krobot-commits Mailing List for [Kro]bot (Page 7)

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- Log -----------------------------------------------------------------
commit 1063889e6c9547426e6f4a8322fef1f4bd8f85f7
Author: Jérémie Dimino <je...@di...>
Date:   Mon Apr 18 20:06:16 2011 +0200

    [krobot_message] use C stubs for serializing/deserializing strange structures

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

Changes:

diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index 85e61ae..c14f942 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -31,9 +31,9 @@ Flag gtk
 
 Library krobot
   FindlibName: krobot
-  BuildDepends: lwt.unix, lwt.syntax, obus, krobot.interfaces, bitstring, bitstring.syntax
+  BuildDepends: lwt.unix, lwt.syntax, obus, krobot.interfaces
   XMETADescription: The [Kro]bot library
-  XMETARequires: lwt.unix, obus, krobot.interfaces, bitstring
+  XMETARequires: lwt.unix, obus, krobot.interfaces
   Path: src/lib
   Install: true
   Modules:
@@ -43,6 +43,8 @@ Library krobot
     Krobot_service,
     Krobot_geom,
     Krobot_planner
+  CSources:
+    krobot_message_stubs.c
 
 Library "krobot-can"
   FindlibName: can
diff --git a/info/control2011/_tags b/info/control2011/_tags
index f8002fe..650cedb 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
 <src/interfaces/*.ml>: -syntax_camlp4o
 
