[ocaml] fix and update for latest ocaml

fix usage of Bytes and String
drop support of ocaml < 4.02
we keep Compat for functions that need ocaml 4.03 until end of life of
Ubuntu Xenial 16.04, drop support of previous releases
enforce type safe_string option to prevent future errors
replace Pervasives by Stdlib (depreciated in latest ocaml vesions)
only use ocamlnet >= 4.0.4

sw/Makefile.ocaml

@@ -30,8 +30,8 @@ endif
 endif
 
 OCAML = ocaml
-OCAMLC = ocamlfind ocamlc
-OCAMLOPT = ocamlfind ocamlopt
+OCAMLC = ocamlfind ocamlc -safe-string
+OCAMLOPT = ocamlfind ocamlopt -safe-string
 OCAMLDEP = ocamlfind ocamldep
 OCAMLMKLIB = ocamlmklib
 OCAMLLEX=ocamllex

sw/ground_segment/cockpit/horizon.ml

@@ -47,16 +47,16 @@ let floats_of_points = fun ps ->
   done;
   a
 
-let ruler = fun ?(index_on_right=false) ~text_props ~max ~scale ~w ~index_width ~step ~h root ->
+let ruler = fun ?(index_on_right=false) ~text_props ~max_value ~scale ~w ~index_width ~step ~h root ->
   let r = GnoCanvas.group root in
-  let height = scale *. float max in
+  let height = scale *. float max_value in
 
   (* Grey background *)
   let _ = GnoCanvas.rect ~x1:0. ~y1:(-.height) ~x2:w ~y2:height ~fill_color:"#808080" r in
   let props = (text_props@[`ANCHOR `EAST]) in
 
   (* One step drawer *)
-  let tab = Array.make (max/step) false in
+  let tab = Array.make (max_value/step) false in
   let draw = fun i ->
     let i = i * step in
     let y = -. scale *. float i in
@@ -69,7 +69,7 @@ let ruler = fun ?(index_on_right=false) ~text_props ~max ~scale ~w ~index_width
 
   let lazy_drawer = fun v ->
     let v = truncate v / step in
-    for i = Pervasives.max 0 (v - 5) to min (v + 5) (Array.length tab - 1) do (* FIXME *)
+    for i = max 0 (v - 5) to min (v + 5) (Array.length tab - 1) do (* FIXME *)
       if not tab.(i) then begin
         tab.(i) <- true;
         draw i
@@ -181,7 +181,7 @@ class h = fun ?packing size  ->
   (* Speedometer on the left side *)
   let speed, mi, mx, lazy_speed =
     let g = GnoCanvas.group ~x:left_margin ~y:yc canvas#root in
-    let r, lazy_ruler = ruler ~text_props ~index_on_right:true ~max:50 ~scale:speed_scale ~w:speed_width ~step:2 ~index_width ~h:(0.75*.size2) g in
+    let r, lazy_ruler = ruler ~text_props ~index_on_right:true ~max_value:50 ~scale:speed_scale ~w:speed_width ~step:2 ~index_width ~h:(0.75*.size2) g in
     let mx =
       GnoCanvas.text ~x:(speed_width/.2.) ~y:(-0.88*.size2) ~props:text_props g
     and mi =
@@ -194,7 +194,7 @@ class h = fun ?packing size  ->
   (* Altimeter on the right side *)
   and alt, lazy_alt =
     let g = GnoCanvas.group ~x:(xc+.size2) ~y:yc canvas#root in
-    ruler ~text_props ~max:3000 ~scale:alt_scale ~w:alt_width ~step:10 ~index_width ~h:(0.75*.size2) g
+    ruler ~text_props ~max_value:3000 ~scale:alt_scale ~w:alt_width ~step:10 ~index_width ~h:(0.75*.size2) g
   in
 
 object

sw/ground_segment/cockpit/live.ml

@@ -172,7 +172,7 @@ let select_ac = fun acs_notebook ac_id ->
     if !active_ac <> "" then begin
       let ac' = find_ac !active_ac in
       ac'.strip#hide_buttons ();
-      ac'.notebook_label#set_width_chars (Compat.bytes_length ac'.notebook_label#text);
+      ac'.notebook_label#set_width_chars (String.length ac'.notebook_label#text);
       if !_auto_hide_fp then hide_fp ac'
     end;
 
@@ -353,7 +353,7 @@ let attributes_pretty_printer = fun attribs ->
     && a <> "post_call" && a <> "key" && a <> "group" in
 
   let sprint_opt = fun b s ->
-    if Compat.bytes_length b > 0 then
+    if String.length b > 0 then
       sprintf " %s%s%s" s b s
     else
       ""
@@ -651,7 +651,7 @@ let create_ac = fun ?(confirm_kill=true) alert (geomap:G.widget) (acs_notebook:G
   let settings_file = Http.file_of_url settings_url in
   let settings_xml =
     try
-      if Compat.bytes_compare "replay" settings_file <> 0 then
+      if String.compare "replay" settings_file <> 0 then
         ExtXml.parse_file ~noprovedtd:true settings_file
       else
         Xml.Element("empty", [], [])
@@ -755,7 +755,7 @@ let create_ac = fun ?(confirm_kill=true) alert (geomap:G.widget) (acs_notebook:G
 
         (* only horizontal wind and airspeed are updated, so bitmask is 0b0000101 = 5 *)
         let msg_items = ["WIND_INFO"; ac_id; "5"; wind_east; wind_north; "0.0"; airspeed] in
-        let value = Compat.bytes_concat ";" msg_items in
+        let value = String.concat ";" msg_items in
         let vs = ["ac_id", PprzLink.String ac_id; "message", PprzLink.String value] in
         Ground_Pprz.message_send "dl" "RAW_DATALINK" vs;
       with

sw/ground_segment/cockpit/page_settings.ml

@@ -91,7 +91,7 @@ let one_setting = fun (i:int) (do_change:int -> float -> unit) ac_id packing dl_
       1.
   in
   (* get number of digits after decimal dot *)
-  let digits = try Compat.bytes_length (ExtXml.attrib dl_setting "step") - Compat.bytes_index (ExtXml.attrib dl_setting "step") '.' - 1 with _ -> 0 in
+  let digits = try String.length (ExtXml.attrib dl_setting "step") - String.index (ExtXml.attrib dl_setting "step") '.' - 1 with _ -> 0 in
   let page_incr = step_incr
   and page_size = step_incr
   and show_auto = try ExtXml.attrib dl_setting "auto" = "true" with _ -> false in

sw/ground_segment/cockpit/saveSettings.ml

@@ -199,7 +199,7 @@ let fill_data = fun (model:GTree.tree_store) settings airframe_xml ->
 
   (* Warning if needed *)
   if !not_in_airframe_file <> [] then begin
-    GToolbox.message_box ~title:"Warning" (Printf.sprintf "Some parameters not writable in the airframe file:\n\n%s" (Compat.bytes_concat "\n" !not_in_airframe_file));
+    GToolbox.message_box ~title:"Warning" (Printf.sprintf "Some parameters not writable in the airframe file:\n\n%s" (String.concat "\n" !not_in_airframe_file));
   end
 
 

sw/ground_segment/cockpit/strip.ml

@@ -328,7 +328,7 @@ object
 
     (* add a button widget in a vertical box if it belongs to a group (create new group if needed) *)
   method add_widget ?(group="") w =
-    let (vbox, pack) = match Compat.bytes_length group with
+    let (vbox, pack) = match String.length group with
         0 -> (GPack.vbox ~show:true (), true)
       | _ -> try (Hashtbl.find button_tbl group, false) with
           Not_found ->

sw/ground_segment/joystick/input2ivy.ml

@@ -34,7 +34,6 @@
 *)
 
 open Printf
-open Unix
 open Random
 
 
@@ -557,7 +556,7 @@ let execute_actions = fun actions ac_id ->
 (**   this capability is mostly for bench-time trimming when a joystick does not have adequate buttons *)
 (**   it is not a very complete capability  *)
 let execute_kb_action = fun actions conditions ->
-  let ch = input_byte Pervasives.stdin in
+  let ch = input_byte stdin in
   (** esdx for left stick
       ijkm for right  *)
 

sw/ground_segment/tmtc/broadcaster.ml

@@ -25,14 +25,14 @@ let () =
 
     (* Forward telemetry on Ivy *)
     let buffer_size = 256 in
-    let buffer = Compat.bytes_create buffer_size in
+    let buffer = Bytes.create buffer_size in
     let get_tcp = fun _ ->
       begin
         try
           let n = input i buffer 0 buffer_size in
-          let data = Compat.bytes_sub buffer 0 n in
+          let data = Bytes.sub buffer 0 n in
 
-          Ivy.send (sprintf "%s %s" !ivy_to (Base64.encode_string data))
+          Ivy.send (sprintf "%s %s" !ivy_to (Base64.encode_string (Bytes.to_string data)))
         with
             exc -> prerr_endline (Printexc.to_string exc)
       end;

sw/ground_segment/tmtc/ivy2serial.ml

@@ -81,13 +81,13 @@ let () =
 
   (* The function to be called when data is available *)
   let buffer_size = 256 in
-  let buffer = Compat.bytes_create buffer_size in
+  let buffer = Bytes.create buffer_size in
   let get_datalink_message = fun _ ->
     begin
       try
         let n = input (Unix.in_channel_of_descr fd) buffer 0 buffer_size in
-        let b = Compat.bytes_sub buffer 0 n in
-        Debug.trace 'x' (Debug.xprint b);
+        let b = Bytes.sub buffer 0 n in
+        Debug.trace 'x' (Debug.xprint (Bytes.to_string b));
 
         let use_dl_message = fun payload ->
           Debug.trace 'x' (Debug.xprint (Protocol.string_of_payload payload));
@@ -95,7 +95,7 @@ let () =
           let msg = Dl_Pprz.message_of_id msg_id in
           Dl_Pprz.message_send "ground_dl" msg.PprzLink.name values in
 
