From 83a74e412f6d633a3d4acbee86cac9ff95ace35f Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Fri, 8 Oct 2021 13:01:28 +0200
Subject: [PATCH] Drop old compat (#2786)

* [ocaml] drop of compat for Ocaml < 4.05

this is linked to Ubuntu 16.04 that have reached end of life

* [pprzlink] update pprzlink for removed old compat
---
 sw/ext/pprzlink                            |  2 +-
 sw/ground_segment/cockpit/gcs.ml           |  8 ++---
 sw/ground_segment/cockpit/live.ml          |  2 +-
 sw/ground_segment/cockpit/page_settings.ml |  4 +--
 sw/ground_segment/cockpit/sectors.ml       |  2 +-
 sw/ground_segment/tmtc/server_globals.ml   |  2 +-
 sw/lib/ocaml/Makefile                      | 31 +++--------------
 sw/lib/ocaml/autopilot.ml                  |  4 +--
 sw/lib/ocaml/compat.ml                     | 39 ----------------------
 sw/lib/ocaml/compat.mli                    | 27 ---------------
 sw/lib/ocaml/extXml.ml                     |  6 ++--
 sw/lib/ocaml/fp_proc.ml                    | 10 +++---
 sw/lib/ocaml/mapFP.ml                      |  6 ++--
 sw/lib/ocaml/module.ml                     |  2 +-
 sw/lib/ocaml/papget.ml                     |  6 ++--
 sw/lib/ocaml/xmlEdit.ml                    |  8 ++---
 sw/logalizer/export.ml                     |  2 +-
 sw/supervision/pc_aircraft.ml              |  2 +-
 sw/tools/generators/gen_abi.ml             |  8 ++---
 sw/tools/generators/gen_airframe.ml        |  6 ++--
 sw/tools/generators/gen_autopilot.ml       |  4 +--
 sw/tools/generators/gen_flight_plan.ml     | 18 +++++-----
 sw/tools/generators/gen_makefile.ml        |  6 ++--
 sw/tools/generators/gen_modules.ml         |  4 +--
 sw/tools/generators/gen_periodic.ml        | 16 ++++-----
 sw/tools/generators/gen_ubx.ml             |  2 +-
 sw/tools/generators/gen_xsens.ml           |  2 +-
 27 files changed, 70 insertions(+), 159 deletions(-)
 delete mode 100644 sw/lib/ocaml/compat.ml
 delete mode 100644 sw/lib/ocaml/compat.mli

diff --git a/sw/ext/pprzlink b/sw/ext/pprzlink
index c6e88ccbb9..bd13ad8da2 160000
--- a/sw/ext/pprzlink
+++ b/sw/ext/pprzlink
@@ -1 +1 @@
-Subproject commit c6e88ccbb9d65330299576fd8886300113baa5f0
+Subproject commit bd13ad8da2eaf6a10c9bfdceb80a624c68e76469
diff --git a/sw/ground_segment/cockpit/gcs.ml b/sw/ground_segment/cockpit/gcs.ml
index 997dfabe24..33b9820ed4 100644
--- a/sw/ground_segment/cockpit/gcs.ml
+++ b/sw/ground_segment/cockpit/gcs.ml
@@ -501,7 +501,7 @@ let resize = fun (widget:GObj.widget) orientation size ->
 
 let rec pack_widgets = fun orientation xml widgets packing ->
   let size = try Some (ExtXml.int_attrib xml "size") with _ -> None in
-  match Compat.lowercase_ascii (Xml.tag xml) with
+  match String.lowercase_ascii (Xml.tag xml) with
       "widget" ->
         let name = ExtXml.attrib xml "name" in
         let widget =
@@ -528,7 +528,7 @@ and pack_list = fun resize orientation xmls widgets packing ->
 
 let rec find_widget_children = fun name xml ->
   let xmls = Xml.children xml in
-  match Compat.lowercase_ascii (Xml.tag xml) with
+  match String.lowercase_ascii (Xml.tag xml) with
       "widget" when ExtXml.attrib xml "name" = name -> xmls
     | "rows" | "columns" ->
       let rec loop = function
@@ -542,7 +542,7 @@ let rec find_widget_children = fun name xml ->
 
 let rec replace_widget_children = fun name children xml ->
   let xmls = Xml.children xml
-  and tag = Compat.lowercase_ascii (Xml.tag xml) in
+  and tag = String.lowercase_ascii (Xml.tag xml) in
   match tag with
       "widget" ->
         Xml.Element("widget",
@@ -564,7 +564,7 @@ let rec update_widget_size = fun orientation widgets xml ->
     if orientation = `HORIZONTAL then rect.Gtk.width else rect.Gtk.height
   in
   let xmls = Xml.children xml
-  and tag = Compat.lowercase_ascii (Xml.tag xml) in
+  and tag = String.lowercase_ascii (Xml.tag xml) in
   match tag with
       "widget" ->
         let name = ExtXml.attrib xml "name" in
diff --git a/sw/ground_segment/cockpit/live.ml b/sw/ground_segment/cockpit/live.ml
index 73f02f16ae..912cce8f47 100644
--- a/sw/ground_segment/cockpit/live.ml
+++ b/sw/ground_segment/cockpit/live.ml
@@ -349,7 +349,7 @@ let mark = fun (geomap:G.widget) ac_id track plugin_frame ->
 let attributes_pretty_printer = fun attribs ->
   (* Remove the optional attributes *)
   let valid = fun a ->
-    let a = Compat.lowercase_ascii a in
+    let a = String.lowercase_ascii a in
     a <> "no" && a <> "strip_icon" && a <> "strip_button" && a <> "pre_call"
     && a <> "post_call" && a <> "key" && a <> "group" in
 
diff --git a/sw/ground_segment/cockpit/page_settings.ml b/sw/ground_segment/cockpit/page_settings.ml
index 4d307da929..c5ed9e3fdc 100644
--- a/sw/ground_segment/cockpit/page_settings.ml
+++ b/sw/ground_segment/cockpit/page_settings.ml
@@ -250,7 +250,7 @@ let one_setting = fun (i:int) (do_change:int -> float -> unit) ac_id packing dl_
 