 # OASIS_START
-# DO NOT EDIT (digest: bc62a620a945818c8391362124b031c3)
+# DO NOT EDIT (digest: 28c051595fc8936deb8eca602b892268)
 # Library krobot-interfaces
 "src/interfaces": include
 "src/interfaces/krobot-interfaces.cmxs": use_krobot-interfaces
@@ -10,12 +10,15 @@
 # Library krobot
 "src/lib": include
 "src/lib/krobot.cmxs": use_krobot
+<src/lib/krobot.{cma,cmxa}>: use_libkrobot
 <src/lib/*.ml{,i}>: use_krobot-interfaces
 <src/lib/*.ml{,i}>: pkg_obus
 <src/lib/*.ml{,i}>: pkg_lwt.unix
 <src/lib/*.ml{,i}>: pkg_lwt.syntax
-<src/lib/*.ml{,i}>: pkg_bitstring.syntax
-<src/lib/*.ml{,i}>: pkg_bitstring
+"src/lib/krobot_message_stubs.c": use_krobot-interfaces
+"src/lib/krobot_message_stubs.c": pkg_obus
+"src/lib/krobot_message_stubs.c": pkg_lwt.unix
+"src/lib/krobot_message_stubs.c": pkg_lwt.syntax
 # Library krobot-can
 "src/can": include
 "src/can/krobot-can.cmxs": use_krobot-can
@@ -25,31 +28,23 @@
 <src/can/*.ml{,i}>: pkg_obus
 <src/can/*.ml{,i}>: pkg_lwt.unix
 <src/can/*.ml{,i}>: pkg_lwt.syntax
-<src/can/*.ml{,i}>: pkg_bitstring.syntax
-<src/can/*.ml{,i}>: pkg_bitstring
 "src/can/can_stubs.c": use_krobot
 "src/can/can_stubs.c": use_krobot-interfaces
 "src/can/can_stubs.c": pkg_obus
 "src/can/can_stubs.c": pkg_lwt.unix
 "src/can/can_stubs.c": pkg_lwt.syntax
-"src/can/can_stubs.c": pkg_bitstring.syntax
-"src/can/can_stubs.c": pkg_bitstring
 # Executable krobot-dump
 <src/tools/krobot_dump.{native,byte}>: use_krobot
 <src/tools/krobot_dump.{native,byte}>: use_krobot-interfaces
 <src/tools/krobot_dump.{native,byte}>: pkg_obus
 <src/tools/krobot_dump.{native,byte}>: pkg_lwt.unix
 <src/tools/krobot_dump.{native,byte}>: pkg_lwt.syntax
-<src/tools/krobot_dump.{native,byte}>: pkg_bitstring.syntax
-<src/tools/krobot_dump.{native,byte}>: pkg_bitstring
 # Executable krobot-dump-encoders
 <src/tools/krobot_dump_encoders.{native,byte}>: use_krobot
 <src/tools/krobot_dump_encoders.{native,byte}>: use_krobot-interfaces
 <src/tools/krobot_dump_encoders.{native,byte}>: pkg_obus
 <src/tools/krobot_dump_encoders.{native,byte}>: pkg_lwt.unix
 <src/tools/krobot_dump_encoders.{native,byte}>: pkg_lwt.syntax
-<src/tools/krobot_dump_encoders.{native,byte}>: pkg_bitstring.syntax
-<src/tools/krobot_dump_encoders.{native,byte}>: pkg_bitstring
 # Executable krobot-driver
 <src/driver/krobot_driver.{native,byte}>: use_krobot-can
 <src/driver/krobot_driver.{native,byte}>: use_krobot
@@ -57,16 +52,12 @@
 <src/driver/krobot_driver.{native,byte}>: pkg_obus
 <src/driver/krobot_driver.{native,byte}>: pkg_lwt.unix
 <src/driver/krobot_driver.{native,byte}>: pkg_lwt.syntax
-<src/driver/krobot_driver.{native,byte}>: pkg_bitstring.syntax
-<src/driver/krobot_driver.{native,byte}>: pkg_bitstring
 <src/driver/*.ml{,i}>: use_krobot-can
 <src/driver/*.ml{,i}>: use_krobot
 <src/driver/*.ml{,i}>: use_krobot-interfaces
 <src/driver/*.ml{,i}>: pkg_obus
 <src/driver/*.ml{,i}>: pkg_lwt.unix
 <src/driver/*.ml{,i}>: pkg_lwt.syntax
-<src/driver/*.ml{,i}>: pkg_bitstring.syntax
-<src/driver/*.ml{,i}>: pkg_bitstring
 # Executable krobot-viewer
 <src/tools/krobot_viewer.{native,byte}>: use_krobot
 <src/tools/krobot_viewer.{native,byte}>: use_krobot-interfaces
@@ -76,8 +67,6 @@
 <src/tools/krobot_viewer.{native,byte}>: pkg_lwt.glib
 <src/tools/krobot_viewer.{native,byte}>: pkg_lablgtk2.glade
 <src/tools/krobot_viewer.{native,byte}>: pkg_cairo.lablgtk2
-<src/tools/krobot_viewer.{native,byte}>: pkg_bitstring.syntax
-<src/tools/krobot_viewer.{native,byte}>: pkg_bitstring
 <src/tools/*.ml{,i}>: pkg_lablgtk2.glade
 # Executable krobot-hil-simulator
 <src/tools/krobot_hil_simulator.{native,byte}>: use_krobot
@@ -85,8 +74,6 @@
 <src/tools/krobot_hil_simulator.{native,byte}>: pkg_obus
 <src/tools/krobot_hil_simulator.{native,byte}>: pkg_lwt.unix
 <src/tools/krobot_hil_simulator.{native,byte}>: pkg_lwt.syntax
-<src/tools/krobot_hil_simulator.{native,byte}>: pkg_bitstring.syntax
-<src/tools/krobot_hil_simulator.{native,byte}>: pkg_bitstring
 # Executable send-can
 <examples/send_can.{native,byte}>: use_krobot-can
 <examples/send_can.{native,byte}>: use_krobot
@@ -94,8 +81,6 @@
 <examples/send_can.{native,byte}>: pkg_obus
 <examples/send_can.{native,byte}>: pkg_lwt.unix
 <examples/send_can.{native,byte}>: pkg_lwt.syntax
-<examples/send_can.{native,byte}>: pkg_bitstring.syntax
-<examples/send_can.{native,byte}>: pkg_bitstring
 # Executable krobot-plot-battery
 <src/tools/krobot_plot_battery.{native,byte}>: use_krobot
 <src/tools/krobot_plot_battery.{native,byte}>: use_krobot-interfaces
@@ -104,39 +89,29 @@
 <src/tools/krobot_plot_battery.{native,byte}>: pkg_lwt.syntax
 <src/tools/krobot_plot_battery.{native,byte}>: pkg_lwt.glib
 <src/tools/krobot_plot_battery.{native,byte}>: pkg_cairo.lablgtk2
-<src/tools/krobot_plot_battery.{native,byte}>: pkg_bitstring.syntax
-<src/tools/krobot_plot_battery.{native,byte}>: pkg_bitstring
