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[Krobot-commits] [SCM] krobot branch, master, updated. f96b27abd1f34c12f5dd40ab2c2c532e812f0936
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From: Jérémie D. <Ba...@us...> - 2010-02-11 20:39:47
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This is an automated email from the git hooks/post-receive script. It was
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the project "krobot".
The branch, master has been updated
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via 5fb431106f3ad37b156b341be84a8bc2e7721f23 (commit)
via d4d5b0aaafe5449491e064bbcf44648f93156ef7 (commit)
from cb2666ad63d7de5c68a47ea0803cb113b8a264a3 (commit)
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- Log -----------------------------------------------------------------
commit f96b27abd1f34c12f5dd40ab2c2c532e812f0936
Author: Jérémie Dimino <je...@di...>
Date: Thu Feb 11 21:39:20 2010 +0100
[driver] typos
commit 5fb431106f3ad37b156b341be84a8bc2e7721f23
Author: Jérémie Dimino <je...@di...>
Date: Thu Feb 11 21:36:36 2010 +0100
[clients] added some tests
commit d4d5b0aaafe5449491e064bbcf44648f93156ef7
Author: Jérémie Dimino <je...@di...>
Date: Thu Feb 11 21:36:04 2010 +0100
[driver] adapt trajectory conrol to the new firmware
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/Makefile b/PC_Mainboard/Makefile
index 56af001..121732e 100644
--- a/PC_Mainboard/Makefile
+++ b/PC_Mainboard/Makefile
@@ -21,3 +21,7 @@ all:
.PHONY: clean
clean:
$(OC) -clean
+
+.PHONY: send
+send:
+ scp $(wildcard _build/**/*.best) ol...@mr...:bin
diff --git a/PC_Mainboard/_tags b/PC_Mainboard/_tags
index 103ccce..818fd97 100644
--- a/PC_Mainboard/_tags
+++ b/PC_Mainboard/_tags
@@ -55,3 +55,10 @@
<tools/forward_dbus.ml>: syntax_camlp4o, pkg_lwt.syntax, pkg_lwt.syntax.log, pkg_obus.syntax
<tools/forward_dbus.*>: pkg_obus
+
+# +------------------------------------------------------------------+
+# | Tests |
+# +------------------------------------------------------------------+
+
+<tests/**/*.ml>: syntax_camlp4o, pkg_lwt.syntax, pkg_lwt.syntax.log, pkg_obus.syntax
+<tests/**>: pkg_lwt.unix, pkg_obus
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index 3ea209e..ef69fe9 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -107,38 +107,41 @@ let move thread =
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" ->
- move (Krobot.move krobot ~dist:(arg_int "dist" 100) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800))
- | "backward" ->
- move (Krobot.move krobot ~dist:(-(arg_int "dist" 100)) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800))
- | "left" ->
- move (Krobot.turn krobot ~angle:(arg_int "dist" 100) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800))
- | "right" ->
- 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"))
- ~mode:(match arg_string "mode" "off" with
- | "off" -> `Off
- | "abrupt" -> `Abrupt
- | "smooth" -> `Smooth
- | _ -> failwith "Script.exec: invalid stop mode")
- | "set-speed" ->
- Krobot.set_speed krobot
- ~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 ()
-
+ try_lwt
+ 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" ->
+ move (Krobot.move krobot ~dist:(arg_int "dist" 100) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800))
+ | "backward" ->
+ move (Krobot.move krobot ~dist:(-(arg_int "dist" 100)) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800))
+ | "left" ->
+ move (Krobot.turn krobot ~angle:(arg_int "dist" 100) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800))
+ | "right" ->
+ 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"))
+ ~mode:(match arg_string "mode" "off" with
+ | "off" -> `Off
+ | "abrupt" -> `Abrupt
+ | "smooth" -> `Smooth
