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[Krobot-commits] [SCM] krobot branch, master, updated. 6c3fce1be59b3862417f78688e4bf3368f15b9ad
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From: Jérémie D. <Ba...@us...> - 2010-02-10 20:30:29
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This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
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via 120f4fe59bb7f4cb35cf13b2cc4e6fe7d38e2918 (commit)
via 185013267259fd0be1b691db23634b47d0a376f7 (commit)
via 57074afff06e02fccd0489375e4ebc0a30c7edd2 (commit)
via 1d47f0a6aaf997b20870ff615e4686ec76e92858 (commit)
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- Log -----------------------------------------------------------------
commit 6c3fce1be59b3862417f78688e4bf3368f15b9ad
Author: Jérémie Dimino <je...@di...>
Date: Wed Feb 10 21:27:33 2010 +0100
typo
commit 120f4fe59bb7f4cb35cf13b2cc4e6fe7d38e2918
Author: Jérémie Dimino <je...@di...>
Date: Wed Feb 10 21:22:46 2010 +0100
typo
commit 185013267259fd0be1b691db23634b47d0a376f7
Author: Jérémie Dimino <je...@di...>
Date: Wed Feb 10 21:21:20 2010 +0100
typo
commit 57074afff06e02fccd0489375e4ebc0a30c7edd2
Author: Jérémie Dimino <je...@di...>
Date: Wed Feb 10 21:18:32 2010 +0100
Add signals for motors state
commit 1d47f0a6aaf997b20870ff615e4686ec76e92858
Author: Jérémie Dimino <je...@di...>
Date: Wed Feb 10 20:58:34 2010 +0100
[controller] write logs in the main window
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/lib-krobot/krobot.ml b/PC_Mainboard/clients/lib-krobot/krobot.ml
index cb9490a..eacc4da 100644
--- a/PC_Mainboard/clients/lib-krobot/krobot.ml
+++ b/PC_Mainboard/clients/lib-krobot/krobot.ml
@@ -31,6 +31,10 @@ type t = {
sensor : card;
motor : card;
+ (* Motors state *)
+ inhibited_forward_until : float React.signal;
+ inhibited_backward_until : float React.signal;
+
peer : OBus_peer.t;
(* The driver peer *)
}
@@ -118,12 +122,16 @@ let create ?peer () =
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 >>
+ and inhibited_forward_until = make_dev_signal peer "Motors" "InhibitedForward" "InhibitedForwardChanged" <:obus_type< float >>
+ and inhibited_backward_until = make_dev_signal peer "Motors" "InhibitedBackward" "InhibitedBackwardChanged" <:obus_type< float >>
in
return {
peer = peer;
compass = compass;
logic_sensors = logic_sensors;
range_finders = range_finders;
+ inhibited_forward_until = inhibited_forward_until;
+ inhibited_backward_until = inhibited_backward_until;
interface = { card_state = interface_state };
sensor = { card_state = sensor_state };
motor = { card_state = motor_state };
@@ -136,6 +144,8 @@ let create ?peer () =
let compass krobot = krobot.compass
let logic_sensors krobot = krobot.logic_sensors
let range_finders krobot = krobot.range_finders
+let inhibited_forward_until krobot = krobot.inhibited_forward_until
+let inhibited_backward_until krobot = krobot.inhibited_backward_until
let team krobot =
React.S.map (fun ls -> if ls.(14) then Team_red else Team_green) krobot.logic_sensors
diff --git a/PC_Mainboard/clients/lib-krobot/krobot.mli b/PC_Mainboard/clients/lib-krobot/krobot.mli
index 178779a..f5c8a53 100644
--- a/PC_Mainboard/clients/lib-krobot/krobot.mli
+++ b/PC_Mainboard/clients/lib-krobot/krobot.mli
@@ -74,6 +74,14 @@ val inhibit_backward : t -> float -> unit Lwt.t
(** [inhibit_backward krobot delay] forbid backward moves during
[delay] seconds *)
+val inhibited_forward_until : t -> float React.signal
+ (** Signal holding the date until which the robot is reallowed to
