[messages] add INFO_MSG and print it to GCS console

Uses a separate string_of_chars function for now to convert the
char array from ivy (e.g. |i,n,f,o, ,m,s,g|) to normal string to
nicely write to console and messages app.

Proper solution would be to write char arrays as normal "quoted string" to the ivy bus.

conf/messages.xml

@@ -1923,10 +1923,14 @@
     <field name="wn"          type="float"/>
   </message>
 
- <!--215 is free -->
- <!--216 is free -->
- <!--217 is free -->
- <!--218 is free -->
+  <message name="INFO_MSG" id="215">
+    <field name="msg" type="char[]"/>
+  </message>
+
+  <!--216 is free -->
+  <!--217 is free -->
+  <!--218 is free -->
+
   <message name="WEATHER" id="219">
     <field name="p_amb" type="float" unit="Pa" alt_unit="mBar" alt_unit_coef="0.01"/>
     <field name="t_amb" type="float" unit="deg C"/>

sw/ground_segment/cockpit/live.ml

@@ -1382,6 +1382,13 @@ let listen_error = fun a ->
     log_and_say a "gcs" msg in
   safe_bind "TELEMETRY_ERROR" get_error
 
+let listen_info_msg = fun a ->
+  let get_msg = fun a _sender vs ->
+    let ac = find_ac _sender in
+    let msg_array = Pprz.assoc "msg" vs in
+    log_and_say a ac.ac_name (Pprz.string_of_chars msg_array) in
+  tele_bind "INFO_MSG" (get_msg a)
+
 let listen_tcas = fun a ->
   let get_alarm_tcas = fun a txt _sender vs ->
     let ac = find_ac _sender in
@@ -1419,6 +1426,7 @@ let listen_acs_and_msgs = fun geomap ac_notebook my_alert auto_center_new_ac alt
   listen_telemetry_status ();
   listen_alert my_alert;
   listen_error my_alert;
+  listen_info_msg my_alert;
   listen_tcas my_alert;
   listen_dcshot geomap;
 

sw/ground_segment/tmtc/messages.ml

@@ -79,7 +79,7 @@ let one_page = fun sender class_name (notebook:GPack.notebook) bind m ->
               with _ ->
                 match format_ with
                 | Some f -> alt_value (Pprz.formatted_string_of_value f x)
-                | _ -> alt_value (Pprz.string_of_value x)
+                | _ -> alt_value (Pprz.string_of_chars x)
           and display_value = fun () ->
             if notebook#page_num v#coerce = notebook#current_page then
               if l#label <> !value then l#set_text !value in

sw/lib/ocaml/pprz.ml

@@ -164,6 +164,18 @@ let rec string_of_value = function
   | String s -> s
   | Array a -> "|"^(String.concat separator (Array.to_list (Array.map string_of_value a)))^"|"
 
+let rec string_of_chars = function
+    Int x -> string_of_int x
+  | Float x -> string_of_float x
+  | Int32 x -> Int32.to_string x
+  | Int64 x -> Int64.to_string x
+  | Char c -> String.make 1 c
+  | String s -> s
+  | Array a -> let vl = Array.to_list (Array.map string_of_chars a) in
+               match a.(0) with
+                   Char x -> String.concat "" vl
+                 | _ -> "|"^(String.concat separator vl)^"|"
+
 
 let magic = fun x -> (Obj.magic x:('a,'b,'c) Pervasives.format)
 

sw/lib/ocaml/pprz.mli

@@ -63,6 +63,7 @@ val is_fixed_array_type : string -> bool
 
 val size_of_field : field -> int
 val string_of_value : value -> string
+val string_of_chars : value -> string
 val formatted_string_of_value : 'a -> value -> string
 val int_of_value : value -> int (* May raise Invalid_argument *)
 type type_descr = {