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[Krobot-commits] [SCM] krobot branch, master, updated. 2e41773908b10cad366a5395fa1f35b5477a1b6a
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From: Jérémie D. <Ba...@us...> - 2010-02-28 21:58:58
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the project "krobot".
The branch, master has been updated
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- Log -----------------------------------------------------------------
commit 2e41773908b10cad366a5395fa1f35b5477a1b6a
Author: Jérémie Dimino <je...@di...>
Date: Sun Feb 28 22:58:23 2010 +0100
Updates
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index a7d9615..837f7b3 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -29,12 +29,12 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.Compass(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.Compass(OBus)(struct let get dev = dev.card end)
- include OBus.Make_interface(struct let name = "fr.krobot.Device.Compass" end)
+ OL_interface(OBus) "fr.krobot.Device.Compass" as interface
OL_signal Value : int
OL_method Get : int = fun dev -> return dev.data
@@ -53,7 +53,7 @@ struct
let make card path =
lwt data = USB_commands.Compass.get card in
let dev = {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
card = card;
data = data;
} in
@@ -74,12 +74,12 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.AX12(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.AX12(OBus)(struct let get dev = dev.card end)
- include OBus.Make_interface(struct let name = "fr.krobot.Device.AX12" end)
+ OL_interface(OBus) "fr.krobot.Device.AX12" as interface
OL_method SetAX12 : Types.ax12_action structure list -> unit = fun dev actions ->
lwt () =
@@ -97,7 +97,7 @@ struct
let make card path =
return {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
card = card;
}
end
@@ -116,12 +116,12 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.Logic_sensors(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.Logic_sensors(OBus)(struct let get dev = dev.card end)
- include OBus.Make_interface(struct let name = "fr.krobot.Device.LogicSensors" end)
+ OL_interface(OBus) "fr.krobot.Device.LogicSensors" as interface
OL_signal Value : bool array
OL_method Get : bool array = fun dev -> return dev.data
@@ -139,7 +139,7 @@ struct
let make card path =
let dev = {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
card = card;
data = Array.create 16 false;
} in
@@ -161,12 +161,12 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.Range_finders(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.Range_finders(OBus)(struct let get dev = dev.card end)
- include OBus.Make_interface(struct let name = "fr.krobot.Device.RangeFinders" end)
+ OL_interface(OBus) "fr.krobot.Device.RangeFinders" as interface
OL_signal Value : int array
OL_method Get : int array = fun dev -> return dev.data
@@ -193,7 +193,7 @@ struct
let make card path =
let dev = {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
card = card;
data = Array.create 8 0;
} in
@@ -250,12 +250,12 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.Motors(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.Motors(OBus)(struct let get dev = dev.card end)
- include OBus.Make_interface(struct let name = "fr.krobot.Device.Motors" end)
+ OL_interface(OBus) "fr.krobot.Device.Motors" as interface
let string_of_direction = function
| `Forward -> "forward"
@@ -534,7 +534,7 @@ struct
let make card path =
let commands = React.E.map (fun data -> Char.code data.[0]) (Krobot_card.connect card PcInterface.cmd_traj)#event in
let dev = {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
card = card;
inhibit_forward_until = 0.0;
inhibit_backward_until = 0.0;
@@ -556,14 +556,7 @@ let card_motor, set_card_motor = React.S.create None
module Manager =
struct
- let manager = OBus_object.make ["fr"; "krobot"; "Manager"]
-
- module OBus = OBus_object.Make(struct
- type obj = unit
