[Krobot-commits] [SCM] krobot branch, master, updated. 77d57ce86871b5b3a5a8f9557efd383a9ebc9def

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 77d57ce86871b5b3a5a8f9557efd383a9ebc9def
Author: Jérémie Dimino <je...@di...>
Date:   Sat Feb 20 21:15:54 2010 +0100

    add the test command

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

Changes:
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index 17bf780..8b1673d 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -49,6 +49,8 @@ let commands = [
     args = [("card", Arg_keyword ["interface"; "sensor"; "motor"])] };
   { name = "reset";
     args = [("card", Arg_keyword ["interface"; "sensor"; "motor"])] };
+  { name = "test";
+    args = [("card", Arg_keyword ["interface"; "sensor"; "motor"])] };
   { name = "get-calibration";
     args = [] };
   { name = "calibration-start";
@@ -196,6 +198,13 @@ let exec krobot line =
                | "motor" -> `Motor
                | "sensor" -> `Sensor
                | _ -> failwith "Script.exec: invalid card")
+      | "test" ->
+          Krobot.Card.test krobot
+            (match arg_string "card" "" with
+               | "interface" -> `Interface
+               | "motor" -> `Motor
+               | "sensor" -> `Sensor
+               | _ -> failwith "Script.exec: invalid card")
       | "get-calibration" ->
           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
diff --git a/PC_Mainboard/driver/commands.ml b/PC_Mainboard/driver/commands.ml
index 043c955..e29aaf6 100644
--- a/PC_Mainboard/driver/commands.ml
+++ b/PC_Mainboard/driver/commands.ml
@@ -32,6 +32,9 @@ let bootloader card =
 let reset card =
   Card.send_command card Protocol.cmd_reset ""
 
+let test card =
+  Card.send_command card Protocol.cmd_test ""
+
 module Compass =
 struct
   let get card =
diff --git a/PC_Mainboard/driver/commands.mli b/PC_Mainboard/driver/commands.mli
index 0c7c5b8..8e2028e 100644
--- a/PC_Mainboard/driver/commands.mli
+++ b/PC_Mainboard/driver/commands.mli
@@ -15,6 +15,7 @@ val get_firmware_build : Card.t -> string Lwt.t
 val get_board_info : Card.t -> string Lwt.t
 val bootloader : Card.t -> unit Lwt.t
 val reset : Card.t -> unit Lwt.t
+val test : Card.t -> unit Lwt.t
 
 module Compass : sig
   val get : Card.t -> int Lwt.t
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 71e8a5b..ad4f936 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -536,6 +536,9 @@ struct
   OL_method Reset : unit = fun dev ->
     Commands.reset (get_card dev)
 
+  OL_method Test : unit = fun dev ->
+    Commands.test (get_card dev)
+
   OL_signal StateChanged : Types.card_state
 
   let make name card path =
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 3a83fc5..ed460f0 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -229,6 +229,7 @@ struct
   OP_method GetBoardInfo : string
   OP_method Bootloader : unit
   OP_method Reset : unit
+  OP_method Test : unit
 
   let proxy krobot card =
     OBus_proxy.make krobot.peer
@@ -241,4 +242,5 @@ struct
   let get_board_info krobot card = get_board_info (proxy krobot card)
   let bootloader krobot card = bootloader (proxy krobot card)
   let reset krobot card = reset (proxy krobot card)
+  let test krobot card = test (proxy krobot card)
 end
diff --git a/PC_Mainboard/lib_krobot/krobot.mli b/PC_Mainboard/lib_krobot/krobot.mli
index e8bce6d..18aba87 100644
--- a/PC_Mainboard/lib_krobot/krobot.mli
+++ b/PC_Mainboard/lib_krobot/krobot.mli
@@ -123,4 +123,5 @@ module Card : sig
   val get_firmware_build : t -> card -> string Lwt.t
   val get_board_info : t -> card -> string Lwt.t
   val reset : t -> card -> unit Lwt.t
+  val test : t -> card -> unit Lwt.t
 end


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