krobot-commits Mailing List for [Kro]bot (Page 30)

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- Log -----------------------------------------------------------------
commit e007ef2fec366cfa70104c5d23dd9f53fa4b3947
Author: Jérémie Dimino <je...@di...>
Date:   Sun Jan 31 21:29:34 2010 +0100

    add interfaces for cards

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

Changes:

diff --git a/PC_Mainboard/clients/lib-krobot/krobot.ml b/PC_Mainboard/clients/lib-krobot/krobot.ml
index 9f05595..020fc0f 100644
--- a/PC_Mainboard/clients/lib-krobot/krobot.ml
+++ b/PC_Mainboard/clients/lib-krobot/krobot.ml
@@ -16,12 +16,21 @@ open Lwt
 
 type team = Team_red | Team_green
 
+type card = {
+  card_state : [ `Running | `Opening | `Closed ] React.signal;
+}
+
 type t = {
   (* Basic signals: *)
   compass : int React.signal;
   logic_sensors : bool array React.signal;
   range_finders : int array React.signal;
 
+  (* Cards *)
+  interface : card;
+  sensor : card;
+  motor : card;
+
   peer : OBus_peer.t;
   (* The driver peer *)
 }
@@ -46,12 +55,18 @@ module MakeDevice(Name : sig val name : string end) =
    - a [get] method
    - an [update] signal
 *)
-let make_signal ~peer ~name ~get ~update ~typ =
+let make_dev_signal ~peer ~name ~get ~update ~typ =
   let proxy = OBus_proxy.make peer ["fr"; "krobot"; "Devices"; name] in
   let interface = "fr.krobot.Device." ^ name in
   lwt initial = OBus_proxy.method_call proxy ~interface ~member:get (OBus_type.reply typ) in
   return (React.S.hold initial (OBus_signal.connect proxy ~interface ~member:update typ)#event)
 
+let make_card_signal ~peer ~name ~get ~update ~typ =
+  let proxy = OBus_proxy.make peer ["fr"; "krobot"; "Cards"; name] in
+  let interface = "fr.krobot.Card" in
+  lwt initial = OBus_proxy.method_call proxy ~interface ~member:get (OBus_type.reply typ) in
+  return (React.S.hold initial (OBus_signal.connect proxy ~interface ~member:update typ)#event)
+
 (* +-----------------------------------------------------------------+
    | Creation                                                        |
    +-----------------------------------------------------------------+ *)
@@ -84,6 +99,11 @@ let get_bus () =
           Log#exn exn "failed to connect to system bus";
           fail exn
 
+let obus_state =
+  OBus_type.mapping
+    OBus_pervasives.obus_uint
+    [(`Running, 0); (`Opening, 1); (`Closed, 2)]
+
 let create ?peer () =
   lwt peer = match peer with
     | Some peer ->
@@ -92,15 +112,21 @@ let create ?peer () =
         lwt bus = get_bus () in
         return (OBus_peer.make bus "fr.krobot")
   in
-  lwt compass = make_signal peer "Compass" "Get" "Value" <:obus_type< int >>
-  and logic_sensors = make_signal peer "LogicSensors" "Get" "Value" <:obus_type< bool array >>
-  and range_finders = make_signal peer "RangeFinders" "Get" "Value" <:obus_type< int array >>
+  lwt compass = make_dev_signal peer "Compass" "Get" "Value" <:obus_type< int >>
+  and logic_sensors = make_dev_signal peer "LogicSensors" "Get" "Value" <:obus_type< bool array >>
+  and range_finders = make_dev_signal peer "RangeFinders" "Get" "Value" <:obus_type< int array >>
+  and interface_state = make_card_signal peer "Interface" "GetState" "StateChanged" <:obus_type< state >>
+  and sensor_state = make_card_signal peer "Sensor" "GetState" "StateChanged" <:obus_type< state >>
+  and motor_state = make_card_signal peer "Motor" "GetState" "StateChanged" <:obus_type< state >>
   in
   return {
     peer = peer;
     compass = compass;
     logic_sensors = logic_sensors;
     range_finders = range_finders;
+    interface = { card_state = interface_state };
+    sensor = { card_state = sensor_state };
+    motor = { card_state = motor_state };
   }
 
