Menu
▾
▴
[Krobot-commits] [SCM] krobot branch, master, updated. 31a63cff42edcdc0ad0302eb62a3bd4fad21bc26
|
From: Jérémie D. <Ba...@us...> - 2010-02-16 18:11:06
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 31a63cff42edcdc0ad0302eb62a3bd4fad21bc26 (commit)
from 17e2475914c006b1b54860036bb0bf9f65aa4c0d (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 31a63cff42edcdc0ad0302eb62a3bd4fad21bc26
Author: Jérémie Dimino <je...@di...>
Date: Tue Feb 16 19:10:36 2010 +0100
Adapt clients for the new driver
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/controller.ml b/PC_Mainboard/clients/controller.ml
index 29d6c3e..f8817b0 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -114,14 +114,13 @@ let rec draw size
Draw.textf zone x 0 "team = %s" (match team with Krobot.Team_red -> "red" | Krobot.Team_green -> "green");
Draw.textf zone x 1 "jack = %s" (if jack then "present" else "absent");
Draw.textf zone x 2 "compass = %d" compass;
- let string_of_state = function
- | `Running -> "running"
- | `Opening -> "opening"
- | `Closed -> "closed"
+ let text_of_state name = function
+ | `Absent -> [fg lred; textf "%s card is absent" name]
+ | `Present -> [fg lred; textf "%s card is present" name]
in
- Draw.textf zone x 3 "interface card is %s" (string_of_state state_interface);
- Draw.textf zone x 4 "sensor card is %s" (string_of_state state_sensor);
- Draw.textf zone x 5 "motor card is %s" (string_of_state state_motor);
+ Draw.textc zone x 3 (text_of_state "interface" state_interface);
+ Draw.textc zone x 4 (text_of_state "sensor" state_sensor);
+ Draw.textc zone x 5 (text_of_state "motor" state_motor);
let date = Unix.gettimeofday () in
let string_of_motor_state until =
if date < until then
diff --git a/PC_Mainboard/clients/info.ml b/PC_Mainboard/clients/info.ml
index 3fee081..99519db 100644
--- a/PC_Mainboard/clients/info.ml
+++ b/PC_Mainboard/clients/info.ml
@@ -14,19 +14,18 @@ open Lwt_io
let print_card krobot card =
match React.S.value (Krobot.Card.state krobot card) with
- | `Running ->
+ | `Present ->
lwt firmware_build = Krobot.Card.get_firmware_build krobot card
and board_info = Krobot.Card.get_board_info krobot card in
let name = Krobot.Card.name card in
lwt () = printl "==========" in
- lwt () = printlf "card.%s.state = running" name in
+ lwt () = printlf "card.%s.state = present" name in
lwt () = printlf "card.%s.firmware_build = %s" name firmware_build in
lwt () = printlf "card.%s.board_info = %s" name board_info in
return ()
- | `Opening ->
- printlf "card.%s.state = opening" (Krobot.Card.name card)
- | `Closed ->
- printlf "card.%s.state = closed" (Krobot.Card.name card)
+ | `Absent ->
+ lwt () = printl "==========" in
+ printlf "card.%s.state = absent" (Krobot.Card.name card)
lwt () =
lwt krobot = Krobot.create () in
diff --git a/PC_Mainboard/common/types.ml b/PC_Mainboard/common/types.ml
index cb42817..0a4f80a 100644
--- a/PC_Mainboard/common/types.ml
+++ b/PC_Mainboard/common/types.ml
@@ -28,9 +28,8 @@ let obus_stop_mode = OBus_type.mapping obus_int
(`Abrupt, 1);
(`Smooth, 2)]
-type card_state = [ `Running | `Opening | `Closed ]
+type card_state = [ `Present | `Absent ]
let obus_card_state = OBus_type.mapping obus_int
- [(`Running, 0);
- (`Opening, 1);
- (`Closed, 2)]
+ [(`Present, 0);
+ (`Absent, 1)]
diff --git a/PC_Mainboard/common/types.mli b/PC_Mainboard/common/types.mli
index 35eed37..53a3511 100644
--- a/PC_Mainboard/common/types.mli
+++ b/PC_Mainboard/common/types.mli
@@ -25,5 +25,5 @@ type motor = [ `Left | `Right | `Both ] with obus(basic)
type stop_mode = [ `Off | `Abrupt | `Smooth ] with obus(basic)
(** Mode for stopping motors *)
-type card_state = [ `Running | `Opening | `Closed ] with obus(basic)
+type card_state = [ `Present | `Absent ] with obus(basic)
(** State of a card *)
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index f103fb2..06e11a1 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -12,8 +12,6 @@
open OBus_pervasives
open Lwt