 # Executable krobot-service-planner
 <src/services/krobot_service_planner.{native,byte}>: use_krobot
 <src/services/krobot_service_planner.{native,byte}>: use_krobot-interfaces
 <src/services/krobot_service_planner.{native,byte}>: pkg_obus
 <src/services/krobot_service_planner.{native,byte}>: pkg_lwt.unix
 <src/services/krobot_service_planner.{native,byte}>: pkg_lwt.syntax
-<src/services/krobot_service_planner.{native,byte}>: pkg_bitstring.syntax
-<src/services/krobot_service_planner.{native,byte}>: pkg_bitstring
 <src/services/*.ml{,i}>: use_krobot
 <src/services/*.ml{,i}>: use_krobot-interfaces
 <src/services/*.ml{,i}>: pkg_obus
 <src/services/*.ml{,i}>: pkg_lwt.unix
 <src/services/*.ml{,i}>: pkg_lwt.syntax
-<src/services/*.ml{,i}>: pkg_bitstring.syntax
-<src/services/*.ml{,i}>: pkg_bitstring
 # Executable krobot-remote
 <src/tools/krobot_remote.{native,byte}>: use_krobot
 <src/tools/krobot_remote.{native,byte}>: use_krobot-interfaces
 <src/tools/krobot_remote.{native,byte}>: pkg_obus
 <src/tools/krobot_remote.{native,byte}>: pkg_lwt.unix
 <src/tools/krobot_remote.{native,byte}>: pkg_lwt.syntax
-<src/tools/krobot_remote.{native,byte}>: pkg_bitstring.syntax
-<src/tools/krobot_remote.{native,byte}>: pkg_bitstring
 # Executable krobot-replay
 <src/tools/krobot_replay.{native,byte}>: use_krobot
 <src/tools/krobot_replay.{native,byte}>: use_krobot-interfaces
 <src/tools/krobot_replay.{native,byte}>: pkg_obus
 <src/tools/krobot_replay.{native,byte}>: pkg_lwt.unix
 <src/tools/krobot_replay.{native,byte}>: pkg_lwt.syntax
-<src/tools/krobot_replay.{native,byte}>: pkg_bitstring.syntax
-<src/tools/krobot_replay.{native,byte}>: pkg_bitstring
 # Executable dump-can
 <examples/dump_can.{native,byte}>: use_krobot-can
 <examples/dump_can.{native,byte}>: use_krobot
@@ -144,32 +119,24 @@
 <examples/dump_can.{native,byte}>: pkg_obus
 <examples/dump_can.{native,byte}>: pkg_lwt.unix
 <examples/dump_can.{native,byte}>: pkg_lwt.syntax
-<examples/dump_can.{native,byte}>: pkg_bitstring.syntax
-<examples/dump_can.{native,byte}>: pkg_bitstring
 <examples/*.ml{,i}>: use_krobot-can
 <examples/*.ml{,i}>: use_krobot
 <examples/*.ml{,i}>: use_krobot-interfaces
 <examples/*.ml{,i}>: pkg_obus
 <examples/*.ml{,i}>: pkg_lwt.unix
 <examples/*.ml{,i}>: pkg_lwt.syntax
-<examples/*.ml{,i}>: pkg_bitstring.syntax
-<examples/*.ml{,i}>: pkg_bitstring
 # Executable krobot-local
 <src/tools/krobot_local.{native,byte}>: use_krobot
 <src/tools/krobot_local.{native,byte}>: use_krobot-interfaces
 <src/tools/krobot_local.{native,byte}>: pkg_obus
 <src/tools/krobot_local.{native,byte}>: pkg_lwt.unix
 <src/tools/krobot_local.{native,byte}>: pkg_lwt.syntax
-<src/tools/krobot_local.{native,byte}>: pkg_bitstring.syntax
-<src/tools/krobot_local.{native,byte}>: pkg_bitstring
 # Executable krobot-record
 <src/tools/krobot_record.{native,byte}>: use_krobot
 <src/tools/krobot_record.{native,byte}>: use_krobot-interfaces
 <src/tools/krobot_record.{native,byte}>: pkg_obus
 <src/tools/krobot_record.{native,byte}>: pkg_lwt.unix
 <src/tools/krobot_record.{native,byte}>: pkg_lwt.syntax
-<src/tools/krobot_record.{native,byte}>: pkg_bitstring.syntax
-<src/tools/krobot_record.{native,byte}>: pkg_bitstring
 # Executable krobot-plot
 <src/tools/krobot_plot.{native,byte}>: use_krobot
 <src/tools/krobot_plot.{native,byte}>: use_krobot-interfaces
@@ -178,8 +145,6 @@
 <src/tools/krobot_plot.{native,byte}>: pkg_lwt.syntax
 <src/tools/krobot_plot.{native,byte}>: pkg_lwt.glib
 <src/tools/krobot_plot.{native,byte}>: pkg_cairo.lablgtk2
-<src/tools/krobot_plot.{native,byte}>: pkg_bitstring.syntax
-<src/tools/krobot_plot.{native,byte}>: pkg_bitstring
 <src/tools/*.ml{,i}>: pkg_lwt.glib
 <src/tools/*.ml{,i}>: pkg_cairo.lablgtk2
 # Executable krobot-simulator
@@ -188,13 +153,9 @@
 <src/tools/krobot_simulator.{native,byte}>: pkg_obus
 <src/tools/krobot_simulator.{native,byte}>: pkg_lwt.unix
 <src/tools/krobot_simulator.{native,byte}>: pkg_lwt.syntax
-<src/tools/krobot_simulator.{native,byte}>: pkg_bitstring.syntax
-<src/tools/krobot_simulator.{native,byte}>: pkg_bitstring
 <src/tools/*.ml{,i}>: use_krobot
 <src/tools/*.ml{,i}>: use_krobot-interfaces
 <src/tools/*.ml{,i}>: pkg_obus
 <src/tools/*.ml{,i}>: pkg_lwt.unix
 <src/tools/*.ml{,i}>: pkg_lwt.syntax
-<src/tools/*.ml{,i}>: pkg_bitstring.syntax
-<src/tools/*.ml{,i}>: pkg_bitstring
 # OASIS_STOP
diff --git a/info/control2011/myocamlbuild.ml b/info/control2011/myocamlbuild.ml
index 08cc900..20d8e84 100644
--- a/info/control2011/myocamlbuild.ml
+++ b/info/control2011/myocamlbuild.ml
@@ -1,5 +1,5 @@
 (* OASIS_START *)
-(* DO NOT EDIT (digest: 570b31c8f48685aca9662d28e560f425) *)
+(* DO NOT EDIT (digest: 1ca7268f789f49955feedef89f6b4ca9) *)
 module OASISGettext = struct
 # 21 "/home/dim/sources/oasis/src/oasis/OASISGettext.ml"
   
