[messages] add char, fixed size array and int64 support to transports and gen_messages.ml

Makefile

@@ -99,7 +99,7 @@ DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
 DL_PROTOCOL2_H=$(STATICINCLUDE)/dl_protocol2.h
 ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h
 
-GEN_HEADERS = $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H) $(ABI_MESSAGES_H)
+GEN_HEADERS = $(MESSAGES_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(ABI_MESSAGES_H)
 
 
 all: ground_segment ext lpctools

sw/airborne/arch/sim/ivy_transport.h

@@ -18,15 +18,19 @@ extern char* ivy_p;
 #define Space() ivy_p += sprintf(ivy_p, " ");
 #define Comma() ivy_p += sprintf(ivy_p, ",");
 
+#define IvyTransportPutcByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%c", *x);
+#define IvyTransportPutCharByAddr(_dev,x) IvyTransportPutcByAddr(_dev,x) Space()
 #define IvyTransportPutUintByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%u", *x);
 #define IvyTransportPutUint8ByAddr(_dev,x) IvyTransportPutUintByAddr(_dev,x) Space()
 #define IvyTransportPutUint16ByAddr(_dev,x) IvyTransportPutUintByAddr(_dev,x) Space()
 #define IvyTransportPutUint32ByAddr(_dev,x) IvyTransportPutUintByAddr(_dev,x) Space()
+#define IvyTransportPutUint64ByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%llu", *x); Space()
 
 #define IvyTransportPutIntByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%d", *x);
 #define IvyTransportPutInt8ByAddr(_dev,x) IvyTransportPutIntByAddr(_dev,x) Space()
 #define IvyTransportPutInt16ByAddr(_dev,x) IvyTransportPutIntByAddr(_dev,x) Space()
 #define IvyTransportPutInt32ByAddr(_dev,x) IvyTransportPutIntByAddr(_dev,x) Space()
+#define IvyTransportPutInt64ByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%lld", *x); Space()
 
 #define IvyTransportPutOneFloatByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%f", *x);
 #define IvyTransportPutFloatByAddr(_dev,x) IvyTransportPutOneFloatByAddr(_dev,x) Space()
@@ -37,12 +41,29 @@ extern char* ivy_p;
   for(__i = 0; __i < _n; __i++) { \
     _put(_dev,&_x[__i]); \
     Comma(); \
-  } \
+  } Space() \
 }
 
+#define IvyTransportPutInt8Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
 #define IvyTransportPutUint8Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
+#define IvyTransportPutCharArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutcByAddr, _n, _x)
 #define IvyTransportPutInt16Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
 #define IvyTransportPutUint16Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
 #define IvyTransportPutUint32Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
+#define IvyTransportPutInt32Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
+#define IvyTransportPutUint64Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
+#define IvyTransportPutInt64Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
 #define IvyTransportPutFloatArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutOneFloatByAddr, _n, _x)
 #define IvyTransportPutDoubleArray(_dev,_n, _x) IvyTransportPutFloatArray(_dev,_n, _x)
+
+#define IvyTransportPutInt8FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
+#define IvyTransportPutUint8FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
+#define IvyTransportPutCharFixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutcByAddr, _n, _x)
+#define IvyTransportPutInt16FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
+#define IvyTransportPutUint16FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
+#define IvyTransportPutUint32FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
+#define IvyTransportPutInt32FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
+#define IvyTransportPutUint64FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutUintByAddr, _n, _x)
+#define IvyTransportPutInt64FixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)
+#define IvyTransportPutFloatFixedArray(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutOneFloatByAddr, _n, _x)
+#define IvyTransportPutDoubleFixedArray(_dev,_n, _x) IvyTransportPutFloatArray(_dev,_n, _x)

sw/airborne/subsystems/datalink/downlink.h

@@ -110,6 +110,9 @@ extern uint16_t downlink_nb_msgs;
 #define DownlinkPutFloatByAddr(_trans, _dev, _x) Transport(_trans, PutFloatByAddr(_dev, _x))
 
 #define DownlinkPutDoubleByAddr(_trans, _dev, _x) Transport(_trans, PutDoubleByAddr(_dev, _x))
+#define DownlinkPutUint64ByAddr(_trans, _dev, _x) Transport(_trans, PutUint64ByAddr(_dev, _x))
+#define DownlinkPutInt64ByAddr(_trans, _dev, _x) Transport(_trans, PutInt64ByAddr(_dev, _x))
+#define DownlinkPutCharByAddr(_trans, _dev, _x) Transport(_trans, PutCharByAddr(_dev, _x))
 