   (** Insert the related buttons in the strip and prepare the papgets DnD *)
   List.iter (fun x ->
-    match Compat.lowercase_ascii (Xml.tag x) with
+    match String.lowercase_ascii (Xml.tag x) with
         "strip_button" ->
           let label = ExtXml.attrib x "name"
           and sp_value = ExtXml.float_attrib x "value"
@@ -294,7 +294,7 @@ let same_tag_for_all = function
   | x::xs ->
     let tag_first = Xml.tag x in
     List.iter (fun y -> assert(ExtXml.tag_is y tag_first)) xs;
-    Compat.lowercase_ascii tag_first
+    String.lowercase_ascii tag_first
 
 
 (** Build the tree of settings *)
diff --git a/sw/ground_segment/cockpit/sectors.ml b/sw/ground_segment/cockpit/sectors.ml
index 5e2b12a286..a85cb4cdde 100644
--- a/sw/ground_segment/cockpit/sectors.ml
+++ b/sw/ground_segment/cockpit/sectors.ml
@@ -7,7 +7,7 @@ let (//) = Filename.concat
 
 let rec display = fun (geomap:MapCanvas.widget) r ->
 
-  match Compat.lowercase_ascii (Xml.tag r) with
+  match String.lowercase_ascii (Xml.tag r) with
       "disc" ->
         let rad = float_of_string (ExtXml.attrib r "radius")
         and geo = Latlong.of_string (ExtXml.attrib (ExtXml.child r "point") "pos") in
diff --git a/sw/ground_segment/tmtc/server_globals.ml b/sw/ground_segment/tmtc/server_globals.ml
index 0ff4c11af7..8afdbfba0d 100644
--- a/sw/ground_segment/tmtc/server_globals.ml
+++ b/sw/ground_segment/tmtc/server_globals.ml
@@ -24,7 +24,7 @@ let string_of_values = fun values ->
 (** get modes from autopilot xml file *)
 let modes_from_autopilot = fun ap_xml ->
   let ap = ExtXml.child ap_xml
-    ~select:(fun x -> Compat.uppercase_ascii (ExtXml.attrib_or_default x "gcs_mode" "") = "TRUE")
+    ~select:(fun x -> String.uppercase_ascii (ExtXml.attrib_or_default x "gcs_mode" "") = "TRUE")
     "state_machine"
   in
   let modes = List.filter (fun x -> Xml.tag x = "mode") (Xml.children ap) in
diff --git a/sw/lib/ocaml/Makefile b/sw/lib/ocaml/Makefile
index ba80ae6eb0..d16ee45ef0 100644
--- a/sw/lib/ocaml/Makefile
+++ b/sw/lib/ocaml/Makefile
@@ -49,26 +49,12 @@ ifeq ($(LABLGTK2GNOMECANVAS),)
 LABLGTK2GNOMECANVAS = $(shell ocamlfind query -p-format lablgtk2.gnomecanvas 2>/dev/null)
 endif
 
-CAMLP4_DEFS ?=
-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 $$?),0)
-ifeq ($(shell test $(OCAMLC_MINOR) -ge 4; echo $$?),0)
-CAMLP4_DEFS += -DOCAML_V404
-endif
-endif
-PP_OPTS = -pp "camlp4o pa_macro.cmo $(CAMLP4_DEFS)"
-
-# which source files to run through caml4p
-PP_SRC = compat.ml
-
 INCLUDES=
 PKGCOMMON=pprzlink,xml-light,netclient,nettls-gnutls,glibivy,lablgtk2
 XINCLUDES=
 XPKGCOMMON=pprzlink,xml-light,glibivy,$(LABLGTK2GNOMECANVAS),lablgtk2.glade
 
-SRC = compat.ml fig.ml debug.ml base64.ml serial.ml ocaml_tools.ml expr_syntax.ml expr_parser.ml expr_lexer.ml extXml.ml env.ml xml2h.ml latlong.ml egm96.ml srtm.ml http.ml gm.ml iGN.ml geometry_2d.ml cserial.o ubx.ml xmlCom.ml os_calls.ml editAirframe.ml defivybus.ml fp_proc.ml quaternion.ml
+SRC = fig.ml debug.ml base64.ml serial.ml ocaml_tools.ml expr_syntax.ml expr_parser.ml expr_lexer.ml extXml.ml env.ml xml2h.ml latlong.ml egm96.ml srtm.ml http.ml gm.ml iGN.ml geometry_2d.ml cserial.o ubx.ml xmlCom.ml os_calls.ml editAirframe.ml defivybus.ml fp_proc.ml quaternion.ml
 SRC += gen_common.ml radio.ml settings.ml module.ml flight_plan.ml autopilot.ml airframe.ml telemetry.ml aircraft.ml
 CMO = $(SRC:.ml=.cmo)
 CMX = $(SRC:.ml=.cmx)
@@ -139,19 +125,11 @@ ml_gtk_drag.o : ml_gtk_drag.c
 
 %.cmo : %.ml
 	@echo OC $<
-	@if test $(findstring $<,$(PP_SRC)); then \
-		$(OCAMLC) $(INCLUDES) $(PP_OPTS) -package $(PKGCOMMON) -c $<; \
-	else \
-		$(OCAMLC) $(INCLUDES) -package $(PKGCOMMON) -c $<; \
-	fi;
+	$(Q)$(OCAMLC) $(INCLUDES) -package $(PKGCOMMON) -c $<
 