@@ -457,7 +457,7 @@ let package_default =
           ("src/lib/krobot", ["src/lib"]);
           ("src/can/krobot-can", ["src/can"])
        ];
-     lib_c = [("krobot-can", "src/can", [])];
+     lib_c = [("krobot", "src/lib", []); ("krobot-can", "src/can", [])];
      flags = [];
      }
   ;;
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index 8d91fa9..5b8befa 100644
--- a/info/control2011/setup.ml
+++ b/info/control2011/setup.ml
@@ -1,7 +1,7 @@
 (* setup.ml generated for the first time by OASIS v0.2.0~alpha1 *)
 
 (* OASIS_START *)
-(* DO NOT EDIT (digest: 0d24f30592bfc03631b0c362d4d27577) *)
+(* DO NOT EDIT (digest: b04695e11f7527ee760b637f6ae5beb4) *)
 (*
    Regenerated by OASIS v0.2.0
    Visit http://oasis.forge.ocamlcore.org for more information and
@@ -5106,12 +5106,10 @@ let setup_t =
                            FindlibPackage ("lwt.unix", None);
                            FindlibPackage ("lwt.syntax", None);
                            FindlibPackage ("obus", None);
-                           InternalLibrary "krobot-interfaces";
-                           FindlibPackage ("bitstring", None);
-                           FindlibPackage ("bitstring.syntax", None)
+                           InternalLibrary "krobot-interfaces"
                         ];
                       bs_build_tools = [ExternalTool "ocamlbuild"];
-                      bs_c_sources = [];
+                      bs_c_sources = ["krobot_message_stubs.c"];
                       bs_data_files = [];
                       bs_ccopt = [(OASISExpr.EBool true, [])];
                       bs_cclib = [(OASISExpr.EBool true, [])];
diff --git a/info/control2011/src/lib/META b/info/control2011/src/lib/META
index 47df438..8cab18d 100644
--- a/info/control2011/src/lib/META
+++ b/info/control2011/src/lib/META
@@ -1,8 +1,8 @@
 # OASIS_START
-# DO NOT EDIT (digest: 060bacace64817181263e75a71185b59)
+# DO NOT EDIT (digest: 6d4fe02a501933ad8464e70af7fcf3b1)
 version = "1.0"
 description = "The [Kro]bot library"
-requires = "lwt.unix obus krobot.interfaces bitstring"
+requires = "lwt.unix obus krobot.interfaces"
 archive(byte) = "krobot.cma"
 archive(native) = "krobot.cmxa"
 exists_if = "krobot.cma"
diff --git a/info/control2011/src/lib/krobot_message.ml b/info/control2011/src/lib/krobot_message.ml
index 7640a41..c9da849 100644
--- a/info/control2011/src/lib/krobot_message.ml
+++ b/info/control2011/src/lib/krobot_message.ml
@@ -126,6 +126,8 @@ let to_string = function
 
