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[Krobot-commits] [SCM] krobot branch, master, updated. 50c027108ad86dc99649d4bb86741b422b48143d
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From: Jérémie D. <Ba...@us...> - 2010-01-29 21:20:44
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This is an automated email from the git hooks/post-receive script. It was
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the project "krobot".
The branch, master has been updated
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- Log -----------------------------------------------------------------
commit 50c027108ad86dc99649d4bb86741b422b48143d
Author: Jérémie Dimino <je...@di...>
Date: Fri Jan 29 22:20:13 2010 +0100
merge D-Bus drivers
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/lib-krobot/krobot.ml b/PC_Mainboard/clients/lib-krobot/krobot.ml
index 6c77010..3329f21 100644
--- a/PC_Mainboard/clients/lib-krobot/krobot.ml
+++ b/PC_Mainboard/clients/lib-krobot/krobot.ml
@@ -33,6 +33,8 @@ lwt bus =
Log#exn exn "failed to create remote transport";
fail exn
+let driver = OBus_peer.make bus "fr.krobot"
+
(* +-----------------------------------------------------------------+
| Compass |
+-----------------------------------------------------------------+ *)
@@ -43,7 +45,7 @@ OP_signal Value : int
OP_method Get : int
lwt compass =
- let proxy = OBus_proxy.make (OBus_peer.make bus "fr.krobot.Device.Compass") [ "fr"; "krobot"; "Devices"; "Compass" ] in
+ let proxy = OBus_proxy.make driver [ "fr"; "krobot"; "Devices"; "Compass" ] in
lwt initial = get proxy in
return (React.S.hold initial (value proxy)#event)
@@ -52,7 +54,7 @@ lwt compass =
+-----------------------------------------------------------------+ *)
let op_method_call member typ =
- let proxy = OBus_proxy.make (OBus_peer.make bus "fr.krobot.Device.AX12") [ "fr"; "krobot"; "Devices"; "AX12" ] in
+ let proxy = OBus_proxy.make driver [ "fr"; "krobot"; "Devices"; "AX12" ] in
OBus_proxy.method_call proxy ~interface:"fr.krobot.Device.AX12" ~member typ
OP_method OpenClaw : unit -> unit
@@ -65,7 +67,7 @@ OP_method CloseCylinder : unit -> unit
+-----------------------------------------------------------------+ *)
let op_method_call member typ =
- let proxy = OBus_proxy.make (OBus_peer.make bus "fr.krobot.Device.Elevator") [ "fr"; "krobot"; "Devices"; "Elevator" ] in
+ let proxy = OBus_proxy.make driver [ "fr"; "krobot"; "Devices"; "Elevator" ] in
OBus_proxy.method_call proxy ~interface:"fr.krobot.Device.Elevator" ~member typ
OP_method ElevatorUp : int -> int -> unit
@@ -86,7 +88,7 @@ let elevator_down ?speed ?delay () =
+-----------------------------------------------------------------+ *)
let op_method_call member typ =
- let proxy = OBus_proxy.make (OBus_peer.make bus "fr.krobot.Device.Grip") [ "fr"; "krobot"; "Devices"; "Grip" ] in
+ let proxy = OBus_proxy.make driver [ "fr"; "krobot"; "Devices"; "Grip" ] in
OBus_proxy.method_call proxy ~interface:"fr.krobot.Device.Grip" ~member typ
OP_method OpenGrip : unit -> unit
@@ -102,7 +104,7 @@ OP_signal Value : bool array
OP_method Get : bool array
lwt logic_sensors =
- let proxy = OBus_proxy.make (OBus_peer.make bus "fr.krobot.Device.LogicSensors") [ "fr"; "krobot"; "Devices"; "LogicSensors" ] in
+ let proxy = OBus_proxy.make driver [ "fr"; "krobot"; "Devices"; "LogicSensors" ] in
lwt initial = get proxy in
return (React.S.hold initial (value proxy)#event)
@@ -124,7 +126,7 @@ OP_signal Value : int array
OP_method Get : int array
lwt range_finders =
- let proxy = OBus_proxy.make (OBus_peer.make bus "fr.krobot.Device.RangeFinders") [ "fr"; "krobot"; "Devices"; "RangeFinders" ] in
+ let proxy = OBus_proxy.make driver [ "fr"; "krobot"; "Devices"; "RangeFinders" ] in
lwt initial = get proxy in
return (React.S.hold initial (value proxy)#event)
@@ -133,7 +135,7 @@ lwt range_finders =
+-----------------------------------------------------------------+ *)
let op_method_call member typ =
- let proxy = OBus_proxy.make (OBus_peer.make bus "fr.krobot.Device.Motors") [ "fr"; "krobot"; "Devices"; "Motors" ] in
+ let proxy = OBus_proxy.make driver [ "fr"; "krobot"; "Devices"; "Motors" ] in
OBus_proxy.method_call proxy ~interface:"fr.krobot.Device.Motors" ~member typ
OP_method Turn : int -> int -> int -> unit
diff --git a/PC_Mainboard/daemons/Makefile b/PC_Mainboard/daemons/Makefile
deleted file mode 100644
index 5120c74..0000000
--- a/PC_Mainboard/daemons/Makefile
+++ /dev/null
@@ -1,35 +0,0 @@
-# Makefile
-# --------
-# Copyright : (c) 2009, Jeremie Dimino <je...@di...>
-# Licence : BSD3
-#
-# This file is a part of [kro]bot.
-
-PREFIX=/usr/local
-
-OC = ocamlbuild
-OF = ocamlfind
-
-ifeq ($(TERM),dumb)
-OC += -classic-display
-endif
-
-.PHONY: all
-all:
- $(OC) all
-
-.PHONY: clean
-clean:
- $(OC) -clean
-
-.PHONY: install
-install:
- install -m0644 dbus-rules/fr.krobot.conf /etc/dbus-1/system.d/fr.krobot.conf
- install _build/dbus-drivers/card_interface.native $(PREFIX)/bin/krobot-card-interface
- install _build/dbus-drivers/card_sensor.native $(PREFIX)/bin/krobot-card-sensor
-
-.PHONY: uninstall
-uninstall:
- rm -f /etc/dbus-1/system.d/fr.krobot.conf
- rm -f $(PREFIX)/bin/krobot-card-interface
- rm -f $(PREFIX)/bin/krobot-card-sensor
diff --git a/PC_Mainboard/daemons/PcInterface.h b/PC_Mainboard/daemons/PcInterface.h
deleted file mode 100644
index 6928d8e..0000000
--- a/PC_Mainboard/daemons/PcInterface.h
+++ /dev/null
@@ -1,208 +0,0 @@
-/**
- * @file PcInterface.h
- * Fichier commun avec le programme hsur la carte m (USB PC).
- * Ce fichier dnit de nombreuses constantes utilis pour le protocole
- * de communication carte <-> PC.
