[paparazzi-commits] [4454] add optional timestamp to message_send

[Pascal Brisset]

Revision: 4454
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4454
Author:   hecto
Date:     2010-01-18 20:31:38 +0000 (Mon, 18 Jan 2010)
Log Message:
-----------
 add optional timestamp to message_send
 discard optional timestamp in message_bind 

Modified Paths:
--------------
    paparazzi3/trunk/sw/lib/ocaml/pprz.ml
    paparazzi3/trunk/sw/lib/ocaml/pprz.mli

Modified: paparazzi3/trunk/sw/lib/ocaml/pprz.ml
===================================================================
--- paparazzi3/trunk/sw/lib/ocaml/pprz.ml       2010-01-18 16:55:09 UTC (rev 
4453)
+++ paparazzi3/trunk/sw/lib/ocaml/pprz.ml       2010-01-18 20:31:38 UTC (rev 
4454)
@@ -409,7 +409,7 @@
   val string_of_message : ?sep:string -> message -> values -> string
   (** [string_of_message ?sep msg values] Default [sep] is space *)
 
-  val message_send : string -> string -> values -> unit
+  val message_send : ?timestamp:float -> string -> string -> values -> unit
   (** [message_send sender msg_name values] *)
 
   val message_bind : ?sender:string ->string -> (string -> values -> unit) -> 
Ivy.binding
@@ -521,10 +521,14 @@
           formatted_string_of_value field.fformat v)
         msg.fields)
 
-  let message_send = fun sender msg_name values ->
+  let message_send = fun ?timestamp sender msg_name values ->
     let m = snd (message_of_name msg_name) in
     let s = string_of_message m values in
-    let msg = sprintf "%s %s" sender s in
+    let timestamp_string =
+      match timestamp with
+       None -> ""
+      | Some x -> sprintf "%f " x in
+    let msg = sprintf "%s%s %s" timestamp_string sender s in
     let n = String.length msg in
     if n > 1000 then (** FIXME: to prevent Ivy bug on long message *)
       fprintf stderr "Discarding long ivy message (%d bytes)\n%!" n
@@ -536,15 +540,15 @@
       None ->
        Ivy.bind 
          (fun _ args -> 
-           let values = try snd (values_of_string args.(1)) with exc -> 
prerr_endline (Printexc.to_string exc); [] in
-           cb args.(0) values) 
-         (sprintf "^([^ ]*) +(%s( .*|$))" msg_name)
+           let values = try snd (values_of_string args.(2)) with exc -> 
prerr_endline (Printexc.to_string exc); [] in
+           cb args.(1) values) 
+         (sprintf "^([0-9]+\\.[0-9]+ )?([^ ]*) +(%s( .*|$))" msg_name)
     | Some s ->
        Ivy.bind
          (fun _ args -> 
-           let values = try snd (values_of_string args.(0)) with  exc -> 
prerr_endline (Printexc.to_string exc); [] in
+           let values = try snd (values_of_string args.(1)) with  exc -> 
prerr_endline (Printexc.to_string exc); [] in
            cb s values)
-         (sprintf "^%s +(%s( .*|$))" s msg_name)
+         (sprintf "^([0-9]+\\.[0-9]+ )?%s +(%s( .*|$))" s msg_name)
 
   let message_answerer = fun sender msg_name cb ->
     let ivy_cb = fun _ args ->

Modified: paparazzi3/trunk/sw/lib/ocaml/pprz.mli
===================================================================
--- paparazzi3/trunk/sw/lib/ocaml/pprz.mli      2010-01-18 16:55:09 UTC (rev 
4453)
+++ paparazzi3/trunk/sw/lib/ocaml/pprz.mli      2010-01-18 20:31:38 UTC (rev 
4454)
@@ -131,7 +131,7 @@
   val string_of_message : ?sep:string -> message -> values -> string
   (** [string_of_message ?sep msg values] Default [sep] is space *)
 
-  val message_send : string -> string -> values -> unit
+  val message_send : ?timestamp:float -> string -> string -> values -> unit
   (** [message_send sender msg_name values] *)
 
   val message_bind : ?sender:string ->string -> (string -> values -> unit) -> 
Ivy.binding