[Krobot-commits] [SCM] krobot branch, master, updated. aa454675ff1f8c9a040ffbb6bf8d67edc1296e6f

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit aa454675ff1f8c9a040ffbb6bf8d67edc1296e6f
Author: Jérémie Dimino <je...@di...>
Date:   Sat Jan 30 18:01:00 2010 +0100

    do not open cards if we just want to kill the dirver

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

Changes:
diff --git a/PC_Mainboard/driver/src/driver.ml b/PC_Mainboard/driver/src/driver.ml
index 2bcb781..7b5b7ff 100644
--- a/PC_Mainboard/driver/src/driver.ml
+++ b/PC_Mainboard/driver/src/driver.ml
@@ -12,6 +12,37 @@
 open OBus_pervasives
 open Lwt
 
+(* Kill a running driver *)
+let kill bus =
+  OBus_connection.method_call bus
+    ~path:["fr"; "krobot"; "Manager"]
+    ~interface:"fr.krobot.Manager"
+    ~member:"Shutdown"
+    ~destination:"fr.krobot"
+    <:obus_func< unit >>
+
+(* +-----------------------------------------------------------------+
+   | Command line options                                            |
+   +-----------------------------------------------------------------+ *)
+
+let foreground = ref false
+let kill_and_exit = ref false
+
+let () =
+  let args = [
+    "-n", Arg.Set foreground, "do not daemonize";
+    "-k", Arg.Set kill_and_exit, "kill any running driver and exit";
+  ] in
+  let usage_msg = Printf.sprintf "Usage: %s [-n]\n\noptions are:" (Filename.basename (Sys.argv.(0))) in
+  Arg.parse args ignore usage_msg;
+
+  if !kill_and_exit then
+    Lwt_main.run begin
+      lwt bus = Lazy.force OBus_bus.system in
+      lwt () = kill bus in
+      exit 0
+    end
+
 (* +-----------------------------------------------------------------+
    | Cards                                                           |
    +-----------------------------------------------------------------+ *)
@@ -397,6 +428,7 @@ struct
   include OBus.MakeInterface(struct let name = "fr.krobot.Manager" end)
 
   OL_method Shutdown : unit = fun () ->
+    Log#info "exiting";
     lwt bus = Lazy.force OBus_bus.system in
     lwt () = Card.close card_interface
     and () = Card.close card_sensor
@@ -410,84 +442,58 @@ end
    | Entry point                                                     |
    +-----------------------------------------------------------------+ *)
 
-(* Kill a running driver *)
-let kill bus =
-  OBus_connection.method_call bus
-    ~path:["fr"; "krobot"; "Manager"]
-    ~interface:"fr.krobot.Manager"
-    ~member:"Shutdown"
-    ~destination:"fr.krobot"
-    <:obus_func< unit >>
-
 lwt () =
-  (* Command line options *)
-  let foreground = ref false and kill_and_exit = ref false in
-  let args = [
-    "-n", Arg.Set foreground, "do not daemonize";
-    "-k", Arg.Set kill_and_exit, "kill any running driver and exit";
-  ] in
-  let usage_msg = Printf.sprintf "Usage: %s [-n]\n\noptions are:" (Filename.basename (Sys.argv.(0))) in
-  Arg.parse args ignore usage_msg;
-
   (* Be verbose: *)
   Lwt_log.set_level !Lwt_log.default Lwt_log.Info;
 
   lwt bus = Lazy.force OBus_bus.system in
 
-  if !kill_and_exit then
-    try_lwt
-      kill bus
-    with exn ->
-      return ()
+  lwt () = OBus_bus.name_has_owner bus "fr.krobot" >>= function
+    | true ->
+        (* If a daemon is already running, kill it: *)
+        Log#info "killing the currently running driver";
+        kill bus
+    | false ->
+        return ()
+  in
+
+  (* Request the bus name for the driver: *)
+  lwt () = OBus_bus.request_name bus "fr.krobot" >>= function
+    | `primary_owner ->
+        return ()
+    | _ ->
+        fail (Failure "cannot obtain the name 'fr.krobot'")
+  in
 
