[Krobot-commits] [SCM] krobot branch, master, updated. 51ecd70a79d4b6d4cfffc41676e4c9dc21a3fba3

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 51ecd70a79d4b6d4cfffc41676e4c9dc21a3fba3
Author: Jérémie Dimino <je...@di...>
Date:   Wed Feb 10 21:47:03 2010 +0100

    add modules common/Config and common/Util

commit 0381389a694f94d2a3ef498cc56f8f6c6a1c8bd5
Author: Jérémie Dimino <je...@di...>
Date:   Wed Feb 10 21:34:32 2010 +0100

    [controller] save/restore terminal state

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

Changes:
diff --git a/PC_Mainboard/clients/_tags b/PC_Mainboard/clients/_tags
index 8582d38..c23ac4f 100644
--- a/PC_Mainboard/clients/_tags
+++ b/PC_Mainboard/clients/_tags
@@ -6,6 +6,7 @@
 
 # Needed by the rest of the source
 "lib-krobot": include
+"common": include
 
 # lib-krobot uses obus
 <**/*>: pkg_obus
diff --git a/PC_Mainboard/clients/common/config.ml b/PC_Mainboard/clients/common/config.ml
new file mode 100644
index 0000000..ac92ae7
--- /dev/null
+++ b/PC_Mainboard/clients/common/config.ml
@@ -0,0 +1,11 @@
+(*
+ * config.ml
+ * ---------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+let back_sensors = [3; 6; 7; 10]
+let front_sensors = [0; 1; 2; 4; 5; 8; 9; 11; 12; 13; 14; 15]
diff --git a/PC_Mainboard/clients/common/config.mli b/PC_Mainboard/clients/common/config.mli
new file mode 100644
index 0000000..ee9d807
--- /dev/null
+++ b/PC_Mainboard/clients/common/config.mli
@@ -0,0 +1,16 @@
+(*
+ * config.mli
+ * ----------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(** Krobot parameters *)
+
+val front_sensors : int list
+  (** List of front sensors *)
+
+val back_sensors : int list
+  (** List of back sensors *)
diff --git a/PC_Mainboard/clients/common/util.ml b/PC_Mainboard/clients/common/util.ml
new file mode 100644
index 0000000..3edd854
--- /dev/null
+++ b/PC_Mainboard/clients/common/util.ml
@@ -0,0 +1,24 @@
+(*
+ * util.ml
+ * -------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+let front_colide sensors =
+  if Array.length sensors <> 16 then invalid_arg "Until.front_colide";
+  let rec loop = function
+    | 16 -> false
+    | n -> (sensors.(n) && List.mem n Config.front_sensors) || loop (n - 1)
+  in
+  loop 0
+
+let back_colide sensors =
+  if Array.length sensors <> 16 then invalid_arg "Until.back_colide";
+  let rec loop = function
+    | 16 -> false
+    | n -> (sensors.(n) && List.mem n Config.back_sensors) || loop (n - 1)
+  in
+  loop 0
diff --git a/PC_Mainboard/clients/common/util.mli b/PC_Mainboard/clients/common/util.mli
new file mode 100644
index 0000000..c34b8dc
--- /dev/null
+++ b/PC_Mainboard/clients/common/util.mli
@@ -0,0 +1,18 @@
+(*
+ * util.mli
+ * --------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(** Utilities *)
+
+val front_colide : bool array -> bool
+  (** [front_colide sensors] returns whether on of the front sensors
+      is activated *)
+
+val back_colide : bool array -> bool
+  (** [front_colide sensors] returns whether on of the back sensors is
+      activated *)
diff --git a/PC_Mainboard/clients/security/hard_stop.ml b/PC_Mainboard/clients/security/hard_stop.ml
index d03c1f5..124230c 100644
--- a/PC_Mainboard/clients/security/hard_stop.ml
+++ b/PC_Mainboard/clients/security/hard_stop.ml
@@ -11,8 +11,6 @@
 
 open Lwt
 
-let back_sensors = [3; 6; 7; 10]
-
 (* Duration of an inhibition: *)
 let duration = 1.0
 
@@ -28,17 +26,8 @@ let state_forward = ref OK
 let state_backward = ref OK
 
 let handle_colide krobot sensors =
-  let colide_front = ref false and colide_back = ref false in
-  for i = 0 to 15 do
-    if sensors.(i) then begin
-      if List.mem i back_sensors then
-        colide_back := true
-      else
-        colide_front := true
-    end
-  done;
   join [
-    (if !colide_front then begin
+    (if Util.front_colide sensors then begin
        lwt () = Krobot.inhibit_forward krobot duration in
        if !state_forward = OK then begin
          state_forward := Stopped;
@@ -49,7 +38,7 @@ let handle_colide krobot sensors =
        state_forward := OK;
        return ()
      end);
-    (if !colide_back then begin
+    (if Util.back_colide sensors then begin
        lwt () = Krobot.inhibit_backward krobot duration in
        if !state_backward = OK then begin
          state_backward := Stopped;
diff --git a/PC_Mainboard/clients/tools/controller.ml b/PC_Mainboard/clients/tools/controller.ml
index d10ff37..3e36d5d 100644
--- a/PC_Mainboard/clients/tools/controller.ml
+++ b/PC_Mainboard/clients/tools/controller.ml
@@ -290,6 +290,7 @@ let rec copy_logs ic =
   copy_logs ic
 
 lwt () =
+  lwt () = save_state () in
   lwt () = hide_cursor () in
   try_lwt
     let fdr, fdw = Unix.pipe () in
@@ -322,4 +323,4 @@ lwt () =
     ignore signal;
     Lwt_term.with_raw_mode (fun () -> loop krobot [])
   finally
-    show_cursor ()
+    restore_state ()


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