 let pi = 4. *. atan 1.
 
+external encode_bezier : int * int * int * int * int * int -> string = "krobot_message_encode_bezier"
+
 let encode = function
   | Encoder_position_direction_3_4(pos3, dir3, pos4, dir4) ->
       let data = String.create 6 in
@@ -213,22 +215,12 @@ let encode = function
       and d2 = int_of_float (d2 *. 100.)
       and theta = int_of_float (theta *. 1000.) land 0b1111111111111;
       and v = int_of_float (v *. 1000.) in
-      let data = Bitstring.string_of_bitstring
-        (BITSTRING{
-           x : 12 : littleendian, unsigned;
-           y : 12 : littleendian, unsigned;
-           d1 : 8 : littleendian, unsigned;
-           d2 : 8 : littleendian, unsigned;
-           theta : 13 : littleendian, unsigned;
-           v : 11 : littleendian, unsigned
-         })
-      in
       frame
         ~identifier:206
         ~kind:Data
         ~remote:false
         ~format:F29bits
-        ~data
+        ~data:(encode_bezier (x, y, d1, d2, theta, v))
   | Set_odometry(x, y, theta) ->
       let data = String.create 6 in
       put_sint16 data 0 (truncate (x *. 1000.));
@@ -324,102 +316,98 @@ let () =
        | _ ->
            None)
 