-let crashed card = fail (Failure(Printf.sprintf "%s card has crashed" (Card.name card)))
-
(* +-----------------------------------------------------------------+
| Compass |
+-----------------------------------------------------------------+ *)
@@ -390,9 +388,9 @@ end
let done_waiter, done_wakener = Lwt.wait ()
let quit = ref false
-let card_interface = ref None
-let card_sensor = ref None
-let card_motor = ref None
+let card_interface, set_card_interface = React.S.create None
+let card_sensor, set_card_sensor = React.S.create None
+let card_motor, set_card_motor = React.S.create None
module Manager =
struct
@@ -405,7 +403,7 @@ struct
include OBus.MakeInterface(struct let name = "fr.krobot.Manager" end)
- let close card = match !card with
+ let close card = match React.S.value card with
| None ->
return ()
| Some card ->
@@ -429,8 +427,10 @@ end
module MCard =
struct
type t = {
- card : Card.t;
+ card : Card.t option React.signal;
obus : OBus_object.t;
+ name : string;
+ mutable state : unit Lwt.t React.signal;
}
module OBus = OBus_object.Make(struct
@@ -440,26 +440,49 @@ struct
include OBus.MakeInterface(struct let name = "fr.krobot.Card" end)
- OL_property_r Name : string = fun card ->
- return (Card.name card.card)
+ let get_card dev = match React.S.value dev.card with
+ | None ->
+ Printf.ksprintf failwith "%s card is not available" dev.name
+ | Some card ->
+ card
+
+ OL_property_r Name : string = fun dev ->
+ return (Card.name (get_card dev))
+
+ OL_method GetState : Types.card_state = fun dev ->
+ match React.S.value dev.card with
+ | None ->
+ return `Absent
+ | Some _ ->
+ return `Present
OL_method GetFirmwareBuild : string = fun dev ->
- Commands.get_firmware_build dev.card
+ Commands.get_firmware_build (get_card dev)
OL_method GetBoardInfo : string = fun dev ->
- Commands.get_board_info dev.card
+ Commands.get_board_info (get_card dev)
OL_method Bootloader : unit = fun dev ->
- Commands.bootloader dev.card
+ Commands.bootloader (get_card dev)
OL_method Reset : unit = fun dev ->
- Commands.reset dev.card
+ Commands.reset (get_card dev)
- let make card path =
- return {
+ OL_signal StateChanged : Types.card_state
+
+ let make name card path =
+ let dev = {
card = card;
obus = OBus_object.make path;
- }
+ name = name;
+ state = React.S.const (return ());
+ } in
+ dev.state <- React.S.map (function
+ | None ->
+ state_changed dev `Absent
+ | Some _ ->
+ state_changed dev `Present) card;
+ dev
end
(* +-----------------------------------------------------------------+
@@ -467,7 +490,7 @@ end
+-----------------------------------------------------------------+ *)
(* Continously try to open the card with given parameters *)
-let rec monitor_card ~name ~vendor_id ~product_id ~var on_up on_down =
+let rec monitor_card ~name ~vendor_id ~product_id ~set on_up on_down =
try_bind
(fun () ->
return (USB.open_device_with ~vendor_id ~product_id))
@@ -476,11 +499,11 @@ let rec monitor_card ~name ~vendor_id ~product_id ~var on_up on_down =
lwt () =
try_lwt
lwt card = Card.make name handle in
- var := Some card;
+ set (Some card);
Log#info "%s card is up and running" name;
lwt () = on_up card in
lwt result = Card.watch card in
- var := None;
+ set None;
lwt () = on_down () in
match result with
| `Closed ->
@@ -495,13 +518,13 @@ let rec monitor_card ~name ~vendor_id ~product_id ~var on_up on_down =
if !quit then
return ()
else
- monitor_card ~name ~vendor_id ~product_id ~var on_up on_down)
+ monitor_card ~name ~vendor_id ~product_id ~set on_up on_down)
(fun exn ->
Log#exn exn "failed to open %s card" name;
if !quit then
return ()
else
- monitor_card ~name ~vendor_id ~product_id ~var on_up on_down)
+ monitor_card ~name ~vendor_id ~product_id ~set on_up on_down)
(* +-----------------------------------------------------------------+
| Entry point |
@@ -553,11 +576,10 @@ lwt () =
end;
ignore begin
- monitor_card ~name:"interace" ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_robot_interface ~var:card_interface