-        assert (PprzTransport.parse use_dl_message b = n)
+        assert (PprzTransport.parse use_dl_message (Bytes.to_string b) = n)
       with
           exc ->
             prerr_endline (Printexc.to_string exc)

sw/ground_segment/tmtc/ivy2udp.ml

@@ -62,8 +62,8 @@ let () =
       let (msg_id, vs) = Tm_Pprz.values_of_string args.(0) in
       let payload = Tm_Pprz.payload_of_values msg_id (int_of_string !id) vs in
       let buf = Pprz_transport.Transport.packet payload in
-      let n = Compat.bytes_length buf in
-      let n' = Unix.sendto socket buf 0 n [] sockaddr in
+      let n = String.length buf in
+      let n' = Unix.sendto socket (Bytes.of_string buf) 0 n [] sockaddr in
       assert (n = n')
     with _ -> () in
 
@@ -75,13 +75,13 @@ let () =
   Unix.bind socket sockaddr;
 
   let buffer_size = 256 in
-  let buffer = Compat.bytes_create buffer_size in
+  let buffer = Bytes.create buffer_size in
   let get_datalink_message = fun _ ->
     begin
       try
         let n = input (Unix.in_channel_of_descr socket) buffer 0 buffer_size in
-        let b = Compat.bytes_sub buffer 0 n in
-        Debug.trace 'x' (Debug.xprint b);
+        let b = Bytes.sub buffer 0 n in
+        Debug.trace 'x' (Debug.xprint (Bytes.to_string b));
 
         let use_dl_message = fun payload ->
           Debug.trace 'x' (Debug.xprint (Protocol.string_of_payload payload));
@@ -89,7 +89,7 @@ let () =
           let msg = Dl_Pprz.message_of_id msg_id in
           Dl_Pprz.message_send "ground_dl" msg.PprzLink.name values in
 
-        assert (PprzTransport.parse use_dl_message b = n)
+        assert (PprzTransport.parse use_dl_message (Bytes.to_string b) = n)
       with
           exc ->
             prerr_endline (Printexc.to_string exc)

sw/ground_segment/tmtc/ivy_tcp_aircraft.ml

@@ -41,13 +41,13 @@ let () =
 
   (* Forward a datalink command on the bus *)
   let buffer_size = 256 in
-  let buffer = Compat.bytes_create buffer_size in
+  let buffer = Bytes.create buffer_size in
   let get_datalink_message = fun _ ->
     begin
       try
         let n = input i buffer 0 buffer_size in
-        let b = Compat.bytes_sub buffer 0 n in
-        Debug.trace 'x' (Debug.xprint b);
+        let b = Bytes.sub buffer 0 n in
+        Debug.trace 'x' (Debug.xprint (Bytes.to_string b));
 
         let use_dl_message = fun payload ->
           Debug.trace 'x' (Debug.xprint (Protocol.string_of_payload payload));
@@ -55,7 +55,7 @@ let () =
           let msg = Dl_Pprz.message_of_id msg_id in
           Dl_Pprz.message_send "ground_dl" msg.PprzLink.name values in
 
-        assert (PprzTransport.parse use_dl_message b = n)
+        assert (PprzTransport.parse use_dl_message (Bytes.to_string b) = n)
       with
           exc ->
             prerr_endline (Printexc.to_string exc)

sw/ground_segment/tmtc/ivy_tcp_controller.ml

@@ -29,13 +29,13 @@ let () =
   let (i, o) = Unix.open_connection sockaddr in
 
   let buffer_size = 256 in
-  let buffer = Compat.bytes_create buffer_size in
+  let buffer = Bytes.create buffer_size in
   let get_message = fun _ ->
     begin
       try
         let n = input i buffer 0 buffer_size in
-        let b = Compat.bytes_sub buffer 0 n in
-        Debug.trace 'x' (Debug.xprint b);
+        let b = Bytes.sub buffer 0 n in
+        Debug.trace 'x' (Debug.xprint (Bytes.to_string b));
 
         let use_tele_message = fun payload ->
           Debug.trace 'x' (Debug.xprint (Protocol.string_of_payload payload));
@@ -43,7 +43,7 @@ let () =
           let msg = Tm_Pprz.message_of_id msg_id in
           Tm_Pprz.message_send (string_of_int ac_id) msg.PprzLink.name values in
 
-        ignore (PprzTransport.parse use_tele_message b)
+        ignore (PprzTransport.parse use_tele_message (Bytes.to_string b))
       with
           exc ->
             prerr_endline (Printexc.to_string exc)

sw/ground_segment/tmtc/kml.ml

@@ -92,7 +92,7 @@ let circle = fun geo radius alt ->
     let wgs84 = of_utm WGS84 utm in
     coordinates wgs84 alt in
   let points = Array.init 360 degree_point in
-  Compat.bytes_concat " " (points.(359) :: Array.to_list points)
+  String.concat " " (points.(359) :: Array.to_list points)
 
 
 let ring_around_home = fun utm0 fp ->
@@ -237,7 +237,7 @@ let update_horiz_mode =
       let alt = ac.desired_altitude in
       match ac.horiz_mode with
           Segment (p1, p2) ->
-            let coordinates = Compat.bytes_concat " " (List.map (fun p -> coordinates p alt) [p1; p2]) in
+            let coordinates = String.concat " " (List.map (fun p -> coordinates p alt) [p1; p2]) in
             let kml_changes = update_linear_ring url_flight_plan "horiz_mode" coordinates in
             print_xml ac.name "route_changes.kml" kml_changes
         | Circle (p, r) ->

sw/ground_segment/tmtc/link.ml

@@ -195,7 +195,7 @@ let update_ms_since_last_msg =
       statuss
 
 let use_tele_message = fun ?udp_peername ?raw_data_size payload ->
-  let raw_data_size = match raw_data_size with None -> Compat.bytes_length (Protocol.string_of_payload payload) | Some d -> d in
+  let raw_data_size = match raw_data_size with None -> String.length (Protocol.string_of_payload payload) | Some d -> d in
   let buf = Protocol.string_of_payload payload in
   Debug.call 'l' (fun f ->  fprintf f "pprz receiving: %s\n" (Debug.xprint buf));
   try
@@ -278,18 +278,18 @@ module XB = struct (** XBee module *)
 
       | Xbee_transport.RX_Packet_64 (addr64, rssi, options, data) ->
         Debug.trace 'x' (sprintf "getting XBee RX64: %Lx %d %d %s" addr64 rssi options (Debug.xprint data));
-        use_tele_message ~raw_data_size:(Compat.bytes_length frame_data + oversize_packet) (Protocol.payload_of_string data)
+        use_tele_message ~raw_data_size:(String.length frame_data + oversize_packet) (Protocol.payload_of_string data)
       | Xbee_transport.RX868_Packet (addr64, options, data) ->
         Debug.trace 'x' (sprintf "getting XBee868 RX: %Lx %d %s" addr64 options (Debug.xprint data));
-        use_tele_message ~raw_data_size:(Compat.bytes_length frame_data + oversize_packet) (Protocol.payload_of_string data)
+        use_tele_message ~raw_data_size:(String.length frame_data + oversize_packet) (Protocol.payload_of_string data)
       | Xbee_transport.RX_Packet_16 (addr16, rssi, options, data) ->
         Debug.trace 'x' (sprintf "getting XBee RX16: from=%x %d %d %s" addr16 rssi options (Debug.xprint data));
-        use_tele_message ~raw_data_size:(Compat.bytes_length frame_data + oversize_packet) (Protocol.payload_of_string data)
+        use_tele_message ~raw_data_size:(String.length frame_data + oversize_packet) (Protocol.payload_of_string data)
 
 
   let send = fun ?ac_id device rf_data ->
     let ac_id = match ac_id with None -> 0xffff | Some a -> a in
-    let rf_data = Protocol.string_of_payload rf_data in
+    let rf_data = Protocol.bytes_of_payload rf_data in
     let frame_id = gen_frame_id () in
     let frame_data =
       if !Xbee_transport.mode868 then
@@ -303,7 +303,7 @@ module XB = struct (** XBee module *)
 
     let o = Unix.out_channel_of_descr device.fd in
     fprintf o "%s%!" packet;
-    Debug.call 'y' (fun f -> fprintf f "link sending (%d): (%s) %s\n" frame_id (Debug.xprint rf_data) (Debug.xprint packet));
+    Debug.call 'y' (fun f -> fprintf f "link sending (%d): (%s) %s\n" frame_id (Debug.xprint (Bytes.to_string rf_data)) (Debug.xprint packet));
 end (** XBee module *)
 
 
@@ -315,11 +315,11 @@ let local_broadcast_address =
 
 let udp_send = fun fd payload peername ->
   let buf = Pprz_transport.Transport.packet payload in
-  let len = Compat.bytes_length buf in
+  let len = String.length buf in
   let addr = if !udp_broadcast then (Unix.inet_addr_of_string !udp_broadcast_addr) else peername in
   Debug.call 'u' (fun f -> fprintf f "udp_send to %s port %i\n" (Unix.string_of_inet_addr addr) !udp_uplink_port);
   let sockaddr = Unix.ADDR_INET (addr, !udp_uplink_port) in
-  let n = Unix.sendto fd buf 0 len [] sockaddr in
+  let n = Unix.sendto fd (Bytes.of_string buf) 0 len [] sockaddr in
   assert (n = len)
 
 let send = fun ac_id device payload _priority ->
@@ -370,7 +370,7 @@ let parser_of_device = fun device ->
   match device.transport with
     | Pprz ->
         let use = fun s ->
-          let raw_data_size = Compat.bytes_length (Protocol.string_of_payload s) + 4 (*stx,len,ck_a, ck_b*) in
+          let raw_data_size = String.length (Protocol.string_of_payload s) + 4 (*stx,len,ck_a, ck_b*) in
           let udp_peername =
             if !udp then
               Some !last_udp_peername
@@ -479,7 +479,7 @@ let () =
 
