krobot-commits Mailing List for [Kro]bot (Page 12)

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- Log -----------------------------------------------------------------
commit 0ef1a91b2e2b76850c49e886509582c29fedca10
Merge: e349b0939341e36863161e6ec90fb2e4456aaf54 e45ba7e950de7c8e47e1fb22fe65fe5d70f5c9d0
Author: Jérémie Dimino <je...@di...>
Date:   Thu Mar 17 18:32:38 2011 +0100

    Merge commit 'e45ba7e950de7c8e47e1fb22fe65fe5d70f5c9d0'

commit e45ba7e950de7c8e47e1fb22fe65fe5d70f5c9d0
Author: Jérémie Dimino <je...@di...>
Date:   Thu Mar 17 18:30:45 2011 +0100

    [info] add modules Krobot_service and Krobot_init

commit 79daa52c3f1ca70c351dc1e962fdadf65572034a
Author: Jérémie Dimino <je...@di...>
Date:   Thu Mar 17 10:06:01 2011 +0100

    [info] use the environment variable DBUS_KROBOT_BUS_ADDRESS to get the address of the krobot bus

commit e349b0939341e36863161e6ec90fb2e4456aaf54
Author: Jérémie Dimino <je...@di...>
Date:   Thu Mar 17 09:58:41 2011 +0100

    Revert "[info] do not send back messages comming from the can in the driver"
    
    This reverts commit 4507dff68656ad0300ed2138a58f694f7889ee1f.

commit 4507dff68656ad0300ed2138a58f694f7889ee1f
Author: Jérémie Dimino <je...@di...>
Date:   Thu Mar 17 00:37:16 2011 +0100

    [info] do not send back messages comming from the can in the driver

-----------------------------------------------------------------------

Changes:

diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index 9e15987..ad461ed 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -28,7 +28,9 @@ Library krobot
   Modules:
     Krobot_can,
     Krobot_bus,
-    Krobot_message
+    Krobot_message,
+    Krobot_service,
+    Krobot_init
 
 Library "krobot-can"
   FindlibName: can
diff --git a/info/control2011/krobot-api.odocl b/info/control2011/krobot-api.odocl
index eb2e004..c80c72a 100644
--- a/info/control2011/krobot-api.odocl
+++ b/info/control2011/krobot-api.odocl
@@ -1,7 +1,9 @@
 # OASIS_START
-# DO NOT EDIT (digest: f5cc533adaa505f8bedbd5bafe08f3f0)
+# DO NOT EDIT (digest: 979bfe64930f512bd800c4336aa992aa)
 src/lib/Krobot_can
 src/lib/Krobot_bus
 src/lib/Krobot_message
+src/lib/Krobot_service
+src/lib/Krobot_init
 src/can/Krobot_can_bus
 # OASIS_STOP
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index 51de5db..aa37ba5 100644
--- a/info/control2011/setup.ml
+++ b/info/control2011/setup.ml
@@ -1,9 +1,9 @@
 (* setup.ml generated for the first time by OASIS v0.2.0~alpha1 *)
 
 (* OASIS_START *)
-(* DO NOT EDIT (digest: 3c3d5a057069def7d5ccec6bb9cbfeaa) *)
+(* DO NOT EDIT (digest: c4a37702729314af3884a7f930148eae) *)
 (*
-   Regenerated by OASIS v0.2.0~alpha1
+   Regenerated by OASIS v0.2.0
    Visit http://oasis.forge.ocamlcore.org for more information and
    documentation about functions used in this file.
 *)
@@ -5101,7 +5101,13 @@ let setup_t =
                       },
                    {
                       lib_modules =
-                        ["Krobot_can"; "Krobot_bus"; "Krobot_message"];
+                        [
+                           "Krobot_can";
+                           "Krobot_bus";
+                           "Krobot_message";
+                           "Krobot_service";
+                           "Krobot_init"
+                        ];
                       lib_internal_modules = [];
                       lib_findlib_parent = None;
                       lib_findlib_name = Some "krobot";
@@ -5299,7 +5305,7 @@ let setup_t =
           schema_data = PropList.Data.create ();
           plugin_data = [];
           };
-     version = "0.2.0~alpha1";
+     version = "0.2.0";
      };;
 
 let setup () = BaseSetup.setup setup_t;;
diff --git a/info/control2011/src/driver/krobot_driver.ml b/info/control2011/src/driver/krobot_driver.ml
index 2883b33..fe7af7f 100644
--- a/info/control2011/src/driver/krobot_driver.ml
+++ b/info/control2011/src/driver/krobot_driver.ml
@@ -12,17 +12,15 @@
 open Lwt
 open Lwt_react
 
