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[Krobot-commits] [SCM] krobot branch, master, updated. 8adb2a66b9012493643ed81af92932b4494415ba
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From: Jérémie D. <Ba...@us...> - 2010-02-16 07:05:50
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The branch, master has been updated
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from 80af4a55967b9189f8263c73a7f173e532b0d367 (commit)
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- Log -----------------------------------------------------------------
commit 8adb2a66b9012493643ed81af92932b4494415ba
Author: Jérémie Dimino <je...@di...>
Date: Tue Feb 16 08:04:50 2010 +0100
[driver/card] abort waiters on card close/crash
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/driver/card.ml b/PC_Mainboard/driver/card.ml
index a82451f..2c517d1 100644
--- a/PC_Mainboard/driver/card.ml
+++ b/PC_Mainboard/driver/card.ml
@@ -132,15 +132,19 @@ let rec get_card wrapper = match wrapper.state with
let abort wrapper exn =
match wrapper.state with
- | Opened card ->
- wrapper.state <- Closed exn;
- wakeup_exn card.abort_wakener exn;
- lwt () = USB.release_interface card.handle 0 in
- if card.kernel_active then USB.attach_kernel_driver card.handle 0;
- USB.close card.handle;
- return exn
| Closed exn ->
return exn
+ | Opened card ->
+ wrapper.state <- Closed exn;
+ try_lwt
+ lwt () = USB.release_interface card.handle 0 in
+ if card.kernel_active then USB.attach_kernel_driver card.handle 0;
+ USB.close card.handle;
+ return exn
+ finally
+ wakeup_exn card.abort_wakener exn;
+ Int_map.iter (fun serial w -> wakeup_exn w exn) card.reply_waiters;
+ return ()
(* +-----------------------------------------------------------------+
| Dispatching |
@@ -239,7 +243,7 @@ let rec make ~name ~handle =
+-----------------------------------------------------------------+ *)
let send card buffer =
- lwt len = USB.interrupt_send ~handle:card.handle ~endpoint:1 buffer 0 64 in
+ lwt len = select [card.abort_waiter; USB.interrupt_send ~handle:card.handle ~endpoint:1 buffer 0 64] in
if len <> 64 then begin
let msg = Printf.sprintf "write on %s card returned %d instead of 64" card.wrapper.name len in
Log#error "%s" msg;
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index d821592..0c6adec 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -12,66 +12,6 @@
open OBus_pervasives
open Lwt
-(* Kill a running driver *)
-let kill bus =
- OBus_connection.method_call bus
- ~path:["fr"; "krobot"; "Manager"]
- ~interface:"fr.krobot.Manager"
- ~member:"Shutdown"
- ~destination:"fr.krobot"
- <:obus_func< unit >>
-
-(* +-----------------------------------------------------------------+
- | Command line options |
- +-----------------------------------------------------------------+ *)
-
-let foreground = ref false
-let kill_and_exit = ref false
-
-let () =
- let args = [
- "-n", Arg.Set foreground, "do not daemonize";
- "-k", Arg.Set kill_and_exit, "kill any running driver and exit";
- ] in
- let usage_msg = Printf.sprintf "Usage: %s [-n]\n\noptions are:" (Filename.basename (Sys.argv.(0))) in
- Arg.parse args ignore usage_msg;
-
- if !kill_and_exit then
- Lwt_main.run begin
- lwt bus = Lazy.force OBus_bus.system in
- lwt () = kill bus in
- exit 0
- end
-
-(* +-----------------------------------------------------------------+
- | Cards |
- +-----------------------------------------------------------------+ *)
-
-let card_interface = Card.open_card ~name:"interface" ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_robot_interface
-let card_sensor = Card.open_card ~name:"sensor" ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_proximity_sensor
-let card_motor = Card.open_card ~name:"motor" ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_motor_controller
-
-(* Enable motors when a card comes up *)
-let on_running card f =
- let stop = ref ignore in
- let notifier =
- Lwt_signal.notify_p
- (function
- | `Running ->
- f card
- | `Opening ->
- return ()
- | `Closed ->
- !stop ();
- return ())
- (Card.state card)
- in
- stop := (fun () -> Lwt_signal.disable notifier)
-
-let () =
- on_running card_interface Commands.Motor.enable;
- on_running card_motor (fun card -> Commands.Motor.enable card <&> Commands.Motor.init_lm629 card)
-
(* +-----------------------------------------------------------------+
| Compass |
+-----------------------------------------------------------------+ *)
@@ -528,67 +468,116 @@ struct
end
(* +-----------------------------------------------------------------+
+ | Cards |
+ +-----------------------------------------------------------------+ *)
+
+
+
+let card_interface = Card.open_card ~name:"interface" ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_robot_interface
+let card_sensor = Card.open_card ~name:"sensor" ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_proximity_sensor
+let card_motor = Card.open_card ~name:"motor" ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_motor_controller
+
+(* Enable motors when a card comes up *)
+let on_running card f =
+ let stop = ref ignore in
+ let notifier =