 %.cmx : %.ml
 	@echo OOC $<
-	@if test $(findstring $<,$(PP_SRC)); then \
-		$(OCAMLOPT) $(INCLUDES) $(PP_OPTS) -package $(PKGCOMMON) -c $<; \
-	else \
-		$(OCAMLOPT) $(INCLUDES) -package $(PKGCOMMON) -c $<; \
-	fi;
+	$(Q)$(OCAMLOPT) $(INCLUDES) -package $(PKGCOMMON) -c $<
 
 %.cmi : %.mli
 	@echo OC $<
@@ -208,8 +186,7 @@ clean :
 
 .depend: Makefile $(GEN_DEP)
 	@echo DEPEND $@
-	$(Q)$(OCAMLDEP) $(PP_OPTS) $(PP_SRC) > .depend
-	$(Q)$(OCAMLDEP) $(filter-out $(PP_SRC), $(SRC) $(XSRC)) *.mli >> .depend
+	$(Q)$(OCAMLDEP) $(SRC) $(XSRC) *.mli >> .depend
 
 ifneq ($(MAKECMDGOALS),clean)
 -include .depend
diff --git a/sw/lib/ocaml/autopilot.ml b/sw/lib/ocaml/autopilot.ml
index 9b377e3f74..e3e8ef08b5 100644
--- a/sw/lib/ocaml/autopilot.ml
+++ b/sw/lib/ocaml/autopilot.ml
@@ -55,7 +55,7 @@ let get_sys_ap_settings = fun autopilots ->
       let dl_settings = List.fold_left (fun sl (_, autopilot) ->
         (* Filter state machines that need to be displayed *)
         let sm_filtered = List.filter (fun sm ->
-          try (Compat.lowercase_ascii (Xml.attrib sm "settings_mode")) = "true" with _ -> false
+          try (String.lowercase_ascii (Xml.attrib sm "settings_mode")) = "true" with _ -> false
           ) (Xml.children autopilot.xml) in
         if List.length sm_filtered = 0 then sl
         else
@@ -65,7 +65,7 @@ let get_sys_ap_settings = fun autopilots ->
             let name = Xml.attrib sm "name" in
             (* Iter on modes and store min, max and values *)
             let (_, min, max, values) = List.fold_left (fun (current, min, max, values) m ->
-              let print = try Compat.lowercase_ascii (Xml.attrib m "settings") <> "hide" with _ -> true in
+              let print = try String.lowercase_ascii (Xml.attrib m "settings") <> "hide" with _ -> true in
               let name = Xml.attrib m "name" in
               if print then begin
                 let min = match min with
diff --git a/sw/lib/ocaml/compat.ml b/sw/lib/ocaml/compat.ml
deleted file mode 100644
index c66547752b..0000000000
--- a/sw/lib/ocaml/compat.ml
+++ /dev/null
@@ -1,39 +0,0 @@
-(*
- * Abstract some String/Byte functions for compatibility between OCaml 3.x and 4.x
- *
- * Copyright (C) 2016 Felix Ruess <felix.ruess@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- *)
-
-IFDEF OCAML_V404 THEN
-let lowercase_ascii = String.lowercase_ascii
-
-let uppercase_ascii = String.uppercase_ascii
-
-let capitalize_ascii = String.capitalize_ascii
-
-ELSE
-let lowercase_ascii = String.lowercase
-
-let uppercase_ascii = String.uppercase
-
-let capitalize_ascii = String.capitalize
-
-END
diff --git a/sw/lib/ocaml/compat.mli b/sw/lib/ocaml/compat.mli
deleted file mode 100644
index 2b725f6736..0000000000
--- a/sw/lib/ocaml/compat.mli
+++ /dev/null
@@ -1,27 +0,0 @@
-(*
- * Abstract some String/Byte functions for compatibility between OCaml 3.x and 4.x
- *
- * Copyright (C) 2016 Felix Ruess <felix.ruess@gmail.com>
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- *)
-
-val lowercase_ascii : string -> string
-val uppercase_ascii : string -> string
-val capitalize_ascii : string -> string
diff --git a/sw/lib/ocaml/extXml.ml b/sw/lib/ocaml/extXml.ml
index 936473a78f..e4e0bf32ce 100644
--- a/sw/lib/ocaml/extXml.ml
+++ b/sw/lib/ocaml/extXml.ml
@@ -82,7 +82,7 @@ let attrib_opt_map = fun xml attr f ->
 let attrib_opt_int = fun xml attr -> attrib_opt_map xml attr int_of_string
 let attrib_opt_float = fun xml attr -> attrib_opt_map xml attr float_of_string
 
-let tag_is = fun x v -> Compat.lowercase_ascii (Xml.tag x) = Compat.lowercase_ascii v
+let tag_is = fun x v -> String.lowercase_ascii (Xml.tag x) = String.lowercase_ascii v
 
 let attrib_or_default = fun x a default ->
   try Xml.attrib x a
@@ -153,7 +153,7 @@ let my_to_string_fmt = fun tab_attribs x ->
   s
 
 let to_string_fmt = fun ?(tab_attribs = false) xml ->
-  let l = Compat.lowercase_ascii in
+  let l = String.lowercase_ascii in
   let rec lower = function
     | Xml.PCData _ as x -> x
     | Xml.Element (t, ats, cs) ->
@@ -164,7 +164,7 @@ let to_string_fmt = fun ?(tab_attribs = false) xml ->
 
