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[Krobot-commits] [SCM] krobot branch, master, updated. 17aec75ed2e973313bb0f7f2a877fa243ff045c1
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From: Jérémie D. <Ba...@us...> - 2010-02-11 00:31:21
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via dc723ce8075a0868981993373334c3302af3f7d7 (commit)
via ed02672ed43b8f4af8b64a1e50cda62011898637 (commit)
from fbbe106af923be6ff62fc6923d0fe773d95ca5cf (commit)
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- Log -----------------------------------------------------------------
commit 17aec75ed2e973313bb0f7f2a877fa243ff045c1
Author: Jérémie Dimino <je...@di...>
Date: Thu Feb 11 01:15:10 2010 +0100
[client-tools] record movement results
commit dc723ce8075a0868981993373334c3302af3f7d7
Author: Jérémie Dimino <je...@di...>
Date: Thu Feb 11 01:02:55 2010 +0100
typo
need to go to bed...
commit ed02672ed43b8f4af8b64a1e50cda62011898637
Author: Jérémie Dimino <je...@di...>
Date: Thu Feb 11 00:59:11 2010 +0100
rewrite movement/blocking stuff
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/lib-krobot/krobot.ml b/PC_Mainboard/clients/lib-krobot/krobot.ml
index eacc4da..e45b1c3 100644
--- a/PC_Mainboard/clients/lib-krobot/krobot.ml
+++ b/PC_Mainboard/clients/lib-krobot/krobot.ml
@@ -168,6 +168,11 @@ OP_method AX12Goto : id : int -> pos : int -> speed : int -> unit
include MakeDevice(struct let name = "Motors" end)
type motor = [ `Left | `Right | `Both ]
+type move_result = [ `OK | `Stopped ]
+
+let obus_move_result = OBus_type.mapping obus_int
+ [(`OK, 0);
+ (`Stopped, 1)]
let obus_motor = OBus_type.mapping obus_int
[(`Left, -1);
@@ -179,8 +184,8 @@ let obus_stop_mode = OBus_type.mapping obus_int
(`Abrupt, 1);
(`Smooth, 2)]
-OP_method Turn : angle : int -> speed : int -> acc : int -> unit
-OP_method Move : dist : int -> speed : int -> acc : int -> unit
+OP_method Turn : angle : int -> speed : int -> acc : int -> move_result
+OP_method Move : dist : int -> speed : int -> acc : int -> move_result
OP_method StopMotors : motor : motor -> mode : stop_mode -> unit
OP_method SetSpeed : motor : motor -> speed : int -> acc : int -> unit
OP_method InhibitForward : float -> unit
diff --git a/PC_Mainboard/clients/lib-krobot/krobot.mli b/PC_Mainboard/clients/lib-krobot/krobot.mli
index f5c8a53..ba5ca18 100644
--- a/PC_Mainboard/clients/lib-krobot/krobot.mli
+++ b/PC_Mainboard/clients/lib-krobot/krobot.mli
@@ -54,8 +54,10 @@ val ax12_goto : t -> id : int -> pos : int -> speed : int -> unit Lwt.t
(** {6 Motors} *)
-val turn : t -> angle : int -> speed : int -> acc : int -> unit Lwt.t
-val move : t -> dist : int -> speed : int -> acc : int -> unit Lwt.t
+type move_result = [ `OK | `Stopped ]
+
+val turn : t -> angle : int -> speed : int -> acc : int -> move_result Lwt.t
+val move : t -> dist : int -> speed : int -> acc : int -> move_result Lwt.t
type motor = [ `Left | `Right | `Both ]
diff --git a/PC_Mainboard/clients/security/hard_stop.ml b/PC_Mainboard/clients/security/hard_stop.ml
index 4421cf3..d2ee376 100644
--- a/PC_Mainboard/clients/security/hard_stop.ml
+++ b/PC_Mainboard/clients/security/hard_stop.ml
@@ -22,37 +22,18 @@ let usage = Printf.sprintf "Usage: %s [-n]\n\noptions are:" (Filename.basename (
type state = OK | Stopped
-let state_forward = ref OK
-let state_backward = ref OK
-
let handle_collide krobot sensors =
join [
(if Util.front_collide sensors then begin
Log#notice "front collision detected, inhibit motors";