 (* +-----------------------------------------------------------------+
@@ -167,3 +193,38 @@ OP_method Move : int -> int -> int -> unit
 
 let turn krobot ~angle ~speed ~acc = turn krobot angle speed acc
 let move krobot ~dist ~speed ~acc = turn krobot dist speed acc
+
+(* +-----------------------------------------------------------------+
+   | Cards                                                           |
+   +-----------------------------------------------------------------+ *)
+
+module Card =
+struct
+  type card = [ `Interface | `Sensor | `Motor ]
+  type state = [ `Running | `Opening | `Closed ]
+
+  let name = function
+    | `Interface -> "interface"
+    | `Sensor -> "sensor"
+    | `Motor -> "motor"
+
+  let state krobot = function
+    | `Interface -> krobot.interface.card_state
+    | `Sensor -> krobot.sensor.card_state
+    | `Motor -> krobot.motor.card_state
+
+  include OBus_interface.Make(struct let name = "fr.krobot.Card" end)
+
+  OP_method GetFirmwareBuild : string
+  OP_method GetBoardInfo : string
+
+  let proxy krobot card =
+    OBus_proxy.make krobot.peer
+      ["fr"; "krobot"; "Cards"; (match card with
+                                   | `Interface -> "Interface"
+                                   | `Sensor -> "Sensor"
+                                   | `Motor -> "Motor")]
+
+  let get_firmware_build krobot card = get_firmware_build (proxy krobot card)
+  let get_board_info krobot card = get_board_info (proxy krobot card)
+end
diff --git a/PC_Mainboard/clients/lib-krobot/krobot.mli b/PC_Mainboard/clients/lib-krobot/krobot.mli
index 49168e4..546751e 100644
--- a/PC_Mainboard/clients/lib-krobot/krobot.mli
+++ b/PC_Mainboard/clients/lib-krobot/krobot.mli
@@ -70,3 +70,20 @@ val close_grip : t -> unit Lwt.t
 
 val turn : t -> angle : int -> speed : int -> acc : int -> unit Lwt.t
 val move : t -> dist : int -> speed : int -> acc : int -> unit Lwt.t
+
+(** {6 Cards} *)
+
+module Card : sig
+  type card = [ `Interface | `Sensor | `Motor ]
+
+  type state = [ `Running | `Opening | `Closed ]
+
+  val name : card -> string
+    (** Returns the name of a card *)
+
+  val state : t -> card -> state React.signal
+    (** Returns the status of one of the card of the krobot *)
+
+  val get_firmware_build : t -> card -> string Lwt.t
+  val get_board_info : t -> card -> string Lwt.t
+end
diff --git a/PC_Mainboard/clients/tools/status.ml b/PC_Mainboard/clients/tools/status.ml
index 007cf63..1cfa1bd 100644
--- a/PC_Mainboard/clients/tools/status.ml
+++ b/PC_Mainboard/clients/tools/status.ml
@@ -10,23 +10,42 @@
 (* Print status and exit *)
 
 open Lwt
+open Lwt_io
 open Krobot
 
+let print_card krobot card =
+  match React.S.value (Card.state krobot card) with
+    | `Running ->
+        lwt firmware_build = Card.get_firmware_build krobot card
+        and board_info = Card.get_board_info krobot card in
+        let name = Card.name card in
+        lwt () = printlf "card.%s.state = running" name in
+        lwt () = printlf "card.%s.firmware_build = %s" name firmware_build in
+        lwt () = printlf "card.%s.board_info = %s" name board_info in
+        return ()
+    | `Opening ->
+        printlf "card.%s.state = opening" (Card.name card)
+    | `Closed ->
+        printlf "card.%s.state = closed" (Card.name card)
+
 lwt () =
   lwt krobot = Krobot.create () in
-  lwt () = Lwt_io.printlf "compass = %d" (React.S.value (compass krobot)) in
+  lwt () = printlf "compass = %d" (React.S.value (compass krobot)) in
   let arr = React.S.value (logic_sensors krobot) in
   lwt () =
     for_lwt i = 0 to Array.length arr - 1 do
-      Lwt_io.printlf "logic_sensors[%d] = %s" i (if arr.(i) then "O" else ".")
+      printlf "logic_sensors[%d] = %s" i (if arr.(i) then "O" else ".")
     done
   in
   let arr = React.S.value (range_finders krobot) in
   lwt () =
     for_lwt i = 0 to Array.length arr - 1 do
-      Lwt_io.printlf "range_finders[%d] = %d" i arr.(i)
+      printlf "range_finders[%d] = %d" i arr.(i)
     done
   in
-  lwt () = Lwt_io.printlf "team = %s" (match React.S.value (team krobot) with Team_red -> "red" | Team_green -> "green") in
-  lwt () = Lwt_io.printlf "jack = %s" (match React.S.value (jack krobot) with true -> "present" | false -> "absent") in
+  lwt () = printlf "team = %s" (match React.S.value (team krobot) with Team_red -> "red" | Team_green -> "green") in
+  lwt () = printlf "jack = %s" (match React.S.value (jack krobot) with true -> "present" | false -> "absent") in
+  lwt () = print_card krobot `Interface in
+  lwt () = print_card krobot `Sensor in
+  lwt () = print_card krobot `Motor in
   return ()
diff --git a/PC_Mainboard/driver/_tags b/PC_Mainboard/driver/_tags
index f288f8c..aeaf11e 100644
--- a/PC_Mainboard/driver/_tags
+++ b/PC_Mainboard/driver/_tags
@@ -1,4 +1,5 @@
 # -*- conf -*-
 