     (** Listen on a udp port or a serial device or on pipe *)
     let on_serial_device =
-      Compat.bytes_length !port >= 4 && Compat.bytes_sub !port 0 4 = "/dev" in (* FIXME *)
+      String.length !port >= 4 && String.sub !port 0 4 = "/dev" in (* FIXME *)
     let fd =
       if !udp then
         begin
@@ -504,7 +504,7 @@ let () =
     let read_fd =
       let buffered_parser =
         (* Get the specific parser for the given transport protocol *)
-        let parser = parser_of_device device in
+        let parser = fun b -> parser_of_device device (Bytes.to_string b) in
         let read = if !udp then udp_read else Unix.read in
         (* Wrap the parser into the buffered bytes reader *)
         match Serial.input ~read parser with Serial.Closure f -> f in

sw/ground_segment/tmtc/modem.ml

@@ -33,20 +33,20 @@ module Protocol = struct
   let stx = Char.chr 0x02
   let etx = 0x03
   let index_start = fun buf ->
-    Compat.bytes_index buf stx
+    Bytes.index buf stx
 
   let payload_length = fun buf start ->
     Char.code buf.[start+1] - 1
 
   let length = fun buf start ->
-    let len = Compat.bytes_length buf - start in
+    let len = Bytes.length buf - start in
     if len >= 2 then
       Char.code buf.[start+1] + 3
     else
       raise Serial.Not_enough
 
   let checksum = fun msg ->
-    let l = Compat.bytes_length msg in
+    let l = Bytes.length msg in
     let ck_a = ref 0 in
     for i = 1 to l - 3 do
       ck_a := Char.code msg.[i] lxor !ck_a
@@ -54,9 +54,9 @@ module Protocol = struct
     !ck_a = Char.code msg.[l-2] && Char.code msg.[l-1] = etx
 
   let payload = fun msg ->
-    let l = Compat.bytes_length msg in
+    let l = Bytes.length msg in
     assert(l >= 4);
-    Serial.payload_of_string (Compat.bytes_sub msg 2 (l-4))
+    Serial.payload_of_string (Bytes.sub msg 2 (l-4))
 
   let packet = fun _payload ->
     failwith "Modem.Protocol.packet not implemented"
@@ -96,12 +96,12 @@ let valim = fun x -> float x *. 0.0162863 -. 1.17483
 let parse_payload = fun payload ->
   let payload = Serial.string_of_payload payload in
   status.detected <- 1;
-  let len = Compat.bytes_length payload in
+  let len = Bytes.length payload in
   status.nb_byte <- status.nb_byte + len;
   status.nb_msg <- status.nb_msg + 1;
   let id = Char.code payload.[0] in
   if id = msg_data then
-    Some (Compat.bytes_sub payload 1 (len-1))
+    Some (Bytes.sub payload 1 (len-1))
   else begin
     begin
       match id with

sw/ground_segment/tmtc/parse_messages_v1.ml

@@ -69,13 +69,13 @@ let foi32value = fun x ->
     | _ -> failwith "Receive.log_and_parse: int32 expected"
 
 let format_string_field = fun s ->
-  let s = Compat.bytes_copy s in
-  for i = 0 to Compat.bytes_length s - 1 do
-    match s.[i] with
-        ' ' -> Compat.bytes_set s i '_'
+  let s = Bytes.of_string s in
+  for i = 0 to Bytes.length s - 1 do
+    match Bytes.get s i with
+        ' ' -> Bytes.set s i '_'
       | _ -> ()
   done;
-  s
+  Bytes.to_string s
 
 let check_index = fun i t where ->
   if i < 0 || i >= Array.length t then begin

sw/ground_segment/tmtc/server.ml

@@ -62,7 +62,7 @@ let wind_msg_period = 5000 (* ms *)
 let aircraft_alerts_period = 1000 (* ms *)
 let send_aircrafts_msg = fun _asker _values ->
   assert(_values = []);
-  let names = Compat.bytes_concat "," (Hashtbl.fold (fun k _v r -> k::r) aircrafts []) ^ "," in
+  let names = String.concat "," (Hashtbl.fold (fun k _v r -> k::r) aircrafts []) ^ "," in
   ["ac_list", PprzLink.String names]
 
 
@@ -479,9 +479,9 @@ let send_aircraft_msg = fun ac ->
 
 (** Check if it is a replayed A/C (c.f. sw/logalizer/play.ml) *)
 let replayed = fun ac_id ->
-  let n = Compat.bytes_length ac_id in
-  if n > 6 && Compat.bytes_sub ac_id 0 6 = "replay" then
-    (true, Compat.bytes_sub ac_id 6 (n - 6), "/var/replay/", ExtXml.parse_file (Env.paparazzi_home // "var/replay/conf/conf.xml"))
+  let n = String.length ac_id in
+  if n > 6 && String.sub ac_id 0 6 = "replay" then
+    (true, String.sub ac_id 6 (n - 6), "/var/replay/", ExtXml.parse_file (Env.paparazzi_home // "var/replay/conf/conf.xml"))
   else
     (false, ac_id, "", conf_xml)
 
@@ -509,7 +509,7 @@ let check_md5sum = fun ac_name alive_md5sum aircraft_conf_dir ->
     match alive_md5sum with
         PprzLink.Array array ->
           let n = Array.length array in
-          assert(n = Compat.bytes_length md5sum / 2);
+          assert(n = String.length md5sum / 2);
           for i = 0 to n - 1 do
             let x = int_of_string (sprintf "0x%c%c" md5sum.[2*i] md5sum.[2*i+1]) in
             assert (x = PprzLink.int_of_value array.(i))
@@ -520,7 +520,7 @@ let check_md5sum = fun ac_name alive_md5sum aircraft_conf_dir ->
       match alive_md5sum with
           PprzLink.Array array ->
             let n = Array.length array in
-            assert(n = Compat.bytes_length md5sum / 2);
+            assert(n = String.length md5sum / 2);
             for i = 0 to n - 1 do
               let x = 0 in
               assert (x = PprzLink.int_of_value array.(i))
@@ -830,11 +830,11 @@ let jump_block = fun logging _sender vs ->
 (** Got a RAW_DATALINK, send its contents *)
 let raw_datalink = fun logging _sender vs ->
   let ac_id = PprzLink.string_assoc "ac_id" vs
-  and m = PprzLink.string_assoc "message" vs in
-  for i = 0 to Compat.bytes_length m - 1 do
-    if m.[i] = ';' then Compat.bytes_set m i ' '
+  and m = Bytes.of_string (PprzLink.string_assoc "message" vs) in
+  for i = 0 to Bytes.length m - 1 do
+    if Bytes.get m i = ';' then Bytes.set m i ' '
   done;
-  let msg_id, vs = Dl_Pprz.values_of_string m in
+  let msg_id, vs = Dl_Pprz.values_of_string (Bytes.to_string m) in
   let msg = Dl_Pprz.message_of_id msg_id in
   Dl_Pprz.message_send dl_id msg.PprzLink.name vs;
   log logging ac_id msg.PprzLink.name vs

sw/ground_segment/tmtc/server_globals.ml

@@ -19,7 +19,7 @@ let horiz_modes = [|"WAYPOINT";"ROUTE";"CIRCLE";"ATTITUDE";"MANUAL"|]
 let if_modes = [|"OFF";"DOWN";"UP"|]
 
 let string_of_values = fun values ->
-  Compat.bytes_concat " " (List.map (fun (_, v) -> PprzLink.string_of_value v) values)
+  String.concat " " (List.map (fun (_, v) -> PprzLink.string_of_value v) values)
 
 (** get modes from autopilot xml file *)
 let modes_from_autopilot = fun ap_xml ->

sw/lib/ocaml/META.pprz.template

@@ -1,5 +1,5 @@
 description = "Paparazzi UAS package"
-requires = "unix,str,pprzlink,xml-light,lablgtk2,glibivy,netclient,NETTLS_GNUTLS"
+requires = "unix,str,pprzlink,xml-light,lablgtk2,glibivy,netclient,nettls-gnutls"
 version = "1.0"
 directory = ""
 

sw/lib/ocaml/Makefile

@@ -50,39 +50,21 @@ LABLGTK2GNOMECANVAS = $(shell ocamlfind query -p-format lablgtk2.gnomecanvas 2>/
 endif
 
 CAMLP4_DEFS ?=
-NETCLIENT_VER := $(shell ocamlfind query -format '%v' netclient)
-NETCLIENT_MAJOR := $(shell echo $(NETCLIENT_VER) | cut -f1 -d.)
-NETCLIENT_MINOR1 := $(shell echo $(NETCLIENT_VER) | cut -f2 -d.)
-NETCLIENT_MINOR2 := $(shell echo $(NETCLIENT_VER) | cut -f3 -d.)
-ifeq ($(shell test $(NETCLIENT_MAJOR) -ge 4; echo $$?),0)
-CAMLP4_DEFS += -DNETCLIENT_V_4
-NETTLS_GNUTLS = nettls-gnutls
-COMMA_NETTLS_GNUTLS = ,$(NETTLS_GNUTLS)
-ifeq ($(shell test $(NETCLIENT_MINOR2) -ge 4; echo $$?),0)
-CAMLP4_DEFS += -DNETCLIENT_V_404
-else ifeq ($(shell test $(NETCLIENT_MINOR1) -g 0; echo $$?),0)
-CAMLP4_DEFS += -DNETCLIENT_V_404
-endif
-endif
 OCAMLC_VER := $(shell ocamlc -version)
 OCAMLC_MAJOR := $(shell echo $(OCAMLC_VER) | cut -f1 -d.)
 OCAMLC_MINOR := $(shell echo $(OCAMLC_VER) | cut -f2 -d.)
 ifeq ($(shell test $(OCAMLC_MAJOR) -ge 4; echo $$?),0)
-ifeq ($(shell test $(OCAMLC_MINOR) -ge 2; echo $$?),0)
-# the Bytes module is available since OCaml 4.02.0
-CAMLP4_DEFS += -DHAS_BYTES_MODULE
 ifeq ($(shell test $(OCAMLC_MINOR) -ge 4; echo $$?),0)
 CAMLP4_DEFS += -DOCAML_V404
 endif
 endif
-endif
 PP_OPTS = -pp "camlp4o pa_macro.cmo $(CAMLP4_DEFS)"
 
 # which source files to run through caml4p
-PP_SRC =  http.ml compat.ml
+PP_SRC = compat.ml
 
 INCLUDES=
-PKGCOMMON=pprzlink,xml-light,netclient,glibivy,lablgtk2,$(NETTLS_GNUTLS)
+PKGCOMMON=pprzlink,xml-light,netclient,nettls-gnutls,glibivy,lablgtk2
 XINCLUDES=
 XPKGCOMMON=pprzlink,xml-light,glibivy,$(LABLGTK2GNOMECANVAS),lablgtk2.glade
 
