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[Krobot-commits] [SCM] krobot branch, master, updated. 8a7d0ca23efcdaef4335200e175fbe686a52c23a
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From: Jérémie D. <Ba...@us...> - 2010-02-17 20:20:56
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- Log -----------------------------------------------------------------
commit 8a7d0ca23efcdaef4335200e175fbe686a52c23a
Author: Jérémie Dimino <je...@di...>
Date: Wed Feb 17 21:19:47 2010 +0100
[lib_krobot] better initialisation
commit f983d690042d57af4aacfd3939b3498914a9d3a3
Author: Jérémie Dimino <je...@di...>
Date: Wed Feb 17 13:29:10 2010 +0100
[controller] better initialisation
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/controller.ml b/PC_Mainboard/clients/controller.ml
index 7ed5956..469f514 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -259,30 +259,34 @@ let rec copy_logs ic =
set_logs (line :: React.S.value logs);
copy_logs ic
+let redirect_stderr () =
+ let fdr, fdw = Unix.pipe () in
+ Unix.dup2 fdw Unix.stderr;
+ Unix.close fdw;
+ ignore (copy_logs (Lwt_io.of_unix_fd ~mode:Lwt_io.input fdr));
+ (* Logs to the log window: *)
+ Lwt_log.default :=
+ Lwt_log.make
+ ~output:(fun level lines ->
+ let buffer = Buffer.create 128 in
+ let lines =
+ List.map (fun line ->
+ Buffer.clear buffer;
+ Lwt_log.render ~buffer ~level ~message:line ~template:"$(date): $(message)";
+ Buffer.contents buffer) lines
+ in
+ set_logs (lines @ React.S.value logs);
+ return ())
+ ~close:return
+ ()
+
lwt () =
- lwt () = save_state () in
- lwt () = hide_cursor () in
+ Log#notice "connecting to the krobot bus...";
+ lwt krobot = Krobot.create () in
try_lwt
- let fdr, fdw = Unix.pipe () in
- Unix.dup2 fdw Unix.stderr;
- Unix.close fdw;
- ignore (copy_logs (Lwt_io.of_unix_fd ~mode:Lwt_io.input fdr));
- (* Logs to the log window: *)
- Lwt_log.default :=
- Lwt_log.make
- ~output:(fun level lines ->
- let buffer = Buffer.create 128 in
- let lines =
- List.map (fun line ->
- Buffer.clear buffer;
- Lwt_log.render ~buffer ~level ~message:line ~template:"$(date): $(message)";
- Buffer.contents buffer) lines
- in
- set_logs (lines @ React.S.value logs);
- return ())
- ~close:return
- ();
- lwt krobot = Krobot.create () in
+ lwt () = save_state () in
+ lwt () = hide_cursor () in
+ redirect_stderr ();
let signal =
React.S.l5 draw
Lwt_term.size
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index adc9951..1a7f4f1 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -427,6 +427,15 @@ struct
| Some card ->
Card.close card
+ OL_method CardStates : OBus_connection.t -> Types.card_state * Types.card_state * Types.card_state = fun () connection ->
+ let state card = match React.S.value card with
+ | Some _ -> `Present
+ | None -> `Absent
+ in
+ return (state card_interface,
+ state card_sensor,
+ state card_motor)
+
OL_method Shutdown : OBus_connection.t -> unit = fun () connection ->
Log#info "exiting";
quit := true;
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 8be64e7..5ecd375 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -54,15 +54,27 @@ module MakeDevice(Name : sig val name : string end) =
let name = "fr.krobot.Device." ^ Name.name
end)
-let make_dev_signal ~peer ~name ~update ~typ ~initial =
+let make_dev_signal ~peer ~name ~get ~update ~typ ~default =
let proxy = OBus_proxy.make peer ["fr"; "krobot"; "Devices"; name] in
let interface = "fr.krobot.Device." ^ name in
- React.S.hold initial (OBus_signal.connect proxy ~interface ~member:update typ)#event
+ lwt initial =
+ try_lwt
+ OBus_proxy.method_call proxy ~interface ~member:get (OBus_type.reply typ)
+ with exn ->
+ return default
+ in
+ return (React.S.hold initial (OBus_signal.connect proxy ~interface ~member:update typ)#event)
-let make_card_signal ~peer ~name ~update ~typ ~initial =
+let make_card_signal ~peer ~name ~get ~update ~typ ~default =
let proxy = OBus_proxy.make peer ["fr"; "krobot"; "Cards"; name] in
let interface = "fr.krobot.Card" in
- React.S.hold initial (OBus_signal.connect proxy ~interface ~member:update typ)#event
+ lwt initial =
+ try_lwt
+ OBus_proxy.method_call proxy ~interface ~member:get (OBus_type.reply typ)
+ with exn ->
+ return default
+ in
+ return (React.S.hold initial (OBus_signal.connect proxy ~interface ~member:update typ)#event)
(* +-----------------------------------------------------------------+
| Creation |
@@ -108,16 +120,24 @@ let create ?peer () =
lwt bus = get_bus () in
return (OBus_peer.make bus "fr.krobot")
in
+ lwt compass = make_dev_signal peer "Compass" "Get" "Value" <:obus_type< int >> 0
+ and logic_sensors = make_dev_signal peer "LogicSensors" "Get" "Value" <:obus_type< bool array >> (Array.make 16 false)
+ and range_finders = make_dev_signal peer "RangeFinders" "Get" "Value" <:obus_type< int array >> (Array.make 8 0)
+ and inhibited_forward_until = make_dev_signal peer "Motors" "InhibitedForward" "InhibitedForwardChanged" <:obus_type< float >> 0.
+ and inhibited_backward_until = make_dev_signal peer "Motors" "InhibitedBackward" "InhibitedBackwardChanged" <:obus_type< float >> 0.
+ and card_interface = make_card_signal peer "Interface" "GetState" "StateChanged" <:obus_type< Types.card_state >> `Absent
+ and card_sensor = make_card_signal peer "Sensor" "GetState" "StateChanged" <:obus_type< Types.card_state >> `Absent
+ and card_motor = make_card_signal peer "Motor" "GetState" "StateChanged" <:obus_type< Types.card_state >> `Absent in
return {
peer = peer;
- compass = make_dev_signal peer "Compass" "Value" <:obus_type< int >> 0;
- logic_sensors = make_dev_signal peer "LogicSensors" "Value" <:obus_type< bool array >> (Array.make 16 false);
- range_finders = make_dev_signal peer "RangeFinders" "Value" <:obus_type< int array >> (Array.make 8 0);
- inhibited_forward_until = make_dev_signal peer "Motors" "InhibitedForwardChanged" <:obus_type< float >> 0.;
- inhibited_backward_until = make_dev_signal peer "Motors" "InhibitedBackwardChanged" <:obus_type< float >> 0.;
- interface = { card_state = make_card_signal peer "Interface" "StateChanged" <:obus_type< Types.card_state >> `Absent };
- sensor = { card_state = make_card_signal peer "Sensor" "StateChanged" <:obus_type< Types.card_state >> `Absent };
- motor = { card_state = make_card_signal peer "Motor" "StateChanged" <:obus_type< Types.card_state >> `Absent };
+ compass = compass;
+ logic_sensors = logic_sensors;
+ range_finders = range_finders;
+ inhibited_forward_until = inhibited_forward_until;
+ inhibited_backward_until = inhibited_backward_until;
+ interface = { card_state = card_interface };
+ sensor = { card_state = card_sensor };
+ motor = { card_state = card_motor };
}
(* +-----------------------------------------------------------------+
hooks/post-receive
--
krobot
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