+let device = ref "slcan0"
+
+let () = Krobot_init.arg "-device" (Arg.Set_string device) "<device> The device to use"
+
 lwt () =
-  if Array.length Sys.argv <> 2 then begin
-    print_endline "usage: krobot-driver <interface>";
-    exit 2;
-  end;
+  lwt bus = Krobot_init.init_service "Driver" in
 
   (* Open the CAN bus. *)
-  lwt can = Krobot_can_bus.open_can Sys.argv.(1) in
-
-  (* Open the D-Bus connection. *)
-  lwt bus = Krobot_bus.get () in
+  lwt can = Krobot_can_bus.open_can !device in
 
   (* D-Bus --> CAN *)
   E.keep (E.map_s (Krobot_can_bus.send can) (Krobot_can.recv bus));
diff --git a/info/control2011/src/interfaces/krobot_interface_service.obus b/info/control2011/src/interfaces/krobot_interface_service.obus
new file mode 100644
index 0000000..6f5e940
--- /dev/null
+++ b/info/control2011/src/interfaces/krobot_interface_service.obus
@@ -0,0 +1,20 @@
+(*
+ * krobot_interface_service.obus
+ * -----------------------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(** Interface for krobot services. *)
+interface fr.krobot.Service {
+  (** Make the service to exit. *)
+  method kill : () -> ()
+    with {
+      org.freedesktop.DBus.Method.NoReply = "true"
+    }
+
+  signal log : (message : string)
+    (** Signal emitted when the service emit a log message. *)
+}
diff --git a/info/control2011/src/lib/krobot.mllib b/info/control2011/src/lib/krobot.mllib
index b7f4d81..a197c9c 100644
--- a/info/control2011/src/lib/krobot.mllib
+++ b/info/control2011/src/lib/krobot.mllib
@@ -1,6 +1,8 @@
 # OASIS_START
-# DO NOT EDIT (digest: b3bccfeb9433d08b24a1724cd101e42d)
+# DO NOT EDIT (digest: 28c0fb0dd216f4e31f545770f08d4c64)
 Krobot_can
 Krobot_bus
 Krobot_message
+Krobot_service
+Krobot_init
 # OASIS_STOP
diff --git a/info/control2011/src/lib/krobot_bus.ml b/info/control2011/src/lib/krobot_bus.ml
index 18a1352..f6e6112 100644
--- a/info/control2011/src/lib/krobot_bus.ml
+++ b/info/control2011/src/lib/krobot_bus.ml
@@ -7,11 +7,27 @@
  * This file is a part of [kro]bot.
  *)
 
+let section = Lwt_log.Section.make "bus"
+
 type t = OBus_bus.t
 
 external of_bus : OBus_bus.t -> t = "%identity"
 external to_bus : t -> OBus_bus.t = "%identity"
 
-let bus = lazy(OBus_bus.of_addresses [OBus_address.make "unix" [("abstract", "krobot")]])
+let address = ref (
+  match try Some(Sys.getenv "DBUS_KROBOT_BUS_ADDRESS") with Not_found -> None with
+    | Some addr ->
+        addr
+    | None ->
+        "unix:abstract=krobot"
+)
+
+let bus = lazy(
+  try_lwt
+    OBus_bus.of_addresses (OBus_address.of_string !address)
+  with exn ->
+    lwt () = Lwt_log.error_f ~section ~exn "failed to connect to the krobot bus at address '%s'" !address in
+    raise_lwt exn
+)
 
 let get () = Lazy.force bus
diff --git a/info/control2011/src/lib/krobot_bus.mli b/info/control2011/src/lib/krobot_bus.mli
index 3fe3946..4c94893 100644
--- a/info/control2011/src/lib/krobot_bus.mli
+++ b/info/control2011/src/lib/krobot_bus.mli
@@ -17,3 +17,7 @@ external to_bus : t -> OBus_bus.t = "%identity"
 