@@ -212,7 +194,7 @@ gtk_papget_led_editor.ml : widgets.glade
 
 META.pprz: META.pprz.template
 	@echo COPY $<
-	$(shell sed -e 's/LABLGTK2GNOMECANVAS/$(LABLGTK2GNOMECANVAS)/g' -e 's/,NETTLS_GNUTLS/$(COMMA_NETTLS_GNUTLS)/g' $< > $@)
+	$(shell sed -e 's/LABLGTK2GNOMECANVAS/$(LABLGTK2GNOMECANVAS)/g' $< > $@)
 
 clean :
 	$(Q)rm -f *~ *.cm* *.out *.opt .depend *.a *.o *.so tests gtk_papget_*.ml expr_parser.ml expr_parser.mli expr_lexer.ml expr_lexer.mli META.pprz

sw/lib/ocaml/base64.ml

@@ -50,28 +50,28 @@ let encode_chunk chars =
   let llength = List.length chars in
   if(llength = 0 || llength > 3) then
     raise (Invalid_encode_chunk(llength));
-  let chunk = Compat.bytes_make 4 '=' in
+  let chunk = Bytes.make 4 '=' in
   let a = List.hd chars in
   let tmpa = (((Char.code a) land 3) lsl 4) in
-  Compat.bytes_set chunk 0 char_map.( (Char.code a) lsr 2);
+  Bytes.set chunk 0 char_map.( (Char.code a) lsr 2);
   (* Check for another character *)
   if (llength < 2) then (
-    Compat.bytes_set chunk 1 char_map.(tmpa);
-    chunk;
+    Bytes.set chunk 1 char_map.(tmpa);
+    Bytes.to_string chunk;
   ) else (
     let b = List.nth chars 1 in
     let tmpb = ((Char.code b) lsr 4) in
     let tmpa2 = ((Char.code b) land 0x0f) lsl 2 in
-    Compat.bytes_set chunk 1 char_map.(tmpa lor tmpb);
+    Bytes.set chunk 1 char_map.(tmpa lor tmpb);
     if (llength < 3) then (
-      Compat.bytes_set chunk 2 char_map.(tmpa2);
-      chunk
+      Bytes.set chunk 2 char_map.(tmpa2);
+      Bytes.to_string chunk
     ) else (
       let c = List.nth chars 2 in
       let tmpb2 = ((Char.code c) land 0xc0) lsr 6 in
-      Compat.bytes_set chunk 2 char_map.(tmpa2 lor tmpb2);
-      Compat.bytes_set chunk 3 char_map.((Char.code c) land 0x3f);
-      chunk
+      Bytes.set chunk 2 char_map.(tmpa2 lor tmpb2);
+      Bytes.set chunk 3 char_map.((Char.code c) land 0x3f);
+      Bytes.to_string chunk
     )
   )
 
@@ -202,7 +202,7 @@ let decode_string s = decode_to_string (Stream.of_string s)
 (** Simple test function. *)
 
 let test() =
-  let wordlist = ["A";"AB";"ABC";"Dustin";Compat.bytes_create 128] in
+  let wordlist = ["A";"AB";"ABC";"Dustin";Bytes.to_string (Bytes.create 128)] in
   print_endline("String:");
   List.iter (fun x -> print_endline(encode_string x))
     wordlist;

sw/lib/ocaml/compat.ml

@@ -22,66 +22,18 @@
  *
  *)
 
- IFDEF HAS_BYTES_MODULE THEN
- module BYTES = Bytes
- ELSE
- module BYTES = String
- END
-
-let bytes_create = fun len ->
-  BYTES.create len
-
-let bytes_contains = fun c s ->
-  BYTES.contains c s
-
-let bytes_length = fun len ->
-  BYTES.length len
-
-let bytes_make = fun n c->
-  BYTES.make n c
-
-let bytes_copy = fun s->
-  BYTES.copy s
-
-let bytes_blit = fun src srcoff dst dstoff len->
-  BYTES.blit src srcoff dst dstoff len
-
-let bytes_sub = fun s start len->
-  BYTES.sub s start len
-
-let bytes_index = fun c s ->
-  BYTES.index c s
-
-let bytes_concat = fun sep sl->
-  BYTES.concat sep sl
-
-let bytes_index_from = fun s i c ->
-  BYTES.index_from s i c
-
-let bytes_get = fun s n->
-  BYTES.get s n
-
-let bytes_compare = fun s1 s2->
-  BYTES.compare s1 s2
-
-let bytes_set = fun s n c->
-  BYTES.set s n c
-
-let bytes_iter = fun f s->
-  BYTES.iter f s
-
 IFDEF OCAML_V404 THEN
-let lowercase_ascii = BYTES.lowercase_ascii
+let lowercase_ascii = String.lowercase_ascii
 
-let uppercase_ascii = BYTES.uppercase_ascii
+let uppercase_ascii = String.uppercase_ascii
 
-let capitalize_ascii = BYTES.capitalize_ascii
+let capitalize_ascii = String.capitalize_ascii
 
 ELSE
-let lowercase_ascii = BYTES.lowercase
+let lowercase_ascii = String.lowercase
 
-let uppercase_ascii = BYTES.uppercase
+let uppercase_ascii = String.uppercase
 
-let capitalize_ascii = BYTES.capitalize
+let capitalize_ascii = String.capitalize
 
 END

sw/lib/ocaml/compat.mli

@@ -22,21 +22,6 @@
  *
  *)
 
-val bytes_create : int -> string
-val bytes_contains : string -> char -> bool
-val bytes_length : string -> int
-val bytes_make : int -> char -> string
-val bytes_copy : string -> string
-val bytes_blit : string -> int -> string -> int -> int -> unit
-val bytes_sub : string -> int -> int -> string
-val bytes_index : string -> char -> int
-val bytes_concat : string -> string list -> string
-val bytes_index_from : string -> int -> char -> int
-val bytes_get : string -> int -> char
-val bytes_compare : string -> string -> int
-val bytes_set : string -> int -> char -> unit
-val bytes_iter : (char -> unit) -> string -> unit
-
 val lowercase_ascii : string -> string
 val uppercase_ascii : string -> string
 val capitalize_ascii : string -> string

sw/lib/ocaml/debug.ml

@@ -27,7 +27,7 @@ let level = ref (try Sys.getenv "PPRZ_DEBUG" with Not_found -> "")
 let log = ref stderr
 let call lev f =
   assert( (* assert permet au compilo de tout virer avec l'option -noassert *)
-    if (Compat.bytes_contains !level '*' || Compat.bytes_contains !level lev)
+    if (String.contains !level '*' || String.contains !level lev)
     then begin
       f !log;
       flush !log
@@ -37,11 +37,11 @@ let call lev f =
 let trace lev s = call lev (fun f -> Printf.fprintf f "%s\n" s)
 
 let xprint = fun s ->
-  let n = Compat.bytes_length s in
-  let a = Compat.bytes_make (3*n) ' ' in
+  let n = String.length s in
+  let a = Bytes.make (3*n) ' ' in
   for i = 0 to n - 1 do
     let x = Printf.sprintf "%02x" (Char.code s.[i]) in
-    Compat.bytes_set a (3*i) x.[0];
-    Compat.bytes_set a (3*i+1) x.[1]
+    Bytes.set a (3*i) x.[0];
+    Bytes.set a (3*i+1) x.[1]
   done;
-  a
+  Bytes.to_string a

sw/lib/ocaml/defivybus.ml

@@ -23,7 +23,7 @@
  *)
 
 
-let default_ivy_bus = Compat.bytes_copy (
+let default_ivy_bus = (
   try (Sys.getenv "IVY_BUS" )
   with  Not_found ->
     (if Os_calls.contains (Os_calls.os_name) "Darwin" then

sw/lib/ocaml/egm96.ml

@@ -34,7 +34,7 @@ let data =
     let path = [Env.paparazzi_home // "data" // "srtm"] in
     let f = Ocaml_tools.open_compress (Ocaml_tools.find_file path "WW15MGH.DAC") in
     let n = ncols * nrows * 2 in
-    let buf = Compat.bytes_create n in
+    let buf = Bytes.create n in
     really_input f buf 0 n;
     buf)
 
@@ -50,6 +50,6 @@ let of_wgs84 = fun geo ->
 
   let i = (2*(ilat*ncols+ilon)) in
 
-  let x = Char.code egm96_data.[i] lsl 8 + Char.code egm96_data.[i+1] in
+  let x = Char.code (Bytes.get egm96_data i) lsl 8 + Char.code (Bytes.get egm96_data (i+1)) in
 
   float ((x lsl 16) asr 16) /. 100.

sw/lib/ocaml/env.ml

@@ -81,8 +81,8 @@ let filter_absolute_path = fun path ->
 (* filter settings and keep the ones without brackets *)
 let filter_settings = fun settings ->
   let sl = Str.split (Str.regexp "[ ]+") settings in
-  let sl = List.filter (fun s -> not (s.[0] = '[' && s.[Compat.bytes_length s - 1] = ']')) sl in
-  Compat.bytes_concat " " sl
+  let sl = List.filter (fun s -> not (s.[0] = '[' && s.[String.length s - 1] = ']')) sl in
+  String.concat " " sl
 
