krobot-commits Mailing List for [Kro]bot (Page 22)

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- Log -----------------------------------------------------------------
commit 8dc0a8c11338c9b18afbe9bd3473370afc110dd7
Author: Jérémie Dimino <je...@di...>
Date:   Sat Mar 20 16:08:50 2010 +0100

    Display errors in the controller

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

Changes:

diff --git a/PC_Mainboard/clients/controller.ml b/PC_Mainboard/clients/controller.ml
index 329f205..8c58876 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -425,6 +425,13 @@ lwt () =
   notify (Krobot.Card.state (krobot, `Motor));
   notify services;
 
+  List.iter
+    (fun card ->
+       Lwt_event.always_notify
+         (fun error -> log_add_line [fg lred; textf "error on card %s: %s" (Krobot.Card.name card) error])
+         (Krobot.Card.errors (krobot, card)))
+    [`Interface; `Sensor; `Motor; `Monitoring];
+
   (* Redraw immedlatly the screen when [signal] changes: *)
   let urgent signal = Lwt_signal.always_notify_p (fun _ -> refresh krobot) signal in
   urgent Lwt_term.size;
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 8705b76..41c7c76 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -678,6 +678,7 @@ struct
     obus : OBus_object.t;
     name : string;
     mutable state : unit Lwt.t React.signal;
+    mutable errors : unit Lwt.t React.event;
   }
 
   module OBus = OBus_object.Make(struct
@@ -721,6 +722,7 @@ struct
     USB_commands.Card.test (get_card dev)
 
   OL_signal StateChanged : Krobot_types.card_state
+  OL_signal Error : string
 
   let make name card path =
     let dev = {
@@ -728,17 +730,19 @@ struct
       obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
       name = name;
       state = React.S.const (return ());
+      errors = React.E.never;
     } in
     dev.state <- React.S.map (function
                                 | None ->
                                     state_changed dev `Absent
-                                | Some _ ->
+                                | Some card ->
+                                    dev.errors <- React.E.map (error dev) (Krobot_card.errors card);
                                     state_changed dev `Present) card;
     dev
 end
 
 (* +-----------------------------------------------------------------+
-   | Krobot_cards management                                                |
+   | Krobot_cards management                                         |
    +-----------------------------------------------------------------+ *)
 
 (* Continously try to open the card with given parameters *)
diff --git a/PC_Mainboard/driver/krobot_card.ml b/PC_Mainboard/driver/krobot_card.ml
index d89b116..f12da8b 100644
--- a/PC_Mainboard/driver/krobot_card.ml
+++ b/PC_Mainboard/driver/krobot_card.ml
@@ -124,6 +124,9 @@ type card = {
   abort_wakener : int Lwt.u;
   (* Sleeping thread which is wakeup when the card is closed *)
 
+  errors : string React.event;
+  push_error : string -> unit;
+
   wrapper : wrapper;
   (* The associated wrapper *)
 }
@@ -148,12 +151,16 @@ let closed wrapper = match wrapper.state with
 let watch wrapper = wrapper.watch
 
 (* Return a running card, if possible. *)
-let rec get_card wrapper = match wrapper.state with
+let get_card wrapper = match wrapper.state with
   | Opened card ->
       return card
   | Closed exn ->
       fail exn
 