+external decode_bezier : string -> int * int * int * int * int * int = "krobot_message_decode_bezier"
+
 let decode frame =
   try
-  if frame.remote then
-    match frame.identifier with
-      | 103 ->
-          Req_motor_status
-      | _ ->
-          Unknown frame
-  else
-    match frame.identifier with
-      | 100 ->
-          Encoder_position_direction_3_4
-            (get_uint16 frame.data 0,
-             (if get_uint8 frame.data 4 = 0 then Forward else Backward),
-             get_uint16 frame.data 2,
-             (if get_uint8 frame.data 5 = 0 then Forward else Backward))
-      | 101 ->
-          Encoder_position_speed_3
-            (get_float32 frame.data 0,
-             get_float32 frame.data 4)
-      | 102 ->
-          Encoder_position_speed_4
-            (get_float32 frame.data 0,
-             get_float32 frame.data 4)
-      | 103 ->
-          let x = get_uint8 frame.data 0 in
-          Motor_status(x land 1 <> 0,
-                       x land 2 <> 0,
-                       x land 4 <> 0,
-                       x land 8 <> 0)
-      | 104 ->
-          Odometry
-            (float (get_sint16 frame.data 0) /. 1000.,
-             float (get_sint16 frame.data 2) /. 1000.,
-             float (get_sint16 frame.data 4) /. 10000.)
-      | 201 ->
-          Motor_move
-            (float (get_sint32 frame.data 0) /. 1000.,
-             float (get_uint16 frame.data 4) /. 1000.,
-             float (get_uint16 frame.data 6) /. 1000.)
-      | 202 ->
-          Motor_turn
-            (float (get_sint32 frame.data 0) /. 10000.,
-             float (get_uint16 frame.data 4) /. 1000.,
-             float (get_uint16 frame.data 6) /. 1000.)
-      | 203 ->
-          Set_odometry
-            (float (get_sint16 frame.data 0) /. 1000.,
-             float (get_sint16 frame.data 2) /. 1000.,
-             float (get_sint16 frame.data 4) /. 10000.)
-      | 204 ->
-          Motor_stop
-      | 205 ->
-          Set_controller_mode
-            (get_uint8 frame.data 0 <> 0)
-      | 206 ->
-          (bitmatch Bitstring.bitstring_of_string frame.data with
-             | { x : 12 : littleendian;
-                 y : 12 : littleendian;
-                 d1 : 8 : littleendian;
-                 d2 : 8 : littleendian;
-                 theta : 13 : littleendian;
-                 v : 11  : littleendian } ->
-                 Motor_bezier(float x /. 1000.,
-                              float y /. 1000.,
-                              float d1 /. 100.,
-                              float d2 /. 100.,
-                              (if theta >= 4096 then
-                                 float (theta - 8192) /. 1000.
-                               else
-                                 float theta /. 1000.),
-                              float v /. 1000.))
-      | 301 ->
-           Beacon_position
-             (float (get_uint16 frame.data 0) /. 10000.,
-              float (get_uint16 frame.data 2) /. 1000.,
-              float (get_uint16 frame.data 4) /. 10000.)
-      | 302 ->
-           Beacon_lowlevel_position
-             (float (get_uint16 frame.data 0) /. 10000.,
-              float (get_uint16 frame.data 2) /. 100000.,
-              get_uint32 frame.data 4)
-      | 401 ->
-           Battery1_voltages
-             (float (get_uint16 frame.data 0) /. 10000.,
-              float (get_uint16 frame.data 2) /. 10000.,
-              float (get_uint16 frame.data 4) /. 10000.,
-              float (get_uint16 frame.data 6) /. 10000.)
-      | 402 ->
-           Battery2_voltages
-             (float (get_uint16 frame.data 0) /. 10000.,
-              float (get_uint16 frame.data 2) /. 10000.,
-              float (get_uint16 frame.data 4) /. 10000.,
-              float (get_uint16 frame.data 6) /. 10000.)
-      | _ ->
-          Unknown frame
+    if frame.remote then
+      match frame.identifier with
+        | 103 ->
+            Req_motor_status
+        | _ ->
+            Unknown frame
+    else
+      match frame.identifier with
+        | 100 ->
+            Encoder_position_direction_3_4
+              (get_uint16 frame.data 0,
+               (if get_uint8 frame.data 4 = 0 then Forward else Backward),
+               get_uint16 frame.data 2,
+               (if get_uint8 frame.data 5 = 0 then Forward else Backward))
+        | 101 ->
+            Encoder_position_speed_3
+              (get_float32 frame.data 0,
+               get_float32 frame.data 4)
+        | 102 ->
+            Encoder_position_speed_4
+              (get_float32 frame.data 0,
+               get_float32 frame.data 4)
+        | 103 ->
+            let x = get_uint8 frame.data 0 in
+            Motor_status(x land 1 <> 0,
+                         x land 2 <> 0,
+                         x land 4 <> 0,
+                         x land 8 <> 0)
+        | 104 ->
+            Odometry
+              (float (get_sint16 frame.data 0) /. 1000.,
+               float (get_sint16 frame.data 2) /. 1000.,
+               float (get_sint16 frame.data 4) /. 10000.)
+        | 201 ->
+            Motor_move
+              (float (get_sint32 frame.data 0) /. 1000.,
+               float (get_uint16 frame.data 4) /. 1000.,
+               float (get_uint16 frame.data 6) /. 1000.)
+        | 202 ->
+            Motor_turn
+              (float (get_sint32 frame.data 0) /. 10000.,
+               float (get_uint16 frame.data 4) /. 1000.,
+               float (get_uint16 frame.data 6) /. 1000.)
+        | 203 ->
+            Set_odometry
+              (float (get_sint16 frame.data 0) /. 1000.,
+               float (get_sint16 frame.data 2) /. 1000.,
+               float (get_sint16 frame.data 4) /. 10000.)
+        | 204 ->
+            Motor_stop
+        | 205 ->
+            Set_controller_mode
+              (get_uint8 frame.data 0 <> 0)
+        | 206 ->
+            let x, y, d1, d2, theta, v = decode_bezier frame.data in
+            Motor_bezier(float x /. 1000.,
+                         float y /. 1000.,
+                         float d1 /. 100.,
+                         float d2 /. 100.,
+                         (if theta >= 4096 then
+                            float (theta - 8192) /. 1000.
+                          else
+                            float theta /. 1000.),
+                         float v /. 1000.)
+        | 301 ->
+            Beacon_position
+              (float (get_uint16 frame.data 0) /. 10000.,
+               float (get_uint16 frame.data 2) /. 1000.,
+               float (get_uint16 frame.data 4) /. 10000.)
+        | 302 ->
+            Beacon_lowlevel_position
+              (float (get_uint16 frame.data 0) /. 10000.,
+               float (get_uint16 frame.data 2) /. 100000.,
+               get_uint32 frame.data 4)
+        | 401 ->
+            Battery1_voltages
+              (float (get_uint16 frame.data 0) /. 10000.,
+               float (get_uint16 frame.data 2) /. 10000.,
+               float (get_uint16 frame.data 4) /. 10000.,
+               float (get_uint16 frame.data 6) /. 10000.)
+        | 402 ->
+            Battery2_voltages
+              (float (get_uint16 frame.data 0) /. 10000.,
+               float (get_uint16 frame.data 2) /. 10000.,
+               float (get_uint16 frame.data 4) /. 10000.,
+               float (get_uint16 frame.data 6) /. 10000.)
+        | _ ->
+            Unknown frame
   with Invalid_argument _ ->
     raise (Invalid_frame frame)
 
