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[Krobot-commits] [SCM] krobot branch, master, updated. 8370857c4bdbf0534e57609729a5b5ebcbceff17
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From: Jérémie D. <Ba...@us...> - 2010-02-01 21:11:18
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- Log -----------------------------------------------------------------
commit 8370857c4bdbf0534e57609729a5b5ebcbceff17
Author: Jérémie Dimino <je...@di...>
Date: Mon Feb 1 22:10:30 2010 +0100
better monitor
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/_tags b/PC_Mainboard/clients/_tags
index ada7748..f829506 100644
--- a/PC_Mainboard/clients/_tags
+++ b/PC_Mainboard/clients/_tags
@@ -1,7 +1,7 @@
# -*- conf -*-
# Syntax extensions
-<**/*.ml>: syntax_camlp4o, pkg_camlp4, pkg_lwt.syntax, pkg_lwt.syntax.log
+<**/*.ml>: syntax_camlp4o, pkg_camlp4, pkg_lwt.syntax, pkg_lwt.syntax.log, pkg_text.pcre
<lib-krobot/*.ml>: pkg_obus.syntax
# Needed by the rest of the source
@@ -9,4 +9,4 @@
# lib-krobot uses obus
<**/*>: pkg_obus
-<tools/*>: pkg_lwt.text
+<tools/*>: pkg_lwt.text, pkg_text.pcre
diff --git a/PC_Mainboard/clients/myocamlbuild.ml b/PC_Mainboard/clients/myocamlbuild.ml
index 863a811..9e3cd7c 100644
--- a/PC_Mainboard/clients/myocamlbuild.ml
+++ b/PC_Mainboard/clients/myocamlbuild.ml
@@ -29,6 +29,8 @@ let packages = [
"lwt.syntax";
"lwt.syntax.log";
"lwt.text";
+ "text";
+ "text.pcre";
"str";
"xmlm";
"react";
diff --git a/PC_Mainboard/clients/tools/monitor.ml b/PC_Mainboard/clients/tools/monitor.ml
index c62812d..01796f0 100644
--- a/PC_Mainboard/clients/tools/monitor.ml
+++ b/PC_Mainboard/clients/tools/monitor.ml
@@ -11,76 +11,285 @@
open Lwt
open Lwt_term
+open Lwt_read_line
-let draw_text screen line column txt =
- if line >= 0 && line < Array.length screen then
- let rec loop column ptr = match Text.next ptr with
+module TextSet = Set.Make(Text)
+
+(* +-----------------------------------------------------------------+
+ | Drawing |
+ +-----------------------------------------------------------------+ *)
+
+type section = {
+ screen : point array array;
+ x : int;
+ y : int;
+ w : int;
+ h : int;
+}
+
+let get_point clip x y =
+ if x >= 0 && x < clip.w && y >= 0 && y < clip.h then
+ clip.screen.(clip.y + y).(clip.x + x)
+ else
+ blank
+
+let set_point clip x y point =
+ if x >= 0 && x < clip.w && y >= 0 && y < clip.h then
+ clip.screen.(clip.y + y).(clip.x + x) <- point
+
+let draw_text clip ?style x y txt =
+ if y >= 0 && y < clip.h && x < clip.w then
+ let rec loop x ptr = match Text.next ptr with
| None ->
()
| Some(ch, ptr) ->
- if column >= 0 && column < Array.length screen.(line) then
- screen.(line).(column) <- { blank with char = ch };
- loop (column + 1) ptr
+ if x >= 0 && x < clip.w then begin
+ match style with
+ | Some style ->
+ clip.screen.(clip.y + y).(clip.x + x) <- { char = ch; style = style }
+ | None ->
+ clip.screen.(clip.y + y).(clip.x + x) <- { blank with char = ch };