 
 let subst_attrib = fun attrib value xml ->
-  let u = Compat.uppercase_ascii in
+  let u = String.uppercase_ascii in
   let uattrib = u attrib in
   match xml with
   | Xml.Element (tag, attrs, children) ->
diff --git a/sw/lib/ocaml/fp_proc.ml b/sw/lib/ocaml/fp_proc.ml
index 40572cea73..ff7f4959fd 100644
--- a/sw/lib/ocaml/fp_proc.ml
+++ b/sw/lib/ocaml/fp_proc.ml
@@ -72,7 +72,7 @@ let transform_values = fun attribs_not_modified env attribs ->
   List.map
     (fun (a, v) ->
       let v' =
-        if List.mem (Compat.lowercase_ascii a) attribs_not_modified
+        if List.mem (String.lowercase_ascii a) attribs_not_modified
         then v
         else transform_expression env (parse_expression v) in
       (a, v'))
@@ -83,7 +83,7 @@ let prefix_or_deroute = fun prefix reroutes name attribs ->
   List.map
     (fun (a, v) ->
       let v' =
-        if Compat.lowercase_ascii a = name then
+        if String.lowercase_ascii a = name then
           try List.assoc v reroutes with
               Not_found -> prefix v
         else v in
@@ -105,7 +105,7 @@ let transform_stage = fun prefix reroutes env xml ->
   let rec tr = fun xml ->
     match xml with
         Xml.Element (tag, attribs, children) -> begin
-          match Compat.lowercase_ascii tag with
+          match String.lowercase_ascii tag with
               "exception" ->
                 transform_exception prefix reroutes env xml
             | "while" ->
@@ -276,7 +276,7 @@ let process_includes = fun dir xml ->
 
 
 let remove_attribs = fun xml names ->
-  List.filter (fun (x,_) -> not (List.mem (Compat.lowercase_ascii x) names)) (Xml.attribs xml)
+  List.filter (fun (x,_) -> not (List.mem (String.lowercase_ascii x) names)) (Xml.attribs xml)
 
 let xml_assoc_attrib = fun a v xmls ->
   List.find (fun x -> ExtXml.attrib x a = v) xmls
@@ -327,7 +327,7 @@ let replace_from = fun stage waypoints ->
 
 let process_stage = fun stage waypoints ->
   let rec do_it = fun stage ->
-    match Compat.lowercase_ascii (Xml.tag stage) with
+    match String.lowercase_ascii (Xml.tag stage) with
         "go" | "stay" | "circle" ->
           replace_from (replace_wp stage waypoints) waypoints
 
diff --git a/sw/lib/ocaml/mapFP.ml b/sw/lib/ocaml/mapFP.ml
index 305b364b37..76cc02a6aa 100644
--- a/sw/lib/ocaml/mapFP.ml
+++ b/sw/lib/ocaml/mapFP.ml
@@ -34,7 +34,7 @@ let float_attr = fun xml a -> float_of_string (ExtXml.attrib xml a)
 let rec assoc_nocase at = function
 [] -> raise Not_found
   | (a, v)::avs ->
-    if Compat.uppercase_ascii at = Compat.uppercase_ascii a then v else assoc_nocase at avs
+    if String.uppercase_ascii at = String.uppercase_ascii a then v else assoc_nocase at avs
 
 (** Returns the WGS84 coordinates of a waypoint, either from its relative x and
     y coordinates or from its lat and long *)
@@ -203,7 +203,7 @@ let display_kml = fun ?group color geomap xml ->
   try
     let document = ExtXml.child xml "Document" in
     let rec loop = fun child ->
-      let tag = Compat.lowercase_ascii (Xml.tag child) in
+      let tag = String.lowercase_ascii (Xml.tag child) in
       match tag with
         | "linestring" | "linearring" ->
             let coordinates = ExtXml.child child "coordinates" in
@@ -266,7 +266,7 @@ class flight_plan = fun ?format_attribs ?editable ~show_moved geomap color fp_dt
     let waypoints = ExtXml.child xml "waypoints" in
     try
       List.fold_left (fun l x ->
-        match Compat.lowercase_ascii (Xml.tag x) with
+        match String.lowercase_ascii (Xml.tag x) with
             "kml" ->
               let file = ExtXml.attrib x "file" in
               display_kml ~group:wpts_group#group color geomap (ExtXml.parse_file (Env.flight_plans_path // file));
diff --git a/sw/lib/ocaml/module.ml b/sw/lib/ocaml/module.ml
index 4b221a5db7..9d01cd035b 100644
--- a/sw/lib/ocaml/module.ml
+++ b/sw/lib/ocaml/module.ml
@@ -151,7 +151,7 @@ type periodic = {
 let parse_periodic = fun xml ->
   let get = fun x -> ExtXml.attrib_opt xml x in
   let getf = fun x ->  ExtXml.attrib_opt_float xml x in
-  let call = snd (List.find (fun (a, _) -> Compat.lowercase_ascii a = "fun")
+  let call = snd (List.find (fun (a, _) -> String.lowercase_ascii a = "fun")
                  (Xml.attribs xml)) in
   let call_regexp = Str.regexp "\\([a-zA-Z_][a-zA-Z0-9_]*\\)\\(.*\\)" in
   let fname =
diff --git a/sw/lib/ocaml/papget.ml b/sw/lib/ocaml/papget.ml
index 317e7ada08..91c317484e 100644
--- a/sw/lib/ocaml/papget.ml
+++ b/sw/lib/ocaml/papget.ml
@@ -368,7 +368,7 @@ object (self)
     let (x, y) = item#xy in
     let attrs =
       [ "type", msg_obj#type_;
-        "display", Compat.lowercase_ascii item#renderer#tag;
+        "display", String.lowercase_ascii item#renderer#tag;
         "x", sprintf "%.0f" x; "y", sprintf "%.0f" y ] in
     Xml.Element ("papget", attrs, scale_prop::val_props@renderer_props)
 end
@@ -387,7 +387,7 @@ object
     let (x, y) = item#xy in
     let attrs =
       [ "type", type_;
-        "display", Compat.lowercase_ascii item#renderer#tag;
+        "display", String.lowercase_ascii item#renderer#tag;
         "x", sprintf "%.0f" x; "y", sprintf "%.0f" y ] in
     Xml.Element ("papget", attrs, properties@props)
 end
@@ -416,7 +416,7 @@ object (self)
     let (x, y) = item#xy in
     let attrs =
       [ "type", "video_plugin";
-        "display", Compat.lowercase_ascii item#renderer#tag;
+        "display", String.lowercase_ascii item#renderer#tag;
         "x", sprintf "%.0f" x; "y", sprintf "%.0f" y ] in
     Xml.Element ("papget", attrs, properties@props)
   initializer ignore(adj#connect#value_changed (fun () -> self#update_zoom (string_of_float adj#value)))
diff --git a/sw/lib/ocaml/xmlEdit.ml b/sw/lib/ocaml/xmlEdit.ml
index 52daa437d2..d52bc34fdd 100644
--- a/sw/lib/ocaml/xmlEdit.ml
+++ b/sw/lib/ocaml/xmlEdit.ml
@@ -352,21 +352,21 @@ let set_attribs = fun ((model, path):node) attribs ->
 let rec replace_assoc a v = function
 [] -> [(a, v)]
   | (a', v')::l ->
-    if a = Compat.uppercase_ascii a'
+    if a = String.uppercase_ascii a'
     then (a, v)::l
     else (a', v')::replace_assoc a v l
 