 #define DownlinkPutFloatArray(_trans, _dev, _n, _x) Transport(_trans, PutFloatArray(_dev, _n, _x))
 #define DownlinkPutDoubleArray(_trans, _dev, _n, _x) Transport(_trans, PutDoubleArray(_dev, _n, _x))
@@ -117,7 +120,23 @@ extern uint16_t downlink_nb_msgs;
 #define DownlinkPutUint16Array(_trans, _dev, _n, _x) Transport(_trans, PutUint16Array(_dev, _n, _x))
 #define DownlinkPutInt32Array(_trans, _dev, _n, _x) Transport(_trans, PutInt32Array(_dev, _n, _x))
 #define DownlinkPutUint32Array(_trans, _dev, _n, _x) Transport(_trans, PutUint32Array(_dev, _n, _x))
+#define DownlinkPutInt64Array(_trans, _dev, _n, _x) Transport(_trans, PutInt64Array(_dev, _n, _x))
+#define DownlinkPutUint64Array(_trans, _dev, _n, _x) Transport(_trans, PutUint64Array(_dev, _n, _x))
+#define DownlinkPutInt8Array(_trans, _dev, _n, _x) Transport(_trans, PutInt8Array(_dev, _n, _x))
 #define DownlinkPutUint8Array(_trans, _dev, _n, _x) Transport(_trans, PutUint8Array(_dev, _n, _x))
+#define DownlinkPutCharArray(_trans, _dev, _n, _x) Transport(_trans, PutCharArray(_dev, _n, _x))
+
+#define DownlinkPutFloatFixedArray(_trans, _dev, _n, _x) Transport(_trans, PutFloatFixedArray(_dev, _n, _x))
+#define DownlinkPutDoubleFixedArray(_trans, _dev, _n, _x) Transport(_trans, PutDoubleFixedArray(_dev, _n, _x))
+#define DownlinkPutInt16FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutInt16FixedArray(_dev, _n, _x))
+#define DownlinkPutUint16FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutUint16FixedArray(_dev, _n, _x))
+#define DownlinkPutInt32FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutInt32FixedArray(_dev, _n, _x))
+#define DownlinkPutUint32FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutUint32FixedArray(_dev, _n, _x))
+#define DownlinkPutInt64FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutInt64FixedArray(_dev, _n, _x))
+#define DownlinkPutUint64FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutUint64FixedArray(_dev, _n, _x))
+#define DownlinkPutInt8FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutInt8FixedArray(_dev, _n, _x))
+#define DownlinkPutUint8FixedArray(_trans, _dev, _n, _x) Transport(_trans, PutUint8FixedArray(_dev, _n, _x))
+#define DownlinkPutCharFixedArray(_trans, _dev, _n, _x) Transport(_trans, PutCharFixedArray(_dev, _n, _x))
 
 #define DownlinkOverrun(_trans, _dev) downlink_nb_ovrn++;
 #define DownlinkCountBytes(_trans, _dev, _n) downlink_nb_bytes += _n;

sw/airborne/subsystems/datalink/pprz_transport.h

@@ -101,11 +101,27 @@ extern uint8_t ck_a, ck_b;
     PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
     PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
   }
+#define PprzTransportPutUint64ByAddr(_dev, _byte) { \
+    PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
+    PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
+  }
+#define PprzTransportPutInt64ByAddr(_dev, _byte) { \
+    PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
+    PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
+  }
 #else
 #define PprzTransportPutDoubleByAddr(_dev, _byte) { \
     PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
     PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
   }
+#define PprzTransportPutUint64ByAddr(_dev, _byte) { \
+    PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
+    PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
+  }
+#define PprzTransportPutInt64ByAddr(_dev, _byte) { \
+    PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
+    PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
+  }
 #endif
 
 
@@ -116,6 +132,7 @@ extern uint8_t ck_a, ck_b;
 #define PprzTransportPutInt32ByAddr(_dev, _x) PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
 #define PprzTransportPutUint32ByAddr(_dev, _x) PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
 #define PprzTransportPutFloatByAddr(_dev, _x) PprzTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
+#define PprzTransportPutCharByAddr(_dev, _x) PprzTransportPut1ByteByAddr(_dev, (const uint8_t*)_x)
 