 (* filter on modules based on target *)
 let filter_modules_target = fun module_file ->
@@ -171,12 +171,12 @@ let expand_ac_xml = fun ?(raise_exception = true) ac_conf ->
 let read_process command =
   let buffer_size = 2048 in
   let buffer = Buffer.create buffer_size in
-  let string = Compat.bytes_create buffer_size in
+  let bytes_ = Bytes.create buffer_size in
   let in_channel = Unix.open_process_in command in
   let chars_read = ref 1 in
   while !chars_read <> 0 do
-    chars_read := input in_channel string 0 buffer_size;
-    Buffer.add_substring buffer string 0 !chars_read
+    chars_read := input in_channel bytes_ 0 buffer_size;
+    Buffer.add_substring buffer (Bytes.to_string bytes_) 0 !chars_read
   done;
   ignore (Unix.close_process_in in_channel);
   Buffer.contents buffer
@@ -197,4 +197,4 @@ let key_modifiers_of_string = fun key ->
     | "Meta" -> "<Meta>"
     | x -> x
   ) key_split in
-  Compat.bytes_concat "" keys
+  String.concat "" keys

sw/lib/ocaml/expr_lexer.mll

@@ -30,7 +30,7 @@ rule token = parse
   | ['0'-'9']+ { INT (int_of_string (Lexing.lexeme lexbuf)) }
   | ['0'-'9']+'.'['0'-'9']* { FLOAT (float_of_string (Lexing.lexeme lexbuf)) }
   | '$'?['a'-'z' '_' 'A'-'Z'] (['a'-'z' 'A'-'Z' '_' '0'-'9']*) { IDENT (Lexing.lexeme lexbuf) }
-  | '\''[^'\'']+'\'' { let s = Lexing.lexeme lexbuf in IDENT (Compat.bytes_sub s 1 (Compat.bytes_length s - 2)) }
+  | '\''[^'\'']+'\'' { let s = Lexing.lexeme lexbuf in IDENT (String.sub s 1 (String.length s - 2)) }
   | ',' { COMMA }
   | '.' { DOT }
   | ';' { SEMICOLON }

sw/lib/ocaml/expr_syntax.ml

@@ -46,7 +46,7 @@ let sprint = fun ?call_assoc expr ->
   | Some (n, l) -> Some n, l
   in
   let rec eval = function
-    | Ident i when i.[0] = '$' -> sprintf "%s" (c_var_of_ident (Compat.bytes_sub i 1 (Compat.bytes_length i - 1)))
+    | Ident i when i.[0] = '$' -> sprintf "%s" (c_var_of_ident (String.sub i 1 (String.length i - 1)))
     | Ident i -> sprintf "%s" i
     | Int i -> sprintf "%d" i
     | Float i -> sprintf "%f" i
@@ -60,7 +60,7 @@ let sprint = fun ?call_assoc expr ->
         sprintf "%d" index
     | Call (i, es) ->
         let ses = List.map eval es in
-        sprintf "%s(%s)" i (Compat.bytes_concat "," ses)
+        sprintf "%s(%s)" i (String.concat "," ses)
     | Index (i,e) -> sprintf "%s[%s]" i (eval e)
     | Field (i,f) -> sprintf "%s.%s" i f
     | Deref (e,f) -> sprintf "(%s)->%s" (eval e) f

sw/lib/ocaml/extXml.ml

@@ -89,7 +89,7 @@ let buffer_attr = fun indent tab (n,v) ->
   Buffer.add_char tmp ' ';
   Buffer.add_string tmp n;
   Buffer.add_string tmp "=\"";
-  let l = Compat.bytes_length v in
+  let l = String.length v in
   for p = 0 to l-1 do
     match v.[p] with
       | '\\' -> Buffer.add_string tmp "\\\\"

sw/lib/ocaml/fig.ml

@@ -467,7 +467,7 @@ let font_flags = fun rigid special font hidden ->
     bit hidden 3
 
 let code_string = fun f s ->
-  for i = 0 to Compat.bytes_length s - 1 do
+  for i = 0 to String.length s - 1 do
     if Char.code s.[i] > 0o177 then
       fprintf f "\\%3o" (Char.code s.[i])
     else
@@ -500,8 +500,8 @@ let rec read_comments = fun s ->
   bscanf s " %0c" (fun c ->
     if c = '#' then
       bscanf s " %s@\n" (fun l ->
-        let n = Compat.bytes_length l in
-        Compat.bytes_sub l 2 (n-2) :: read_comments s)
+        let n = String.length l in
+        String.sub l 2 (n-2) :: read_comments s)
     else
       [])
 
@@ -622,9 +622,9 @@ let read_text = fun s ->
   bscanf s " %d %d %d %d %d %d %f %d %f %f" (fun st c depth _ps ft fs angle ff h l ->
     let p = read_point s in
     bscanf s "%c%s@\n" (fun _space text ->
-      let n = Compat.bytes_length text in
-      assert (Compat.bytes_sub text (n-4) 4 = "\\001");
-      let text = Compat.bytes_sub text 0 (n - 4) in
+      let n = String.length text in
+      assert (String.sub text (n-4) 4 = "\\001");
+      let text = String.sub text 0 (n - 4) in
       Text (justification_of_int st, c, depth, font_of_int (bit2 ff) ft, fs, angle, ff, h, l, p,text)))
 
 
@@ -649,7 +649,7 @@ let read = fun file ->
   let s = Scanning.from_file file in
   bscanf s "#FIG %s@\n%s %s@\n %s %s %f %s %d" (fun v o j u p m multi t ->
 
-    if Compat.bytes_sub v 0 3 <> "3.2" then
+    if String.sub v 0 3 <> "3.2" then
       failwith ("Unknown FIG format version: "^v);
 
     let comments = read_comments s in

sw/lib/ocaml/gen_common.ml

@@ -68,7 +68,7 @@ let modules_dir = paparazzi_conf // "modules"
 let autopilot_dir = paparazzi_conf // "autopilot"
 
 (** remove all duplicated elements of a list *)
-let singletonize = fun ?(compare = Pervasives.compare) l ->
+let singletonize = fun ?(compare = compare) l ->
   let rec loop = fun l ->
     match l with
     | [] | [_] -> l
@@ -93,8 +93,8 @@ let targets_of_field =
   let pipe = Str.regexp "|" in
   fun field default ->
     let f = ExtXml.attrib_or_default field "target" default in
-    if Compat.bytes_length f > 0 && Compat.bytes_get f 0 = '!' then
-      Not (expr_of_targets (fun x y -> Or(x,y)) (Str.split pipe (Compat.bytes_sub f 1 ((Compat.bytes_length f) - 1))))
+    if String.length f > 0 && String.get f 0 = '!' then
+      Not (expr_of_targets (fun x y -> Or(x,y)) (Str.split pipe (String.sub f 1 ((String.length f) - 1))))
     else
       expr_of_targets (fun x y -> Or(x,y)) (Str.split pipe f)
 

sw/lib/ocaml/gm.ml

@@ -132,7 +132,7 @@ let tile_of_key = fun keyholeStr ->
   and lat       = ref (-1.)
   and latLonSize = ref 2. in
 
-  for i = 1 to Compat.bytes_length keyholeStr - 1  do
+  for i = 1 to String.length keyholeStr - 1  do
     latLonSize /.= 2.;
 
     match keyholeStr.[i] with
@@ -149,14 +149,14 @@ let tile_of_key = fun keyholeStr ->
 
 
 let is_prefix = fun a b ->
-  Compat.bytes_length b >= Compat.bytes_length a &&
-    a = Compat.bytes_sub b 0 (Compat.bytes_length a)
+  String.length b >= String.length a &&
+    a = String.sub b 0 (String.length a)
 
 (** Get the tile or one which contains it from the cache *)
 let get_from_cache = fun dir f ->
   let files = Sys.readdir dir in
   (* sort files to have the longest names first *)
-  Array.sort (fun a b -> Compat.bytes_length b - Compat.bytes_length a) files;
+  Array.sort (fun a b -> String.length b - String.length a) files;
   let rec loop = fun i ->
     if i < Array.length files then
       let fi = files.(i) in
@@ -173,11 +173,11 @@ let get_from_cache = fun dir f ->
 
 (** Get the tile or one which contains it from the a hash table *)
 let get_from_hashtbl = fun tbl key ->
-  let l = Compat.bytes_length key in
+  let l = String.length key in
   let rec loop = fun i ->
     if i = 0 then raise Not_found;
     try
-      let subkey = Compat.bytes_sub key 0 i in
+      let subkey = String.sub key 0 i in
       let file = Hashtbl.find tbl subkey in
       (tile_of_key subkey, file)
     with _ -> loop (i-1)
@@ -189,7 +189,7 @@ let get_from_hashtbl = fun tbl key ->
 let xyz_of_qsrt = fun s ->
   let x = ref 0
   and y = ref 0
-  and n = Compat.bytes_length s in
+  and n = String.length s in
   for i = 1 to n - 1 do (* Skip the first t *)
     x := !x * 2;
     y := !y * 2;
@@ -203,11 +203,11 @@ let xyz_of_qsrt = fun s ->
   (!x, !y, n-1)
 
 let ms_key = fun key ->
-  let n = Compat.bytes_length key in
+  let n = String.length key in
   if n = 1 then invalid_arg "Gm.ms_key";
-  let ms_key = Compat.bytes_create (n-1) in
+  let ms_key = Bytes.create (n-1) in
   for i = 1 to n - 1 do
-    Compat.bytes_set ms_key (i-1)
+    Bytes.set ms_key (i-1)
       (match key.[i] with
           'q' -> '0'
         | 'r' -> '1'
@@ -215,7 +215,8 @@ let ms_key = fun key ->
         | 't' -> '2'
         | _ -> invalid_arg "Gm.ms_key")
   done;
-  (ms_key, ms_key.[n-2])
+  let s = Bytes.to_string ms_key in
+  (s, s.[n-2])
 
 let google_version = Maps_support.google_version
 
@@ -258,7 +259,7 @@ let set_policy = fun p ->
 let get_policy = fun () ->
   !policy
 
-let remove_last_char = fun s -> Compat.bytes_sub s 0 (Compat.bytes_length s - 1)
+let remove_last_char = fun s -> String.sub s 0 (String.length s - 1)
 
 
 type hashtbl_cache = (string, string) Hashtbl.t
@@ -278,7 +279,7 @@ let get_image = fun ?tbl key ->
   let cache_dir = get_cache_dir !maps_source in
   mkdir cache_dir;
   let rec get_from_http = fun k ->
-    if Compat.bytes_length k >= 1 then
+    if String.length k >= 1 then
       let url = url_of_tile_key !maps_source k in
       let jpg_file = cache_dir // (k ^ ".jpg") in
       try
@@ -302,7 +303,7 @@ let get_image = fun ?tbl key ->
       | Some ht -> get_from_hashtbl ht key
     in
     (* if not exact match from cache, try http if CacheOrHttp policy *)
-    if !policy = CacheOrHttp && (Compat.bytes_length t.key < Compat.bytes_length key) then
+    if !policy = CacheOrHttp && (String.length t.key < String.length key) then
       try get_from_http key with _ -> (t, f)
     else (t, f)
   with

sw/lib/ocaml/gtk_tools.ml

@@ -149,7 +149,7 @@ let tree_values = fun ?(only_checked=true) (tree : tree) ->
   store#foreach (fun _ row ->
     let v = store#get ~row ~column:name
     and c = store#get ~row ~column:check in
-    let space = if Compat.bytes_length !values > 0 then " " else "" in
+    let space = if String.length !values > 0 then " " else "" in
     let v =
       if c then v else
         if only_checked then ""
@@ -172,9 +172,9 @@ let get_selected_in_tree = fun  (tree : tree) ->
 let add_to_tree = fun ?(force_unselect=false) (tree : tree) string ->
   let (store, name, check, _) = tree_model tree in
   let row = store#append () in
-  let l = Compat.bytes_length string in
+  let l = String.length string in
   let checked = not (string.[0] = '[' && string.[l - 1] = ']') in
-  let string = if not checked then Compat.bytes_sub string 1 (l - 2) else string in
+  let string = if not checked then String.sub string 1 (l - 2) else string in
   store#set ~row ~column:check (checked && not force_unselect);
   store#set ~row ~column:name string
 

sw/lib/ocaml/http.ml

@@ -2,17 +2,13 @@ exception Failure of string
 exception Not_Found of string
 exception Blocked of string
 
