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[Krobot-commits] [SCM] krobot branch, master, updated. 60ddcdf6fc72e9ca1906fb6b470b5ee4d98ed6ca
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From: Jérémie D. <Ba...@us...> - 2010-02-16 19:35:51
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the project "krobot".
The branch, master has been updated
via 60ddcdf6fc72e9ca1906fb6b470b5ee4d98ed6ca (commit)
via 459275da1eec8e551b033c2e280904a94ef05d56 (commit)
from 31a63cff42edcdc0ad0302eb62a3bd4fad21bc26 (commit)
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- Log -----------------------------------------------------------------
commit 60ddcdf6fc72e9ca1906fb6b470b5ee4d98ed6ca
Author: Olivier BICHLER <oli...@en...>
Date: Tue Feb 16 20:34:42 2010 +0100
[driver] bugfixes
commit 459275da1eec8e551b033c2e280904a94ef05d56
Author: Jérémie Dimino <je...@di...>
Date: Tue Feb 16 19:18:10 2010 +0100
typos
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/controller.ml b/PC_Mainboard/clients/controller.ml
index f8817b0..f694bba 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -116,7 +116,7 @@ let rec draw size
Draw.textf zone x 2 "compass = %d" compass;
let text_of_state name = function
| `Absent -> [fg lred; textf "%s card is absent" name]
- | `Present -> [fg lred; textf "%s card is present" name]
+ | `Present -> [textf "%s card is present" name]
in
Draw.textc zone x 3 (text_of_state "interface" state_interface);
Draw.textc zone x 4 (text_of_state "sensor" state_sensor);
diff --git a/PC_Mainboard/driver/card.ml b/PC_Mainboard/driver/card.ml
index cd8c920..1a9927c 100644
--- a/PC_Mainboard/driver/card.ml
+++ b/PC_Mainboard/driver/card.ml
@@ -167,7 +167,7 @@ let rec dispatch card =
return (`Error exn)
end >>= function
| `Error exn ->
- Log#exn exn "stop dispatching on %s card: %s" card.wrapper.name (Printexc.to_string exn);
+ Log#exn exn "stop dispatching on %s card" card.wrapper.name;
lwt _ = abort card.wrapper exn in
return ()
| `OK len ->
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 06e11a1..bd69ec1 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -193,9 +193,6 @@ struct
mutable acceleration : int;
(* The current acceleration *)
- mutable state : unit React.signal;
- (* Reinit [acceleraation] to None when the card state changes *)
-
mutable inhibit_forward_until : float;
mutable inhibit_backward_until : float;
(* Date after which motor's inhition should be stopped *)
@@ -370,7 +367,6 @@ struct
obus = OBus_object.make path;
card = card;
acceleration = 0;
- state = React.S.const ();
inhibit_forward_until = 0.0;
inhibit_backward_until = 0.0;
move_state = Ms_static;
@@ -491,40 +487,45 @@ end
(* Continously try to open the card with given parameters *)
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))
- (fun handle ->
- Log#info "%s card opened" name;
- lwt () =
- try_lwt
- lwt card = Card.make name handle in
- set (Some card);
- Log#info "%s card is up and running" name;
- lwt () = on_up card in
- lwt result = Card.watch card in
- set None;
- lwt () = on_down () in
- match result with
- | `Closed ->
- return ()
- | `Error exn ->
- Log#exn exn "%s card crashed with" name;
- return ()
- with exn ->
- Log#exn exn "failed to initialise %s card" name;
- return ()
- in
- if !quit then
- return ()
- else
- 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 ~set on_up on_down)
+ match try `Handle(USB.open_device_with ~vendor_id ~product_id) with exn -> `Error exn with
+ | `Error exn ->
+ Log#exn exn "failed to open %s card" name;
+ restart_card ~name ~vendor_id ~product_id ~set on_up on_down
+ | `Handle handle ->
+ Log#info "%s card opened" name;
+ begin
+ try_lwt
+ lwt card = Card.make name handle in
+ return (`Card card)
+ with exn ->
+ return (`Error exn)
+ end >>= function
+ | `Card card ->
+ Log#info "%s card is up and running" name;
+ set (Some card);
+ lwt () = on_up card in
+ lwt result = Card.watch card in
+ set None;
+ lwt () = on_down () in
+ begin
+ match result with
+ | `Closed ->
+ ()
+ | `Error exn ->
+ Log#exn exn "%s card crashed with" name
+ end;
+ restart_card ~name ~vendor_id ~product_id ~set on_up on_down
+ | `Error exn ->
+ Log#exn exn "failed to make %s card" name;
+ restart_card ~name ~vendor_id ~product_id ~set on_up on_down
+
+and restart_card ~name ~vendor_id ~product_id ~set on_up on_down =
+ if !quit then
+ return ()
+ else begin
+ lwt () = Lwt_unix.sleep Config.reopen_delay in
+ monitor_card ~name ~vendor_id ~product_id ~set on_up on_down
+ end
(* +-----------------------------------------------------------------+
| Entry point |
@@ -583,7 +584,6 @@ lwt () =
and () = AX12.OBus.export bus =|< AX12.make card ["fr"; "krobot"; "Devices"; "AX12"] in
return ())
(fun () ->
- OBus_object.remove_by_path bus ["fr"; "krobot"; "Cards"; "Interface"];
OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "Compass"];
OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "AX12"];
return ())
@@ -596,7 +596,6 @@ lwt () =
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"; "Sensor"];
OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "LogicSensors"];
OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "RangeFinders"];
return ())
@@ -609,7 +608,6 @@ lwt () =
lwt () = Motors.OBus.export bus =|< Motors.make card ["fr"; "krobot"; "Devices"; "Motors"] in
return ())
(fun () ->
- OBus_object.remove_by_path bus ["fr"; "krobot"; "Cards"; "Motor"];
OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "Motors"];
return ())
end;
@@ -620,6 +618,6 @@ lwt () =
Manager.OBus.export bus ();
- Log#info "ready, waiting for requests";
+ Log#notice "ready, waiting for requests";
done_waiter
end
hooks/post-receive
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krobot
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