[Krobot-commits] [SCM] krobot branch, master, updated. 874a7ccf8dbabec69f1172c987e9213905ab7d45

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 874a7ccf8dbabec69f1172c987e9213905ab7d45
Author: Jérémie Dimino <je...@di...>
Date:   Thu Feb 18 18:37:56 2010 +0100

    [controller] returns all calibrations at the same time

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

Changes:
diff --git a/PC_Mainboard/_tags b/PC_Mainboard/_tags
index 6d352b3..818fd97 100644
--- a/PC_Mainboard/_tags
+++ b/PC_Mainboard/_tags
@@ -55,8 +55,6 @@
 
 <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 32791c9..abe4a32 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -217,7 +217,7 @@ let () =
     (React.S.map (fun state -> state.Engine.mode) engine_state)
 
 let logs, set_logs = React.S.create []
-let log line =
+let log_line line =
   let rec truncate n = function
     | [] ->
         []
@@ -227,7 +227,18 @@ let log line =
         else
           line :: truncate (n + 1) rest
   in
-  set_logs (line :: truncate 0 (React.S.value logs))
+  set_logs (line :: truncate 1 (React.S.value logs))
+let log_lines lines =
+  let rec truncate n = function
+    | [] ->
+        []
+    | line :: rest ->
+        if n = 1024 then
+          []
+        else
+          line :: truncate (n + 1) rest
+  in
+  set_logs (lines @ truncate (List.length lines) (React.S.value logs))
 
 let history_file_name =
   Filename.concat (try Unix.getenv "HOME" with _ -> "") ".krobot-controller-history"
@@ -268,7 +279,7 @@ let rec loop krobot history =
 
 let rec copy_logs ic =
   lwt line = Lwt_io.read_line ic in
-  log line;
+  log_line line;
   copy_logs ic
 
 let redirect_stderr () =
@@ -287,7 +298,7 @@ let redirect_stderr () =
                                Lwt_log.render ~buffer ~level ~message:line ~template:"$(date): $(message)";
                                Buffer.contents buffer) lines
                  in
-                 List.iter log lines;
+                 log_lines lines;
                  return ())
       ~close:return
       ()
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index 4dc474b..1d147a3 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -44,7 +44,7 @@ let commands = [
   { name = "reset";
     args = [("card", Arg_keyword ["interface"; "sensor"; "motor"])] };
   { name = "get-calibration";
-    args = [("range-finder", Arg_int)] };
+    args = [] };
 ]
 
 let set_of_list l = List.fold_left (fun set x -> TextSet.add x set) TextSet.empty l
@@ -152,8 +152,20 @@ let exec krobot line =
                | "sensor" -> `Sensor
                | _ -> failwith "Script.exec: invalid card")
       | "get-calibration" ->
-          lwt cal = Krobot.get_calibration krobot (arg_int "range-finder" 0) in
-          Log#notice "calibration: %s" (String.concat " " (List.map string_of_int (Array.to_list cal)));
+          lwt l = Lwt_list.map_p (Krobot.get_calibration krobot) [0; 1; 2; 3; 4; 5; 6; 7] in
+          let buffer = Buffer.create 1024 in
+          let _ =
+            List.fold_left
+              (fun i cal ->
+                 Printf.bprintf buffer "calibration[%d]:" i;
+                 for i = 0 to Array.length cal - 1 do
+                   Printf.bprintf buffer " %d" cal.(i)
+                 done;
+                 Buffer.add_char buffer '\n';
+                 (i + 1))
+              0 l
+          in
+          Log#notice "%s" (Buffer.contents buffer);
           return ()
       | _ ->
           Log#error "unknown command %S" action;
diff --git a/PC_Mainboard/myocamlbuild.ml b/PC_Mainboard/myocamlbuild.ml
index a6a42a2..b23d4cf 100644
--- a/PC_Mainboard/myocamlbuild.ml
+++ b/PC_Mainboard/myocamlbuild.ml
@@ -66,7 +66,6 @@ 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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