-*/
-
-#ifndef PC_INTERFACE_H
-#define PC_INTERFACE_H
-
-#define USB_VID 0x04D8 ///< Vendor ID commun aux diffntes cartes USB
-#define USB_PID_USB_DEV_BOARD 0x0001 ///< Product ID de la Carte d'essais
-#define USB_PID_PROXIMITY_SENSOR 0x0002 ///< Product ID de la Carte capteurs
-#define USB_PID_MOTOR_CONTROLLER 0x0003 ///< Product ID de la Carte d'asservissement
-#define USB_PID_ROBOT_INTERFACE 0x0004 ///< Product ID de la Carte d'actionneur
-#define USB_PID_BATTERY_MONITORING 0x0005 ///< Product ID de la carte Battery Monitoring
-#define USB_PID_BOOTLOADER 0x000b ///< Product ID d'une carte en mode bootloader
-
-// Protocole USB
-#define UP_HSEQ 0 ///< Host sequence number
-#define UP_DSEQ 1 ///< Device sequence number
-#define UP_CMD 2
-#define UP_ERR 3
-#define UP_RES0 4
-#define UP_RES1 5
-#define UP_RES2 6
-#define UP_RES3 7
-#define UP_RES4 60
-#define UP_RES5 61
-#define UP_RES6 62
-#define UP_RES7 63
-#define UP_DATA 8
-
-// Commande (premier bit)
-#define CMD_RESET 0 ///< Reset du PIC
-#define CMD_BOOTLOADER 1 ///< Reset du PIC en mode bootloader
-#define CMD_GET 2 ///< Obtenir une information
-#define CMD_RESPOND 3 ///< Rnse ne commande
-#define CMD_ERR 4 ///< Envoyer une erreur
-#define CMD_SEND 5 ///< Envoyer du texte
-#define CMD_SET 6 ///< Dnir l't d'un parame
-#define CMD_TEST 7 ///< Commande grique pour dencher une action de test
-#define CMD_CALIBRATE 8 ///< Lance la calibration d'un tme [Carte capteurs]
-#define CMD_AX12 9
-#define CMD_TRAJ 10 ///< Transmet une trajetoire au Krobot
-#define CMD_MOTOR 11 ///< Gestion des moteurs
-#define CMD_MOTOR_TOR 12
-
-// CMD_GET arguments
-#define GET_RESET_SOURCE 0 ///< Demande au PIC la source du Reset
-#define GET_BOARD_INFO 1 ///< Demande au PIC le nom de la carte et l'auteur
-#define GET_FIRMWARE_BUILD 2 ///< Demande au PIC la date et l'heure de compilation du firmware
-#define GET_PORTS_CONFIG 3 ///< Demande la config TRIS des ports du PIC
-#define GET_PORTS_STATE 4 ///< Demande l't des ports du PIC
-#define GET_RANGEFINDER_STATE 5 ///< Demande au PIC les mesures des tmes [Carte capteurs]
-#define GET_ISENS 6 ///< Demande au PIC les valeurs des courants moteurs mesur [Carte d'asservissement]
-#define GET_CURRENT_POS 7 ///< Demande au PIC les positions actuelles des moteurs [Carte d'asservissement]
-#define GET_RANGEFINDER_CALIBRATION 8 ///< Demande au PIC les valeurs de calibration des tmes [Carte capteurs]
-#define GET_TOR_STATE 9 ///< Demande au PIC l't des capteurs de contact [Carte capteurs]
-#define GET_CMP03_DATA 10 ///< Rp les infos du compas ctronique CMP03
-#define GET_CELL_VOLTAGE 11 ///< Tensions des cellules [Battery Monitoring]
-#define GET_CURRENT 12 ///< Valeur instantandu courant dtar la batterie [Battery Monitoring]
-#define GET_POWER_STATE 13 ///< Etat de l'alimentation de puissance (On/Off) [Battery Monitoring]
-#define GET_BATTERY_STATE 14 ///< Etat des batteries (Pleine charge/Charge moyenne/Charge faible) [Battery Monitoring]
-
-// CMD_ERR arguments
-#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
-#define ERR_UNKNOWN_GET 2 ///< Demande inconnue
-#define ERR_UNKNOWN_SET 3 ///< Demande inconnue
-#define ERR_INVALID_RESPONSE 4 ///< Rnse invalide
-#define ERR_AX12_WRONG_PACKET 5
-#define ERR_AX12_ERROR 6
-#define ERR_AX12_CHKSUM 7
-#define ERR_CMP03_NOT_RESPONDING 8
-#define ERR_ADJD_S371_NOT_RESPONDING 9
-
-// CMD_SET arguments
-#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
-#define SET_PORTS_CONFIG_OUTPUTS 0x01 ///< Dnir les sorties du PIC
-#define SET_PORTS_STATE_LOW 0x02 ///< Dnir les sorties 't bas du PIC
-#define SET_PORTS_STATE_HIGH 0x03 ///< Dnir les sorties 't haut du PIC
-#define SET_SERVO_CONFIG 0x04 ///< Dnir la config des servomoteurs
-#define SET_SERVO_STATE 0x05 ///< Dnir l't des servomoteurs
-
-// CMD_CALIBRATE arguments
-#define CAL_START 0x00
-#define CAL_CONTINUE 0x01
-#define CAL_STOP 0x02
-#define CAL_ERROR 0x03
-#define CAL_DONE 0x04
-#define CAL_PLACE_INF 0x05
-#define CAL_PLACE_30 0x06
-#define CAL_PLACE_100 0x07
-
-// GET_RESET_SOURCE reponse
-#define RESET_SOURCE_POR 0x01 ///< Power-on Reset
-#define RESET_SOURCE_RI 0x02 ///< RESET Instruction
-#define RESET_SOURCE_BOR 0x03 ///< Brown-out Reset
-#define RESET_SOURCE_WDT 0x04 ///< Watchdog Time-out Reset
-#define RESET_SOURCE_STKFUL 0x05 ///< Stack Full Reset
-#define RESET_SOURCE_STKUNF 0x06 ///< Stack Underflow Reset
-#define RESET_SOURCE_MCLR 0x07 ///< Master Clear Reset
-
-// CMD_AX12
-#define AX12_PING 0x01
-#define AX12_READ 0x02
-#define AX12_WRITE 0x03
-#define AX12_GOTO 0x04
-#define AX12_GET_POS 0x05
-#define AX12_GET_SPEED 0x06
-#define AX12_GET_LOAD 0x07
-#define AX12_GET_STATS 0x08
-#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10
-
-// CMD_TRAJ
-#define TRAJ_INIT 0x00
-#define TRAJ_FORWARD 0x01
-#define TRAJ_BACKWARD 0x02
-#define TRAJ_TR 0x03
-#define TRAJ_TL 0x04
-#define TRAJ_GOTO 0x05
-#define TRAJ_FINISHED 0x06
-#define TRAJ_STOP 0x07
-#define TRAJ_NEW_POSITION 0x08
-#define TRAJ_NEW_VELOCITY 0x09
-#define TRAJ_CHANGE_VELOCITY 0x0A
-#define TRAJ_CONFIG 0x0B
-#define TRAJ_CONFIG_DEFAULT 0x0C
-#define TRAJ_START 0x0D
-#define TRAJ_GET_REL_POS 0x0E
-#define TRAJ_READ_CONFIG 0x0F
-
-#define TRAJ_NOT_COMPLETED 0x00
-#define TRAJ_COMPLETED 0x01
-
-#define TRAJ_STOP_MOTOR_OFF 256
-#define TRAJ_STOP_ABRUPT 512
-#define TRAJ_STOP_SMOOTH 1024
-
-// CMD_MOTOR
-#define MOTOR_ENABLE 1
-#define MOTOR_DISABLE 2
-#define MOTOR_MOVE 3
-
-#define MOTOR_RIGHT 0 ///< Sction du moteur de droite (moteur 1)
-#define MOTOR_LEFT 1 ///< Sction du moteur de gauche (moteur 2)
-#define MOTOR_BOTH 2 ///< Sction des 2 moteurs simultannt
-
-// XXX omplr
-#define READ_VERSION 0x00
-#define READ_FLASH 0x01
-#define WRITE_FLASH 0x02
-#define ERASE_FLASH 0x03
-#define READ_EEDATA 0x04
-#define WRITE_EEDATA 0x05
-#define READ_CONFIG 0x06
-#define WRITE_CONFIG 0x07
-#define UPDATE_LED 0x32
-#define RESET 0xFF
-
-#define FLASH_BOOT_START 0x00
-#define FLASH_BOOT_END 0x7FF
-#define FLASH_VECTOR_START 0x800
-#define FLASH_VECTOR_END 0x829
-#define FLASH_PAGE_START 0x82A
-#define FLASH_PAGE_END 0x7FFF
-
-#define PORTA_RA0 1
-#define PORTA_RA1 2
-#define PORTA_RA2 4
-#define PORTA_RA3 8
-#define PORTA_RA4 16
-#define PORTA_RA5 32
-#define PORTA_RA6 64
-
-#define PORTB_RB0 1
-#define PORTB_RB1 2
-#define PORTB_RB2 4
-#define PORTB_RB3 8
-#define PORTB_RB4 16