-IFDEF NETCLIENT_V_4 THEN
 module H = Nethttp_client
 let () =
   Nettls_gnutls.init()
-ELSE
-module H = Http_client
-END
 
 let file_of_url = fun ?dest url ->
-  if Compat.bytes_sub url 0 7 = "file://" then
-    Compat.bytes_sub url 7 (Compat.bytes_length url - 7)
+  if String.sub url 0 7 = "file://" then
+    String.sub url 7 (String.length url - 7)
   else
     let tmp_file =
       match dest with
@@ -21,11 +17,7 @@ let file_of_url = fun ?dest url ->
     let call = new H.get url in
     call#set_response_body_storage (`File (fun () -> tmp_file));
     let pipeline = new H.pipeline in
-    IFDEF NETCLIENT_V_404 THEN
-    pipeline # set_proxy_from_environment (~insecure:false) ()
-    ELSE
-    pipeline # set_proxy_from_environment ()
-    END;
+    pipeline # set_proxy_from_environment ~insecure:false ();
     pipeline # add call;
     pipeline # run ();
     match call#status with

sw/lib/ocaml/mapGoogle.ml

@@ -49,7 +49,7 @@ let char_of = function
 let mem_tile = fun tile_key ->
   let rec loop = fun i tree ->
     tree = Tile ||
-    i < Compat.bytes_length tile_key &&
+    i < String.length tile_key &&
     match tree with
         Empty -> false
       | Tile -> true
@@ -59,7 +59,7 @@ let mem_tile = fun tile_key ->
 (** Adding a tile to the store *)
 let add_tile = fun tile_key ->
   let rec loop = fun i tree j ->
-    if i < Compat.bytes_length tile_key then
+    if i < String.length tile_key then
       match tree.(j) with
           Empty ->
             let sons = Array.make 4 Empty in
@@ -104,7 +104,7 @@ let display_tile = fun (geomap:MapCanvas.widget) wgs84 level ->
   let key = desired_tile.Gm.key in
   if not (mem_tile key) then
     let (tile, jpg_file) = Gm.get_image key in
-    display_the_tile geomap tile jpg_file (Compat.bytes_length tile.Gm.key)
+    display_the_tile geomap tile jpg_file (String.length tile.Gm.key)
 
 
 exception New_displayed of int
@@ -139,16 +139,16 @@ let fill_window = fun (geomap:MapCanvas.widget) zoomlevel ->
           | Empty ->
             if zoom = 1 then
               let tile, image = Gm.get_image ~tbl key in
-              let level = Compat.bytes_length tile.Gm.key in
+              let level = String.length tile.Gm.key in
               display_the_tile geomap tile image level;
-              raise (New_displayed (zoomlevel+1-Compat.bytes_length tile.Gm.key))
+              raise (New_displayed (zoomlevel+1-String.length tile.Gm.key))
             else begin
               trees.(i) <- Node (Array.make 4 Empty);
               loop twest tsouth tsize trees i zoom key
             end
           | Node sons ->
             let continue = fun j tw ts ->
-              loop tw ts tsize2 sons j (zoom-1) (key^Compat.bytes_make 1 (char_of j)) in
+              loop tw ts tsize2 sons j (zoom-1) (key^String.make 1 (char_of j)) in
 
             continue 0 twest (tsouth+.tsize2);
             continue 1 (twest+.tsize2) (tsouth+.tsize2);
@@ -196,10 +196,10 @@ let pixbuf = fun sw ne zoomlevel->
         if zoom = 1
         then
           let tile, image = Gm.get_image key in
-          raise (To_copy (zoomlevel+1-Compat.bytes_length tile.Gm.key, image))
+          raise (To_copy (zoomlevel+1-String.length tile.Gm.key, image))
         else begin
           let continue = fun j tw ts ->
-            loop tw ts tsize2 (zoom-1) (key^Compat.bytes_make 1 (char_of j)) in
+            loop tw ts tsize2 (zoom-1) (key^String.make 1 (char_of j)) in
           continue 0 twest (tsouth+.tsize2);
           continue 1 (twest+.tsize2) (tsouth+.tsize2);
           continue 2 (twest+.tsize2) tsouth;

sw/lib/ocaml/ocaml_tools.ml

@@ -30,7 +30,7 @@ let open_compress file =
     Unix.open_process_in ("gunzip -c "^file)
   else if Filename.check_suffix file "bz2"  then
     Unix.open_process_in ("bunzip2 -c "^file)
-  else Pervasives.open_in file
+  else open_in file
 
 
 let extensions = ["";".gz";".Z";".bz2";".zip";".ZIP"]

sw/lib/ocaml/os_calls.ml

@@ -28,12 +28,12 @@ let current_os = ref "not_set"
 let read_process_output command =
   let buffer_size = 2048 in
   let buffer = Buffer.create buffer_size in
-  let string = Compat.bytes_create buffer_size in
+  let bytes_ = Bytes.create buffer_size in
   let in_channel = Unix.open_process_in command in
   let chars_read = ref 1 in
   while !chars_read <> 0 do
-    chars_read := input in_channel string 0 buffer_size;
-    Buffer.add_substring buffer string 0 !chars_read
+    chars_read := input in_channel bytes_ 0 buffer_size;
+    Buffer.add_substring buffer (Bytes.to_string bytes_) 0 !chars_read
   done;
   ignore (Unix.close_process_in in_channel);
   try Buffer.sub buffer 0 ((Buffer.length buffer) - 1)
@@ -43,7 +43,7 @@ let contains s substring =
   try ignore (Str.search_forward (Str.regexp_string substring) s 0); true
   with Not_found -> false
 
-let os_name = Compat.bytes_copy (
+let os_name = (
   if contains !current_os "not_set" then (
     current_os := read_process_output "uname" );
   !current_os

sw/lib/ocaml/papget_renderer.ml

@@ -127,7 +127,7 @@ class canvas_ruler = fun ?(config=[]) canvas_group x y ->
     List.iter (fun i -> i#destroy ()) r#get_items;
     let v = truncate value / step in
     let k = truncate (h /. point_per_unit) / step in
-    for i = Pervasives.max 0 (v - k) to (v + k) do
+    for i = max 0 (v - k) to (v + k) do
       draw i value
     done
   in
@@ -160,7 +160,7 @@ class canvas_gauge = fun ?(config=[]) canvas_group x y ->
   let size = PC.get_prop "size" config "50." in
   (*let text_props = [`ANCHOR `CENTER; `FILL_COLOR "white"] in*)
 
-  let r1 = Pervasives.max 10. ((float_of_string size) /. 2.) in
+  let r1 = max 10. ((float_of_string size) /. 2.) in
   let r2 = r1 +. 3. in
   let r3 = 3.5 in
   let max_rot = 2. *. Latlong.pi /. 3. in
@@ -247,7 +247,7 @@ class canvas_led = fun ?(config=[]) canvas_group x y ->
 
   let root = GnoCanvas.group ~x ~y canvas_group in
 
-  let r = (Pervasives.max 2. (size /. 2.)) +. 1. in
+  let r = (max 2. (size /. 2.)) +. 1. in
   let led = GnoCanvas.ellipse ~x1:r ~y1:r ~x2:(-.r) ~y2:(-.r)
     ~props:[`NO_FILL_COLOR; `OUTLINE_COLOR "grey"; `WIDTH_UNITS 2.]  root in
 
@@ -290,7 +290,7 @@ object
       (* Led drawer *)
     if inv (value = test_value) then led#set [`FILL_COLOR "red"]
     else led#set [`FILL_COLOR "#00ff00"];
-    let r = (Pervasives.max 2. (size /. 2.)) +. 1. in
+    let r = (max 2. (size /. 2.)) +. 1. in
     led#set [`X1 r; `Y1 r; `X2 (-.r); `Y2 (-.r)];
     led_text#set [`TEXT text; `SIZE_POINTS size; `X (-.r-.3.)]
 

sw/lib/ocaml/serial.ml

@@ -94,11 +94,11 @@ type 'a closure = Closure of 'a
 (*let buffer_len = 256 *)
 let buffer_len = 2048
 let input = fun ?(read = Unix.read) f ->
-  let buffer = Compat.bytes_create buffer_len
+  let buffer = Bytes.create buffer_len
   and index = ref 0 in
 
   let wait = fun start n ->
-    Compat.bytes_blit buffer start buffer 0 n;
+    Bytes.blit buffer start buffer 0 n;
     index := n in
 