- lwt () = Krobot.inhibit_forward krobot duration in
- if !state_forward = OK then begin
- Log#notice "front: stop motors";
- state_forward := Stopped;
- Krobot.stop_motors krobot ~motor:`Both ~mode:`Smooth;
- end else
- return ()
- end else begin
- state_forward := OK;
- return ()
- end);
+ Krobot.inhibit_forward krobot duration
+ end else
+ return ());
(if Util.back_collide sensors then begin
Log#notice "back collision detected, inhibit motors";
- lwt () = Krobot.inhibit_backward krobot duration in
- if !state_backward = OK then begin
- Log#notice "back: stop motors";
- state_backward := Stopped;
- Krobot.stop_motors krobot ~motor:`Both ~mode:`Smooth;
- end else
- return ()
- end else begin
- state_backward := OK;
- return ()
- end);
+ Krobot.inhibit_backward krobot duration
+ end else
+ return ());
]
lwt () =
diff --git a/PC_Mainboard/clients/tools/controller.ml b/PC_Mainboard/clients/tools/controller.ml
index 3e36d5d..29d6c3e 100644
--- a/PC_Mainboard/clients/tools/controller.ml
+++ b/PC_Mainboard/clients/tools/controller.ml
@@ -266,7 +266,7 @@ let rec loop krobot history =
else begin
let history = Lwt_read_line.add_entry line history in
set_engine_state (Engine.init history);
- set_logs (line :: React.S.value logs);
+ Log#notice "%s" line;
ignore (Script.exec krobot line);
loop krobot history
end
@@ -297,6 +297,21 @@ lwt () =
Unix.dup2 fdw Unix.stderr;
Unix.close fdw;
ignore (copy_logs (Lwt_io.of_unix_fd ~mode:Lwt_io.input fdr));
+ (* Logs to the log window: *)
+ Lwt_log.default :=
+ Lwt_log.make
+ ~output:(fun level lines ->
+ let buffer = Buffer.create 128 in
+ let lines =
+ List.map (fun line ->
+ Buffer.clear buffer;
+ Lwt_log.render ~buffer ~level ~message:line ~template:"$(date): $(message)";
+ Buffer.contents buffer) lines
+ in
+ set_logs (lines @ React.S.value logs);
+ return ())
+ ~close:return
+ ();
lwt krobot = Krobot.create () in
let signal =
React.S.l5 draw
diff --git a/PC_Mainboard/clients/tools/init_position.ml b/PC_Mainboard/clients/tools/init_position.ml
index f5aec9f..2217b76 100644
--- a/PC_Mainboard/clients/tools/init_position.ml
+++ b/PC_Mainboard/clients/tools/init_position.ml
@@ -11,26 +11,32 @@
open Lwt
+let move_backward_slowly krobot =
+ Log#notice "moving backward";
+ Krobot.move krobot ~dist:(-1000) ~speed:100 ~acc:100 >>= function
+ | `OK ->
+ Log#error "where am i ???";
+ exit 1
+ | `Stopped ->
+ Log#notice "backward colisiton dectected";
+ return ()
+
lwt () =
lwt krobot = Krobot.create () in
- Log#notice "moving backward";
- lwt () = Krobot.move krobot ~dist:(-1000) ~speed:100 ~acc:100 in
- Log#notice "backward colisiton dectected";
+ lwt () = move_backward_slowly krobot in
Log#notice "going to initial position on first axis";
- lwt () = Lwt_unix.sleep 2.0 in
- lwt () = Krobot.move krobot ~dist:Config.initial_position ~speed:400 ~acc:800 in
+ lwt _ = Krobot.move krobot ~dist:Config.initial_position ~speed:400 ~acc:800 in
Log#notice "turning";
- lwt () = Krobot.turn krobot ~angle:(-90) ~speed:400 ~acc:800 in
- Log#notice "moving backward";
- lwt () = Krobot.move krobot ~dist:(-1000) ~speed:100 ~acc:50 in
- Log#notice "backward colisiton dectected";
+ lwt _ = Krobot.turn krobot ~angle:(-90) ~speed:400 ~acc:800 in
- Log#notice "going to initial position on second axis";
- lwt () = Krobot.move krobot ~dist:Config.initial_position ~speed:400 ~acc:800 in
+ lwt () = move_backward_slowly krobot in
- lwt () = Lwt_unix.sleep 2.0 in