-#define PORTB_RB5 32
-#define PORTB_RB6 64
-#define PORTB_RB7 128
-
-#define PORTC_RC0 1
-#define PORTC_RC1 2
-#define PORTC_RC2 4
-#define PORTC_RC4 16
-#define PORTC_RC5 32
-#define PORTC_RC6 64
-#define PORTC_RC7 128
-
-#define PORTD_RD0 1
-#define PORTD_RD1 2
-#define PORTD_RD2 4
-#define PORTD_RD3 8
-#define PORTD_RD4 16
-#define PORTD_RD5 32
-#define PORTD_RD6 64
-#define PORTD_RD7 128
-
-#define PORTE_RE0 1
-#define PORTE_RE1 2
-#define PORTE_RE2 4
-#define PORTE_RE3 8
-
-#endif // PC_INTERFACE_H
diff --git a/PC_Mainboard/daemons/README b/PC_Mainboard/daemons/README
deleted file mode 100644
index 6ad88cc..0000000
--- a/PC_Mainboard/daemons/README
+++ /dev/null
@@ -1,5 +0,0 @@
-* "usb" contains the lowlevel interface to cards
-
-* "dbus-drivers" contains programs doing the interfaces between
- qlowlevel usb communication and high-level functions exported via
- D-Bus
diff --git a/PC_Mainboard/daemons/_tags b/PC_Mainboard/daemons/_tags
deleted file mode 100644
index 24a3ec1..0000000
--- a/PC_Mainboard/daemons/_tags
+++ /dev/null
@@ -1,8 +0,0 @@
-# -*- conf -*-
-
-<**/*.ml>: syntax_camlp4o, pkg_camlp4
-<usb/**/*.ml>: pkg_lwt.syntax
-<dbus-drivers/**/*.ml>: pkg_lwt.syntax, pkg_obus.syntax
-
-<usb/**/*>: thread, pkg_threads, pkg_usb
-<dbus-drivers/**/*>: thread, pkg_threads, pkg_obus, pkg_usb
diff --git a/PC_Mainboard/daemons/dbus-drivers/card_interface.ml b/PC_Mainboard/daemons/dbus-drivers/card_interface.ml
deleted file mode 100644
index 8bf514e..0000000
--- a/PC_Mainboard/daemons/dbus-drivers/card_interface.ml
+++ /dev/null
@@ -1,233 +0,0 @@
-(*
- * card_interface.ml
- * -----------------
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-(* Driver for the interface card *)
-
-open OBus_pervasives
-open Lwt
-
-(* +-----------------------------------------------------------------+
- | Compass |
- +-----------------------------------------------------------------+ *)
-
-module Compass =
-struct
- type t = {
- obus : OBus_object.t;
- card : Card.t;
- mutable data : int;
- }
-
- module OBus = OBus_object.Make(struct
- type obj = t
- let get obj = obj.obus
- end)
-
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Compass" end)
-
- OL_signal Value : int
- OL_method Get : int = fun dev -> return dev.data
-
- let get card =
- lwt data = Card.send_request card Protocol.get_cmp03_data "" in
- return (RW.get_int16 data 2)
-
- let rec loop dev =
- lwt data = get dev.card in
- if data <> dev.data then begin
- dev.data <- data;
- lwt () = value dev data in
- lwt () = Lwt_unix.sleep Config.update_delay in
- loop dev
- end else
- lwt () = Lwt_unix.sleep Config.update_delay in
- loop dev
-
- let make card path =
- lwt data = get card in
- let dev = {
- obus = OBus_object.make path;
- card = card;
- data = data;
- } in
- ignore (loop dev);
- return dev
-end
-
-(* +-----------------------------------------------------------------+
- | AX12 |
- +-----------------------------------------------------------------+ *)
-
-module AX12 =
-struct
- type t = {
- obus : OBus_object.t;
- card : Card.t;
- }
-
- module OBus = OBus_object.Make(struct
- type obj = t
- let get obj = obj.obus
- end)
-
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.AX12" end)
-
- let ax12_goto card id pos speed =
- let data = Card.make_buffer () in
- RW.set_uint8 data 0 Protocol.ax12_goto;
- RW.set_uint8 data 1 id;
- RW.set_uint16 data 2 pos;
- RW.set_uint16 data 4 speed;
- lwt _ = Card.send_request card Protocol.cmd_ax12 data in
- return ()
-
- OL_method OpenClaw : unit = fun dev ->
- ax12_goto dev.card 1 1023 0
-
- OL_method CloseClaw : unit = fun dev ->
- ax12_goto dev.card 1 770 0
-
- OL_method OpenCylinder : unit = fun dev ->
- ax12_goto dev.card 2 154 0
-
- OL_method CloseCylinder : unit = fun dev ->
- ax12_goto dev.card 2 579 0
-
- let make card path =
- return {
- obus = OBus_object.make path;
- card = card;
- }
-end
-
-(* +-----------------------------------------------------------------+
- | Elevator |
- +-----------------------------------------------------------------+ *)
-
-module Elevator =
-struct
- type t = {
- obus : OBus_object.t;
- card : Card.t;
- }
-
- module OBus = OBus_object.Make(struct
- type obj = t
- let get obj = obj.obus
- end)
-
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Elevator" end)
-
- let motor_move card sens speed duration =
- let data = Card.make_buffer () in
- RW.set_uint8 data 0 Protocol.motor_move;
- RW.set_uint8 data 1 Protocol.motor_right;
- RW.set_uint8 data 2 (if sens < 0 then 200 else sens);
- RW.set_uint8 data 3 (if speed < 0 then 2000 else speed);
- RW.set_uint32 data 4 duration;
- Card.send_command card Protocol.cmd_motor data
-
- OL_method ElevatorUp : int -> int -> unit = fun dev speed delay ->
- motor_move dev.card 0 speed delay
-
- OL_method ElevatorDown : int -> int -> unit = fun dev speed delay ->
- motor_move dev.card 1 speed delay
-
- let make card path =
- return {
- obus = OBus_object.make path;
- card = card;
- }
-end
-
-(* +-----------------------------------------------------------------+
- | Grip |
- +-----------------------------------------------------------------+ *)
-
-module Grip =
-struct
- type t = {
- obus : OBus_object.t;
- card : Card.t;
- }
-
- module OBus = OBus_object.Make(struct
- type obj = t
- let get obj = obj.obus
- end)
-
-
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Grip" end)
-
- let set_servo_state card angles =
- let data = Card.make_buffer () in
- RW.set_uint8 data 0 Protocol.set_servo_state;
- RW.set_uint8 data 1 (List.fold_left (fun acc (s, _) -> acc lor (1 lsl s)) 0 angles);
- List.iter (fun (s, a) -> RW.set_uint8 data (2 + s) a) angles;
- Card.send_command card Protocol.cmd_set data
-
- let left = 1
- let right = 2
-
- OL_method OpenGrip : unit = fun dev ->
- lwt () = set_servo_state dev.card [(left, 45); (right, -5)] in
- lwt () = Lwt_unix.sleep 0.5 in
- set_servo_state dev.card [(left, 10); (right, 45)]
-
- OL_method CloseGrip : unit = fun dev ->
- lwt () = set_servo_state dev.card [(right, -10)] in
- lwt () = Lwt_unix.sleep 0.2 in
- set_servo_state dev.card [(left, 50)]
-
- let make card path =
- return {
- obus = OBus_object.make path;
- card = card;
- }
-end
-
-(* +-----------------------------------------------------------------+
- | Entry point |
- +-----------------------------------------------------------------+ *)
-
-let motor_enable card =