   Closure (fun fd ->
@@ -109,7 +109,7 @@ let input = fun ?(read = Unix.read) f ->
     Debug.call 'T' (fun f -> fprintf f "input: %d %d\n" !index n);
     let rec parse = fun start n ->
       Debug.call 'T' (fun f -> fprintf f "input parse: %d %d\n" start n);
-      let nb_used = f (Compat.bytes_sub buffer start n) in
+      let nb_used = f (Bytes.sub buffer start n) in
       (*  Printf.fprintf stderr "n'=%d\n" nb_used; flush stderr; *)
       if nb_used > 0 then
         parse (start + nb_used) (n - nb_used)

sw/lib/ocaml/serial.mli

@@ -56,8 +56,8 @@ val set_dtr : Unix.file_descr -> bool -> unit
 val set_speed : Unix.file_descr -> speed -> unit
 
 val input :
-  ?read:(Unix.file_descr -> string -> int -> int -> int) ->
-  (string -> int) -> (Unix.file_descr -> unit) closure
+  ?read:(Unix.file_descr -> bytes -> int -> int -> int) ->
+  (bytes -> int) -> (Unix.file_descr -> unit) closure
 (** Buffered input. [input ?read f] Returns a closure which must be called when
 characters are available on the stream. These characters are stored in a
 a buffer. [f] is then called on the buffer. [f] must return the number

sw/lib/ocaml/srtm.ml

@@ -57,7 +57,7 @@ let find = fun tile ->
         try
           let f = open_compressed (tile_name ^".hgt") in
           let n = tile_size*tile_size*2 in
-          let buf = Compat.bytes_create n in
+          let buf = Bytes.create n in
           really_input f buf 0 n;
           Hashtbl.add htiles tile buf;
           buf
@@ -68,7 +68,7 @@ let find = fun tile ->
 let get = fun tile y x ->
   let tile = find tile in
   let pos = (2*((tile_size-y)*tile_size+x)) in
-  (((Char.code tile.[pos] land 127) lsl 8) lor Char.code tile.[pos+1]) - ((Char.code tile.[pos] lsr 7) * 256 * 128)
+  (((Char.code (Bytes.get tile pos) land 127) lsl 8) lor Char.code (Bytes.get tile (pos+1))) - ((Char.code (Bytes.get tile pos) lsr 7) * 256 * 128)
 
 let of_wgs84 = fun geo ->
   let lat = (Rad>>Deg)geo.posn_lat

sw/lib/ocaml/ubx.ml

@@ -33,8 +33,8 @@ module UbxProtocol = struct
   let offset_length=4
   let index_start = fun buf ->
     let rec loop = fun i ->
-      let i' = Compat.bytes_index_from buf i sync1 in
-      if Compat.bytes_length buf > i'+1 && buf.[i'+1] = sync2 then
+      let i' = String.index_from buf i sync1 in
+      if String.length buf > i'+1 && buf.[i'+1] = sync2 then
         i'
       else
         loop (i'+1) in
@@ -44,20 +44,20 @@ module UbxProtocol = struct
     Char.code buf.[start+5] lsl 8 + Char.code buf.[start+4] + 4
 
   let length = fun buf start ->
-    let len = Compat.bytes_length buf - start in
+    let len = String.length buf - start in
     if len >= offset_length+2 then
       payload_length buf start + 4
     else
       raise Protocol.Not_enough
 
   let payload = fun buf ->
-    Protocol.payload_of_string (Compat.bytes_sub buf offset_payload (payload_length buf 0))
+    Protocol.payload_of_string (String.sub buf offset_payload (payload_length buf 0))
 
   let uint8_t = fun x -> x land 0xff
   let (+=) = fun r x -> r := uint8_t (!r + x)
   let compute_checksum = fun buf ->
     let ck_a = ref 0 and ck_b = ref 0 in
-    let l = Compat.bytes_length buf in
+    let l = String.length buf in
     for i = offset_payload to l - 1 - 4 do
       ck_a += Char.code buf.[i];
       ck_b += !ck_a
@@ -70,17 +70,17 @@ module UbxProtocol = struct
     ck_a = Char.code buf.[offset_payload+l+1] && ck_b = Char.code buf.[offset_payload+l+2]
 
   let packet = fun payload ->
-    let payload = Protocol.string_of_payload payload in
-    let n = Compat.bytes_length payload in
+    let payload = Protocol.bytes_of_payload payload in
+    let n = Bytes.length payload in
     let msg_length = n + 4 in
-    let m = Compat.bytes_create msg_length in
-    Compat.bytes_set m 0 sync1;
-    Compat.bytes_set m 1 sync2;
-    Compat.bytes_blit payload 0 m 2 n;
-    let (ck_a, ck_b) = compute_checksum m in
-    Compat.bytes_set m (msg_length-2) (Char.chr ck_a);
-    Compat.bytes_set m (msg_length-1) (Char.chr ck_b);
-    m
+    let m = Bytes.create msg_length in
+    Bytes.set m 0 sync1;
+    Bytes.set m 1 sync2;
+    Bytes.blit payload 0 m 2 n;
+    let (ck_a, ck_b) = compute_checksum (Bytes.to_string m) in
+    Bytes.set m (msg_length-2) (Char.chr ck_a);
+    Bytes.set m (msg_length-1) (Char.chr ck_b);
+    Bytes.to_string m
 end
 
 type class_id = int
@@ -135,7 +135,7 @@ type message_spec = Xml.xml
 
 let ubx_payload = fun msg_xml values ->
   let n = int_of_string (ExtXml.attrib msg_xml "length") in
-  let p = Compat.bytes_make n '#' in
+  let p = Bytes.make n '#' in
   let fields = Xml.children msg_xml in
   List.iter
     (fun (label, value) ->
@@ -148,23 +148,23 @@ let ubx_payload = fun msg_xml values ->
       match fmt with
         | "U1" ->
           assert(value >= 0 && value < 0x100);
-          Compat.bytes_set p (pos) (byte value)
+          Bytes.set p (pos) (byte value)
         | "I1" ->
           assert(value >= -0x80 && value <= 0x80);
-          Compat.bytes_set p pos (byte value)
+          Bytes.set p pos (byte value)
         | "I4" | "U4" ->
           assert(fmt <> "U4" || value >= 0);
-          Compat.bytes_set p (pos+3) (byte (value asr 24));
-          Compat.bytes_set p (pos+2) (byte (value lsr 16));
-          Compat.bytes_set p (pos+1) (byte (value lsr 8));
-          Compat.bytes_set p (pos+0) (byte value)
+          Bytes.set p (pos+3) (byte (value asr 24));
+          Bytes.set p (pos+2) (byte (value lsr 16));
+          Bytes.set p (pos+1) (byte (value lsr 8));
+          Bytes.set p (pos+0) (byte value)
         | "U2" | "I2" ->
-          Compat.bytes_set p (pos+1) (byte (value lsr 8));
-          Compat.bytes_set p (pos+0) (byte value)
+          Bytes.set p (pos+1) (byte (value lsr 8));
+          Bytes.set p (pos+0) (byte value)
         | _ -> failwith (Printf.sprintf "Ubx.make_payload: unknown format '%s'" fmt)
     )
     values;
-  p
+  Bytes.to_string p
 
 let message = fun class_name msg_name ->
   let _class = ubx_get_class class_name in
@@ -177,13 +177,14 @@ let message = fun class_name msg_name ->
 let payload = fun class_name msg_name values ->
   let class_id, msg_id, msg = message class_name msg_name in
   let u_payload = ubx_payload msg values in
-  let n = Compat.bytes_length u_payload in
+  let n = String.length u_payload in
 
   (** Just add CLASS_ID, MSG_ID and LENGTH(2) to the ubx payload *)
-  let m = Compat.bytes_create (n+4) in
-  Compat.bytes_set m 0 (Char.chr class_id);
-  Compat.bytes_set m 1 (Char.chr msg_id);
-  Compat.bytes_set m 2 (Char.chr (n land 0xff));
-  Compat.bytes_set m 3 (Char.chr ((n land 0xff00) lsr 8));
-  Compat.bytes_blit u_payload 0 m 4 n;
-  Protocol.payload_of_string m
+  let m = Bytes.create (n+4) in
+  Bytes.set m 0 (Char.chr class_id);
+  Bytes.set m 1 (Char.chr msg_id);
+  Bytes.set m 2 (Char.chr (n land 0xff));
+  Bytes.set m 3 (Char.chr ((n land 0xff00) lsr 8));
+  Bytes.blit_string u_payload 0 m 4 n;
+  Protocol.payload_of_bytes m
+

sw/lib/ocaml/xmlEdit.ml

@@ -105,7 +105,7 @@ let string_of_attribs = fun attribs ->
   match attribs with
       ["PCData", data] -> data
     | _ ->
-      Compat.bytes_concat " " (List.map (fun (a,v) -> sprintf "%s=\"%s\"" a v) attribs)
+      String.concat " " (List.map (fun (a,v) -> sprintf "%s=\"%s\"" a v) attribs)
 
 type id = int
 let gen_id =
@@ -132,18 +132,18 @@ let encode_crs =
 *)
 
 let recode_crs = fun s ->
-  let n = Compat.bytes_length s in
-  let s' = Compat.bytes_create n in
+  let n = String.length s in
+  let s' = Bytes.create n in
   let i = ref 0 and j = ref 0 in
   while !i < n do
     if !i < n-1 && s.[!i] == '\\' && s.[!i+1] == 'n' then begin
-      Compat.bytes_set s' (!j)  '\n';
+      Bytes.set s' (!j)  '\n';
       incr i
     end else
-      Compat.bytes_set s' (!j) s.[!i];
+      Bytes.set s' (!j) s.[!i];
     incr i; incr j
   done;
-  Compat.bytes_sub s' 0 !j
+  Bytes.to_string (Bytes.sub s' 0 !j)
 
 
 

sw/logalizer/logplotter.ml

@@ -352,7 +352,7 @@ class plot = fun ~width ~height ~packing () ->
 	  let tick = tick_min +. float i *. u in
 	  let y = scale_y tick in
 	  if y < height - bottom_margin then
-	    let s = Printf.sprintf "%.*f" (Pervasives.max 0 (2-truncate scale)) tick in
+	    let s = Printf.sprintf "%.*f" (max 0 (2-truncate scale)) tick in
 	    let (w, h) = renderer#create_text s in
 	    renderer#put_text (left_margin-margin-w) (y-h/2);
 
@@ -366,7 +366,7 @@ class plot = fun ~width ~height ~packing () ->
 	  let tick = tick_min +. float i *. u in
 	  let x = scale_x tick in
 	  if left_margin < x && x < width then
-	    let s = Printf.sprintf "%.*f" (Pervasives.max 0 (2-truncate scale)) tick in
+	    let s = Printf.sprintf "%.*f" (max 0 (2-truncate scale)) tick in
 	    let (w, h) = renderer#create_text s in
 	    let y = y-margin-h in
 	    renderer#put_text (x-w/2) y;

sw/logalizer/plotter.ml

@@ -25,11 +25,13 @@
 open Printf
 
 let (//) = Filename.concat
+let minimum = min
+let maximum = max
 
 (* Fixme: find something more basic than adjustment *)
 let set_float_value = fun (a:GData.adjustment) v ->
-  let lower = Pervasives.min a#lower v
-  and upper = Pervasives.max a#upper v +. a#step_increment in
+  let lower = minimum a#lower v
+  and upper = maximum a#upper v +. a#step_increment in
   a#set_bounds ~lower ~upper ();
   a#set_value v
 
