[Krobot-commits] [SCM] krobot branch, master, updated. c2a2cd1daade5c0e5d52d2791998f874088988d9

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit c2a2cd1daade5c0e5d52d2791998f874088988d9
Author: Jérémie Dimino <je...@di...>
Date:   Wed Feb 24 08:42:56 2010 +0100

    [hard_stop] never abort the program on uncaught exception

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

Changes:
diff --git a/PC_Mainboard/services/hard_stop.ml b/PC_Mainboard/services/hard_stop.ml
index a07d177..fbb2558 100644
--- a/PC_Mainboard/services/hard_stop.ml
+++ b/PC_Mainboard/services/hard_stop.ml
@@ -25,32 +25,34 @@ let usage = Printf.sprintf "Usage: %s [-n]\n\noptions are:" (Filename.basename (
 type state = OK | Stopped
 
 let handle_collide krobot sensors =
-  join [
-    (if Util.front_collide sensors then begin
-       lwt () = Log.notice "front collision detected, inhibit motors" in
-       Krobot.inhibit_forward krobot duration
-     end else
-       return ());
-    (if Util.back_collide sensors then begin
-       lwt () = Log.notice "back collision detected, inhibit motors" in
-       Krobot.inhibit_backward krobot duration
-     end else
-       return ());
-  ]
+  try_lwt
+    join [
+      (if Util.front_collide sensors then begin
+         lwt () = Log.notice "front collision detected, inhibit motors" in
+         Krobot.inhibit_forward krobot duration
+       end else
+         return ());
+      (if Util.back_collide sensors then begin
+         lwt () = Log.notice "back collision detected, inhibit motors" in
+         Krobot.inhibit_backward krobot duration
+       end else
+         return ());
+    ]
+  with exn ->
+    Log.info_f "collision handling failed with: %s" (Printexc.to_string exn)
 
 lwt () =
   Arg.parse args ignore usage;
 
-  if !foreground then
-    ignore (Log.info "starting hard_stop in foreground mode")
-  else begin
-    ignore (Log.info "starting hard_stop in daemon mode");
-    Lwt_log.default := Lwt_log.syslog
-      ~level:(min Lwt_log.Info Lwt_log.default_level)
-      ~facility:`Daemon
-      ();
-    Lwt_daemon.daemonize ()
-  end;
+  lwt () =
+    if !foreground then
+      Log.info "starting krobot hard stopper in foreground mode"
+    else begin
+      lwt () = Log.info "starting krobot hard stopper in daemon mode" in
+      Lwt_daemon.daemonize ();
+      return ()
+    end
+  in
 
   lwt krobot = Krobot.create () in
 


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