[Krobot-commits] [SCM] krobot branch, master, updated. 992d372526a6fc373535550469f66096caf4ee99

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 992d372526a6fc373535550469f66096caf4ee99
Author: Jérémie Dimino <je...@di...>
Date:   Thu Feb 18 12:51:45 2010 +0100

    [controllet] limit the frame rate to avoid Out_of_memory

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

Changes:
diff --git a/PC_Mainboard/_tags b/PC_Mainboard/_tags
index 818fd97..6d352b3 100644
--- a/PC_Mainboard/_tags
+++ b/PC_Mainboard/_tags
@@ -55,6 +55,8 @@
 
 <tools/forward_dbus.ml>: syntax_camlp4o, pkg_lwt.syntax, pkg_lwt.syntax.log, pkg_obus.syntax
 <tools/forward_dbus.*>: pkg_obus
+<tools/flood.ml>: syntax_camlp4o, pkg_lwt.syntax, pkg_lwt.syntax.log, pkg_obus.syntax
+<tools/flood.*>: pkg_obus
 
 # +------------------------------------------------------------------+
 # | Tests                                                            |
diff --git a/PC_Mainboard/clients/controller.ml b/PC_Mainboard/clients/controller.ml
index 27b1d3f..32791c9 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -23,11 +23,12 @@ module TextSet = Set.Make(Text)
 let drawer_mutex = Lwt_mutex.create ()
 
 (* Draw the whole screen *)
-let rec draw size
-    (compass, logic_sensors, range_finders, team, jack)
-    (inhibited_forward_until, inhibited_backward_until)
-    (engine_state, box, logs)
-    (state_interface, state_sensor, state_motor) =
+let rec draw
+    (size,
+     (engine_state, box, logs),
+     ((compass, logic_sensors, range_finders, team, jack),
+      (inhibited_forward_until, inhibited_backward_until),
+      (state_interface, state_sensor, state_motor))) =
   Lwt_mutex.with_lock drawer_mutex begin fun () ->
     if Lwt_mutex.is_empty drawer_mutex then begin
       (* Redraw the screen only if there is no other thread waiting to
@@ -306,25 +307,28 @@ lwt () =
   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.map draw
       (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))
+         Lwt_term.size
+         (React.S.l3 (fun a b c -> (a, b, c))
+            engine_state
+            box
+            logs)
+         (Lwt_signal.limit (fun () -> Lwt_unix.sleep 0.1)
+            (React.S.l3 (fun a b c -> (a, b, c))
+               (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))
+                  (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);
diff --git a/PC_Mainboard/myocamlbuild.ml b/PC_Mainboard/myocamlbuild.ml
index b23d4cf..a6a42a2 100644
--- a/PC_Mainboard/myocamlbuild.ml
+++ b/PC_Mainboard/myocamlbuild.ml
@@ -66,6 +66,7 @@ let targets = List.filter_opt (function (true, target) -> Some target | (false,
 
   (* Tools *)
   (have_lwt_unix && have_obus, "tools/forward_dbus.best");
+  (have_lwt_unix && have_obus, "tools/flood.best");
 
   (* Clients *)
   (have_lwt_unix && have_obus, "clients/info.best");


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