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[Krobot-commits] [SCM] krobot branch, master, updated. e007ef2fec366cfa70104c5d23dd9f53fa4b3947
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From: Jérémie D. <Ba...@us...> - 2010-01-31 20:30:32
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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 ();
hooks/post-receive
--
krobot
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