[Krobot-commits] [SCM] krobot branch, master, updated. b390b8ba32db284ca0862c893a8b6240235da7a9

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit b390b8ba32db284ca0862c893a8b6240235da7a9
Author: Jérémie Dimino <je...@di...>
Date:   Thu Jan 28 19:38:18 2010 +0100

    daemonize immediatly, otherwise libusb crash

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

Changes:
diff --git a/PC_Mainboard/daemons/dbus-drivers/card_interface.ml b/PC_Mainboard/daemons/dbus-drivers/card_interface.ml
index e483eed..8bf514e 100644
--- a/PC_Mainboard/daemons/dbus-drivers/card_interface.ml
+++ b/PC_Mainboard/daemons/dbus-drivers/card_interface.ml
@@ -202,7 +202,9 @@ let motor_enable card =
   RW.set_uint8 data 1 Protocol.motor_both;
   Card.send_command card Protocol.cmd_motor data
 
-let () = Lwt_main.run begin
+lwt () =
+  if not !Common.foreground then Lwt_unix.daemonize ~keep_stderr:true ();
+
   lwt card = Card.open_card ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_robot_interface
   and bus = Lazy.force OBus_bus.system in
 
@@ -228,6 +230,4 @@ let () = Lwt_main.run begin
     ]
   in
 
-  if not !Common.foreground then Lwt_unix.daemonize ();
   fst (Lwt.wait ())
-end
diff --git a/PC_Mainboard/daemons/dbus-drivers/card_motor.ml b/PC_Mainboard/daemons/dbus-drivers/card_motor.ml
index 14a4974..524db2c 100644
--- a/PC_Mainboard/daemons/dbus-drivers/card_motor.ml
+++ b/PC_Mainboard/daemons/dbus-drivers/card_motor.ml
@@ -75,7 +75,9 @@ let motor_enable card =
   RW.set_uint8 data 1 Protocol.motor_both;
   Card.send_command card Protocol.cmd_motor data
 
-let () = Lwt_main.run begin
+lwt () =
+  if not !Common.foreground then Lwt_unix.daemonize ~keep_stderr:true ();
+
   lwt card = Card.open_card ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_motor_controller
   and bus = Lazy.force OBus_bus.system in
 
@@ -92,6 +94,4 @@ let () = Lwt_main.run begin
     ]
   in
 
-  if not !Common.foreground then Lwt_unix.daemonize ();
   fst (Lwt.wait ())
-end
diff --git a/PC_Mainboard/daemons/dbus-drivers/card_sensor.ml b/PC_Mainboard/daemons/dbus-drivers/card_sensor.ml
index f503c17..bca7626 100644
--- a/PC_Mainboard/daemons/dbus-drivers/card_sensor.ml
+++ b/PC_Mainboard/daemons/dbus-drivers/card_sensor.ml
@@ -117,7 +117,9 @@ end
    | Entry point                                                     |
    +-----------------------------------------------------------------+ *)
 
-let () = Lwt_main.run begin
+lwt () =
+  if not !Common.foreground then Lwt_unix.daemonize ~keep_stderr:true ();
+
   lwt card = Card.open_card ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_proximity_sensor
   and bus = Lazy.force OBus_bus.system in
 
@@ -136,6 +138,4 @@ let () = Lwt_main.run begin
     ]
   in
 
-  if not !Common.foreground then Lwt_unix.daemonize ();
   fst (Lwt.wait ())
-end


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