- let get _ = manager
- end)
-
- include OBus.Make_interface(struct let name = "fr.krobot.Manager" end)
+ OL_interface "fr.krobot.Manager" as interface
let close card = match React.S.value card with
| None ->
@@ -571,7 +564,7 @@ struct
| Some card ->
Krobot_card.close card
- OL_method CardStates : OBus_connection.t -> Types.card_state * Types.card_state * Types.card_state = fun () connection ->
+ OL_method CardStates : OBus_connection.t -> Types.card_state * Types.card_state * Types.card_state = fun manager connection ->
let state card = match React.S.value card with
| Some _ -> `Present
| None -> `Absent
@@ -580,7 +573,7 @@ struct
state card_sensor,
state card_motor)
- OL_method Shutdown : OBus_connection.t -> unit = fun () connection ->
+ OL_method Shutdown : OBus_connection.t -> unit = fun manager connection ->
lwt () = Log.info "exiting" in
quit := true;
lwt () = close card_interface
@@ -589,6 +582,8 @@ struct
lwt _ = OBus_bus.release_name connection "fr.krobot.Driver" in
Lwt.wakeup done_wakener ();
return ()
+
+ let manager = OBus_object.make ~interfaces:[interface] ["fr"; "krobot"; "Manager"]
end
(* +-----------------------------------------------------------------+
@@ -606,7 +601,7 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
let get_card dev = match React.S.value dev.card with
@@ -615,9 +610,9 @@ struct
| Some card ->
card
- include DBus_exports.Card(OBus)(struct let get = get_card end)
+ module Unsafe = DBus_exports.Card(OBus)(struct let get = get_card end)
- include OBus.Make_interface(struct let name = "fr.krobot.Card" end)
+ OL_interface(OBus) "fr.krobot.Card" as interface
OL_property_r Name : string = fun dev ->
return (Krobot_card.name (get_card dev))
@@ -649,7 +644,7 @@ struct
let make name card path =
let dev = {
card = card;
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
name = name;
state = React.S.const (return ());
} in
@@ -794,7 +789,7 @@ lwt () =
Card.OBus.export bus (Card.make "sensor" card_sensor ["fr"; "krobot"; "Cards"; "Sensor"]);
Card.OBus.export bus (Card.make "motor" card_motor ["fr"; "krobot"; "Cards"; "Motor"]);
- Manager.OBus.export bus ();
+ OBus_object.export bus Manager.manager;
lwt () = Log.notice "ready, waiting for requests" in
lwt () = done_waiter in
diff --git a/PC_Mainboard/generators/gen_dbus_exports.ml b/PC_Mainboard/generators/gen_dbus_exports.ml
index b8f54eb..134edef 100644
--- a/PC_Mainboard/generators/gen_dbus_exports.ml
+++ b/PC_Mainboard/generators/gen_dbus_exports.ml
@@ -72,7 +72,7 @@ let rec print path indent = function
| Module(name, items) ->
printf "%smodule %s(M : OBus_object.S)(Get : sig val get : M.obj -> Krobot_card.t end) = struct\n"
indent (Name.uid name);
- printf "%s include M.Make_interface(struct let name = \"fr.krobot.Device.%s.Unsafe\" end)\n"
+ printf "%s OL_interface(M) \"fr.krobot.Device.%s.Unsafe\" as interface\n"
indent (Name.caml_case name);
List.iter (print (path ^ Name.uid name ^ ".") (indent ^ " ")) items;
printf "%send\n" indent
@@ -87,7 +87,7 @@ let () =
printf "open OBus_pervasives\n";
printf "module Card(M : OBus_object.S)(Get : sig val get : M.obj -> Krobot_card.t end) = struct\n";
- printf " include M.Make_interface(struct let name = \"fr.krobot.Card.Unsafe\" end)\n";
+ printf " OL_interface(M) \"fr.krobot.Card.Unsafe\" as interface\n";
List.iter (print "Card." " ") card;
printf "end\n";
diff --git a/PC_Mainboard/generators/gen_dbus_imports.ml b/PC_Mainboard/generators/gen_dbus_imports.ml
index 55c8851..2f27622 100644
--- a/PC_Mainboard/generators/gen_dbus_imports.ml
+++ b/PC_Mainboard/generators/gen_dbus_imports.ml
@@ -52,10 +52,10 @@ let rec print indent = function
printf "%smodule %s = struct\n" indent (Name.uid name);
printf "%s module Proxy = OBus_proxy.Make(struct\n" indent;
printf "%s type proxy = Krobot.t\n" indent;
- printf "%s let get krobot = OBus_proxy.make (Krobot.peer krobot) [\"fr\"; \"krobot\"; \"Devices\"; \"%s\"]\n" indent (Name.caml_case name);