 val get : unit -> t Lwt.t
   (** [get ()] returns the krobot bus. *)
+
+(**/**)
+
+val address : string ref
diff --git a/info/control2011/src/lib/krobot_init.ml b/info/control2011/src/lib/krobot_init.ml
new file mode 100644
index 0000000..65ddc81
--- /dev/null
+++ b/info/control2011/src/lib/krobot_init.ml
@@ -0,0 +1,140 @@
+(*
+ * krobot_init.ml
+ * --------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+open Lwt
+open Lwt_react
+
+let section = Lwt_log.Section.make "init"
+
+(* +-----------------------------------------------------------------+
+   | Misc                                                            |
+   +-----------------------------------------------------------------+ *)
+
+let () =
+  Printexc.register_printer
+    (function
+       | Unix.Unix_error(error, func, "") ->
+           Some(Printf.sprintf "%s: %s" func (Unix.error_message error))
+       | Unix.Unix_error(error, func, arg) ->
+           Some(Printf.sprintf "%s(%S): %s" func arg (Unix.error_message error))
+       | _ ->
+           None)
+
+let program_name = Filename.basename Sys.executable_name
+let usage = Printf.sprintf "%s <options>" program_name
+
+(* +-----------------------------------------------------------------+
+   | Command line arguments                                          |
+   +-----------------------------------------------------------------+ *)
+
+let arguments = ref []
+let arg key spec doc = arguments := (key, spec, doc) :: !arguments
+
+let () = arg "-dbus-address" (Arg.Set_string Krobot_bus.address) "<address> The address to connect to the krobot bus"
+
+(* +-----------------------------------------------------------------+
+   | Programs                                                        |
+   +-----------------------------------------------------------------+ *)
+
+let init_program name =
+  Arg.parse (Arg.align !arguments) (fun _ -> raise (Arg.Bad "unknown option")) usage;
+  lwt () = Lwt_log.info ~section "openning the robot bus" in
+  try_lwt
+    Krobot_bus.get ()
+  with exn ->
+    exit 1
+
+(* +-----------------------------------------------------------------+
+   | Services                                                        |
+   +-----------------------------------------------------------------+ *)
+
+open Krobot_interface_service.Fr_krobot_Service
+
+let init_service name =
+  let no_fork = ref false and kill = ref false in
+  arg "-no-fork" (Arg.Set no_fork) " Run in foreground";
+  arg "-kill" (Arg.Set kill) " Kill any running instance and exit";
+  Arg.parse (Arg.align !arguments) (fun _ -> raise (Arg.Bad "unknown option")) usage;
+
+  lwt () = Lwt_log.info ~section "openning the robot bus" in
+  lwt bus = try_lwt Krobot_bus.get () with exn -> exit 1 in
+
+  let dbus_name = Printf.sprintf "fr.krobot.Service.%s" name in
+
+  (* Kill other instances. *)
+  lwt () =
+    if !kill then begin
+      try_lwt
+        lwt owner = OBus_bus.get_name_owner (Krobot_bus.to_bus bus) dbus_name in
+        lwt () = Lwt_log.info_f ~section "killing the running %s service" name in
+        Krobot_service.kill (Krobot_service.of_proxy (OBus_proxy.make (OBus_peer.make (Krobot_bus.to_bus bus) owner) ["fr"; "krobot"; "Service"]))
+      with OBus_bus.Name_has_no_owner _ ->
+        return ()
+      finally
+        exit 0
+    end else
+      return ()
+  in
+
+  (* Exit the program when we lost the name. *)
+  lwt () =
+    OBus_signal.connect (OBus_bus.name_lost (Krobot_bus.to_bus bus))
+    >|= E.map (fun lost_name -> if dbus_name = lost_name then exit 0)
+    >|= E.keep
+  in
+
+  (* Daemonize or not. *)
+  lwt () =
+    if !no_fork then
+      Lwt_log.notice_f ~section "starting %s in foreground mode" name
+    else begin
+      lwt () = Lwt_log.notice_f ~section "starting %s in daemon mode" name in
+      Lwt_daemon.daemonize ();
+      return ()
+    end
+  in
+
+  (* Create the service object and export it. *)
+  let obj = OBus_object.make ~interfaces:[make { m_kill = (fun obj () -> exit 0) }] ["fr"; "krobot"; "Service"] in
+  OBus_object.attach obj ();
+  OBus_object.export (Krobot_bus.to_bus bus) obj;
+
+  (* Send logs over D-Bus. *)
+  let dbus_logger =
+    Lwt_log.make
+      (fun section level lines ->
+         if level > Lwt_log.Info then
+           let buf = Buffer.create 42 in
+           let lines =
+             List.map
+               (fun line ->
+                  Buffer.clear buf;
+                  Lwt_log.render ~buffer:buf ~template:"$(level)@$(name)[$(section)]: $(message)" ~section ~level ~message:line;
+                  Buffer.contents buf)