 let set_attrib = fun node (a, v) ->
   let atbs = attribs node in
-  set_attribs node (replace_assoc (Compat.uppercase_ascii a) v atbs)
+  set_attribs node (replace_assoc (String.uppercase_ascii a) v atbs)
 
 let attrib = fun node at ->
-  let at = Compat.uppercase_ascii at in
+  let at = String.uppercase_ascii at in
   let ats = attribs node in
   let rec loop = function
   [] -> raise Not_found
     | (a,v)::avs ->
-      if Compat.uppercase_ascii a = at then v else loop avs in
+      if String.uppercase_ascii a = at then v else loop avs in
   loop ats
 
 let tag = fun ((model, path):node) ->
diff --git a/sw/logalizer/export.ml b/sw/logalizer/export.ml
index d818bff798..2e639aa801 100644
--- a/sw/logalizer/export.ml
+++ b/sw/logalizer/export.ml
@@ -165,7 +165,7 @@ let export_values = fun ?(sep="tab") ?(export_geo_pos=true) (model:GTree.tree_st
 
     let lookup = fun m field  ->
       try
-	PprzLink.string_of_value (Hashtbl.find last_values (m,Compat.lowercase_ascii field))
+	PprzLink.string_of_value (Hashtbl.find last_values (m,String.lowercase_ascii field))
       with
 	Not_found -> "" in
 
diff --git a/sw/supervision/pc_aircraft.ml b/sw/supervision/pc_aircraft.ml
index b3d7625e53..4c74966ae4 100644
--- a/sw/supervision/pc_aircraft.ml
+++ b/sw/supervision/pc_aircraft.ml
@@ -83,7 +83,7 @@ let parse_conf_xml = fun vbox ->
   let strings = ref [] in
   Hashtbl.iter (fun name _ac -> strings := name :: !strings) Utils.aircrafts;
   let compare_ignore_case = fun s1 s2 ->
-    String.compare (Compat.lowercase_ascii s1) (Compat.lowercase_ascii s2) in
+    String.compare (String.lowercase_ascii s1) (String.lowercase_ascii s2) in
   let ordered = List.sort compare_ignore_case ("" :: !strings) in
   Gtk_tools.combo ordered vbox
 
diff --git a/sw/tools/generators/gen_abi.ml b/sw/tools/generators/gen_abi.ml
index 127748669f..008dbd6650 100644
--- a/sw/tools/generators/gen_abi.ml
+++ b/sw/tools/generators/gen_abi.ml
@@ -84,7 +84,7 @@ module Gen_onboard = struct
     Printf.fprintf h "\n/* Messages IDs */\n";
     List.iter (fun msg ->
       if msg.id > !highest_id then highest_id := msg.id;
-      Printf.fprintf h "#define ABI_%s_ID %d\n" (Compat.capitalize_ascii msg.name) msg.id
+      Printf.fprintf h "#define ABI_%s_ID %d\n" (String.capitalize_ascii msg.name) msg.id
     ) messages;
     !highest_id
 
@@ -109,14 +109,14 @@ module Gen_onboard = struct
   let print_callbacks = fun h messages ->
     Printf.fprintf h "\n/* Callbacks */\n";
     List.iter (fun msg ->
-      Printf.fprintf h "typedef void (*abi_callback%s)" (Compat.capitalize_ascii msg.name);
+      Printf.fprintf h "typedef void (*abi_callback%s)" (String.capitalize_ascii msg.name);
       print_args h msg.fields;
       Printf.fprintf h ";\n";
     ) messages
 