- let data = Card.make_buffer () in
- RW.set_uint8 data 0 Protocol.motor_enable;
- RW.set_uint8 data 1 Protocol.motor_both;
- Card.send_command card Protocol.cmd_motor data
-
-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
-
- lwt () = motor_enable card in
-
- lwt compass = Compass.make card [ "fr"; "krobot"; "Devices"; "Compass" ]
- and ax12 = AX12.make card [ "fr"; "krobot"; "Devices"; "AX12" ]
- and elevator = Elevator.make card [ "fr"; "krobot"; "Devices"; "Elevator" ]
- and grip = Grip.make card [ "fr"; "krobot"; "Devices"; "Grip" ] in
-
- Compass.OBus.export bus compass;
- AX12.OBus.export bus ax12;
- Elevator.OBus.export bus elevator;
- Grip.OBus.export bus grip;
-
- (* Request bus names: *)
- lwt () =
- Lwt_util.iter (fun name -> OBus_bus.request_name bus name >> return ()) [
- "fr.krobot.Device.Compass";
- "fr.krobot.Device.AX12";
- "fr.krobot.Device.Elevator";
- "fr.krobot.Device.Grip";
- ]
- in
-
- fst (Lwt.wait ())
diff --git a/PC_Mainboard/daemons/dbus-drivers/card_motor.ml b/PC_Mainboard/daemons/dbus-drivers/card_motor.ml
deleted file mode 100644
index 524db2c..0000000
--- a/PC_Mainboard/daemons/dbus-drivers/card_motor.ml
+++ /dev/null
@@ -1,97 +0,0 @@
-(*
- * card_motor.ml
- * -------------
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-(* Driver for the motor card *)
-
-open OBus_pervasives
-open Lwt
-
-(* +-----------------------------------------------------------------+
- | Motors |
- +-----------------------------------------------------------------+ *)
-
-module Motors =
-struct
- type t = {
- obus : OBus_object.t;
- card : Card.t;
- }
-
- module OBus = OBus_object.Make(struct
- type obj = t
- let get obj = obj.obus
- end)
-
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Motors" end)
-
- let move cmd card arg1 arg2 arg3 =
- let data = String.create 7 in
- RW.set_uint8 data 0 cmd;
- RW.set_int16 data 1 arg1;
- RW.set_int16 data 3 arg2;
- RW.set_int16 data 5 arg3;
- Card.send_command card Protocol.cmd_traj data
-
- let move_forward = move Protocol.traj_forward
- let move_backward = move Protocol.traj_backward
- let turn_right = move Protocol.traj_tr
- let turn_left = move Protocol.traj_tl
-
- let turn dev angle speed acc =
- if angle < 0 then
- move Protocol.traj_tl dev.card (-angle) speed acc
- else
- move Protocol.traj_tr dev.card angle speed acc
-
- let move dev dist speed acc =
- if dist < 0 then
- move Protocol.traj_backward dev.card (-dist) speed acc
- else
- move Protocol.traj_forward dev.card dist speed acc
-
- OL_method Turn : int -> int -> int -> unit
- OL_method Move : int -> int -> int -> unit
-
- let make card path =
- return {
- obus = OBus_object.make path;
- card = card;
- }
-end
-
-(* +-----------------------------------------------------------------+
- | Entry point |
- +-----------------------------------------------------------------+ *)
-
-let motor_enable card =
- let data = Card.make_buffer () in
- RW.set_uint8 data 0 Protocol.motor_enable;
- RW.set_uint8 data 1 Protocol.motor_both;
- Card.send_command card Protocol.cmd_motor data
-
-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
-
- lwt () = motor_enable card in
-
- lwt motors = Motors.make card [ "fr"; "krobot"; "Devices"; "Motors" ] in
-
- Motors.OBus.export bus motors;
-
- (* Request bus names: *)
- lwt () =
- Lwt_util.iter (fun name -> OBus_bus.request_name bus name >> return ()) [
- "fr.krobot.Device.Motors";
- ]
- in
-
- fst (Lwt.wait ())
diff --git a/PC_Mainboard/daemons/dbus-drivers/card_sensor.ml b/PC_Mainboard/daemons/dbus-drivers/card_sensor.ml
deleted file mode 100644
index bca7626..0000000
--- a/PC_Mainboard/daemons/dbus-drivers/card_sensor.ml
+++ /dev/null
@@ -1,141 +0,0 @@
-(*
- * card_sensor.ml
- * --------------
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-(* Driver for the sensor card *)
-
-open OBus_pervasives
-open Lwt
-
-(* +-----------------------------------------------------------------+
- | Logic sensors |
- +-----------------------------------------------------------------+ *)
-
-module LogicSensors =
-struct
- type t = {
- obus : OBus_object.t;
- card : Card.t;
- mutable data : bool array;
- }
-
- module OBus = OBus_object.Make(struct
- type obj = t
- let get obj = obj.obus
- end)
-
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.LogicSensors" end)
-
- OL_signal Value : bool array
- OL_method Get : bool array = fun dev -> return dev.data
-
- let get card =
- let data = Card.make_buffer () in
- RW.set_uint8 data 0 Protocol.get_tor_state;
- lwt data = Card.send_request card Protocol.cmd_get data in
- let x = RW.get_uint16 data 0 in
- return (Array.init 16 (fun i -> x land (1 lsl i) <> 0))
-
- let rec loop dev =
- lwt data = get dev.card in
- if data <> dev.data then begin
- dev.data <- data;
- lwt () = value dev data in
- lwt () = Lwt_unix.sleep Config.update_delay in
- loop dev
- end else
- lwt () = Lwt_unix.sleep
Config.update_delay in
- loop dev
-
- let make card path =
- lwt data = get card in
- let dev = {
- obus = OBus_object.make path;
- card = card;
- data = data;
- } in
- ignore (loop dev);
- return dev
-end
-
-(* +-----------------------------------------------------------------+
- | Range finders |
- +-----------------------------------------------------------------+ *)
-
-module RangeFinders =
-struct
- type t = {
- obus : OBus_object.t;
- card : Card.t;
- mutable data : int array;
- }
-
- module OBus = OBus_object.Make(struct
- type obj = t
- let get obj = obj.obus
- end)
-
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.RangeFinders" end)
-
- OL_signal Value : int array
- OL_method Get : int array = fun dev -> return dev.data
-
- let get card =
- let data = Card.make_buffer () in
- RW.set_uint8 data 0 Protocol.get_rangefinder_state;
- lwt data = Card.send_request card Protocol.cmd_get data in
- return (Array.init 8 (fun i -> RW.get_int32 data (i * 4)))
-
- let rec loop dev =
- lwt data = get dev.card in
- if data <> dev.data then begin
- dev.data <- data;
- lwt () = value dev data in
- lwt () = Lwt_unix.sleep Config.update_delay in
- loop dev
- end else
- lwt () = Lwt_unix.sleep Config.update_delay in
- loop dev
-
- let make card path =
- lwt data = get card in
- let dev = {
- obus = OBus_object.make path;
- card = card;
- data = data;
- } in
- ignore (loop dev);
- return dev
-end
-
-(* +-----------------------------------------------------------------+