+ end;
+ loop (x + 1) ptr
in
- loop column (Text.pointer_l txt)
+ loop x (Text.pointer_l txt)
(* Prevent concurrent drawing: *)
let drawer_mutex = Lwt_mutex.create ()
(* Draw the whole screen *)
-let rec draw size compass logic_sensors range_finders team jack =
+let rec draw size (compass, logic_sensors, range_finders, team, jack) (engine_state, box) (state_interface, state_sensor, state_motor) =
Lwt_mutex.with_lock drawer_mutex begin fun () ->
if Lwt_mutex.is_empty drawer_mutex then begin
(* Redraw the screen only if there is no other thread waiting to
do it *)
- let screen = Array.make_matrix size.lines size.columns blank in
- draw_text screen 1 1 ("team = " ^ match team with Krobot.Team_red -> "red" | Krobot.Team_green -> "green");
- draw_text screen 2 1 ("jack = " ^ if jack then "present" else "absent");
- draw_text screen 3 1 ("compass = " ^ string_of_int compass);
- draw_text screen 4 1 ("logic_sensors = " ^ String.concat "" (List.map (function true -> "O" | false -> ".") (Array.to_list logic_sensors)));
- for i = 0 to Array.length range_finders - 1 do
- draw_text screen (5 + i) 1 (Printf.sprintf "range_finders[%d] = %d" i range_finders.(i))
- done;
+
+ let screen = Zone.make ~width:size.columns ~height:size.lines in
+ let points = Zone.points screen in
+
+ (* ===== Borders ===== *)
+
for i = 1 to size.columns - 2 do
- screen.(0).(i) <- { blank with char = "─" };
- screen.(size.lines - 1).(i) <- { blank with char = "─" }
+ points.(0).(i) <- { blank with char = "─" };
+ points.(size.lines - 1).(i) <- { blank with char = "─" }
done;
for i = 1 to size.lines - 2 do
- screen.(i).(0) <- { blank with char = "│" };
- screen.(i).(size.columns - 1) <- { blank with char = "│" }
+ points.(i).(0) <- { blank with char = "│" };
+ points.(i).(size.columns - 1) <- { blank with char = "│" }
+ done;
+ points.(0).(0) <- { blank with char = "┌" };
+ points.(size.lines - 1).(0) <- { blank with char = "└" };
+ points.(size.lines - 1).(size.columns - 1) <- { blank with char = "┘" };
+ points.(0).(size.columns - 1) <- { blank with char = "┐" };
+
+ (* ===== Status ===== *)
+
+ Draw.text screen 1 0 "─[ Range finders ]─┬─[ Logic Sensors ]─┬─[ Status ]─";
+ points.(9).(0) <- { blank with char = "├" };
+ points.(9).(size.columns - 1) <- { blank with char = "┤" };
+ for i = 1 to size.columns - 2 do
+ points.(9).(i) <- { blank with char = "─" }
+ done;
+ for i = 1 to 8 do
+ points.(i).(20) <- { blank with char = "│" };
+ points.(i).(40) <- { blank with char = "│" }
+ done;
+ Draw.text screen 1 9 "───────────────────┴───────────────────┴";
+
+ let zone = Zone.inner screen in
+ for i = 0 to Array.length range_finders - 1 do
+ Draw.textf zone 0 i "%d : %d" i range_finders.(i)
+ done;
+ for i = 0 to Array.length logic_sensors / 2 - 1 do
+ let j = i * 2 in
+ Draw.textf zone 20 i "%02d : %s %02d : %s"
+ (j + 0) (if logic_sensors.(j + 0) then "O" else ".")
+ (j + 1) (if logic_sensors.(j + 1) then "O" else ".")