@@ -136,7 +138,7 @@ class plot = fun ~size ~update_time ~width ~height ~packing () ->
       if new_size <> size && new_size > 0 then begin
         Hashtbl.iter (fun _ a ->
           let new_array = Array.make new_size None in
-          for i = 0 to Pervasives.min size new_size - 1 do
+          for i = 0 to minimum size new_size - 1 do
             new_array.(new_size - 1 - i) <- a.array.((a.index-i+size) mod size)
           done;
           a.array <- new_array;
@@ -166,8 +168,8 @@ class plot = fun ~size ~update_time ~width ~height ~packing () ->
         let a = Hashtbl.find curves name in
         a.array.(a.index) <- Some v;
         if auto_scale then begin
-          min <- Pervasives.min min v;
-          max <- Pervasives.max max v
+          min <- minimum min v;
+          max <- maximum max v
         end
 
     method reset_scale = fun () ->
@@ -179,8 +181,8 @@ class plot = fun ~size ~update_time ~width ~height ~packing () ->
             (function
         	None -> ()
               | Some v ->
-        	  min <- Pervasives.min min v;
-        	  max <- Pervasives.max max v)
+        	  min <- minimum min v;
+        	  max <- maximum max v)
             a.array)
         curves
 
@@ -203,7 +205,7 @@ class plot = fun ~size ~update_time ~width ~height ~packing () ->
             let dr = pm#get_pixmap () in
             dr#set_foreground (`NAME "white");
             dr#rectangle ~x:0 ~y:0 ~width ~height ~filled:true ();
-            let margin = Pervasives.min (height / 10) 20 in
+            let margin = minimum (height / 10) 20 in
 
             (* Time Graduations *)
             let context = da#misc#create_pango_context in
@@ -242,7 +244,7 @@ class plot = fun ~size ~update_time ~width ~height ~packing () ->
             let tick_min = min -. mod_float min u in
             for i = 0 to truncate (delta/.u) + 1 do
               let tick = tick_min +. float i *. u in
-              f 0 (y tick) (Printf.sprintf "%.*f" (Pervasives.max 0 (2-truncate scale)) tick)
+              f 0 (y tick) (Printf.sprintf "%.*f" (maximum 0 (2-truncate scale)) tick)
             done;
 
             (* Constants *)

sw/logalizer/sd2log.ml

@@ -83,20 +83,20 @@ let string_of_message = fun log_msg ->
   | 1 -> Dl_Pprz.string_of_message
   | x -> failwith (sprintf "Unexpected source:%d in log msg" x)
 
-let hex_of_array = function
+(*let hex_of_array = function
   | PprzLink.Array array ->
       let n = Array.length array in
       (* One integer -> 2 chars *)
-      let s = Compat.bytes_create (2*n) in
+      let s = Bytes.create (2*n) in
       Array.iteri
         (fun i dec ->
           let hex = sprintf "%02x" (PprzLink.int_of_value array.(i)) in
-          Compat.bytes_blit hex 0 s (2*i) 2)
+          String.blit hex 0 s (2*i) 2)
         array;
       s
   | value ->
       failwith (sprintf "Error: expecting array, found %s" (PprzLink.string_of_value value))
-
+*)
 
 let xml_parse_compressed_file = fun file ->
     Xml.parse_in (Ocaml_tools.open_compress file)
@@ -111,8 +111,8 @@ let search_conf = fun md5 ->
   let files = Sys.readdir dir in
   let rec loop = fun i ->
     if i < Array.length files then begin
-      if Compat.bytes_length files.(i) > (md5_ofs + md5_len)
-      && Compat.bytes_sub files.(i) md5_ofs md5_len = md5 then
+      if String.length files.(i) > (md5_ofs + md5_len)
+      && String.sub files.(i) md5_ofs md5_len = md5 then
         dir // files.(i)
       else
         loop (i+1)
@@ -165,12 +165,12 @@ let convert_file = fun ?(output_dir=None) file ->
                      let unix_time = Latlong.unix_time_of_tow ~week itow in
                      start_unix_time := Some (unix_time -. timestamp)
         | "ALIVE" when !md5 = "" ->
-            md5 := hex_of_array (PprzLink.assoc "md5sum" vs)
+            md5 := PprzLink.hex_of_int_array (PprzLink.assoc "md5sum" vs)
         | _ -> ()
   with _ -> fprintf stderr "Parsing error, skipping message\n"
   in
 
-  let parser = Parser.parse use_payload in
+  let parser = fun b -> Parser.parse use_payload (Bytes.to_string b) in
   let Serial.Closure reader = Serial.input parser in
 
   try

sw/simulator/diffusion.ml

@@ -68,10 +68,10 @@ let send_on_ivy = fun () ->
     ys := sprintf "%.6f" ((Rad>>Deg)wgs84.posn_long) :: !ys;
     vs := sprintf "%d" plume.value :: !vs)
     plumes ;
-  let ids = Compat.bytes_concat "," !ids
-  and xs = Compat.bytes_concat "," !xs
-  and ys = Compat.bytes_concat "," !ys
-  and vs = Compat.bytes_concat "," !vs in
+  let ids = Bytes.concat "," !ids
+  and xs = Bytes.concat "," !xs
+  and ys = Bytes.concat "," !ys
+  and vs = Bytes.concat "," !vs in
   Ground_Pprz.message_send my_id "PLUMES"
     [ "ids", PprzLink.String ids;
       "lats", PprzLink.String xs;

sw/simulator/sim.ml

@@ -76,7 +76,7 @@ module type AIRCRAFT_ITL =
   functor (A : Data.MISSION) -> functor (FM: FlightModel.SIG) -> AIRCRAFT
 
 external fg_sizeof : unit -> int = "fg_sizeof"
-external fg_msg : string -> float -> float -> float -> float -> float -> float -> unit = "fg_msg_bytecode" "fg_msg_native"
+external fg_msg : bytes -> float -> float -> float -> float -> float -> float -> unit = "fg_msg_bytecode" "fg_msg_native"
 
 let ac_name = ref "A/C not set"
 
@@ -240,9 +240,9 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
       (*    and theta_ = s.Gps.course *)
           and (phi, theta, psi) = FlightModel.get_attitude !state in
           fg_msg buffer lat lon alt phi theta psi;
-      (**       for i = 0 to Compat.bytes_length buffer - 1 do fprintf stderr "%x " (Char.code buffer.[i]) done; fprintf stderr "\n"; **)
+      (**       for i = 0 to Bytes.length buffer - 1 do fprintf stderr "%x " (Char.code buffer.[i]) done; fprintf stderr "\n"; **)
           try
-            ignore (Unix.sendto socket buffer 0 (Compat.bytes_length buffer) [] sockaddr)
+            ignore (Unix.sendto socket buffer 0 (Bytes.length buffer) [] sockaddr)
           with
               Unix.Unix_error (e,f,a) -> Printf.fprintf stderr "Error sending to FlightGear: %s (%s(%s))\n" (Unix.error_message e) f a; flush stderr
     in
@@ -275,7 +275,7 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
           let inet_addr = Unix.inet_addr_of_string !fg_client in
           let socket = Unix.socket Unix.PF_INET Unix.SOCK_DGRAM 0 in
           (* Unix.connect socket (Unix.ADDR_INET (inet_addr, 5501)); *)
-          let buffer = Compat.bytes_create (fg_sizeof ()) in
+          let buffer = Bytes.create (fg_sizeof ()) in
           let sockaddr = (Unix.ADDR_INET (inet_addr, 5501)) in
           Stdlib.timer ~scale:time_scale fg_period (fg_task socket buffer sockaddr);
           fprintf stdout "Sending to FlightGear at %s\n" !fg_client; flush stdout

sw/supervision/pc_common.ml

@@ -44,12 +44,12 @@ let run_and_log = fun log exit_cb com ->
   let channel_out_fd = Unix.descr_of_in_channel com_stdout in
   let channel_out = GMain.Io.channel_of_descr channel_out_fd in
   let cb = fun _ ->
-      let buf = Compat.bytes_create buf_size in
+      let buf = Bytes.create buf_size in
       (* loop until input returns zero *)
       let rec log_input = fun out ->
         let n = input out buf 0 buf_size in
         (* split on beginning of new line *)
-        let s = Str.split (Str.regexp "^") (Compat.bytes_sub buf 0 n) in
+        let s = Str.split (Str.regexp "^") (Bytes.to_string (Bytes.sub buf 0 n)) in
         List.iter (fun l -> log l) s;
         if n = buf_size then (log_input out) + n else n
       in
@@ -61,18 +61,18 @@ let run_and_log = fun log exit_cb com ->
   pid, channel_out, com_stdout, io_watch_out
 
 let strip_prefix = fun dir file subdir ->
-  let n = Compat.bytes_length dir in
-  if not (Compat.bytes_length file > n && Compat.bytes_sub file 0 n = dir) then begin
+  let n = String.length dir in
+  if not (String.length file > n && String.sub file 0 n = dir) then begin
     let home = Env.paparazzi_home in
-    let nn = Compat.bytes_length home in
-    if (Compat.bytes_length file > nn && Compat.bytes_sub file 0 nn = home) then begin
-      ".." // Compat.bytes_sub file (nn+1) (Compat.bytes_length file - nn -1)
+    let nn = String.length home in
+    if (String.length file > nn && String.sub file 0 nn = home) then begin
+      ".." // String.sub file (nn+1) (String.length file - nn -1)
     end else
      let msg = sprintf "Selected file '%s' should be in '%s'" file dir in
      GToolbox.message_box ~title:"Error" msg;
      raise Exit
   end else
-    subdir // Compat.bytes_sub file (n+1) (Compat.bytes_length file - n - 1)
+    subdir // String.sub file (n+1) (String.length file - n - 1)
 
 
 let choose_xml_file = fun ?(multiple = false) title subdir cb ->