[Krobot-commits] [SCM] krobot branch, master, updated. 47ce2657ec649f47a042dd2bb2dc6d18cdb14d56

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 47ce2657ec649f47a042dd2bb2dc6d18cdb14d56
Author: Jérémie Dimino <je...@di...>
Date:   Mon Feb 8 17:07:29 2010 +0100

    Add a command to put a card into bootloader mode

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

Changes:
diff --git a/PC_Mainboard/clients/lib-krobot/krobot.ml b/PC_Mainboard/clients/lib-krobot/krobot.ml
index 155affe..02352ac 100644
--- a/PC_Mainboard/clients/lib-krobot/krobot.ml
+++ b/PC_Mainboard/clients/lib-krobot/krobot.ml
@@ -233,6 +233,7 @@ struct
 
   OP_method GetFirmwareBuild : string
   OP_method GetBoardInfo : string
+  OP_method Bootloader : unit
 
   let proxy krobot card =
     OBus_proxy.make krobot.peer
@@ -243,4 +244,5 @@ struct
 
   let get_firmware_build krobot card = get_firmware_build (proxy krobot card)
   let get_board_info krobot card = get_board_info (proxy krobot card)
+  let bootloader krobot card = bootloader (proxy krobot card)
 end
diff --git a/PC_Mainboard/clients/lib-krobot/krobot.mli b/PC_Mainboard/clients/lib-krobot/krobot.mli
index 4c7046b..065439c 100644
--- a/PC_Mainboard/clients/lib-krobot/krobot.mli
+++ b/PC_Mainboard/clients/lib-krobot/krobot.mli
@@ -93,6 +93,9 @@ module Card : sig
   val state : t -> card -> state React.signal
     (** Returns the status of one of the card of the krobot *)
 
+  val bootloader : t -> card -> unit Lwt.t
+    (** Put the card into bootloader mode *)
+
   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/script.ml b/PC_Mainboard/clients/tools/script.ml
index 3fc468c..69bb06b 100644
--- a/PC_Mainboard/clients/tools/script.ml
+++ b/PC_Mainboard/clients/tools/script.ml
@@ -39,6 +39,8 @@ let commands = [
     args = [("motor", Arg_keyword ["left"; "right"; "both"]);
             ("speed", Arg_int);
             ("acc", Arg_int)] };
+  { name = "bootloader";
+    args = [("card", Arg_keyword ["interface"; "sensor"; "motor"])] };
 ]
 
 let set_of_list l = List.fold_left (fun set x -> TextSet.add x set) TextSet.empty l
@@ -121,6 +123,13 @@ let exec krobot line =
           ~motor:(motor_of_string (arg_string "motor" "both"))
           ~speed:(arg_int "speed" 100)
           ~acc:(arg_int "acc" 800)
+    | "bootloader" ->
+        Krobot.Card.bootloader krobot
+          (match arg_string "card" "" with
+             | "interface" -> `Interface
+             | "motor" -> `Motor
+             | "sensor" -> `Sensor
+             | _ -> failwith "Script.exec: invalid card")
     | _ ->
         return ()
 
diff --git a/PC_Mainboard/driver/src/driver.ml b/PC_Mainboard/driver/src/driver.ml
index 12b2eea..46d8587 100644
--- a/PC_Mainboard/driver/src/driver.ml
+++ b/PC_Mainboard/driver/src/driver.ml
@@ -573,6 +573,9 @@ struct
   OL_method GetState : Card.state = fun card ->
     return (React.S.value (Card.state card.card))
 
+  OL_method Bootloader : unit = fun card ->
+    Card.send_command card.card Protocol.cmd_bootloader ""
+
   OL_signal StateChanged : Card.state
 
   let make card path =


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