+ printf "%s let cast krobot = OBus_proxy.make (Krobot.peer krobot) [\"fr\"; \"krobot\"; \"Devices\"; \"%s\"]\n" indent (Name.caml_case name);
printf "%s let make _ = failwith \"not implemented\"\n" indent;
printf "%s end)\n" indent;
- printf "%s include Proxy.Make_interface(struct let name = \"fr.krobot.Device.%s\" end)\n" indent (Name.caml_case name);
+ printf "%s OP_interface(Proxy) \"fr.krobot.Device.%s\"\n" indent (Name.caml_case name);
List.iter (print (indent ^ " ")) items;
printf "%send\n" indent
@@ -69,15 +69,22 @@ let () =
print_string "\
open OBus_pervasives
module Card = struct
+ OP_interface \"fr.krobot.Card.Unsafe\"
+";
+ List.iter (print " ") card;
+ print_string "\
let proxy krobot (card : Krobot.Card.card) =
OBus_proxy.make (Krobot.peer krobot)
[\"fr\"; \"krobot\"; \"Cards\"; (match card with
| `Interface -> \"Interface\"
| `Sensor -> \"Sensor\"
| `Motor -> \"Motor\")]
- let op_method_call member typ krobot card =
- OBus_proxy.method_call (proxy krobot card) ~interface:\"fr.krobot.Card.Unsafe\" ~member typ
";
- List.iter (print " ") card;
+ List.iter (function
+ | Request{ req_name = name } | Command{ cmd_name = name } ->
+ let name = Name.lid name in
+ printf " let %s krobot card = %s (proxy krobot card)\n" name name
+ | _ ->
+ ()) card;
printf "end\n";
List.iter (print "") interfaces
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 1cb9e91..4c6279f 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -49,18 +49,12 @@ let peer krobot = krobot.peer
(* Create an interface using [t] as type for proxies *)
module Make_device(Name : sig val name : string end) =
-struct
- module Proxy = OBus_proxy.Make
+ OBus_proxy.Make
(struct
type proxy = t
- let get krobot = OBus_proxy.make krobot.peer ["fr"; "krobot"; "Devices"; Name.name]
+ let cast krobot = OBus_proxy.make krobot.peer ["fr"; "krobot"; "Devices"; Name.name]
let make _ = failwith "not implemented"
end)
- module Interface = Proxy.Make_interface
- (struct
- let name = "fr.krobot.Device." ^ Name.name
- end)
-end
let make_dev_signal ~peer ~name ~get ~update ~typ ~default =
let proxy = OBus_proxy.make peer ["fr"; "krobot"; "Devices"; name] in
@@ -165,8 +159,8 @@ let jack krobot =
| Range finders |
+-----------------------------------------------------------------+ *)
-module Range_finders = Make_device(struct let name = "RangeFinders" end)
-include Range_finders.Interface
+module RF = Make_device(struct let name = "RangeFinders" end)
+OP_interface(RF) "fr.krobot.Device.RangeFinders"
OP_method GetCalibration : int -> int array
OP_method CalibrationStart : int -> bool -> unit
@@ -178,7 +172,7 @@ OP_method CalibrationContinue : unit
+-----------------------------------------------------------------+ *)
module AX12 = Make_device(struct let name = "AX12" end)
-include AX12.Interface
+OP_interface(AX12) "fr.krobot.Device.AX12"
OP_method SetAX12 : Types.ax12_action structure list -> unit
@@ -187,7 +181,7 @@ OP_method SetAX12 : Types.ax12_action structure list -> unit
+-----------------------------------------------------------------+ *)
module Motors = Make_device(struct let name = "Motors" end)
-include Motors.Interface
+OP_interface(Motors) "fr.krobot.Device.Motors"
OP_method Turn : angle : int -> velocity : int -> acceleration : int -> Types.move_result
OP_method Move : distance : int -> velocity : int -> acceleration : int -> Types.move_result
@@ -223,12 +217,16 @@ struct
| `Sensor -> "Sensor"
| `Motor -> "Motor")]
- let op_method_call member typ krobot card =
- OBus_proxy.method_call (proxy krobot card) ~interface:"fr.krobot.Card" ~member typ
-
+ OP_interface "fr.krobot.Card"
OP_method GetFirmwareBuild : string
OP_method GetBoardInfo : string
OP_method Bootloader : unit
OP_method Reset : unit
OP_method Test : unit
+
+ let get_firmware_build krobot card = get_firmware_build (proxy krobot card)
+ 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
hooks/post-receive
--
krobot
|