- Krobot.turn krobot ~angle:45 ~speed:400 ~acc:800
+ Log#notice "going to initial position on second axis";
+ lwt _ = Krobot.move krobot ~dist:Config.initial_position ~speed:400 ~acc:800 in
+ Log#notice "turning";
+ lwt _ = Krobot.turn krobot ~angle:45 ~speed:400 ~acc:800 in
+ return ()
diff --git a/PC_Mainboard/clients/tools/script.ml b/PC_Mainboard/clients/tools/script.ml
index 69bb06b..3ea209e 100644
--- a/PC_Mainboard/clients/tools/script.ml
+++ b/PC_Mainboard/clients/tools/script.ml
@@ -97,19 +97,28 @@ let motor_of_string = function
| "right" -> `Right
| _ -> failwith "Script.motor_of_strig: invalid motor"
+let move thread =
+ thread >>= function
+ | `OK ->
+ Log#notice "done";
+ return ()
+ | `Stopped ->
+ Log#notice "stopped";
+ return ()
+
let exec krobot line =
let action, args = Script_lexer.whole_command (Lexing.from_string line) in
let arg_int key default = try int_of_string (List.assoc key args) with Not_found -> default in
let arg_string key default = try List.assoc key args with Not_found -> default in
match action with
| "forward" ->
- Krobot.move krobot ~dist:(arg_int "dist" 100) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800)
+ move (Krobot.move krobot ~dist:(arg_int "dist" 100) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800))
| "backward" ->
- Krobot.move krobot ~dist:(-(arg_int "dist" 100)) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800)
+ move (Krobot.move krobot ~dist:(-(arg_int "dist" 100)) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800))
| "left" ->
- Krobot.turn krobot ~angle:(arg_int "dist" 100) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800)
+ move (Krobot.turn krobot ~angle:(arg_int "dist" 100) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800))
| "right" ->
- Krobot.turn krobot ~angle:(-(arg_int "dist" 100)) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800)
+ move (Krobot.turn krobot ~angle:(-(arg_int "dist" 100)) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800))
| "stop-motors" ->
Krobot.stop_motors krobot
~motor:(motor_of_string (arg_string "motor" "both"))
diff --git a/PC_Mainboard/driver/src/card.ml b/PC_Mainboard/driver/src/card.ml
index a3b9cdb..4a2cabf 100644
--- a/PC_Mainboard/driver/src/card.ml
+++ b/PC_Mainboard/driver/src/card.ml
@@ -74,7 +74,6 @@ let forge_message msg =
exception Card_closed
module SerialMap = Map.Make(struct type t = serial let compare = compare end)
-module CommandMap = Map.Make(struct type t = int let compare = compare end)
type state = Running | Opening | Closed
@@ -90,12 +89,9 @@ type card = {
(* Pool de serial disponibles, comme il n'y a que 256 serial
disponibles on évite de juste incrémenter un compteur au pif. *)
- mutable reply_waiters : (string Lwt.t * string Lwt.u) SerialMap.t;
+ mutable reply_waiters : string Lwt.u SerialMap.t;
(* Threads en attente d'une réponse *)
- mutable command_waiters : (string Lwt.t * string Lwt.u) CommandMap.t;
- (* Thread waiting for a command *)
-
handle : USB.handle;
(* Handle pour le périphérique usb *)
@@ -125,6 +121,9 @@ type wrapper = {
(* Informations needed to reopen the card when it crashes *)
name : string;
+
+ events : (int * (string -> unit)) Lwt_sequence.t;
+ (* Connected events *)
}
type t = wrapper
@@ -195,13 +194,12 @@ let rec reopen_card wakener wrapper =
in
loop 1);
reply_waiters = SerialMap.empty;
- command_waiters = CommandMap.empty;
handle = handle;
kernel_active = kernel_active;
mutex = Lwt_mutex.create ();
} in