- | Entry point |
- +-----------------------------------------------------------------+ *)
-
-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
-
- (* Object exportation over the system bus *)
- lwt logic_sensors = LogicSensors.make card [ "fr"; "krobot"; "Devices"; "LogicSensors" ]
- and range_finders = RangeFinders.make card [ "fr"; "krobot"; "Devices"; "RangeFinders" ] in
-
- LogicSensors.OBus.export bus logic_sensors;
- RangeFinders.OBus.export bus range_finders;
-
- (* Request bus names: *)
- lwt () =
- Lwt_util.iter (fun name -> OBus_bus.request_name bus name >> return ()) [
- "fr.krobot.Device.LogicSensors";
- "fr.krobot.Device.RangeFinders";
- ]
- in
-
- fst (Lwt.wait ())
diff --git a/PC_Mainboard/daemons/dbus-drivers/common.ml b/PC_Mainboard/daemons/dbus-drivers/common.ml
deleted file mode 100644
index df6ce0c..0000000
--- a/PC_Mainboard/daemons/dbus-drivers/common.ml
+++ /dev/null
@@ -1,19 +0,0 @@
-(*
- * common.ml
- * ---------
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-let foreground = ref false
-
-let args = [
- "-n", Arg.Set foreground, "do not daemonize";
-]
-
-let usage_msg = Printf.sprintf "Usage: %s [-n]\n\noptions are:" (Filename.basename (Sys.argv.(0)))
-
-let () =
- Arg.parse args ignore usage_msg
diff --git a/PC_Mainboard/daemons/dbus-drivers/config.ml b/PC_Mainboard/daemons/dbus-drivers/config.ml
deleted file mode 100644
index e1ee58f..0000000
--- a/PC_Mainboard/daemons/dbus-drivers/config.ml
+++ /dev/null
@@ -1,10 +0,0 @@
-(*
- * config.ml
- * ---------
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-let update_delay = 0.05
diff --git a/PC_Mainboard/daemons/dbus-drivers/config.mli b/PC_Mainboard/daemons/dbus-drivers/config.mli
deleted file mode 100644
index dda1d49..0000000
--- a/PC_Mainboard/daemons/dbus-drivers/config.mli
+++ /dev/null
@@ -1,11 +0,0 @@
-(*
- * config.mli
- * ----------
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-val update_delay : float
- (** Time to wait between updates *)
diff --git a/PC_Mainboard/daemons/dbus-drivers/fake.ml b/PC_Mainboard/daemons/dbus-drivers/fake.ml
deleted file mode 100644
index 94981af..0000000
--- a/PC_Mainboard/daemons/dbus-drivers/fake.ml
+++ /dev/null
@@ -1,136 +0,0 @@
-(*
- * fake.ml
- * -------
- * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-(* A fake server that does nothing. FOr testing purpose.*)
-
-open OBus_pervasives
-open Lwt
-
-module Id = struct
- type obj = OBus_object.t
- let get obj = obj
-end
-
-(* +-----------------------------------------------------------------+
- | Compass |
- +-----------------------------------------------------------------+ *)
-
-module Compass =
-struct
- module OBus = OBus_object.Make(Id)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Compass" end)
- OL_signal Value : int
- OL_method Get : int = fun _ -> return 0
-end
-
-(* +-----------------------------------------------------------------+
- | AX12 |
- +-----------------------------------------------------------------+ *)
-
-module AX12 =
-struct
- module OBus = OBus_object.Make(Id)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.AX12" end)
- OL_method OpenClaw : unit = fun _ -> return ()
- OL_method CloseClaw : unit = fun _ -> return ()
- OL_method OpenCylinder : unit = fun _ -> return ()
- OL_method CloseCylinder : unit = fun _ -> return ()
-end
-
-(* +-----------------------------------------------------------------+
- | Elevator |
- +-----------------------------------------------------------------+ *)
-
-module Elevator =
-struct
- module OBus = OBus_object.Make(Id)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Elevator" end)
- OL_method ElevatorUp : int -> int -> unit = fun _ _ _ -> return ()
- OL_method ElevatorDown : int -> int -> unit = fun _ _ _ -> return ()
-end
-
-(* +-----------------------------------------------------------------+
- | Grip |
- +-----------------------------------------------------------------+ *)
-
-module Grip =
-struct
- module OBus = OBus_object.Make(Id)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Grip" end)
- OL_method OpenGrip : unit = fun _ -> return ()
- OL_method CloseGrip : unit = fun _ -> return ()
-end
-
-(* +-----------------------------------------------------------------+
- | Motors |
- +-----------------------------------------------------------------+ *)
-
-module Motors =
-struct
- module OBus = OBus_object.Make(Id)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Motors" end)
- OL_method Turn : int -> int -> int -> unit = fun _ _ _ _ -> return ()
- OL_method Move : int -> int -> int -> unit = fun _ _ _ _ -> return ()
-end
-
-(* +-----------------------------------------------------------------+
- | Logic sensors |
- +-----------------------------------------------------------------+ *)
-
-module LogicSensors =
-struct
- module OBus = OBus_object.Make(Id)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.LogicSensors" end)
- OL_signal Value : bool array
- OL_method Get : bool array = fun _ -> return (Array.create 16 false)
-end
-
-(* +-----------------------------------------------------------------+
- | Range finders |
- +-----------------------------------------------------------------+ *)
-
-module RangeFinders =
-struct
- module OBus = OBus_object.Make(Id)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.RangeFinders" end)
- OL_signal Value : int array
- OL_method Get : int array = fun _ -> return (Array.create 8 0)
-end
-
-(* +-----------------------------------------------------------------+
- | Entry point |
- +-----------------------------------------------------------------+ *)
-
-lwt () =
- if not !Common.foreground then Lwt_unix.daemonize ~keep_stderr:true ();
-
- lwt bus = Lazy.force OBus_bus.system in
-
- Compass.OBus.export bus (OBus_object.make [ "fr"; "krobot"; "Devices"; "Compass" ]);
- AX12.OBus.export bus (OBus_object.make [ "fr"; "krobot"; "Devices"; "AX12" ]);
- Elevator.OBus.export bus (OBus_object.make [ "fr"; "krobot"; "Devices"; "Elevator" ]);
- Grip.OBus.export bus (OBus_object.make [ "fr"; "krobot"; "Devices"; "Grip" ]);
- Motors.OBus.export bus (OBus_object.make [ "fr"; "krobot"; "Devices"; "Motors" ]);
- LogicSensors.OBus.export bus (OBus_object.make [ "fr"; "krobot"; "Devices"; "LogicSensors" ]);
- RangeFinders.OBus.export bus (OBus_object.make [ "fr"; "krobot"; "Devices"; "RangeFinders" ]);
