ type type_descr = {
     value : value
   }
 val types : (string * type_descr) list
+type values  = (string * value) list
+
+val string_assoc : string -> values -> string
+(** May raise Not_found *)
+
+val float_assoc : string -> values -> float
+(** May raise Not_found or Invalid_argument *)
 
 exception Unknown_msg_name of string
 
@@ -51,21 +58,31 @@ module Protocol : functor (Class : CLASS) -> sig
   include Serial.PROTOCOL
   val message_of_id : message_id -> message
   val message_of_name : string ->  message_id * message
-  val values_of_payload : string -> message_id * (string * value) list
+  val values_of_payload : string -> message_id * values
   (** [values_of_bin payload] Parses a raw payload, returns the
    message id and the list of (field_name, value) *)
-  val values_of_bin : string -> message_id * (string * value) list
+  val values_of_bin : string -> message_id * values
   (** [values_of_bin raw_message] Same than previous but [raw_message]
   includes header and checksum. *)
-  val payload_of_values : message_id -> (string * value) list -> string
+  val payload_of_values : message_id -> values -> string
   (** [payload_of_values m vs] Returns a payload *)
 
 
-  val values_of_string : string -> message_id * (string * value) list
+  val values_of_string : string -> message_id * values
   (** May raise [(Unknown_msg_name msg_name)] *)
 
-  val string_of_message : message -> (string * value) list -> string
+  val string_of_message : message -> values -> string
   (** [string_of_message msg values] *)
-end
-    
 
+  val message_send : string -> string -> values -> unit
+  (** [message_send sender msg_name values] *)
+
+  val message_bind : string -> (string -> values -> unit) -> Ivy.binding
+  (** [message_bind msg_name callback] *)
+
+  val message_answerer : string -> string -> (string -> values -> values) -> Ivy.binding
+  (** [message_answerer sender msg_name callback] *)
+
+  val message_req : string -> string -> values -> (string -> values -> unit) -> unit
+  (** [message_answerer sender msg_name values receiver] Sends a request on the Ivy bus for the specified message. On reception, [receiver] will be applied on [sender_name] and expected values. *)
+end

sw/simulator/sim.ml

@@ -150,7 +150,7 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
 	    let horizon_distance = 1000. in
 	    try
 	      match !last_gps_state with
-		None -> Printf.printf "gps state NONE \n%!";()
+		None -> ()
 	      | Some gps_state ->
 		  let delta_ir = 
 		    if !ir_srtm then