set_state wrapper (Ws_running card);
- ignore (dispatch card);
+ ignore (dispatch wrapper card);
Lwt.wakeup wakener ();
return ()
with exn ->
@@ -212,7 +210,7 @@ let rec reopen_card wakener wrapper =
loop true
(* Dispatch incomming messages *)
-and dispatch card =
+and dispatch wrapper card =
let buffer = String.create 64 in
lwt len = USB.interrupt_recv ~handle:card.handle ~endpoint:1 buffer 0 64 in
if len <> 64 then fatal "read <> 64!";
@@ -220,21 +218,23 @@ and dispatch card =
if msg.command = Protocol.cmd_respond then begin
(* Réponse à un message *)
match try Some(SerialMap.find msg.host_serial card.reply_waiters) with Not_found -> None with
- | Some (_, w) ->
+ | Some wakener ->
card.reply_waiters <- SerialMap.remove msg.host_serial card.reply_waiters;
card.serial_pool <- card.serial_pool @ [msg.host_serial];
- Lwt.wakeup w msg.data
+ Lwt.wakeup wakener msg.data
| None ->
Log#warning "response dropped"
end else begin
- match try Some(CommandMap.find msg.command card.command_waiters) with Not_found -> None with
- | Some(_, w) ->
- card.command_waiters <- CommandMap.remove msg.command card.command_waiters;
- Lwt.wakeup w msg.data
- | None ->
- Log#warning "command droppped"
+ Lwt_sequence.iter_l
+ (fun (command, push) ->
+ if command = msg.command then
+ try
+ push msg.data
+ with exn ->
+ Log#exn exn "pushing event %d failed with: " msg.command)
+ wrapper.events
end;
- dispatch card
+ dispatch wrapper card
let open_card ~name ~vendor_id ~product_id =
let waiter, wakener = Lwt.task () in
@@ -246,6 +246,7 @@ let open_card ~name ~vendor_id ~product_id =
vendor_id = vendor_id;
product_id = product_id;
name = name;
+ events = Lwt_sequence.create ();
} in
ignore (reopen_card wakener wrapper);
wrapper
@@ -284,8 +285,8 @@ let rec send_request wrapper command data =
card.serial_pool <- l;
s
in
- let (waiter, wakener) as w = Lwt.wait () in
- card.reply_waiters <- SerialMap.add serial w card.reply_waiters;
+ let waiter, wakener = Lwt.wait () in
+ card.reply_waiters <- SerialMap.add serial wakener card.reply_waiters;
let buffer = forge_message { host_serial = serial;
device_serial = 0;
command = command;
@@ -297,10 +298,13 @@ let rec send_request wrapper command data =
lwt len = USB.interrupt_send ~handle:card.handle ~endpoint:1 buffer 0 64 in
if len <> 64 then fatal "write <> 64!";
waiter)
- with exn ->
- Log#exn exn "write to %s card failed" wrapper.name;
- lwt () = restart wrapper in
- send_request wrapper command data
+ with
+ | Canceled ->
+ fail Canceled
+ | exn ->
+ Log#exn exn "write to %s card failed" wrapper.name;
+ lwt () = restart wrapper in
+ send_request wrapper command data
(* Send a command without waiting for the reply: *)
let rec send_command wrapper command data =
@@ -314,29 +318,18 @@ let rec send_command wrapper command data =
lwt len = USB.interrupt_send ~handle:card.handle ~endpoint:1 buffer 0 64 in
if len <> 64 then fatal "write <> 64!";
return ()
- with exn ->
- Log#exn exn "write to %s card failed" wrapper.name;
- lwt () = restart wrapper in
- send_command wrapper command data
-
-let rec send_command_with_reply wrapper command data =
- lwt card = get_card wrapper in
- let buffer = forge_message { host_serial = 0;
- device_serial = 0;
- command = command;
- error = 0;
- data = data } in
- let (waiter, wakener) as w = Lwt.wait () in
- card.command_waiters <- CommandMap.add command w card.command_waiters;
- try_lwt
- Lwt_mutex.with_lock card.mutex
- (fun () ->