-
- (* Request bus names: *)
- lwt () =
- Lwt_util.iter (fun name -> OBus_bus.request_name bus name >> return ()) [
- "fr.krobot.Device.Compass";
- "fr.krobot.Device.AX12";
- "fr.krobot.Device.Elevator";
- "fr.krobot.Device.Grip";
- "fr.krobot.Device.Motors";
- "fr.krobot.Device.LogicSensors";
- "fr.krobot.Device.RangeFinders";
- ]
- in
-
- fst (Lwt.wait ())
diff --git a/PC_Mainboard/daemons/dbus-rules/fr.krobot.conf b/PC_Mainboard/daemons/dbus-rules/fr.krobot.conf
deleted file mode 100644
index 3e04cb6..0000000
--- a/PC_Mainboard/daemons/dbus-rules/fr.krobot.conf
+++ /dev/null
@@ -1,82 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?> <!-- -*- XML -*- -->
-
-<!DOCTYPE busconfig PUBLIC
- "-//freedesktop//DTD D-BUS Bus Configuration 1.0//EN"
- "http://www.freedesktop.org/standards/dbus/1.0/busconfig.dtd">
-<busconfig>
- <!-- Only root can own the service -->
- <policy user="root">
- <allow own="fr.krobot.Device.Compass"/>
- <allow own="fr.krobot.Device.AX12"/>
- <allow own="fr.krobot.Device.Grip"/>
- <allow own="fr.krobot.Device.Elevator"/>
- <allow own="fr.krobot.Device.LogicSensors"/>
- <allow own="fr.krobot.Device.RangeFinders"/>
- <allow own="fr.krobot.Device.Motors"/>
- </policy>
-
- <policy context="default">
- <!-- Compass -->
- <allow send_destination="fr.krobot.Device.Compass"/>
- <allow send_destination="fr.krobot.Device.Compasss"
- send_interface="org.freedesktop.DBus.Properties"/>
- <allow send_destination="fr.krobot.Device.Compass"
- send_interface="org.freedesktop.DBus.Introspectable"/>
- <allow send_destination="fr.krobot.Device.Compass"
- send_interface="fr.krobot.Device.Compass"/>
-
- <!-- AX12 -->
- <allow send_destination="fr.krobot.Device.AX12"/>
- <allow send_destination="fr.krobot.Device.AX12s"
- send_interface="org.freedesktop.DBus.Properties"/>
- <allow send_destination="fr.krobot.Device.AX12"
- send_interface="org.freedesktop.DBus.Introspectable"/>
- <allow send_destination="fr.krobot.Device.AX12"
- send_interface="fr.krobot.Device.AX12"/>
-
- <!-- Grip -->
- <allow send_destination="fr.krobot.Device.Grip"/>
- <allow send_destination="fr.krobot.Device.Grip"
- send_interface="org.freedesktop.DBus.Properties"/>
- <allow send_destination="fr.krobot.Device.Grip"
- send_interface="org.freedesktop.DBus.Introspectable"/>
- <allow send_destination="fr.krobot.Device.Grip"
- send_interface="fr.krobot.Device.Grip"/>
-
- <!-- Elevator -->
- <allow send_destination="fr.krobot.Device.Elevator"/>
- <allow send_destination="fr.krobot.Device.Elevator"
- send_interface="org.freedesktop.DBus.Properties"/>
- <allow send_destination="fr.krobot.Device.Elevator"
- send_interface="org.freedesktop.DBus.Introspectable"/>
- <allow send_destination="fr.krobot.Device.Elevator"
- send_interface="fr.krobot.Device.Elevator"/>
-
- <!-- LogicSensors -->
- <allow send_destination="fr.krobot.Device.LogicSensors"/>
- <allow send_destination="fr.krobot.Device.LogicSensors"
- send_interface="org.freedesktop.DBus.Properties"/>
- <allow send_destination="fr.krobot.Device.LogicSensors"
- send_interface="org.freedesktop.DBus.Introspectable"/>
- <allow send_destination="fr.krobot.Device.LogicSensors"
- send_interface="fr.krobot.Device.LogicSensors"/>
-
- <!-- RangeFinders -->
- <allow send_destination="fr.krobot.Device.RangeFinders"/>
- <allow send_destination="fr.krobot.Device.RangeFinders"
- send_interface="org.freedesktop.DBus.Properties"/>
- <allow send_destination="fr.krobot.Device.RangeFinders"
- send_interface="org.freedesktop.DBus.Introspectable"/>
- <allow send_destination="fr.krobot.Device.RangeFinders"
- send_interface="fr.krobot.Device.RangeFinders"/>
-
- <!-- Motors -->
- <allow send_destination="fr.krobot.Device.Motors"/>
- <allow send_destination="fr.krobot.Device.Motorss"
- send_interface="org.freedesktop.DBus.Properties"/>
- <allow send_destination="fr.krobot.Device.Motors"
- send_interface="org.freedesktop.DBus.Introspectable"/>
- <allow send_destination="fr.krobot.Device.Motors"
- send_interface="fr.krobot.Device.Motors"/>
- </policy>
-</busconfig>
diff --git a/PC_Mainboard/daemons/myocamlbuild.ml b/PC_Mainboard/daemons/myocamlbuild.ml
deleted file mode 100644
index ba302e3..0000000
--- a/PC_Mainboard/daemons/myocamlbuild.ml
+++ /dev/null
@@ -1,117 +0,0 @@
-(*
- * myocamlbuild.ml
- * ---------------
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-open Printf
-open Ocamlbuild_plugin
-
-(* +-----------------------------------------------------------------+
- | Ocamlfind |
- +-----------------------------------------------------------------+ *)
-
-(* Put here packages you may use in this project: *)
-let packages = [
- "type-conv";
- "type-conv.syntax";
- "camlp4";
- "camlp4.extend";
- "camlp4.lib";
- "camlp4.macro";
- "camlp4.quotations.o";
- "camlp4.quotations.r";
- "lwt";
- "lwt.unix";
- "lwt.syntax";
- "str";
- "xmlm";
- "react";
- "usb";
- "obus";
- "obus.syntax";
- "bitstring";
- "bitstring.syntax";
-]
-
-(* List of available syntaxes :*)
-let syntaxes = [
- "camlp4o";
- "camlp4r";
-]
-
-(* +-----------------------------------------------------------------+
- | Utils |
- +-----------------------------------------------------------------+ *)
-
-let flag_all_stages_except_link tag f =
- flag ["ocaml"; "compile"; tag] f;
- flag ["ocaml"; "ocamldep"; tag] f;
- flag ["ocaml"; "doc"; tag] f
-
-let flag_all_stages tag f =
- flag_all_stages_except_link tag f;
- flag ["ocaml"; "link"; tag] f
-
-let _ =
- dispatch begin function
- | Before_options ->
-
- (* override default commands by ocamlfind ones *)
- let ocamlfind x = S[A"ocamlfind"; A x] in
- Options.ocamlc := ocamlfind "ocamlc";
- Options.ocamlopt := ocamlfind "ocamlopt";
- Options.ocamldep := ocamlfind "ocamldep";
- (* FIXME: sometimes ocamldoc say that elements are not found
- even if they are present: *)
- Options.ocamldoc := S[A"ocamlfind"; A"ocamldoc"; A"-hide-warnings"]
-
- | After_rules ->
-
- (* D-Bus drivers can see the lowlevel interfaces *)
- Pathname.define_context "dbus-drivers" [ "usb" ];
-
- (* Génération du fichier contenant les détails du protocol à
- partir du fichier .h *)
- rule "protocol du krobot" ~dep:"PcInterface.h" ~prod:"protocol.ml"
- (fun _ _ ->
- Cmd(S[Sh"awk '$1 == \"#define\" && $3 != \"\" { print \"let \" tolower($2) \" = \" $3 }' PcInterface.h > protocol.ml"]));
-
- (* +---------------------------------------------------------+