+               lines
+           in
+           OBus_signal.emit s_log obj (String.concat "\n" lines)
+         else
+           return ())
+      return
+  in
+
+  Lwt_log.default := Lwt_log.broadcast [!Lwt_log.default; dbus_logger];
+
+  (* Register the program on the bus. *)
+  lwt () =
+    OBus_bus.request_name (Krobot_bus.to_bus bus) ~allow_replacement:true ~replace_existing:true dbus_name >>= function
+      | `Primary_owner ->
+          return ()
+      | _ ->
+          lwt () = Lwt_log.error_f ~section "cannot obtain the name %S on D-Bus" dbus_name in
+          exit 1
+  in
+
+  return bus
diff --git a/info/control2011/src/lib/krobot_init.mli b/info/control2011/src/lib/krobot_init.mli
new file mode 100644
index 0000000..38457cb
--- /dev/null
+++ b/info/control2011/src/lib/krobot_init.mli
@@ -0,0 +1,24 @@
+(*
+ * krobot_init.mli
+ * ---------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(** Initialization *)
+
+val arg : Arg.key -> Arg.spec -> Arg.doc -> unit
+  (** [arg key spec doc] registers the given command line argument. *)
+
+val init_program : string -> Krobot_bus.t Lwt.t
+  (** [init_program name] initialises a program. A program always run
+      in foreground. *)
+
+val init_service : string -> Krobot_bus.t Lwt.t
+  (** [init_service name] initialises a service. A service may run in
+      foreground or in background according to command line arguments.
+      This module ensure that only one instance of the service is
+      running at a time. It also export a simple interface over
+      D-Bus. *)
diff --git a/info/control2011/src/lib/krobot_service.ml b/info/control2011/src/lib/krobot_service.ml
new file mode 100644
index 0000000..784664d
--- /dev/null
+++ b/info/control2011/src/lib/krobot_service.ml
@@ -0,0 +1,60 @@
+(*
+ * krobot_service.ml
+ * -----------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+include OBus_proxy.Private
+
+open Lwt
+open Lwt_react
+open Krobot_interface_service.Fr_krobot_Service
+
+let all bus =
+  OBus_proxy.make
+    (OBus_peer.anonymous (Krobot_bus.to_bus bus))
+    ["fr"; "krobot"; "Service"]
+
+let make bus name =
+  if name = "" then
+    all bus
+  else
+    OBus_proxy.make
+      (OBus_peer.make
+         (Krobot_bus.to_bus bus)
+         (Printf.sprintf "fr.krobot.Service.%s" name))
+      ["fr"; "krobot"; "Service"]
+
+let name service =
+  let s = OBus_proxy.name service in
+  let i = String.rindex s '.' in
+  String.sub s (i + 1) (String.length s - (i + 1))
+
+let list bus =
+  lwt names = OBus_bus.list_names (Krobot_bus.to_bus bus) in
+  return
+    (List.map
+       (fun name ->
+          OBus_proxy.make
+            (OBus_peer.make (Krobot_bus.to_bus bus) name)
+            ["fr"; "krobot"; "Service"])
+       (List.sort
+          String.compare
+          (List.filter
+             (fun name ->
+                String.sub name 0 (String.rindex name '.') = "fr.krobot.Service")
+             names)))
+
+let monitor bus =
+  lwt e = OBus_signal.connect (OBus_bus.name_owner_changed (Krobot_bus.to_bus bus)) in
+  lwt l = list bus in
+  return (S.hold l (E.map_s (fun _ -> list bus) e))
+
+let kill service =
+  OBus_method.call_no_reply m_kill service ()
+
+let log service =
+  OBus_signal.make s_log service
diff --git a/info/control2011/src/lib/krobot_service.mli b/info/control2011/src/lib/krobot_service.mli
new file mode 100644
index 0000000..e04fac4
--- /dev/null
+++ b/info/control2011/src/lib/krobot_service.mli
@@ -0,0 +1,34 @@
+(*
+ * krobot_service.mli
+ * ------------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+include OBus_proxy.Private
+
+val make : Krobot_bus.t -> string -> t
+  (** [make bus name pid] creates a service proxy from its name. *)
+
+val all : Krobot_bus.t -> t
+  (** Proxy that represent all running services. You can use it to
+      receive logs from all services. *)
+
+val name : t -> string
+  (** Returns the name of the given service. *)
+
+val list : Krobot_bus.t -> t list Lwt.t
+  (** List all available services on the bus. *)
+
+val monitor : Krobot_bus.t -> t list React.signal Lwt.t
+  (** Returns the signal holding the sorted list of services on the
+      bus. *)
+
+val kill : t -> unit Lwt.t
+  (** [kill service] kills the given service. *)
+
+val log : t -> string OBus_signal.t
+  (** [log service] is the D-Bus signal which occurs when [service]
+      emit a log message. *)


hooks/post-receive
-- 
krobot




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krobot-commits Mailing List for [Kro]bot (Page 12)

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