 #define PprzTransportPutArray(_dev, _put, _n, _x) { \
   uint8_t _i; \
@@ -125,8 +142,10 @@ extern uint8_t ck_a, ck_b;
   } \
 }
 
-#define PprzTransportPutFloatArray(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutFloatByAddr, _n, _x)
+#define PprzTransportPutInt8Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutInt8ByAddr, _n, _x)
-#define PprzTransportPutDoubleArray(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutDoubleByAddr, _n, _x)
+#define PprzTransportPutUint8Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint8ByAddr, _n, _x)
+
+#define PprzTransportPutCharArray(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutCharByAddr, _n, _x)
 
 #define PprzTransportPutInt16Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutInt16ByAddr, _n, _x)
 #define PprzTransportPutUint16Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint16ByAddr, _n, _x)
@@ -134,8 +153,37 @@ extern uint8_t ck_a, ck_b;
 #define PprzTransportPutInt32Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutInt32ByAddr, _n, _x)
 #define PprzTransportPutUint32Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint32ByAddr, _n, _x)
 
-#define PprzTransportPutUint8Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint8ByAddr, _n, _x)
+#define PprzTransportPutFloatArray(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutFloatByAddr, _n, _x)
 
+#define PprzTransportPutInt64Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutInt64ByAddr, _n, _x)
+#define PprzTransportPutUint64Array(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutUint64ByAddr, _n, _x)
+
+#define PprzTransportPutDoubleArray(_dev, _n, _x) PprzTransportPutArray(_dev, PprzTransportPutDoubleByAddr, _n, _x)
+
+#define PprzTransportPutFixedArray(_dev, _put, _n, _x) { \
+  uint8_t _i; \
+  for(_i = 0; _i < _n; _i++) { \
+    _put(_dev, &_x[_i]); \
+  } \
+}
+
+#define PprzTransportPutInt8FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutInt8ByAddr, _n, _x)
+#define PprzTransportPutUint8FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutUint8ByAddr, _n, _x)
+
+#define PprzTransportPutCharFixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutCharByAddr, _n, _x)
+
+#define PprzTransportPutInt16FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutInt16ByAddr, _n, _x)
+#define PprzTransportPutUint16FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutUint16ByAddr, _n, _x)
+
+#define PprzTransportPutInt32FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutInt32ByAddr, _n, _x)
+#define PprzTransportPutUint32FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutUint32ByAddr, _n, _x)
+
+#define PprzTransportPutFloatFixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutFloatByAddr, _n, _x)
+
+#define PprzTransportPutInt64FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutInt64ByAddr, _n, _x)
+#define PprzTransportPutUint64FixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutUint64ByAddr, _n, _x)
+
+#define PprzTransportPutDoubleFixedArray(_dev, _n, _x) PprzTransportPutFixedArray(_dev, PprzTransportPutDoubleByAddr, _n, _x)
 
 /** Receiving pprz messages */
 

sw/airborne/subsystems/datalink/w5100.h

@@ -118,11 +118,27 @@ bool_t w5100_ch_available( void );
     W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);    \
     W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);      \
   }
+#define W5100TransportPutUint64ByAddr(_dev, _byte) { \
+    W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
+    W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
+  }
+#define W5100TransportPutInt64ByAddr(_dev, _byte) { \
+    W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
+    W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
+  }
 #else
 #define W5100TransportPutDoubleByAddr(_dev, _byte) {                \
     W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);      \
     W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);    \
   }
+#define W5100TransportPutUint64ByAddr(_dev, _byte) { \
+    W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
+    W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
+  }
+#define W5100TransportPutInt64ByAddr(_dev, _byte) { \
+    W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
+    W5100TransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
+  }
 #endif
 
 
@@ -143,14 +159,51 @@ _put(_dev, &_x[_i]); \
 } \
 }
 
-#define W5100TransportPutInt16Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutInt16ByAddr, _n, _x)
+#define W5100TransportPutInt8Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutInt8ByAddr, _n, _x)
-
-#define W5100TransportPutUint16Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutUint16ByAddr, _n, _x)
 #define W5100TransportPutUint8Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutUint8ByAddr, _n, _x)
+
+#define W5100TransportPutCharArray(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutCharByAddr, _n, _x)
+
+#define W5100TransportPutInt16Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutInt16ByAddr, _n, _x)
+#define W5100TransportPutUint16Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutUint16ByAddr, _n, _x)
+
+#define W5100TransportPutInt32Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutInt32ByAddr, _n, _x)
+#define W5100TransportPutUint32Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutUint32ByAddr, _n, _x)
+
 #define W5100TransportPutFloatArray(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutFloatByAddr, _n, _x)
+
+#define W5100TransportPutInt64Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutInt64ByAddr, _n, _x)
+#define W5100TransportPutUint64Array(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutUint64ByAddr, _n, _x)
+
 #define W5100TransportPutDoubleArray(_dev, _n, _x) W5100TransportPutArray(_dev, W5100TransportPutDoubleByAddr, _n, _x)
 