- | Virtual targets |
- +---------------------------------------------------------+ *)
-
- let virtual_rule name deps =
- rule name ~stamp:name ~deps (fun _ _ -> Nop)
- in
-
- virtual_rule "all" ["dbus-drivers/card_interface.native";
- "dbus-drivers/card_sensor.native";
- "dbus-drivers/card_motor.native";
- "dbus-drivers/fake.native"];
-
- (* +---------------------------------------------------------+
- | Ocamlfind stuff |
- +---------------------------------------------------------+ *)
-
- (* When one link an OCaml binary, one should use -linkpkg *)
- flag ["ocaml"; "link"; "program"] & A"-linkpkg";
-
- (* For each ocamlfind package one inject the -package option
- when compiling, computing dependencies, generating
- documentation and linking. *)
- List.iter
- (fun package -> flag_all_stages ("pkg_" ^ package) (S[A"-package"; A package]))
- packages;
-
- (* Like -package but for extensions syntax. Morover -syntax is
- useless when linking. *)
- List.iter
- (fun syntax -> flag_all_stages_except_link ("syntax_" ^ syntax) (S[A"-syntax"; A syntax]))
- syntaxes;
-
- | _ -> ()
- end
diff --git a/PC_Mainboard/daemons/usb/RW.ml b/PC_Mainboard/daemons/usb/RW.ml
deleted file mode 100644
index f7c417a..0000000
--- a/PC_Mainboard/daemons/usb/RW.ml
+++ /dev/null
@@ -1,37 +0,0 @@
-(*
- * RW.ml
- * -----
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-let get_uint8 data ofs = Char.code data.[ofs]
-let set_uint8 data ofs v = data.[ofs] <- Char.unsafe_chr v
-let get_int8 = get_uint8
-let set_int8 = set_uint8
-
-let get_int16 data ofs =
- (get_uint8 data ofs lsl 8)
- lor (get_uint8 data (ofs + 1))
-let get_uint16 = get_int16
-
-let set_int16 data ofs v =
- set_uint8 data ofs ((v lsr 8) land 0xff);
- set_uint8 data (ofs + 1) (v land 0xff)
-let set_uint16 = set_int16
-
-let get_int32 data ofs =
- (get_uint8 data ofs lsl 24)
- lor (get_uint8 data (ofs + 1) lsl 16)
- lor (get_uint8 data (ofs + 2) lsl 8)
- lor (get_uint8 data (ofs + 3))
-let get_uint32 = get_int32
-
-let set_int32 data ofs v =
- set_uint8 data ofs ((v lsr 24) land 0xff);
- set_uint8 data (ofs + 1) ((v lsr 16) land 0xff);
- set_uint8 data (ofs + 2) ((v lsr 8) land 0xff);
- set_uint8 data (ofs + 3) (v land 0xff)
-let set_uint32 = set_int32
diff --git a/PC_Mainboard/daemons/usb/RW.mli b/PC_Mainboard/daemons/usb/RW.mli
deleted file mode 100644
index 4fe39fa..0000000
--- a/PC_Mainboard/daemons/usb/RW.mli
+++ /dev/null
@@ -1,26 +0,0 @@
-(*
- * RW.mli
- * ------
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-val get_int8 : string -> int -> int
-val set_int8 : string -> int -> int -> unit
-
-val get_int16 : string -> int -> int
-val set_int16 : string -> int -> int -> unit
-
-val get_int32 : string -> int -> int
-val set_int32 : string -> int -> int -> unit
-
-val get_uint8 : string -> int -> int
-val set_uint8 : string -> int -> int -> unit
-
-val get_uint16 : string -> int -> int
-val set_uint16 : string -> int -> int -> unit
-
-val get_uint32 : string -> int -> int
-val set_uint32 : string -> int -> int -> unit
diff --git a/PC_Mainboard/daemons/usb/card.ml b/PC_Mainboard/daemons/usb/card.ml
deleted file mode 100644
index c781e78..0000000
--- a/PC_Mainboard/daemons/usb/card.ml
+++ /dev/null
@@ -1,178 +0,0 @@
-(*
- * card.ml
- * -------
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-open Lwt
-
-let fatal fmt = Printf.ksprintf (fun txt -> prerr_endline ("Fatal error: " ^ txt); exit 2) fmt
-
-(* +-----------------------------------------------------------------+
- | Messages |
- +-----------------------------------------------------------------+ *)
-
-let data_length = 52
- (* Taille en octet du corps d'un message *)
-
-type serial = int
- (* Type d'un numéro de série d'un message *)
-
-type message = {
- host_serial : serial;
- (* Le numéro de série du message, émis par l'ordinateur. Vaut 0 pour
- les messages émis par le PIC. *)
-
- device_serial : serial;
- (* Le numéro de série du message, émis par le PIC. Vaut 0 pour les
- messages émis par l'ordinateur. *)
-
- command : int;
- (* La commande, en fait c'est plutôt le type du message *)
-
- error : int;
- (* Si c'est un message d'erreur ce flag est non-nul *)
-
- data : string;
- (* Les données du messages, il y a 52 octets. *)
-}
-
-let make_buffer () = String.make data_length '\000'
-
-(* Parse un message depuis un buffer brut: *)
-let parse_message buf = {
- host_serial = Char.code buf.[Protocol.up_hseq];
- device_serial = Char.code buf.[Protocol.up_dseq];
- command = Char.code buf.[Protocol.up_cmd];
- error = Char.code buf.[Protocol.up_err];
- data = String.sub buf Protocol.up_data 52;
-}
-
-(* Créé un buffer brut depuis un message: *)
-let forge_message msg =
- let buf = String.make 64 '\000' in
- buf.[Protocol.up_hseq] <- Char.chr msg.host_serial;
- buf.[Protocol.up_dseq] <- Char.chr msg.device_serial;
- buf.[Protocol.up_cmd] <- Char.chr msg.command;
- buf.[Protocol.up_err] <- Char.chr msg.error;
- if String.length msg.data > 52 then
- fatal "message trop grand pour être envoyé"
- else begin
- String.blit msg.data 0 buf Protocol.up_data (String.length msg.data);
- buf
- end
-
-(* +-----------------------------------------------------------------+
- | Connections |
- +-----------------------------------------------------------------+ *)
-
-module SerialMap = Map.Make(struct type t = serial let compare = compare end)
-
-type t = {
-
- mutable serial_pool : serial list;
- (* Pool de serial disponibles, comme il n'y a que 256 serial
- disponibles on évite de juste incrémenter un compteur au pif. *)
-
- mutable reply_waiters : (string Lwt.t * string Lwt.u) SerialMap.t;
- (* Threads en attente d'une réponse *)
-
- handle : USB.handle;
- (* Handle pour le périphérique usb *)
-
- kernel_active : bool;
- (* Est-ce qu'un driver noyau était attaché à la carte avant qu'on
- l'utilise ? *)
-
- mutex : Lwt_mutex.t;
- (* Mutex pour envoyer des commandes, les cartes n'aiment pas les
- appels parallèles. *)
-
- mutable abort : bool;
-}
-
-let close k =
- lwt _ = USB.release_interface k.handle 0 in
- if k.kernel_active then USB.attach_kernel_driver k.handle 0;
- USB.close k.handle;
- return ()
-
-let rec dispatch k =
- let buffer = String.create 64 in
- lwt len = USB.interrupt_recv ~handle:k.handle ~endpoint:1 buffer 0 64 in
- if len <> 64 then
- fatal "message de moins de 64 octets reçu!"