   (* Print a bind function *)
   let print_msg_bind = fun h msg ->
-    let name = Compat.capitalize_ascii msg.name in
+    let name = String.capitalize_ascii msg.name in
     Printf.fprintf h "\nstatic inline void AbiBindMsg%s(uint8_t sender_id, abi_event * ev, abi_callback%s cb) {\n" name name;
     Printf.fprintf h "  if (abi_queues[ABI_%s_ID] == ev) return;\n" name;
     Printf.fprintf h "  ev->id = sender_id;\n";
@@ -133,7 +133,7 @@ module Gen_onboard = struct
         | [(n,_)] -> Printf.fprintf h ", %s);\n" n
         | (n,_)::l' -> Printf.fprintf h ", %s" n; args h l'
     in
-    let name = Compat.capitalize_ascii msg.name in
+    let name = String.capitalize_ascii msg.name in
     Printf.fprintf h "\nstatic inline void AbiSendMsg%s" name;
     print_args h msg.fields;
     Printf.fprintf h " {\n";
diff --git a/sw/tools/generators/gen_airframe.ml b/sw/tools/generators/gen_airframe.ml
index 8cdf344b8d..ff8ed5b5f1 100644
--- a/sw/tools/generators/gen_airframe.ml
+++ b/sw/tools/generators/gen_airframe.ml
@@ -146,7 +146,7 @@ let parse_element = fun out prefix s ->
 
 
 let print_reverse_servo_table = fun out driver servos ->
-  let d = match driver with "Default" -> "" | _ -> "_"^(Compat.uppercase_ascii driver) in
+  let d = match driver with "Default" -> "" | _ -> "_"^(String.uppercase_ascii driver) in
   fprintf out "static inline int get_servo_min%s(int _idx) {\n" d;
   fprintf out "  switch (_idx) {\n";
   List.iter (fun c ->
@@ -316,8 +316,8 @@ let rec parse_section = fun out ac_id s ->
       let servos = Xml.children s in
       let nb_servos = List.fold_right (fun s m -> max (int_of_string (ExtXml.attrib s "no")) m) servos min_int + 1 in
 
-      define_out out (sprintf "SERVOS_%s_NB" (Compat.uppercase_ascii driver)) (string_of_int nb_servos);
-      fprintf out "#include \"subsystems/actuators/actuators_%s.h\"\n" (Compat.lowercase_ascii driver);
+      define_out out (sprintf "SERVOS_%s_NB" (String.uppercase_ascii driver)) (string_of_int nb_servos);
+      fprintf out "#include \"subsystems/actuators/actuators_%s.h\"\n" (String.lowercase_ascii driver);
       fprintf out "\n";
       List.iter (parse_servo out driver) servos;
       print_reverse_servo_table out driver servos;
diff --git a/sw/tools/generators/gen_autopilot.ml b/sw/tools/generators/gen_autopilot.ml
index ff6e212c79..a7e3fbfa94 100644
--- a/sw/tools/generators/gen_autopilot.ml
+++ b/sw/tools/generators/gen_autopilot.ml
@@ -92,7 +92,7 @@ let print_includes = fun includes out_h ->
   ) (Xml.children includes)
 
 let print_mode_name = fun sm_name name ->
-  String.concat "" [(Compat.uppercase_ascii sm_name); "_MODE_"; (Compat.uppercase_ascii name)]
+  String.concat "" [(String.uppercase_ascii sm_name); "_MODE_"; (String.uppercase_ascii name)]
 
 (** Define modes *)
 let print_modes = fun modes sm_name out_h ->
@@ -339,7 +339,7 @@ let parse_and_gen_modes xml_file ap_name main_freq h_dir sm =
   try
     (* Get state machine name *)
     let name = Xml.attrib sm "name" in
-    let name_up = Compat.uppercase_ascii name in
+    let name_up = String.uppercase_ascii name in
     (* Generate start of header *)
     begin_out out_h xml_file ("AUTOPILOT_CORE_"^name_up^"_H");
     fprintf out_h "/*** %s ***/\n\n" ap_name;
diff --git a/sw/tools/generators/gen_flight_plan.ml b/sw/tools/generators/gen_flight_plan.ml
index 36ca1ec9a4..71ab419526 100644
--- a/sw/tools/generators/gen_flight_plan.ml
+++ b/sw/tools/generators/gen_flight_plan.ml
@@ -243,7 +243,7 @@ let pprz_throttle = fun s ->
 let output_vmode = fun out stage_xml wp last_wp ->
   let pitch = try Xml.attrib stage_xml "pitch" with _ -> "0.0" in
   let t = ExtXml.attrib_or_default stage_xml "nav_type" "Nav" in
-  if Compat.lowercase_ascii (Xml.tag stage_xml) <> "manual"
+  if String.lowercase_ascii (Xml.tag stage_xml) <> "manual"
   then begin
     if pitch = "auto"
     then begin
@@ -348,7 +348,7 @@ let rec index_stage = fun x ->
   end
 
 
-let inside_function = fun name -> "Inside" ^ Compat.capitalize_ascii name
+let inside_function = fun name -> "Inside" ^ String.capitalize_ascii name
 