 
+#define W5100TransportPutFixedArray(_dev, _put, _n, _x) { \
+  uint8_t _i; \
+  for(_i = 0; _i < _n; _i++) { \
+    _put(_dev, &_x[_i]); \
+  } \
+}
+
+#define W5100TransportPutInt8FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutInt8ByAddr, _n, _x)
+#define W5100TransportPutUint8FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutUint8ByAddr, _n, _x)
+
+#define W5100TransportPutCharFixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutCharByAddr, _n, _x)
+
+#define W5100TransportPutInt16FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutInt16ByAddr, _n, _x)
+#define W5100TransportPutUint16FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutUint16ByAddr, _n, _x)
+
+#define W5100TransportPutInt32FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutInt32ByAddr, _n, _x)
+#define W5100TransportPutUint32FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutUint32ByAddr, _n, _x)
+
+#define W5100TransportPutFloatFixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutFloatByAddr, _n, _x)
+
+#define W5100TransportPutInt64FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutInt64ByAddr, _n, _x)
+#define W5100TransportPutUint64FixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutUint64ByAddr, _n, _x)
+
+#define W5100TransportPutDoubleFixedArray(_dev, _n, _x) W5100TransportPutFixedArray(_dev, W5100TransportPutDoubleByAddr, _n, _x)
+
+
 #define W5100TransportHeader(_dev, payload_len) { \
 W5100TransportPut1Byte(_dev, STX); \
 uint8_t msg_len = W5100TransportSizeOf(_dev, payload_len); \

sw/airborne/subsystems/datalink/xbee.h

@@ -89,11 +89,27 @@ void xbee_init( void );
     XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
     XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
   }
+#define XBeeTransportPutUint64ByAddr(_dev, _byte) { \
+    XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
+    XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
+  }
+#define XBeeTransportPutInt64ByAddr(_dev, _byte) { \
+    XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
+    XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
+  }
 #else
 #define XBeeTransportPutDoubleByAddr(_dev, _byte) { \
     XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
     XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
   }
+#define XBeeTransportPutUint64ByAddr(_dev, _byte) { \
+    XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
+    XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
+  }
+#define XBeeTransportPutInt64ByAddr(_dev, _byte) { \
+    XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte);	\
+    XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_byte+4);	\
+  }
 #endif
 
 
@@ -105,6 +121,7 @@ void xbee_init( void );
 #define XBeeTransportPutUint32ByAddr(_dev, _x) XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
 #define XBeeTransportPutFloatByAddr(_dev, _x) XBeeTransportPut4ByteByAddr(_dev, (const uint8_t*)_x)
 #define XBeeTransportPutNamedUint8(_dev, _name, _byte) XBeeTransportPutUint8(_dev, _byte)
+#define XBeeTransportPutCharByAddr(_dev, _x) XBeeTransportPut1ByteByAddr(_dev, (const uint8_t*)_x)
 
 #define XBeeTransportPutArray(_dev, _put, _n, _x) { \
   uint8_t _i; \
@@ -114,14 +131,50 @@ void xbee_init( void );
   } \
 }
 
-#define XBeeTransportPutInt16Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutInt16ByAddr, _n, _x)
+#define XBeeTransportPutInt8Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutInt8ByAddr, _n, _x)
-
-#define XBeeTransportPutUint16Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutUint16ByAddr, _n, _x)
 #define XBeeTransportPutUint8Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutUint8ByAddr, _n, _x)
+
+#define XBeeTransportPutCharArray(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutCharByAddr, _n, _x)
+
+#define XBeeTransportPutInt16Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutInt16ByAddr, _n, _x)
+#define XBeeTransportPutUint16Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutUint16ByAddr, _n, _x)
+
+#define XBeeTransportPutInt32Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutInt32ByAddr, _n, _x)
+#define XBeeTransportPutUint32Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutUint32ByAddr, _n, _x)
+
 #define XBeeTransportPutFloatArray(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutFloatByAddr, _n, _x)
+
+#define XBeeTransportPutInt64Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutInt64ByAddr, _n, _x)
+#define XBeeTransportPutUint64Array(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutUint64ByAddr, _n, _x)
+
 #define XBeeTransportPutDoubleArray(_dev, _n, _x) XBeeTransportPutArray(_dev, XBeeTransportPutDoubleByAddr, _n, _x)
 