+  if !foreground then
+    (* Running foreground, prints message on stderr: *)
+    Log#info "starting krobot driver in foreground mode"
   else begin
-    lwt () = OBus_bus.name_has_owner bus "fr.krobot" >>= function
-      | true ->
-          (* If a daemon is already running, kill it: *)
-          Log#info "killing the currently running driver";
-          kill bus
-      | false ->
-          return ()
-    in
-
-    (* Request the bus name for the driver: *)
-    lwt () = OBus_bus.request_name bus "fr.krobot" >>= function
-      | `primary_owner ->
-          return ()
-      | _ ->
-          fail (Failure "cannot obtain the name 'fr.krobot'")
-    in
-
-    if !foreground then
-      (* Running foreground, prints message on stderr: *)
-      Log#info "starting krobot driver in foreground mode"
-    else begin
-      Log#info "starting krobot driver in daemon mode";
-      (* In daemon mode, send messages to syslog: *)
-      Lwt_log.default := Lwt_log.syslog ~level:Lwt_log.Info ~facility:`Daemon ();
-      (* Become a daemon. Keep stderr for possible error messages of
-         libusb. *)
-      Lwt_unix.daemonize ~keep_stderr:true ()
-    end;
-
-    Log#info "creating and exporting objects";
-
-    (* Interface card *)
-    Compass.OBus.export bus (Compass.make card_interface ["fr"; "krobot"; "Devices"; "Compass"]);
-    AX12.OBus.export bus (AX12.make card_interface ["fr"; "krobot"; "Devices"; "AX12"]);
-    Elevator.OBus.export bus (Elevator.make card_interface ["fr"; "krobot"; "Devices"; "Elevator"]);
-    Grip.OBus.export bus (Grip.make card_interface ["fr"; "krobot"; "Devices"; "Grip"]);
-
-    (* Sensor card *)
-    LogicSensors.OBus.export bus (LogicSensors.make card_sensor ["fr"; "krobot"; "Devices"; "LogicSensors"]);
-    RangeFinders.OBus.export bus (RangeFinders.make card_sensor ["fr"; "krobot"; "Devices"; "RangeFinders"]);
-
-    (* Motor card *)
-    Motors.OBus.export bus (Motors.make card_motor ["fr"; "krobot"; "Devices"; "Motors"]);
-
-    (* Internal objects *)
-    Manager.OBus.export bus ();
-
-    Log#info "ready, waiting for requests";
-    done_waiter
-  end
+    Log#info "starting krobot driver in daemon mode";
+    (* In daemon mode, send messages to syslog: *)
+    Lwt_log.default := Lwt_log.syslog ~level:Lwt_log.Info ~facility:`Daemon ();
+    (* Become a daemon. Keep stderr for possible error messages of
+       libusb. *)
+    Lwt_unix.daemonize ~keep_stderr:true ()
+  end;
+
+  Log#info "creating and exporting objects";
+
+  (* Interface card *)
+  Compass.OBus.export bus (Compass.make card_interface ["fr"; "krobot"; "Devices"; "Compass"]);
+  AX12.OBus.export bus (AX12.make card_interface ["fr"; "krobot"; "Devices"; "AX12"]);
+  Elevator.OBus.export bus (Elevator.make card_interface ["fr"; "krobot"; "Devices"; "Elevator"]);
+  Grip.OBus.export bus (Grip.make card_interface ["fr"; "krobot"; "Devices"; "Grip"]);
+
+  (* Sensor card *)
+  LogicSensors.OBus.export bus (LogicSensors.make card_sensor ["fr"; "krobot"; "Devices"; "LogicSensors"]);
+  RangeFinders.OBus.export bus (RangeFinders.make card_sensor ["fr"; "krobot"; "Devices"; "RangeFinders"]);
+
+  (* Motor card *)
+  Motors.OBus.export bus (Motors.make card_motor ["fr"; "krobot"; "Devices"; "Motors"]);
+
+  (* Internal objects *)
+  Manager.OBus.export bus ();
+
+  Log#info "ready, waiting for requests";
+  done_waiter


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