- lwt len = USB.interrupt_send ~handle:card.handle ~endpoint:1 buffer 0 64 in
- if len <> 64 then fatal "write <> 64!";
- waiter)
- with exn ->
- Log#exn exn "write to %s card failed" wrapper.name;
- lwt () = restart wrapper in
- send_command_with_reply wrapper command data
-
-let connect card command = failwith "not implemented"
+ with
+ | Canceled ->
+ fail Canceled
+ | exn ->
+ Log#exn exn "write to %s card failed" wrapper.name;
+ lwt () = restart wrapper in
+ send_command wrapper command data
+
+let connect wrapper command =
+ let event, push = React.E.create () in
+ let node = Lwt_sequence.add_l (command, push) wrapper.events in
+ (object
+ method event = event
+ method stop = Lwt_sequence.remove node; React.E.stop event
+ end)
diff --git a/PC_Mainboard/driver/src/card.mli b/PC_Mainboard/driver/src/card.mli
index fcbd8b1..b3ca5bf 100644
--- a/PC_Mainboard/driver/src/card.mli
+++ b/PC_Mainboard/driver/src/card.mli
@@ -54,9 +54,6 @@ val send_request : t -> int -> string -> string Lwt.t
val send_command : t -> int -> string -> unit Lwt.t
(** Sends a command to the device *)
-val send_command_with_reply : t -> int -> string -> string Lwt.t
- (** Send a command and wait for the reply *)
-
val connect : t -> int -> < event : string React.event; stop : unit >
(** [connect card command] connects to signals [command] emitted by
[card] *)
diff --git a/PC_Mainboard/driver/src/commands.ml b/PC_Mainboard/driver/src/commands.ml
index 10d4c2a..5404b77 100644
--- a/PC_Mainboard/driver/src/commands.ml
+++ b/PC_Mainboard/driver/src/commands.ml
@@ -78,8 +78,7 @@ struct
RW.set_int16 data 1 arg1;
RW.set_int16 data 3 arg2;
RW.set_int16 data 5 arg3;
- lwt _ = Card.send_command_with_reply card Protocol.cmd_traj data in
- return ()
+ Card.send_command card Protocol.cmd_traj data
let move card ~dist ~speed ~acc =
if dist < 0 then
diff --git a/PC_Mainboard/driver/src/driver.ml b/PC_Mainboard/driver/src/driver.ml
index e652c0f..c445926 100644
--- a/PC_Mainboard/driver/src/driver.ml
+++ b/PC_Mainboard/driver/src/driver.ml
@@ -238,6 +238,13 @@ open Lwt
module Motors =
struct
+ type move_state =
+ | Ms_static
+ (* No movement *)
+ | Ms_moving of unit Lwt.u * [ `Forward | `Backward | `Turn ]
+ (* Currently moving. The argument is a wakener to stop the
+ mover. *)
+
type t = {
obus : OBus_object.t;
card : Card.t;
@@ -252,8 +259,11 @@ struct
mutable inhibit_backward_until : float;
(* Date after which motor's inhition should be stopped *)
- move_mutex : Lwt_mutex.t;
- mutable move_stop : unit -> unit;
+ mutable move_state : move_state;
+ (* Move state *)
+
+ commands : int React.event;
+ (* CMD_TRAJ commands sent by the card *)
}
module OBus = OBus_object.Make(struct
@@ -267,25 +277,50 @@ struct
| High-level movement |
+---------------------------------------------------------------+ *)
+ let obus_move_result : [ `OK | `Stopped ] OBus_type.basic =
+ OBus_type.mapping obus_int [(`OK, 0); (`Stopped, 1)]
+
+ let stop_move dev =
+ match dev.move_state with
+ | Ms_static ->
+ ()
+ | Ms_moving(wakener, _) ->
+ dev.move_state <- Ms_static;
+ wakeup wakener ()
+
let move dev dist speed acc =
Log#info "motor: move(dist=%d, speed=%d, acc=%d)" dist speed acc;
- let date = Unix.gettimeofday () in
- if (dist > 0 && date < dev.inhibit_forward_until) || (dist < 0 && date < dev.inhibit_backward_until) then
- return ()
- else
- Lwt_mutex.with_lock dev.move_mutex
- (fun () ->
- let waiter, wakener = task () in
- dev.move_stop <- (fun () -> wakeup wakener ());