+ done;
+ let x = 40 in
+ Draw.textf zone x 0 "team = %s" (match team with Krobot.Team_red -> "red" | Krobot.Team_green -> "green");
+ Draw.textf zone x 1 "jack = %s" (if jack then "present" else "absent");
+ Draw.textf zone x 2 "compass = %d" compass;
+ let string_of_state = function
+ | `Running -> "running"
+ | `Opening -> "opening"
+ | `Closed -> "closed"
+ in
+ Draw.textf zone x 3 "interface card is %s" (string_of_state state_interface);
+ Draw.textf zone x 4 "sensor card is %s" (string_of_state state_sensor);
+ Draw.textf zone x 5 "motor card is %s" (string_of_state state_motor);
+
+ (* ===== Read-line ===== *)
+
+ points.(size.lines - 3).(0) <- { blank with char = "├" };
+ points.(size.lines - 3).(size.columns - 1) <- { blank with char = "┤" };
+ points.(size.lines - 5).(0) <- { blank with char = "├" };
+ points.(size.lines - 5).(size.columns - 1) <- { blank with char = "┤" };
+ for i = 1 to size.columns - 2 do
+ points.(size.lines - 5).(i) <- { blank with char = "─" };
+ points.(size.lines - 3).(i) <- { blank with char = "─" }
done;
- screen.(0).(0) <- { blank with char = "┌" };
- screen.(size.lines - 1).(0) <- { blank with char = "└" };
- screen.(size.lines - 1).(size.columns - 1) <- { blank with char = "┘" };
- screen.(0).(size.columns - 1) <- { blank with char = "┐" };
- Lwt_term.render screen
+
+ let zone = Zone.sub ~zone:screen ~x:1 ~y:(size.lines - 4) ~width:(size.columns - 2) ~height:1 in
+ let cursor_position =
+ match engine_state.Engine.mode with
+ | Engine.Edition(before, after) ->
+ let len = Text.length before in
+ Draw.textc zone 0 0 [Text before; Text after];
+ len
+ | Engine.Selection state ->
+ let a = min state.Engine.sel_cursor state.Engine.sel_mark
+ and b = max state.Engine.sel_cursor state.Engine.sel_mark in
+ let part_before = Text.chunk (Text.pointer_l state.Engine.sel_text) a
+ and part_selected = Text.chunk a b
+ and part_after = Text.chunk (Text.pointer_r state.Engine.sel_text) b in
+ Draw.textc zone 0 0 [Text part_before; Underlined; Text part_selected; Reset; Text part_after];
+ if state.Engine.sel_cursor < state.Engine.sel_mark then
+ Text.length part_before
+ else
+ Text.length part_before + Text.length part_selected
+ | Engine.Search state ->
+ let len = Text.length state.Engine.search_word in
+ Draw.text zone 0 0 (Printf.sprintf "(reverse-i-search)'%s'" state.Engine.search_word);
+ begin match state.Engine.search_history with
+ | [] ->
+ 20 + len
+ | phrase :: _ ->
+ let ptr_start = match Text.find phrase state.Engine.search_word with
+ | Some ptr ->
+ ptr
+ | None ->
+ assert false
+ in
+ let ptr_end = Text.move len ptr_start in
+ let before = Text.chunk (Text.pointer_l phrase) ptr_start
+ and selected = Text.chunk ptr_start ptr_end
+ and after = Text.chunk ptr_end (Text.pointer_r phrase) in
+ Draw.textc zone (20 + len) 0 [
+ Text ": ";
+ Text before;
+ Underlined;
+ Text selected;
+ Reset;
+ Text after;
+ ];
+ 20 + len
+ end
+ in
+ Draw.map zone cursor_position 0 (fun point -> { point with style = { point.style with inverse = true } });
+
+ let zone = Zone.sub ~zone:screen ~x:1 ~y:(size.lines - 3) ~width:(size.columns - 2) ~height:3 in
+ begin
+ match box with
+ | Terminal.Box_none | Terminal.Box_empty ->
+ ()
+ | Terminal.Box_message msg ->
+ Draw.text zone 0 1 msg
+ | Terminal.Box_words(words, _) ->
+ ignore (TextSet.fold
+ (fun word i ->