+ Lwt_signal.notify_p
+ (function
+ | `Running ->
+ f card
+ | `Opening ->
+ return ()
+ | `Closed ->
+ !stop ();
+ return ())
+ (Card.state card)
+ in
+ stop := (fun () -> Lwt_signal.disable notifier)
+
+let () =
+ on_running card_interface Commands.Motor.enable;
+ on_running card_motor (fun card -> Commands.Motor.enable card <&> Commands.Motor.init_lm629 card)
+
+(* +-----------------------------------------------------------------+
| Entry point |
+-----------------------------------------------------------------+ *)
lwt () =
+ let foreground = ref false and kill_and_exit = ref false in
+ let args = [
+ "-n", Arg.Set foreground, "do not daemonize";
+ "-k", Arg.Set kill_and_exit, "kill any running driver and exit";
+ ] in
+ let usage_msg = Printf.sprintf "Usage: %s [-n]\n\noptions are:" (Filename.basename (Sys.argv.(0))) in
+ Arg.parse args ignore usage_msg;
+
(* Be verbose: *)
Lwt_log.set_level !Lwt_log.default (min Lwt_log.Info Lwt_log.default_level);
+ (* Open the krobot message bus *)
lwt bus = OBus_bus.of_addresses (OBus_address.of_string Config.bus_address) in
- lwt () = OBus_bus.name_has_owner bus "fr.krobot" >>= function
- | true ->
- (* If a daemon is already running, kill it: *)
- Log#info "killing the currently running driver";
- kill bus
- | false ->
- return ()
+ lwt () =
+ try_lwt
+ Log#info "Killing any running driver";
+ OBus_connection.method_call bus
+ ~path:["fr"; "krobot"; "Manager"]
+ ~interface:"fr.krobot.Manager"
+ ~member:"Shutdown"
+ ~destination:"fr.krobot"
+ <:obus_func< unit >>
+ with OBus_bus.Service_unknown _ ->
+ return ()
in
- (* Request the bus name for the driver: *)
- lwt () = OBus_bus.request_name bus "fr.krobot" >>= function
- | `primary_owner ->
- return ()
- | _ ->
- fail (Failure "cannot obtain the name 'fr.krobot'")
- in
+ if !kill_and_exit then
+ return ()
- if !foreground then
- (* Running foreground, prints message on stderr: *)
- Log#info "starting krobot driver in foreground mode"
else begin
- Log#info "starting krobot driver in daemon mode";
- (* In daemon mode, send messages to syslog: *)
- Lwt_log.default := Lwt_log.syslog
- ~level:(min Lwt_log.Info Lwt_log.default_level)
- ~facility:`Daemon
- ();
- (* Become a daemon. Keep stderr for possible error messages of
- libusb. *)
- Lwt_unix.daemonize ~keep_stderr:true ()
- end;
-
- Log#info "creating and exporting objects";
-
- (* Interface card *)
- Compass.OBus.export bus (Compass.make card_interface ["fr"; "krobot"; "Devices"; "Compass"]);
- AX12.OBus.export bus (AX12.make card_interface ["fr"; "krobot"; "Devices"; "AX12"]);
-
- (* Sensor card *)
- Logic_sensors.OBus.export bus (Logic_sensors.make card_sensor ["fr"; "krobot"; "Devices"; "LogicSensors"]);
- Range_finders.OBus.export bus (Range_finders.make card_sensor ["fr"; "krobot"; "Devices"; "RangeFinders"]);
-
- (* Motor card *)
- Motors.OBus.export bus (Motors.make card_motor ["fr"; "krobot"; "Devices"; "Motors"]);
-
- (* Cards *)
- MCard.OBus.export bus (MCard.make card_interface ["fr"; "krobot"; "Cards"; "Interface"]);
- MCard.OBus.export bus (MCard.make card_sensor ["fr"; "krobot"; "Cards"; "Sensor"]);
- MCard.OBus.export bus (MCard.make card_motor ["fr"; "krobot"; "Cards"; "Motor"]);
-
- (* Internal objects *)
- Manager.OBus.export bus ();
-
- Log#info "ready, waiting for requests";
- done_waiter
+ (* Request the bus name for the driver: *)
+ lwt () = OBus_bus.request_name bus "fr.krobot" >>= function
+ | `primary_owner ->
+ return ()
+ | _ ->
+ fail (Failure "cannot obtain the name 'fr.krobot'")
+ in
+
+ if !foreground then
+ (* Running foreground, prints message on stderr: *)
+ Log#info "starting krobot driver in foreground mode"
+ else begin
+ Log#info "starting krobot driver in daemon mode";
+ (* In daemon mode, send messages to syslog: *)
+ Lwt_log.default := Lwt_log.syslog
+ ~level:(min Lwt_log.Info Lwt_log.default_level)
+ ~facility:`Daemon
+ ();
+ (* Become a daemon. Keep stderr for possible error messages of
+ libusb. *)
+ Lwt_unix.daemonize ~keep_stderr:true ()
+ end;
+
+ Log#info "creating and exporting objects";
+
+ (* Interface card *)
+ Compass.OBus.export bus (Compass.make card_interface ["fr"; "krobot"; "Devices"; "Compass"]);
+ AX12.OBus.export bus (AX12.make card_interface ["fr"; "krobot"; "Devices"; "AX12"]);
+
+ (* Sensor card *)
+ Logic_sensors.OBus.export bus (Logic_sensors.make card_sensor ["fr"; "krobot"; "Devices"; "LogicSensors"]);
+ Range_finders.OBus.export bus (Range_finders.make card_sensor ["fr"; "krobot"; "Devices"; "RangeFinders"]);
+
+ (* Motor card *)
+ Motors.OBus.export bus (Motors.make card_motor ["fr"; "krobot"; "Devices"; "Motors"]);
+
+ (* Cards *)
+ MCard.OBus.export bus (MCard.make card_interface ["fr"; "krobot"; "Cards"; "Interface"]);
+ MCard.OBus.export bus (MCard.make card_sensor ["fr"; "krobot"; "Cards"; "Sensor"]);
+ MCard.OBus.export bus (MCard.make card_motor ["fr"; "krobot"; "Cards"; "Motor"]);
+
+ (* Internal objects *)
+ Manager.OBus.export bus ();
+
+ Log#info "ready, waiting for requests";
+ done_waiter
+ end
hooks/post-receive
--
krobot
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