- lwt () = choose [Commands.Motor.move dev.card dist speed acc; waiter] in
- return ())
+ match dev.move_state with
+ | Ms_moving _ ->
+ fail (Failure "already moving")
+ | Ms_static ->
+ let date = Unix.gettimeofday () in
+ if (dist > 0 && date < dev.inhibit_forward_until) || (dist < 0 && date < dev.inhibit_backward_until) then
+ fail (Failure "inhibited move")
+ else begin
+ let waiter, wakener = wait () in
+ dev.move_state <- Ms_moving(wakener, if dist > 0 then `Forward else `Backward);
+ lwt () = Commands.Motor.move dev.card dist speed acc in
+ lwt result = select [Lwt_event.next dev.commands >> return `OK; waiter >> return `Stopped] in
+ dev.move_state <- Ms_static;
+ return result
+ end
let turn dev angle speed acc =
Log#info "motor: turn(angle=%d, speed=%d, acc=%d)" angle speed acc;
- Commands.Motor.turn dev.card angle speed acc
-
- OL_method Turn : int -> int -> int -> unit
- OL_method Move : int -> int -> int -> unit
+ match dev.move_state with
+ | Ms_moving _ ->
+ fail (Failure "already moving")
+ | Ms_static ->
+ let waiter, wakener = wait () in
+ dev.move_state <- Ms_moving(wakener, `Turn);
+ lwt () = Commands.Motor.turn dev.card angle speed acc in
+ lwt result = select [Lwt_event.next dev.commands >> return `OK; waiter >> return `Stopped] in
+ dev.move_state <- Ms_static;
+ return result
+
+ OL_method Turn : int -> int -> int -> move_result
+ OL_method Move : int -> int -> int -> move_result
(* +---------------------------------------------------------------+
| Low-level control of speed and acceleration of each motor |
@@ -313,16 +348,16 @@ struct
let stop_motors dev motor mode =
Log#info "motor: stopping(motor=%s, mode=%s)" (string_of_motor motor) (string_of_stop_mode mode);
- let t = Commands.Motor.stop dev.card motor mode in
- dev.move_stop ();
- t
+ stop_move dev;
+ Commands.Motor.stop dev.card motor mode
let set_speed dev motor speed acc =
Log#info "motor: set_speed(motor=%s, speed=%d, acc=%d)" (string_of_motor motor) speed acc;
+ stop_move dev;
let dir, speed = if speed < 0 then (`Backward, -speed) else (`Forward, speed) in
let date = Unix.gettimeofday () in
if (dir = `Forward && date < dev.inhibit_forward_until) || (dir = `Backward && date < dev.inhibit_backward_until) then
- return ()
+ fail (Failure "inhibited move")
else
lwt () =
if acc <> dev.acceleration then begin
@@ -353,13 +388,23 @@ struct
fun dev delay ->
let until = Unix.gettimeofday () +. delay in
dev.inhibit_forward_until <- until;
- inhibited_forward_changed dev until
+ ignore (inhibited_forward_changed dev until);
+ match dev.move_state with
+ | Ms_moving(_, `Forward) ->
+ stop_motors dev `Both `Smooth
+ | _ ->
+ return ()
OL_method InhibitBackward : float -> unit =
fun dev delay ->
let until = Unix.gettimeofday () +. delay in
dev.inhibit_backward_until <- until;
- inhibited_backward_changed dev until
+ ignore (inhibited_backward_changed dev until);
+ match dev.move_state with
+ | Ms_moving(_, `Backward) ->
+ stop_motors dev `Both `Smooth
+ | _ ->
+ return ()
let make card path =
let dev = {
@@ -369,10 +414,9 @@ struct
state = React.S.const ();
inhibit_forward_until = 0.0;
inhibit_backward_until = 0.0;
- move_mutex = Lwt_mutex.create ();
- move_stop = ignore;
- }
- in
+ move_state = Ms_static;
+ commands = React.E.map (fun data -> Char.code data.[0]) (Card.connect card Protocol.cmd_traj)#event;
+ } in
dev.state <- React.S.map (fun state -> dev.acceleration <- 0) (Card.state card);
dev
end
hooks/post-receive
--
krobot
|