+ move forward *)
+
+val inhibited_backward_until : t -> float React.signal
+ (** Signal holding the date until which the robot is reallowed to
+ move backward *)
+
(** {6 Cards} *)
module Card : sig
diff --git a/PC_Mainboard/clients/tools/controller.ml b/PC_Mainboard/clients/tools/controller.ml
index 0eed0f3..d10ff37 100644
--- a/PC_Mainboard/clients/tools/controller.ml
+++ b/PC_Mainboard/clients/tools/controller.ml
@@ -58,7 +58,11 @@ let draw_text clip ?style x y txt =
let drawer_mutex = Lwt_mutex.create ()
(* Draw the whole screen *)
-let rec draw size (compass, logic_sensors, range_finders, team, jack) (engine_state, box, logs) (state_interface, state_sensor, state_motor) =
+let rec draw size
+ (compass, logic_sensors, range_finders, team, jack)
+ (inhibited_forward_until, inhibited_backward_until)
+ (engine_state, box, logs)
+ (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
@@ -118,6 +122,15 @@ let rec draw size (compass, logic_sensors, range_finders, team, jack) (engine_st
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);
+ let date = Unix.gettimeofday () in
+ let string_of_motor_state until =
+ if date < until then
+ "inhibited"
+ else
+ "OK"
+ in
+ Draw.textf zone x 6 "move forward: %s" (string_of_motor_state inhibited_forward_until);
+ Draw.textf zone x 7 "move backward: %s" (string_of_motor_state inhibited_backward_until);
(* ===== History ===== *)
@@ -271,12 +284,21 @@ let rec loop krobot history =
| Entry point |
+-----------------------------------------------------------------+ *)
+let rec copy_logs ic =
+ lwt line = Lwt_io.read_line ic in
+ set_logs (line :: React.S.value logs);
+ copy_logs ic
+
lwt () =
lwt () = hide_cursor () in
try_lwt
+ let fdr, fdw = Unix.pipe () in
+ Unix.dup2 fdw Unix.stderr;
+ Unix.close fdw;
+ ignore (copy_logs (Lwt_io.of_unix_fd ~mode:Lwt_io.input fdr));
lwt krobot = Krobot.create () in
let signal =
- React.S.l4 draw
+ React.S.l5 draw
Lwt_term.size
(React.S.l5 (fun a b c d e -> (a, b, c, d, e))
(Krobot.compass krobot)
@@ -284,6 +306,9 @@ lwt () =
(Krobot.range_finders krobot)
(Krobot.team krobot)
(Krobot.jack krobot))
+ (React.S.l2 (fun a b -> (a, b))
+ (Krobot.inhibited_forward_until krobot)
+ (Krobot.inhibited_backward_until krobot))
(React.S.l3 (fun a b c -> (a, b, c))
engine_state
box
diff --git a/PC_Mainboard/driver/src/driver.ml b/PC_Mainboard/driver/src/driver.ml
index b0ede4f..82af766 100644
--- a/PC_Mainboard/driver/src/driver.ml
+++ b/PC_Mainboard/driver/src/driver.ml
@@ -330,15 +330,26 @@ struct
| Motors inhbition |
+---------------------------------------------------------------+ *)
+ OL_method InhibitedForward : float = fun dev ->
+ return dev.inhibit_forward_until
+
+ OL_method InhibitedBackward : float = fun dev ->
+ return dev.inhibit_backward_until
+
+ OL_signal InhibitedForwardChanged : float
+ OL_signal InhibitedBackwardChanged : float
+
OL_method InhibitForward : float -> unit =
fun dev delay ->
- dev.inhibit_forward_until <- Unix.gettimeofday () +. delay;
- return ()
+ let until = Unix.gettimeofday () +. delay in
+ dev.inhibit_forward_until <- until;
+ inhibited_forward_changed dev until
OL_method InhibitBackward : float -> unit =
fun dev delay ->
- dev.inhibit_backward_until <- Unix.gettimeofday () +. delay;
- return ()
+ let until = Unix.gettimeofday () +. delay in
+ dev.inhibit_backward_until <- until;
+ inhibited_backward_changed dev until
let make card path =
let dev = {
hooks/post-receive
--
krobot
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