 (* pre call utility function *)
 let fp_pre_call = fun out x ->
@@ -374,7 +374,7 @@ let stage_until = fun out x ->
 let rec print_stage = fun out index_of_waypoints x ->
   let stage out = incr stage; lprintf out "Stage(%d)\n" !stage; right () in
   begin
-    match Compat.lowercase_ascii (Xml.tag x) with
+    match String.lowercase_ascii (Xml.tag x) with
       | "return" ->
         stage out;
         lprintf out "Return(%s);\n" (ExtXml.attrib_or_default x "reset_stage" "0");
@@ -593,9 +593,9 @@ let rec print_stage = fun out index_of_waypoints x ->
         let statement = ExtXml.attrib  x "fun" in
         (* by default, function is called while returning TRUE *)
         (* otherwise, function is called once and returned value is ignored *)
-        let loop = Compat.uppercase_ascii (ExtXml.attrib_or_default x "loop" "TRUE") in
+        let loop = String.uppercase_ascii (ExtXml.attrib_or_default x "loop" "TRUE") in
         (* be default, go to next stage immediately *)
-        let break = Compat.uppercase_ascii (ExtXml.attrib_or_default x "break" "FALSE") in
+        let break = String.uppercase_ascii (ExtXml.attrib_or_default x "break" "FALSE") in
         begin match loop with
         | "TRUE" ->
             lprintf out "if (! (%s)) {\n" statement;
@@ -628,7 +628,7 @@ let rec print_stage = fun out index_of_waypoints x ->
         stage out;
         let statement = ExtXml.attrib  x "fun" in
         (* by default, go to next stage immediately *)
-        let break = Compat.uppercase_ascii (ExtXml.attrib_or_default x "break" "FALSE") in
+        let break = String.uppercase_ascii (ExtXml.attrib_or_default x "break" "FALSE") in
         lprintf out "%s;\n" statement;
         begin match break with
         | "TRUE" -> lprintf out "NextStageAndBreak();\n";
@@ -812,7 +812,7 @@ let print_inside_polygon_global = fun out pts name ->
 
 let print_inside_sector = fun out (s, pts) ->
   let (ids, _) = List.split pts in
-  let name = "SECTOR_"^(Compat.uppercase_ascii s) in
+  let name = "SECTOR_"^(String.uppercase_ascii s) in
   Xml2h.define_out out (name^"_NB") (string_of_int (List.length pts));
   Xml2h.define_out out name ("{ "^(String.concat ", " ids)^" }");
   lprintf out "static inline bool %s(float _x, float _y) {\n" (inside_function s);
@@ -1090,7 +1090,7 @@ let print_flight_plan_h = fun xml ref0 xml_file out_file ->
 
   (* print sectors *)
   let sectors_element = try ExtXml.child xml "sectors" with Not_found -> Xml.Element ("", [], []) in
-  let sectors = List.filter (fun x -> Compat.lowercase_ascii (Xml.tag x) = "sector") (Xml.children sectors_element) in
+  let sectors = List.filter (fun x -> String.lowercase_ascii (Xml.tag x) = "sector") (Xml.children sectors_element) in
   List.iter (fun x -> match ExtXml.attrib_opt x "type" with
       Some _ -> failwith "Error: attribute \"type\" on flight plan tag \"sector\" is deprecated and must be removed. All sectors are now dynamics.\n"
     | _ -> ()
@@ -1174,7 +1174,7 @@ let generate = fun flight_plan ?(check=false) ?(dump=false) xml_file out_fp ->
   let waypoints = Xml.children (ExtXml.child xml "waypoints") in
 
   let frame = ExtXml.attrib_or_default xml "wp_frame" "UTM" in
-  let frame = match Compat.uppercase_ascii frame with
+  let frame = match String.uppercase_ascii frame with
     | "UTM" -> UTM
     | "LTP" -> LTP
     | _ -> failwith ("Error: unkown wp_frame \"" ^ frame ^ "\". Use \"utm\" or \"ltp\"")
diff --git a/sw/tools/generators/gen_makefile.ml b/sw/tools/generators/gen_makefile.ml
index 24e40a214a..c180e231db 100644
--- a/sw/tools/generators/gen_makefile.ml
+++ b/sw/tools/generators/gen_makefile.ml
@@ -36,7 +36,7 @@ let (//) = Filename.concat
 
 let configure2mk = fun ?(default_configure=false) f c ->
   (* all makefiles variables are forced to uppercase *)
-  let name = Compat.uppercase_ascii c.Module.cname
+  let name = String.uppercase_ascii c.Module.cname
   and value = get_string_opt c.Module.cvalue
   and default = get_string_opt c.Module.default
   and case = get_string_opt c.Module.case in
@@ -109,7 +109,7 @@ let file2mk = fun f ?(arch = false) dir_name target file ->
 let module2mk = fun f target firmware m ->
   let name = m.Module.name in
   let dir = match m.Module.dir with Some d -> d | None -> name in
-  let dir_name = Compat.uppercase_ascii dir ^ "_DIR" in
+  let dir_name = String.uppercase_ascii dir ^ "_DIR" in
   (* iter makefile section *)
   List.iter (fun mk ->
     if Module.check_mk target firmware mk then begin
@@ -131,7 +131,7 @@ let dump_target_conf = fun out target conf ->
   fprintf out "ifeq ($(TARGET), %s)\n\n" target;
   let dir_list = singletonize (List.fold_left (fun l (_, m) -> match m.Module.dir with
     | None -> m.Module.name::l | Some d -> d::l) [] conf.AC.modules) in
-  List.iter (fun d -> fprintf out "%s_DIR = modules/%s\n" (Compat.uppercase_ascii d) d) dir_list;
+  List.iter (fun d -> fprintf out "%s_DIR = modules/%s\n" (String.uppercase_ascii d) d) dir_list;
   List.iter (fun p ->
     fprintf out "VPATH += %s\n" p;
     fprintf out "$(TARGET).CFLAGS += -I%s/modules\n" p
diff --git a/sw/tools/generators/gen_modules.ml b/sw/tools/generators/gen_modules.ml
index b2f0b7387c..2125884835 100644
--- a/sw/tools/generators/gen_modules.ml
+++ b/sw/tools/generators/gen_modules.ml
@@ -74,7 +74,7 @@ let get_cap_name = fun f ->
   match name with
     | [Str.Text t]
     | [Str.Text t; Str.Delim "("; Str.Delim ")"]
-    | [Str.Text t; Str.Delim "("; Str.Text _ ; Str.Delim ")"] -> Compat.uppercase_ascii t
+    | [Str.Text t; Str.Delim "("; Str.Text _ ; Str.Delim ")"] -> String.uppercase_ascii t
     | _ -> failwith "Gen_modules: not a valid function name"
 