+ monitor_card ~name:"interace" ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_robot_interface ~set:set_card_interface
(fun card ->
lwt () = Commands.Motor.enable card in
- lwt () = MCard.OBus.export bus =|< MCard.make card ["fr"; "krobot"; "Cards"; "Interface"]
- and () = Compass.OBus.export bus =|< Compass.make card ["fr"; "krobot"; "Devices"; "Compass"]
+ lwt () = Compass.OBus.export bus =|< Compass.make card ["fr"; "krobot"; "Devices"; "Compass"]
and () = AX12.OBus.export bus =|< AX12.make card ["fr"; "krobot"; "Devices"; "AX12"] in
return ())
(fun () ->
@@ -568,32 +590,34 @@ lwt () =
end;
ignore begin
- monitor_card ~name:"motor" ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_motor_controller ~var:card_motor
+ monitor_card ~name:"sensor" ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_proximity_sensor ~set:set_card_sensor
(fun card ->
- lwt () = Commands.Motor.enable card and () = Commands.Motor.init_lm629 card in
- lwt () = MCard.OBus.export bus =|< MCard.make card ["fr"; "krobot"; "Cards"; "Motor"]
- and () = Motors.OBus.export bus =|< Motors.make card ["fr"; "krobot"; "Devices"; "Motors"] in
+ lwt () = Logic_sensors.OBus.export bus =|< Logic_sensors.make card ["fr"; "krobot"; "Devices"; "LogicSensors"]
+ and () = Range_finders.OBus.export bus =|< Range_finders.make card ["fr"; "krobot"; "Devices"; "RangeFinders"] in
return ())
(fun () ->
- OBus_object.remove_by_path bus ["fr"; "krobot"; "Cards"; "Motor"];
- OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "Motors"];
+ OBus_object.remove_by_path bus ["fr"; "krobot"; "Cards"; "Sensor"];
+ OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "LogicSensors"];
+ OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "RangeFinders"];
return ())
end;
ignore begin
- monitor_card ~name:"sensor" ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_proximity_sensor ~var:card_sensor
+ monitor_card ~name:"motor" ~vendor_id:Protocol.usb_vid ~product_id:Protocol.usb_pid_motor_controller ~set:set_card_motor
(fun card ->
- lwt () = MCard.OBus.export bus =|< MCard.make card ["fr"; "krobot"; "Cards"; "Sensor"]
- and () = Logic_sensors.OBus.export bus =|< Logic_sensors.make card ["fr"; "krobot"; "Devices"; "LogicSensors"]
- and () = Range_finders.OBus.export bus =|< Range_finders.make card ["fr"; "krobot"; "Devices"; "RangeFinders"] in
+ lwt () = Commands.Motor.enable card and () = Commands.Motor.init_lm629 card in
+ lwt () = Motors.OBus.export bus =|< Motors.make card ["fr"; "krobot"; "Devices"; "Motors"] in
return ())
(fun () ->
- OBus_object.remove_by_path bus ["fr"; "krobot"; "Cards"; "Sensor"];
- OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "LogicSensors"];
- OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "RangeFinders"];
+ OBus_object.remove_by_path bus ["fr"; "krobot"; "Cards"; "Motor"];
+ OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "Motors"];
return ())
end;
+ MCard.OBus.export bus (MCard.make "interface" card_interface ["fr"; "krobot"; "Cards"; "Interface"]);
+ MCard.OBus.export bus (MCard.make "sensor" card_sensor ["fr"; "krobot"; "Cards"; "Sensor"]);
+ MCard.OBus.export bus (MCard.make "motor" card_motor ["fr"; "krobot"; "Cards"; "Motor"]);
+
Manager.OBus.export bus ();
Log#info "ready, waiting for requests";
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 409f4ea..6ff6b4b 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -17,7 +17,7 @@ open Lwt
type team = Team_red | Team_green
type card = {
- card_state : [ `Running | `Opening | `Closed ] React.signal;
+ card_state : Types.card_state React.signal;
}
type t = {
diff --git a/PC_Mainboard/services/hard_stop.ml b/PC_Mainboard/services/hard_stop.ml
index d2ee376..825e3f0 100644
--- a/PC_Mainboard/services/hard_stop.ml
+++ b/PC_Mainboard/services/hard_stop.ml
@@ -47,7 +47,7 @@ lwt () =
~level:(min Lwt_log.Info Lwt_log.default_level)
~facility:`Daemon
();
- Lwt_unix.daemonize ~keep_stderr:true ()
+ Lwt_daemon.daemonize ()
end;
lwt krobot = Krobot.create () in
hooks/post-receive
--
krobot
|