- else begin
- let msg = parse_message buffer in
- if msg.command = Protocol.cmd_respond then begin
- (* Réponse à un message *)
- match try Some(SerialMap.find msg.host_serial k.reply_waiters) with Not_found -> None with
- | Some (_, w) ->
- k.reply_waiters <- SerialMap.remove msg.host_serial k.reply_waiters;
- k.serial_pool <- k.serial_pool @ [msg.host_serial];
- Lwt.wakeup w msg.data
- | None ->
- ()
- end;
- dispatch k
- end
-
-let open_card ~vendor_id ~product_id =
- let handle = USB.open_device_with ~vendor_id ~product_id in
- lwt _ = USB.reset_device handle in
- let kernel_active = USB.kernel_driver_active handle 0 in
- if kernel_active then USB.detach_kernel_driver handle 0;
- lwt _ = USB.set_configuration handle 1 in
- lwt _ = USB.claim_interface handle 0 in
- let k = { serial_pool = (let rec loop = function
- | 256 -> []
- | n -> n :: loop (n + 1)
- in
- loop 1);
- reply_waiters = SerialMap.empty;
- handle = handle;
- kernel_active = kernel_active;
- mutex = Lwt_mutex.create ();
- abort = false } in
- let _ = Lwt_sequence.add_l (fun _ -> close k) Lwt_main.exit_hooks in
- ignore (dispatch k);
- return k
-
-(* Envoie une commande et attend une réponse: *)
-let send_request k command data =
- if k.abort then fail (Failure "abort") else begin
- let serial = match k.serial_pool with
- | [] ->
- fatal "plus aucun serial disponible!"
- | s :: l ->
- k.serial_pool <- l;
- s
- in
- let (w1, w2) as w = Lwt.wait () in
- k.reply_waiters <- SerialMap.add serial w k.reply_waiters;
- let buffer = forge_message { host_serial = serial;
- device_serial = 0;
- command = command;
- error = 0;
- data = data } in
- Lwt_mutex.with_lock k.mutex
- (fun _ -> USB.interrupt_send ~handle:k.handle ~endpoint:1 buffer 0 64 >> w1)
- end
-
-(* Envoie une commande et attend une commande: *)
-let send_command k command data =
- if k.abort then fail (Failure "abort") else begin
- let buffer = forge_message { host_serial = 0;
- device_serial = 0;
- command = command;
- error = 0;
- data = data } in
- lwt _ = USB.interrupt_send ~handle:k.handle ~endpoint:1 buffer 0 64 in
- return ()
- end
-
-
-let connect card command = failwith "not implemented"
diff --git a/PC_Mainboard/daemons/usb/card.mli b/PC_Mainboard/daemons/usb/card.mli
deleted file mode 100644
index 058d664..0000000
--- a/PC_Mainboard/daemons/usb/card.mli
+++ /dev/null
@@ -1,32 +0,0 @@
-(*
- * card.mli
- * --------
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-(** Lowlevel card interfaces *)
-
-type t
- (** Type of an opened card *)
-
-val open_card : vendor_id : int -> product_id : int -> t Lwt.t
- (** Opten the card with given product-id and vendor-id *)
-
-val close : t -> unit Lwt.t
-
-val make_buffer : unit -> string
- (** Creates a new buffer for serialization (with the right size) *)
-
-val send_request : t -> int -> string -> string Lwt.t
- (** [send_request card request data] sends a request to the USB
- device and wait for the reply *)
-
-val send_command : t -> int -> string -> unit Lwt.t
- (** Sends a command to the device *)
-
-val connect : t -> int -> < event : string React.event; stop : unit >
- (** [connect card command] connects to signals [command] emitted by
- [card] *)
diff --git a/PC_Mainboard/driver/Makefile b/PC_Mainboard/driver/Makefile
new file mode 100644
index 0000000..59cf6b3
--- /dev/null
+++ b/PC_Mainboard/driver/Makefile
@@ -0,0 +1,36 @@
+# Makefile
+# --------
+# Copyright : (c) 2009, Jeremie Dimino <je...@di...>
+# Licence : BSD3
+#
+# This file is a part of [kro]bot.
+
+PREFIX=/usr/local
+
+OC = ocamlbuild
+OF = ocamlfind
+
+ifeq ($(TERM),dumb)
+OC += -classic-display
+endif
+
+.PHONY: all
+all:
+ $(OC) all
+
+.PHONY: clean
+clean:
+ $(OC) -clean
+
+.PHONY: install
+install:
+ install -m0644 dbus-rules/fr.krobot.conf /etc/dbus-1/system.d/fr.krobot.conf
+ install _build/src/driver.best $(PREFIX)/bin/krobot-driver
+
+.PHONY: uninstall
+uninstall:
+ rm -f /etc/dbus-1/system.d/fr.krobot.conf
+ rm -f $(PREFIX)/bin/krobot-driver
+
+.PHONY: reinstall
+reinstall: uninstall install
diff --git a/PC_Mainboard/driver/PcInterface.h b/PC_Mainboard/driver/PcInterface.h
new file mode 100644
index 0000000..6928d8e
--- /dev/null
+++ b/PC_Mainboard/driver/PcInterface.h
@@ -0,0 +1,208 @@
+/**
+ * @file PcInterface.h
+ * Fichier commun avec le programme hsur la carte m (USB PC).
+ * Ce fichier dnit de nombreuses constantes utilis pour le protocole
+ * de communication carte <-> PC.
+*/
+
+#ifndef PC_INTERFACE_H
+#define PC_INTERFACE_H
+
+#define USB_VID 0x04D8 ///< Vendor ID commun aux diffntes cartes USB
+#define USB_PID_USB_DEV_BOARD 0x0001 ///< Product ID de la Carte d'essais
+#define USB_PID_PROXIMITY_SENSOR 0x0002 ///< Product ID de la Carte capteurs
+#define USB_PID_MOTOR_CONTROLLER 0x0003 ///< Product ID de la Carte d'asservissement
+#define USB_PID_ROBOT_INTERFACE 0x0004 ///< Product ID de la Carte d'actionneur
+#define USB_PID_BATTERY_MONITORING 0x0005 ///< Product ID de la carte Battery Monitoring
+#define USB_PID_BOOTLOADER 0x000b ///< Product ID d'une carte en mode bootloader
+
+// Protocole USB
+#define UP_HSEQ 0 ///< Host sequence number
+#define UP_DSEQ 1 ///< Device sequence number
+#define UP_CMD 2
+#define UP_ERR 3
+#define UP_RES0 4
+#define UP_RES1 5
+#define UP_RES2 6
+#define UP_RES3 7
+#define UP_RES4 60
+#define UP_RES5 61
+#define UP_RES6 62
+#define UP_RES7 63
+#define UP_DATA 8
+
+// Commande (premier bit)
+#define CMD_RESET 0 ///< Reset du PIC
+#define CMD_BOOTLOADER 1 ///< Reset du PIC en mode bootloader
+#define CMD_GET 2 ///< Obtenir une information
+#define CMD_RESPOND 3 ///< Rnse ne commande
+#define CMD_ERR 4 ///< Envoyer une erreur
+#define CMD_SEND 5 ///< Envoyer du texte
+#define CMD_SET 6 ///< Dnir l't d'un parame
+#define CMD_TEST 7 ///< Commande grique pour dencher une action de test
+#define CMD_CALIBRATE 8 ///< Lance la calibration d'un tme [Carte capteurs]
+#define CMD_AX12 9
+#define CMD_TRAJ 10 ///< Transmet une trajetoire au Krobot
+#define CMD_MOTOR 11 ///< Gestion des moteurs
+#define CMD_MOTOR_TOR 12
+
+// CMD_GET arguments
+#define GET_RESET_SOURCE 0 ///< Demande au PIC la source du Reset
+#define GET_BOARD_INFO 1 ///< Demande au PIC le nom de la carte et l'auteur
+#define GET_FIRMWARE_BUILD 2 ///< Demande au PIC la date et l'heure de compilation du firmware
+#define GET_PORTS_CON...
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