 <src/*.ml>: syntax_camlp4o, pkg_camlp4, pkg_lwt.syntax, pkg_lwt.syntax.log, pkg_obus.syntax
+<src/card.mli>: syntax_camlp4o, pkg_obus.syntax
 <src/*>: thread, pkg_usb, pkg_obus
diff --git a/PC_Mainboard/driver/src/card.ml b/PC_Mainboard/driver/src/card.ml
index 4c2500a..80196f1 100644
--- a/PC_Mainboard/driver/src/card.ml
+++ b/PC_Mainboard/driver/src/card.ml
@@ -77,6 +77,11 @@ module SerialMap = Map.Make(struct type t = serial let compare = compare end)
 
 type state = Running | Opening | Closed
 
+let obus_state =
+  OBus_type.mapping
+    OBus_pervasives.obus_uint
+    [(Running, 0); (Opening, 1); (Closed, 2)]
+
 (* Type of a up and running card *)
 type card = {
 
diff --git a/PC_Mainboard/driver/src/card.mli b/PC_Mainboard/driver/src/card.mli
index 0e64417..b3ca5bf 100644
--- a/PC_Mainboard/driver/src/card.mli
+++ b/PC_Mainboard/driver/src/card.mli
@@ -22,6 +22,7 @@ type state =
       (** The card is being opened *)
   | Closed
       (** The card has been closed *)
+  with obus(basic)
 
 val state : t -> state React.signal
   (** [state card] is the state of a card, as a reactive value *)
diff --git a/PC_Mainboard/driver/src/driver.ml b/PC_Mainboard/driver/src/driver.ml
index 1ebef34..b3287cc 100644
--- a/PC_Mainboard/driver/src/driver.ml
+++ b/PC_Mainboard/driver/src/driver.ml
@@ -439,6 +439,57 @@ struct
 end
 
 (* +-----------------------------------------------------------------+
+   | Objects for cards                                               |
+   +-----------------------------------------------------------------+ *)
+
+module MCard =
+struct
+  type t = {
+    card : Card.t;
+    obus : OBus_object.t;
+  }
+
+  module OBus = OBus_object.Make(struct
+                                   type obj = t
+                                   let get obj = obj.obus
+                                 end)
+
+  include OBus.MakeInterface(struct let name = "fr.krobot.Card" end)
+
+  OL_property_r Name : string = fun card ->
+    return (Card.name card.card)
+
+  let string_of_azt data =
+    try
+      String.sub data 0 (String.index data '\000')
+    with Not_found ->
+      data
+
+  OL_method GetFirmwareBuild : string = fun card ->
+    let data = Card.make_buffer () in
+    RW.set_uint8 data 0 Protocol.get_firmware_build;
+    Card.send_request card Protocol.cmd_get data >|= string_of_azt
+
+  OL_method GetBoardInfo : string = fun card ->
+    let data = Card.make_buffer () in
+    RW.set_uint8 data 0 Protocol.get_board_info;
+    Card.send_request card Protocol.cmd_get data >|= string_of_azt
+
+  OL_method GetState : Card.state = fun card ->
+    return (React.S.value (Card.state card.card))
+
+  OL_signal StateChanged : Card.state
+
+  let make card path =
+    let card = {
+      card = card;
+      obus = OBus_object.make path;
+    } in
+    Lwt_signal.always_notify_s (state_changed card) (Card.state card.card);
+    card
+end
+
+(* +-----------------------------------------------------------------+
    | Entry point                                                     |
    +-----------------------------------------------------------------+ *)
 
@@ -495,6 +546,11 @@ lwt () =
   (* Motor card *)
   Motors.OBus.export bus (Motors.make card_motor ["fr"; "krobot"; "Devices"; "Motors"]);
 
+  (* Cards *)
+  MCard.OBus.export bus (MCard.make card_interface ["fr"; "krobot"; "Cards"; "Interface"]);
+  MCard.OBus.export bus (MCard.make card_sensor ["fr"; "krobot"; "Cards"; "Sensor"]);
+  MCard.OBus.export bus (MCard.make card_motor ["fr"; "krobot"; "Cards"; "Motor"]);
+
   (* Internal objects *)
   Manager.OBus.export bus ();
 


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krobot-commits Mailing List for [Kro]bot (Page 30)

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