+ let len = Text.length word in
+ Draw.text zone i 1 word;
+ let i = i + len in
+ Draw.text zone i 0 "┬";
+ Draw.text zone i 1 "│";
+ Draw.text zone i 2 "┴";
+ i + 1)
+ words 0)
+ end;
+
+ Lwt_term.render (Zone.points screen)
end else
return ()
end
-(* Loop until an exit key is pressed *)
-let rec loop_key () =
- Lwt_term.read_key () >>= function
- | Lwt_term.Key "q" | Lwt_term.Key_control ('c' | '[') ->
- return ()
+(* +-----------------------------------------------------------------+
+ | Read-line |
+ +-----------------------------------------------------------------+ *)
+
+let engine_state, set_engine_state = React.S.create (Engine.init [])
+let box, set_box = React.S.create Terminal.Box_empty
+
+let functions = List.fold_left (fun set x -> TextSet.add x set) TextSet.empty [
+ "exit";
+ "forward";
+ "backward";
+ "left";
+ "right";
+]
+
+let complete before after =
+ match before with
+ | <:re< (space* as before) (["a" - "z"]* as word) eos >> ->
+ Lwt_read_line.complete before word after functions
| _ ->
- loop_key ()
+ { comp_state = (before, after);
+ comp_words = TextSet.empty }
+
+let () =
+ Lwt_signal.always_notify
+ (function
+ | Engine.Edition(before, after) ->
+ let comp = complete before after in
+ set_box (Terminal.Box_words(comp.comp_words, 0))
+ | Engine.Selection _ ->
+ set_box (Terminal.Box_message "<selection>")
+ | Engine.Search _ ->
+ set_box (Terminal.Box_message "<backward search>"))
+ (React.S.map (fun state -> state.Engine.mode) engine_state)
+
+let rec loop history =
+ lwt key = read_key () in
+ if key = key_escape then
+ return ()
+ else
+ match Command.of_key key with
+ | Command.Accept_line ->
+ let line = Text.strip (Engine.all_input (React.S.value engine_state)) in
+ if line = "exit" then
+ return ()
+ else begin
+ let history = Lwt_read_line.add_entry line history in
+ set_engine_state (Engine.init history);
+ loop history
+ end
+ | Command.Complete ->
+ let engine_state = Engine.reset (React.S.value engine_state) in
+ let before, after = Engine.edition_state engine_state in
+ let comp = complete before after in
+ set_engine_state { engine_state with Engine.mode = Engine.Edition comp.comp_state };
+ loop history
+ | command ->
+ set_engine_state (Engine.update (React.S.value engine_state) command ());
+ loop history
+
+(* +-----------------------------------------------------------------+
+ | Entry point |
+ +-----------------------------------------------------------------+ *)
lwt () =
lwt () = hide_cursor () in
try_lwt
lwt krobot = Krobot.create () in
let signal =
- React.S.l6 draw
+ React.S.l4 draw
Lwt_term.size
- (Krobot.compass krobot)
- (Krobot.logic_sensors krobot)
- (Krobot.range_finders krobot)
- (Krobot.team krobot)
- (Krobot.jack krobot)
+ (React.S.l5 (fun a b c d e -> (a, b, c, d, e))
+ (Krobot.compass krobot)
+ (Krobot.logic_sensors krobot)
+ (Krobot.range_finders krobot)
+ (Krobot.team krobot)
+ (Krobot.jack krobot))
+ (React.S.l2 (fun a b -> (a, b))
+ engine_state
+ box)
+ (React.S.l3 (fun a b c -> (a, b, c))
+ (Krobot.Card.state krobot `Interface)
+ (Krobot.Card.state krobot `Sensor)
+ (Krobot.Card.state krobot `Motor))
in
(* Make the compiler happy: *)
ignore signal;
- Lwt_term.with_raw_mode loop_key
+ Lwt_term.with_raw_mode (fun () -> loop [])
finally
show_cursor ()
hooks/post-receive
--
krobot
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