 (** Computes the required modulos *)
@@ -114,7 +114,7 @@ let print_function_freq = fun out modules ->
   fprintf out "\n";
   List.iter (fun m ->
     List.iter (fun i ->
-      let fname = Compat.uppercase_ascii i.Module.fname in
+      let fname = String.uppercase_ascii i.Module.fname in
       let p, f = get_period_and_freq i.Module.period_freq in
       lprintf out "#define %s_PERIOD %s\n" fname p;
       lprintf out "#define %s_FREQ %s\n" fname f;
diff --git a/sw/tools/generators/gen_periodic.ml b/sw/tools/generators/gen_periodic.ml
index dda39bc95b..f7fcaf8692 100644
--- a/sw/tools/generators/gen_periodic.ml
+++ b/sw/tools/generators/gen_periodic.ml
@@ -108,7 +108,7 @@ let print_message_table = fun out_h xml ->
   let telemetry_types = Hashtbl.create 2 in
   (* For each process *)
   List.iter (fun process ->
-    let telem_type = Compat.uppercase_ascii (ExtXml.attrib_or_default process "type" "pprz") in
+    let telem_type = String.uppercase_ascii (ExtXml.attrib_or_default process "type" "pprz") in
     if not (Hashtbl.mem telemetry_types telem_type) then Hashtbl.add telemetry_types telem_type (Hashtbl.create 15);
     let messages = Hashtbl.find telemetry_types telem_type in
     (** For each mode of this process *)
@@ -147,7 +147,7 @@ let print_process_send = fun out_h xml ->
   List.iteri
     (fun p_id process ->
       let process_name = ExtXml.attrib process "name" in
-      let telem_type = Compat.uppercase_ascii (ExtXml.attrib_or_default process "type" "pprz") in
+      let telem_type = String.uppercase_ascii (ExtXml.attrib_or_default process "type" "pprz") in
       let modes = Xml.children process in
 
       fprintf out_h "\n/* Periodic telemetry (type %s): %s process */\n" telem_type process_name;
@@ -168,14 +168,14 @@ let print_process_send = fun out_h xml ->
       ) 0 modes in
 
       fprintf out_h "\n/* Functions for %s process */\n" process_name;
-      fprintf out_h "#ifdef PERIODIC_C_%s\n" (Compat.uppercase_ascii process_name);
-      fprintf out_h "#ifndef TELEMETRY_MODE_%s\n" (Compat.uppercase_ascii process_name);
-      fprintf out_h "#define TELEMETRY_MODE_%s 0\n" (Compat.uppercase_ascii process_name);
+      fprintf out_h "#ifdef PERIODIC_C_%s\n" (String.uppercase_ascii process_name);
+      fprintf out_h "#ifndef TELEMETRY_MODE_%s\n" (String.uppercase_ascii process_name);
+      fprintf out_h "#define TELEMETRY_MODE_%s 0\n" (String.uppercase_ascii process_name);
       fprintf out_h "#endif\n";
-      fprintf out_h "uint8_t telemetry_mode_%s = TELEMETRY_MODE_%s;\n" process_name (Compat.uppercase_ascii process_name);
-      fprintf out_h "#else /* PERIODIC_C_%s not defined (general header) */\n" (Compat.uppercase_ascii process_name);
+      fprintf out_h "uint8_t telemetry_mode_%s = TELEMETRY_MODE_%s;\n" process_name (String.uppercase_ascii process_name);
+      fprintf out_h "#else /* PERIODIC_C_%s not defined (general header) */\n" (String.uppercase_ascii process_name);
       fprintf out_h "extern uint8_t telemetry_mode_%s;\n" process_name;
-      fprintf out_h "#endif /* PERIODIC_C_%s */\n" (Compat.uppercase_ascii process_name);
+      fprintf out_h "#endif /* PERIODIC_C_%s */\n" (String.uppercase_ascii process_name);
 
       lprintf out_h "static inline void periodic_telemetry_send_%s(struct periodic_telemetry *telemetry, struct transport_tx *trans, struct link_device *dev) {\n" process_name;
       right ();
diff --git a/sw/tools/generators/gen_ubx.ml b/sw/tools/generators/gen_ubx.ml
index da684e8664..99bc65fed2 100644
--- a/sw/tools/generators/gen_ubx.ml
+++ b/sw/tools/generators/gen_ubx.ml
@@ -112,7 +112,7 @@ let parse_message = fun class_name m ->
 
   (** Generating send function *)
   let param_type = fun f -> c_type (format f) in
-  let param_name = fun f ->Compat.lowercase_ascii (field_name f) in
+  let param_name = fun f ->String.lowercase_ascii (field_name f) in
   let param_name_and_type = fun f ->
     sprintf "%s ubx_%s" (param_type f) (param_name f) in
   let rec param_names = fun f r ->
diff --git a/sw/tools/generators/gen_xsens.ml b/sw/tools/generators/gen_xsens.ml
index 81bd38af50..818bda6852 100644
--- a/sw/tools/generators/gen_xsens.ml
+++ b/sw/tools/generators/gen_xsens.ml
@@ -111,7 +111,7 @@ let parse_message = fun m ->
 
   (** Generating send function *)
   let gen_send_macro = fun _ ->
-    let param_name = fun f -> Compat.lowercase_ascii (field_name f) in
+    let param_name = fun f -> String.lowercase_ascii (field_name f) in
     let rec param_names = fun f r ->
       if Xml.tag f = "field" then
         param_name f :: r