[Krobot-commits] [SCM] krobot branch, master, updated. ec6a88b803f8747e048f74bd305d67e32be01ac7

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit ec6a88b803f8747e048f74bd305d67e32be01ac7
Author: Jérémie Dimino <je...@di...>
Date:   Wed Feb 24 22:23:07 2010 +0100

    Add a command to retreive the driver motors state

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

Changes:
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index ec111c8..614e73c 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -202,6 +202,10 @@ let () =
   and velocity motor = int ~default:400 ("velocity" ^ motor)
   and acceleration motor = int ~default:800 ("acceleration" ^ motor) in
 
+  register "motors-state" f0
+    (fun logger krobot ->
+       lwt state = Krobot.motors_state krobot in
+       logger [text "motors state: "; text state]);
   register "stop-motors" (f1 stop_mode)
     (fun logger krobot mode ->
        Krobot.stop_motors krobot ~mode);
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 1ccb0b4..1bc7bc8 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -257,6 +257,28 @@ struct
 
   include OBus.MakeInterface(struct let name = "fr.krobot.Device.Motors" end)
 
+  let string_of_direction = function
+    | `Forward -> "forward"
+    | `Backward -> "backward"
+
+  OL_method GetState : string = fun dev ->
+    return (match dev.state with
+              | Static ->
+                  "static"
+              | Trajectory traj ->
+                  Printf.sprintf "trajectory: trajectory=%s stopped=%B"
+                    (match traj.trajectory with
+                       | `Forward -> "forward"
+                       | `Backward -> "backward"
+                       | `Left -> "left"
+                       | `Right -> "right"
+                       | `Goto -> "goto")
+                    traj.stopped
+              | Manual(_, settings_l, settings_r) ->
+                  Printf.sprintf "manual: left={ direction=%s; velocity=%d; acceleration=%d } right={ direction=%s; velocity=%d; acceleration=%d }"
+                    (string_of_direction settings_l.direction) settings_l.velocity settings_l.acceleration
+                    (string_of_direction settings_r.direction) settings_r.velocity settings_r.acceleration)
+
   (* +---------------------------------------------------------------+
      | High-level movement                                           |
      +---------------------------------------------------------------+ *)
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index bec637f..60d4cd4 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -189,6 +189,7 @@ OP_method StopMotors : mode : Types.stop_mode -> unit
 OP_method SetVelocities : velocities : int * int -> accelerations : int * int -> duration : float -> unit
 OP_method InhibitForward : float -> unit
 OP_method InhibitBackward : float -> unit
+OP_method GetState as motors_state : string
 
 (* +-----------------------------------------------------------------+
    | Cards                                                           |
diff --git a/PC_Mainboard/lib_krobot/krobot.mli b/PC_Mainboard/lib_krobot/krobot.mli
index ea2e27a..0dbb1c6 100644
--- a/PC_Mainboard/lib_krobot/krobot.mli
+++ b/PC_Mainboard/lib_krobot/krobot.mli
@@ -70,6 +70,9 @@ val set_ax12 : t -> Types.ax12_action list -> unit Lwt.t
 
 (** {6 Motors} *)
 
+val motors_state : t -> string Lwt.t
+  (** Return a string describing the current state of motors *)
+
 val turn : t -> angle : int -> velocity : int -> acceleration : int -> Types.move_result Lwt.t
 val move : t -> distance : int -> velocity : int -> acceleration : int -> Types.move_result Lwt.t
 val goto : t ->


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