[messages] add support for spaces in messages array

- add special delimiters ([]) for arrays (which are now forbidden
  characters)
- backward compatible with old format if no spaces in array

sw/airborne/arch/sim/ivy_transport.h

@@ -18,6 +18,8 @@ extern int ivy_dl_enabled;
 
 #define Space() ivy_p += sprintf(ivy_p, " ");
 #define Comma() ivy_p += sprintf(ivy_p, ",");
+#define DelimStart() ivy_p += sprintf(ivy_p, "[");
+#define DelimEnd() ivy_p += sprintf(ivy_p, "]");
 
 #define IvyTransportPutcByAddr(_dev,x) ivy_p += sprintf(ivy_p, "%c", *x);
 #define IvyTransportPutCharByAddr(_dev,x) IvyTransportPutcByAddr(_dev,x) Space()
@@ -39,10 +41,11 @@ extern int ivy_dl_enabled;
 
 #define IvyTransportPutArray(_dev,_put, _n, _x) { \
   int __i; \
+  DelimStart(); \
   for(__i = 0; __i < _n; __i++) { \
     _put(_dev,&_x[__i]); \
     Comma(); \
-  } Space() \
+  } DelimEnd(); Space(); \
 }
 
 #define IvyTransportPutInt8Array(_dev,_n, _x) IvyTransportPutArray(_dev,IvyTransportPutIntByAddr, _n, _x)

sw/ground_segment/tmtc/server.ml

@@ -201,7 +201,7 @@ let send_dl_values = fun a ->
     for i = 0 to a.nb_dl_setting_values - 1 do
       csv := sprintf "%s%f," !csv a.dl_setting_values.(i)
     done;
-    let vs = ["ac_id", Pprz.String a.id; "values", Pprz.String !csv] in
+    let vs = ["ac_id", Pprz.String a.id; "values", Pprz.String ("["^ !csv ^"]")] in
     Ground_Pprz.message_send my_id "DL_VALUES" vs
 
 let send_svsinfo = fun a ->
@@ -223,7 +223,7 @@ let send_svsinfo = fun a ->
     concat azim a.svinfo.(i).azim;
     concat age a.svinfo.(i).age
   done;
-  let f = fun s r -> (s, Pprz.String !r) in
+  let f = fun s r -> (s, Pprz.String ("["^ !r ^"]")) in
   let vs = ["ac_id", Pprz.String a.id;
             "pacc", Pprz.Int a.gps_Pacc;
             f "svid" svid; f "flags" flags; f "qi" qi;  f "msg_age" age;

sw/lib/ocaml/pprz.ml

@@ -160,7 +160,7 @@ let rec string_of_value = function
   | Int64 x -> Int64.to_string x
   | Char c -> String.make 1 c
   | String s -> s
-  | Array a -> String.concat separator (Array.to_list (Array.map string_of_value a))
+  | Array a -> "["^(String.concat separator (Array.to_list (Array.map string_of_value a)))^"]"
 
 
 let magic = fun x -> (Obj.magic x:('a,'b,'c) Pervasives.format)
@@ -661,8 +661,21 @@ module MessagesOfXml(Class:CLASS_Xml) = struct
 
 
   let space = Str.regexp "[ \t]+"
+  let array_sep = Str.regexp "\\[\\|\\]"
   let values_of_string = fun s ->
-    match Str.split space s with
+    (* split arguments and arrays *)
+    let array_split = Str.full_split array_sep s in
+    let rec loop = fun fields ->
+      match fields with
+      | [] -> []
+      | (Str.Delim "[")::((Str.Text l)::[Str.Delim "]"]) -> [l]
+      | (Str.Delim "[")::((Str.Text l)::((Str.Delim "]")::xs)) -> [l] @ (loop xs)
+      | [Str.Text x] -> Str.split space x
+      | (Str.Text x)::xs -> (Str.split space x) @ (loop xs)
+      | (Str.Delim _)::_ -> failwith "Pprz.values_of_string: incorrect array delimiter"
+    in
+    let msg_split = loop array_split in
+    match msg_split with
         msg_name::args ->
           begin
             try