+let errors wrapper = match wrapper.state with
+  | Opened card -> card.errors
+  | Closed exn -> raise exn
+
 (* +-----------------------------------------------------------------+
    | Aborting                                                        |
    +-----------------------------------------------------------------+ *)
@@ -235,7 +242,10 @@ let rec dispatch card =
                          ignore (Log.exn_f exn "pushing event %d from %s card failed with" msg.command card.wrapper.name))
                     seq
               | None ->
-                  ignore (dropped "command" card msg)
+                  if msg.error <> 0 then
+                    card.push_error (error_message msg.error)
+                  else
+                    ignore (dropped "command" card msg)
           end;
           dispatch card
         end
@@ -258,6 +268,7 @@ let rec make ~name ~handle =
   lwt () = USB.set_configuration handle 1 in
   lwt () = USB.claim_interface handle 0 in
   let abort_waiter, abort_wakener = wait () in
+  let errors, push_error = React.E.create () in
   let rec card = {
     serial_pool = (let rec loop = function
                      | 256 -> []
@@ -272,6 +283,8 @@ let rec make ~name ~handle =
     abort_waiter = abort_waiter;
     abort_wakener = abort_wakener;
     wrapper = wrapper;
+    errors = errors;
+    push_error = push_error;
   } and wrapper = {
     state = Opened card;
     name = name;
diff --git a/PC_Mainboard/driver/krobot_card.mli b/PC_Mainboard/driver/krobot_card.mli
index 8c65caf..219bf62 100644
--- a/PC_Mainboard/driver/krobot_card.mli
+++ b/PC_Mainboard/driver/krobot_card.mli
@@ -57,3 +57,7 @@ val send_command : t -> int -> string -> unit Lwt.t
 val connect : t -> int -> < event : string React.event; stop : unit >
   (** [connect card command] connects to signals [command] emitted by
       [card] *)
+
+val errors : t -> string React.event
+  (** [errors card] is an event which occurs each time a card send an
+      error *)
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index a866c75..54647ed 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -21,6 +21,7 @@ type team = Team_red | Team_green
 
 type card = {
   card_state : Krobot_types.card_state React.signal;
+  card_errors : string React.event;
 }
 
 type t = {
@@ -138,10 +139,38 @@ let create ?peer () =
     range_finders = range_finders;
     inhibited_forward_until = inhibited_forward_until;
     inhibited_backward_until = inhibited_backward_until;
-    interface = { card_state = card_interface };
-    sensor = { card_state = card_sensor };
-    motor = { card_state = card_motor };
-    monitoring = { card_state = card_monitoring };
+    interface = {
+      card_state = card_interface;
+      card_errors = (OBus_proxy.connect
+                       (OBus_proxy.make peer ["fr"; "krobot"; "Cards"; "Interface"])
+                       ~interface:"fr.krobot.Card"
+                       ~member:"Error"
+                     <:obus_type< string >>)#event;
+    };
+    sensor = {
+      card_state = card_sensor;
+      card_errors = (OBus_proxy.connect
+                       (OBus_proxy.make peer ["fr"; "krobot"; "Cards"; "Sensor"])
+                       ~interface:"fr.krobot.Card"
+                       ~member:"Error"
+                     <:obus_type< string >>)#event;
+    };
+    motor = {
+      card_state = card_motor;
+      card_errors = (OBus_proxy.connect
+                       (OBus_proxy.make peer ["fr"; "krobot"; "Cards"; "Motor"])
+                       ~interface:"fr.krobot.Card"
+                       ~member:"Error"
+                     <:obus_type< string >>)#event;
+    };
+    monitoring = {
+      card_state = card_monitoring;
+      card_errors = (OBus_proxy.connect
+                       (OBus_proxy.make peer ["fr"; "krobot"; "Cards"; "Monitoring"])
+                       ~interface:"fr.krobot.Card"
+                       ~member:"Error"
+                     <:obus_type< string >>)#event;
+    };
   }
 
 (* +-----------------------------------------------------------------+
@@ -230,6 +259,12 @@ struct
     | `Motor -> krobot.motor.card_state
     | `Monitoring -> krobot.monitoring.card_state
 
+  let errors (krobot, card) = match card with
+    | `Interface -> krobot.interface.card_errors
+    | `Sensor -> krobot.sensor.card_errors
+    | `Motor -> krobot.motor.card_errors
+    | `Monitoring -> krobot.monitoring.card_errors
+
   module Proxy = OBus_proxy.Make
     (struct
        type proxy = t * card
diff --git a/PC_Mainboard/lib_krobot/krobot.mli b/PC_Mainboard/lib_krobot/krobot.mli
index 26d12d9..3138a02 100644
--- a/PC_Mainboard/lib_krobot/krobot.mli
+++ b/PC_Mainboard/lib_krobot/krobot.mli
@@ -139,6 +139,8 @@ module Card : sig
   val bootloader : t * card -> unit Lwt.t
     (** Put the card into bootloader mode *)
 
+  val errors : t * card -> string React.event
+
   val get_firmware_build : t * card -> string Lwt.t
   val get_board_info : t * card -> string Lwt.t
   val reset : t * card -> unit Lwt.t


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krobot-commits Mailing List for [Kro]bot (Page 22)

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