diff --git a/info/control2011/src/lib/krobot_message_stubs.c b/info/control2011/src/lib/krobot_message_stubs.c
new file mode 100644
index 0000000..0550aa1
--- /dev/null
+++ b/info/control2011/src/lib/krobot_message_stubs.c
@@ -0,0 +1,51 @@
+/*
+ * krobot_message_stubs.c
+ * ----------------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ */
+
+#include <caml/mlvalues.h>
+#include <caml/memory.h>
+#include <caml/alloc.h>
+
+static struct bezier_message {
+  unsigned int x : 12;
+  unsigned int y : 12;
+  unsigned int d1 : 8;
+  unsigned int d2 : 8;
+  int theta : 13;
+  unsigned int v : 11;
+};
+
+CAMLprim value krobot_message_encode_bezier(value params)
+{
+  CAMLparam1(params);
+  CAMLlocal1(str);
+  str = caml_alloc_string(8);
+  struct bezier_message *msg = (struct bezier_message*)String_val(str);
+  msg->x = Int_val(Field(params, 0));
+  msg->y = Int_val(Field(params, 1));
+  msg->d1 = Int_val(Field(params, 2));
+  msg->d2 = Int_val(Field(params, 3));
+  msg->theta = Int_val(Field(params, 4));
+  msg->v = Int_val(Field(params, 5));
+  CAMLreturn(str);
+}
+
+CAMLprim value krobot_message_decode_bezier(value str)
+{
+  CAMLparam1(str);
+  CAMLlocal1(res);
+  struct bezier_message *msg = (struct bezier_message*)String_val(str);
+  res = caml_alloc_tuple(6);
+  Field(res, 0) = Val_int(msg->x);
+  Field(res, 1) = Val_int(msg->y);
+  Field(res, 2) = Val_int(msg->d1);
+  Field(res, 3) = Val_int(msg->d2);
+  Field(res, 4) = Val_int(msg->theta);
+  Field(res, 5) = Val_int(msg->v);
+  CAMLreturn(res);
+}


hooks/post-receive
-- 
krobot




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