 
+#define XBeeTransportPutFixedArray(_dev, _put, _n, _x) { \
+  uint8_t _i; \
+  for(_i = 0; _i < _n; _i++) { \
+    _put(_dev, &_x[_i]); \
+  } \
+}
+
+#define XBeeTransportPutInt8FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutInt8ByAddr, _n, _x)
+#define XBeeTransportPutUint8FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutUint8ByAddr, _n, _x)
+
+#define XBeeTransportPutCharFixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutCharByAddr, _n, _x)
+
+#define XBeeTransportPutInt16FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutInt16ByAddr, _n, _x)
+#define XBeeTransportPutUint16FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutUint16ByAddr, _n, _x)
+
+#define XBeeTransportPutInt32FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutInt32ByAddr, _n, _x)
+#define XBeeTransportPutUint32FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutUint32ByAddr, _n, _x)
+
+#define XBeeTransportPutFloatFixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutFloatByAddr, _n, _x)
+
+#define XBeeTransportPutInt64FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutInt64ByAddr, _n, _x)
+#define XBeeTransportPutUint64FixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutUint64ByAddr, _n, _x)
+
+#define XBeeTransportPutDoubleFixedArray(_dev, _n, _x) XBeeTransportPutFixedArray(_dev, XBeeTransportPutDoubleByAddr, _n, _x)
+
 
 #define XBeeTransportHeader(_dev, _len) { \
   XBeeTransportPut1Byte(_dev, XBEE_START); \

sw/tools/Makefile

@@ -33,15 +33,15 @@ all: gen_common.cmo gen_aircraft.out gen_airframe.out gen_messages2.out gen_mess
 FP_CMO = fp_proc.cmo gen_flight_plan.cmo
 ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%)
 
-gen_flight_plan.out : $(FP_CMO)
+gen_flight_plan.out : $(FP_CMO) $(LIBPPRZCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $^
 
-gen_srtm.out : gen_srtm.ml
+gen_srtm.out : gen_srtm.ml $(LIBPPRZCMA)
 	@echo OL $@
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<
 
-%.out : %.ml gen_common.cmo
+%.out : %.ml gen_common.cmo $(LIBPPRZCMA)
 	@echo OL $<
 	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) gen_common.cmo $<
 

sw/tools/gen_messages.ml

@@ -29,6 +29,7 @@ type format = string
 type _type =
     Basic of string
   | Array of string * string
+  | FixedArray of string * string * int
 
 type field = _type  * string * format option
 
@@ -44,11 +45,15 @@ type message = {
 module Syntax = struct
   (** Parse a type name and returns a _type value *)
   let parse_type = fun t varname ->
-    let n = String.length t in
+    try
-    if n >=2 && String.sub t (n-2) 2 = "[]" then
+      let type_parts = Str.full_split (Str.regexp "[][]") t in
-      Array (String.sub t 0 (n-2), varname)
+      match type_parts with
-    else
+      | [Str.Text ty] -> Basic ty
-      Basic t
+      | [Str.Text ty; Str.Delim "["; Str.Delim "]"] -> Array (ty, varname)
+      | [Str.Text ty; Str.Delim "["; Str.Text len ; Str.Delim "]"] -> FixedArray (ty, varname, int_of_string len)
+      | _ -> failwith "Gen_messages: not a valid field type"
+      with
+      | Failure fail -> failwith("Gen_messages: not a valid array length")
 
   let length_name = fun s -> "nb_"^s
 
@@ -62,10 +67,12 @@ module Syntax = struct
   let rec sizeof = function
   Basic t -> string_of_int (assoc_types t).Pprz.size
     | Array (t, varname) -> sprintf "1+%s*%s" (length_name varname) (sizeof (Basic t))
+    | FixedArray (t, varname, len) -> sprintf "0+%d*%s" len (sizeof (Basic t))
 
   let rec nameof = function
   Basic t -> String.capitalize t
     | Array _ -> failwith "nameof"
+    | FixedArray _ -> failwith "nameof"
 
