[Krobot-commits] [SCM] krobot branch, master, updated. 6745156ed1597623b6b73cb4da513875f04a357c

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 6745156ed1597623b6b73cb4da513875f04a357c
Author: Jérémie Dimino <je...@di...>
Date:   Wed Feb 17 21:49:14 2010 +0100

    [controller] print logs on abnormal termination

-----------------------------------------------------------------------

Changes:
diff --git a/PC_Mainboard/clients/controller.ml b/PC_Mainboard/clients/controller.ml
index 469f514..5b1d480 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -216,6 +216,17 @@ let () =
     (React.S.map (fun state -> state.Engine.mode) engine_state)
 
 let logs, set_logs = React.S.create []
+let log line =
+  let rec truncate n = function
+    | [] ->
+        []
+    | line :: rest ->
+        if n = 1024 then
+          []
+        else
+          line :: truncate (n + 1) rest
+  in
+  set_logs (line :: truncate 0 (React.S.value logs))
 
 let history_file_name =
   Filename.concat (try Unix.getenv "HOME" with _ -> "") ".krobot-controller-history"
@@ -256,7 +267,7 @@ let rec loop krobot history =
 
 let rec copy_logs ic =
   lwt line = Lwt_io.read_line ic in
-  set_logs (line :: React.S.value logs);
+  log line;
   copy_logs ic
 
 let redirect_stderr () =
@@ -275,7 +286,7 @@ let redirect_stderr () =
                                Lwt_log.render ~buffer ~level ~message:line ~template:"$(date): $(message)";
                                Buffer.contents buffer) lines
                  in
-                 set_logs (lines @ React.S.value logs);
+                 List.iter log lines;
                  return ())
       ~close:return
       ()
@@ -283,35 +294,41 @@ let redirect_stderr () =
 lwt () =
   Log#notice "connecting to the krobot bus...";
   lwt krobot = Krobot.create () in
-  try_lwt
-    lwt () = save_state () in
-    lwt () = hide_cursor () in
-    redirect_stderr ();
-    let signal =
-      React.S.l5 draw
-        Lwt_term.size
-        (React.S.l5 (fun a b c d e -> (a, b, c, d, e))
-           (Krobot.compass krobot)
-           (Krobot.logic_sensors krobot)
-           (Krobot.range_finders krobot)
-           (Krobot.team krobot)
-           (Krobot.jack krobot))
-        (React.S.l2 (fun a b -> (a, b))
-           (Krobot.inhibited_forward_until krobot)
-           (Krobot.inhibited_backward_until krobot))
-        (React.S.l3 (fun a b c -> (a, b, c))
-           engine_state
-           box
-           logs)
-        (React.S.l3 (fun a b c -> (a, b, c))
-           (Krobot.Card.state krobot `Interface)
-           (Krobot.Card.state krobot `Sensor)
-           (Krobot.Card.state krobot `Motor))
-    in
-    (* Make the compiler happy: *)
-    ignore signal;
-    lwt history = Lwt_read_line.load_history history_file_name in
-    set_engine_state (Engine.init history);
-    Lwt_term.with_raw_mode (fun () -> loop krobot history)
-  finally
-    restore_state ()
+  lwt () = save_state () in
+  lwt () = hide_cursor () in
+  let node =
+    Lwt_sequence.add_l
+      (fun () ->
+         (* Dump logs on abnormal exit: *)
+         lwt () = restore_state () in
+         Lwt_list.iter_s Lwt_io.printl (React.S.value logs))
+      Lwt_main.exit_hooks
+  in
+  redirect_stderr ();
+  let signal =
+    React.S.l5 draw
+      Lwt_term.size
+      (React.S.l5 (fun a b c d e -> (a, b, c, d, e))
+         (Krobot.compass krobot)
+         (Krobot.logic_sensors krobot)
+         (Krobot.range_finders krobot)
+         (Krobot.team krobot)
+         (Krobot.jack krobot))
+      (React.S.l2 (fun a b -> (a, b))
+         (Krobot.inhibited_forward_until krobot)
+         (Krobot.inhibited_backward_until krobot))
+      (React.S.l3 (fun a b c -> (a, b, c))
+         engine_state
+         box
+         logs)
+      (React.S.l3 (fun a b c -> (a, b, c))
+         (Krobot.Card.state krobot `Interface)
+         (Krobot.Card.state krobot `Sensor)
+         (Krobot.Card.state krobot `Motor))
+  in
+  lwt history = Lwt_read_line.load_history history_file_name in
+  set_engine_state (Engine.init history);
+  lwt () = Lwt_term.with_raw_mode (fun () -> loop krobot history) in
+  React.S.stop signal;
+  Lwt_sequence.remove node;
+  restore_state ()


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