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[Krobot-commits] [SCM] krobot branch, master, updated. a4b90752699e95c28994bd8db6da99995798d984
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From: Jérémie D. <Ba...@us...> - 2010-02-15 18:56:46
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The branch, master has been updated
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via 682f03efcf4e3f6d2ba9f83ce31b877238dfa952 (commit)
from 4487bdbbf8267e3f894707a786880dbe9929a00f (commit)
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- Log -----------------------------------------------------------------
commit a4b90752699e95c28994bd8db6da99995798d984
Author: Jérémie Dimino <je...@di...>
Date: Mon Feb 15 19:53:58 2010 +0100
allow to reset cards in the controller
commit 682f03efcf4e3f6d2ba9f83ce31b877238dfa952
Author: Jérémie Dimino <je...@di...>
Date: Mon Feb 15 19:45:56 2010 +0100
Handle failures in joy_control.ml.
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/joy_control.ml b/PC_Mainboard/clients/joy_control.ml
index 1fb1edb..b36a9de 100644
--- a/PC_Mainboard/clients/joy_control.ml
+++ b/PC_Mainboard/clients/joy_control.ml
@@ -117,6 +117,13 @@ let child_loop pipe joy =
let axis_coef = 8
let acceleration = 800
+let try_call action f =
+ try_lwt
+ f ()
+ with Failure msg ->
+ Log#error "action %s failed with: %s" action msg;
+ return ()
+
let parent_loop krobot pipe =
let rstop = ref false and lstop = ref false in
let rec loop () =
@@ -125,24 +132,24 @@ let parent_loop krobot pipe =
return ()
| JoyRAxis n ->
if not !rstop then
- lwt () = Krobot.set_speed krobot ~motor:`Right ~speed:((-n) * axis_coef) ~acc:acceleration in
+ lwt () = try_call "set-speed-right" (fun () -> Krobot.set_speed krobot ~motor:`Right ~speed:((-n) * axis_coef) ~acc:acceleration) in
loop ()
else
loop ()
| JoyLAxis n ->
if not !lstop then
- lwt () = Krobot.set_speed krobot ~motor:`Left ~speed:(n * axis_coef) ~acc:acceleration in
+ lwt () = try_call "set-speed-left" (fun () -> Krobot.set_speed krobot ~motor:`Left ~speed:(n * axis_coef) ~acc:acceleration) in
loop ()
else
loop ()
| JoyButtonPressed ButtonL2 ->
lstop := true;
- lwt () = Krobot.stop_motors krobot ~motor:`Left ~mode:`Abrupt in
+ lwt () = try_call "stop-left-motor" (fun () -> Krobot.stop_motors krobot ~motor:`Left ~mode:`Abrupt) in
ignore (lwt () = Lwt_unix.sleep 1.0 in lstop := false; return ());
loop ()
| JoyButtonPressed ButtonR2 ->
rstop := true;
- lwt () = Krobot.stop_motors krobot ~motor:`Right ~mode:`Abrupt in
+ lwt () = try_call "stop-right-motor" (fun () -> Krobot.stop_motors krobot ~motor:`Right ~mode:`Abrupt) in
ignore (lwt () = Lwt_unix.sleep 1.0 in rstop := false; return ());
loop ()
| JoyButtonReleased ButtonCircle ->
@@ -178,5 +185,6 @@ let () =
Unix.close fd_w;
Lwt_main.run begin
lwt krobot = Krobot.create () in
+ Log#notice "ready to process event";
parent_loop krobot (Lwt_io.of_unix_fd ~mode:Lwt_io.input fd_r)
end
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index 158bd3d..d9999d2 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -41,6 +41,8 @@ let commands = [
("acc", Arg_int)] };
{ name = "bootloader";
args = [("card", Arg_keyword ["interface"; "sensor"; "motor"])] };
+ { name = "reset";
+ 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
@@ -140,6 +142,13 @@ let exec krobot line =
| "motor" -> `Motor
| "sensor" -> `Sensor
| _ -> failwith "Script.exec: invalid card")
+ | "reset" ->
+ Krobot.Card.reset krobot
+ (match arg_string "card" "" with
+ | "interface" -> `Interface
+ | "motor" -> `Motor
+ | "sensor" -> `Sensor
+ | _ -> failwith "Script.exec: invalid card")
| _ ->
Log#error "unknown command %S" action;
return ()
diff --git a/PC_Mainboard/driver/card.mli b/PC_Mainboard/driver/card.mli
index 55cc194..8ca9ef2 100644
--- a/PC_Mainboard/driver/card.mli
+++ b/PC_Mainboard/driver/card.mli
@@ -41,6 +41,9 @@ val close : t -> unit Lwt.t
exception Card_closed
(** Exception raised when trying to use a closed card *)
+val restart : t -> unit Lwt.t
+ (** Closes and reopens the given card *)
+
(** {6 Sending/receving messages} *)
val make_buffer : unit -> string
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 801319b..d821592 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -512,6 +512,9 @@ struct
OL_method Bootloader : unit = fun dev ->
Commands.bootloader dev.card
+ OL_method Reset : unit = fun dev ->
+ Card.restart dev.card
+
OL_signal StateChanged : Types.card_state
let make card path =
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 1b38052..409f4ea 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -213,6 +213,7 @@ struct
OP_method GetFirmwareBuild : string
OP_method GetBoardInfo : string
OP_method Bootloader : unit
+ OP_method Reset : unit
let proxy krobot card =
OBus_proxy.make krobot.peer
@@ -224,4 +225,5 @@ 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)
+ let reset krobot card = reset (proxy krobot card)
end
diff --git a/PC_Mainboard/lib_krobot/krobot.mli b/PC_Mainboard/lib_krobot/krobot.mli
index 3a45b1a..6561470 100644
--- a/PC_Mainboard/lib_krobot/krobot.mli
+++ b/PC_Mainboard/lib_krobot/krobot.mli
@@ -99,4 +99,5 @@ module Card : sig
val get_firmware_build : t -> card -> string Lwt.t
val get_board_info : t -> card -> string Lwt.t
+ val reset : t -> card -> unit Lwt.t
end
hooks/post-receive
--
krobot
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