+ | _ -> failwith "Script.exec: invalid stop mode")
+ | "set-speed" ->
+ Krobot.set_speed krobot
+ ~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 ()
+ with exn ->
+ Log#exn exn "command failed with";
+ fail exn
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index c9ee93c..801319b 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -241,7 +241,9 @@ struct
type move_state =
| Ms_static
(* No movement *)
- | Ms_moving of unit Lwt.u * [ `Forward | `Backward | `Turn ]
+ | Ms_stopping
+ (* The trajectory has been stopped *)
+ | Ms_moving of [ `Forward | `Backward | `Turn ]
(* Currently moving. The argument is a wakener to stop the
mover. *)
@@ -287,11 +289,10 @@ struct
let stop_move dev =
match dev.move_state with
- | Ms_static ->
+ | Ms_moving _ ->
+ dev.move_state <- Ms_stopping
+ | _ ->
()
- | Ms_moving(wakener, _) ->
- dev.move_state <- Ms_static;
- wakeup wakener ()
let reset_speed dev =
dev.speed_left <- 0;
@@ -300,7 +301,7 @@ struct
let move dev dist speed acc =
Log#info "motor: move(dist=%d, speed=%d, acc=%d)" dist speed acc;
match dev.move_state with
- | Ms_moving _ ->
+ | Ms_moving _ | Ms_stopping ->
fail (Failure "already moving")
| Ms_static ->
let date = Unix.gettimeofday () in
@@ -308,10 +309,14 @@ struct
fail (Failure "inhibited move")
else begin
reset_speed dev;
- 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.traj_completed >> return `OK; waiter >> return `Stopped] in
+ dev.move_state <- Ms_moving(if dist > 0 then `Forward else `Backward);
+ lwt () = Commands.Motor.move dev.card dist speed acc and _ = Lwt_event.next dev.traj_completed in
+ let result = match dev.move_state with
+ | Ms_stopping ->
+ `Stopped
+ | _ ->
+ `OK
+ in
dev.move_state <- Ms_static;
return result
end
@@ -319,14 +324,18 @@ struct
let turn dev angle speed acc =
Log#info "motor: turn(angle=%d, speed=%d, acc=%d)" angle speed acc;
match dev.move_state with
- | Ms_moving _ ->
+ | Ms_moving _ | Ms_stopping ->
fail (Failure "already moving")
| Ms_static ->
reset_speed dev;
- 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.traj_completed >> return `OK; waiter >> return `Stopped] in
+ dev.move_state <- Ms_moving `Turn;
+ lwt () = Commands.Motor.turn dev.card angle speed acc and _ = Lwt_event.next dev.traj_completed in
+ let result = match dev.move_state with
+ | Ms_stopping ->
+ `Stopped
+ | _ ->
+ `OK
+ in
dev.move_state <- Ms_static;
return result
@@ -396,10 +405,10 @@ struct
dev.inhibit_forward_until <- until;
ignore (inhibited_forward_changed dev until);
match dev.move_state with
- | Ms_moving(_, `Forward) ->
- stop_motors dev `Both `Smooth
+ | Ms_moving `Forward ->
+ stop_motors dev `Both `Abrupt
| Ms_static when dev.speed_left > 0 || dev.speed_right > 0 ->
- stop_motors dev `Both `Smooth
+ stop_motors dev `Both `Abrupt
| _ ->
return ()
@@ -409,10 +418,10 @@ struct
dev.inhibit_backward_until <- until;
ignore (inhibited_backward_changed dev until);
match dev.move_state with
- | Ms_moving(_, `Backward) ->
- stop_motors dev `Both `Smooth
+ | Ms_moving `Backward ->
+ stop_motors dev `Both `Abrupt
| Ms_static when dev.speed_left < 0 || dev.speed_right < 0 ->
- stop_motors dev `Both `Smooth
+ stop_motors dev `Both `Abrupt
| _ ->
return ()
diff --git a/PC_Mainboard/myocamlbuild.ml b/PC_Mainboard/myocamlbuild.ml
index fc811df..d70ead8 100644
--- a/PC_Mainboard/myocamlbuild.ml
+++ b/PC_Mainboard/myocamlbuild.ml
@@ -75,6 +75,9 @@ let targets = List.filter_opt (function (true, target) -> Some target | (false,
(* Services *)
(have_lwt_unix && have_obus, "services/hard_stop.best");
+
+ (* Tests *)
+ (have_lwt_unix && have_obus, "tests/double_move.best");
]
(* +-----------------------------------------------------------------+
hooks/post-receive
--
krobot
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