   (** Translates a "message" XML element into a value of the 'message' type *)
   let struct_of_xml = fun xml ->
@@ -73,14 +80,13 @@ module Syntax = struct
     and id = ExtXml.int_attrib xml "id"
     and period = try Some (ExtXml.float_attrib xml "period") with _ -> None
     and fields =
-      List.map
+      List.map (fun field ->
-        (fun field ->
+        let id = ExtXml.attrib field "name"
-          let id = ExtXml.attrib field "name"
+        and type_name = ExtXml.attrib field "type"
-          and type_name = ExtXml.attrib field "type"
+        and fmt = try Some (Xml.attrib field "format") with _ -> None in
-          and fmt = try Some (Xml.attrib field "format") with _ -> None in
+        let _type = parse_type type_name id in
-          let _type = parse_type type_name id in
+        (_type, id, fmt))
-          (_type, id, fmt))
+      (List.filter (fun t -> compare (Xml.tag t) "field" = 0) (Xml.children xml)) in
-        (Xml.children xml) in
     { id=id; name = name; period = period; fields = fields }
 
   let check_single_ids = fun msgs ->
@@ -117,9 +123,13 @@ module Gen_onboard = struct
       | Array (t, varname) ->
         let _s = Syntax.sizeof (Basic t) in
         fprintf h "\t  DownlinkPut%sArray(_trans, _dev, %s, %s); \\\n" (Syntax.nameof (Basic t)) (Syntax.length_name varname) name
+      | FixedArray (t, varname, len) ->
+        let _s = Syntax.sizeof (Basic t) in
+        fprintf h "\t  DownlinkPut%sFixedArray(_trans, _dev, %d, %s); \\\n" (Syntax.nameof (Basic t)) len name
 
   let print_parameter h = function
-  (Array _, s, _) -> fprintf h "%s, %s" (Syntax.length_name s) s
+      (Array _, s, _) -> fprintf h "%s, %s" (Syntax.length_name s) s
+    | (FixedArray _, s, _) -> fprintf h "%s" s
     | (_, s, _) -> fprintf h "%s" s
 
   let print_macro_parameters h = function
@@ -242,7 +252,13 @@ module Gen_onboard = struct
             sprintf "({ union { uint64_t u; double f; } _f; _f.u = (uint64_t)(%s); Swap32IfBigEndian(_f.u); _f.f; })" !s
           | 4 ->
             sprintf "(%s)(*((uint8_t*)_payload+%d)|*((uint8_t*)_payload+%d+1)<<8|((uint32_t)*((uint8_t*)_payload+%d+2))<<16|((uint32_t)*((uint8_t*)_payload+%d+3))<<24)" pprz_type.Pprz.inttype o o o o
-          | _ -> failwith "unexpected size in Gen_messages.print_get_macros. Possibly since a Telemetry message was defined with a field type of string." in
+          | 8 ->
+            let s = ref (sprintf "(%s)(*((uint8_t*)_payload+%d)" pprz_type.Pprz.inttype o) in
+            for i = 1 to 7 do
+              s := !s ^ sprintf "|((uint64_t)*((uint8_t*)_payload+%d+%d))<<%d" o i (8*i)
+            done;
+            sprintf "%s)" !s
+          | _ -> failwith "unexpected size in Gen_messages.print_get_macros" in
 
       (** To be an array or not to be an array: *)
       match _type with
@@ -263,6 +279,16 @@ module Gen_onboard = struct
 
           fprintf h "#define DL_%s_%s(_payload) ((%s*)(_payload+%d))\n" msg_name field_name pprz_type.Pprz.inttype !offset;
           offset := -1 (** Mark for no more fields *)
+        | FixedArray (t, _varname, len) ->
+            (** The macro to access to the length of the array *)
+            fprintf h "#define DL_%s_%s_length(_payload) (%d)\n" msg_name field_name len;
+            (** The macro to access to the array itself *)
+            let pprz_type = Syntax.assoc_types t in
+            if check_alignment && !offset mod (min pprz_type.Pprz.size 4) <> 0 then
+              failwith (sprintf "Wrong alignment of field '%s' in message '%s" field_name msg_name);
+
+            fprintf h "#define DL_%s_%s(_payload) ((%s*)(_payload+%d))\n" msg_name field_name pprz_type.Pprz.inttype !offset;
+            offset := !offset + (pprz_type.Pprz.size*len)
     in
 
     fprintf h "\n";