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[Krobot-commits] [SCM] krobot branch, master, updated. 3d05cb1b4e6b5a7976548aab8e639572d47d57ab
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From: Jérémie D. <Ba...@us...> - 2010-03-02 13:26:32
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- Log -----------------------------------------------------------------
commit 3d05cb1b4e6b5a7976548aab8e639572d47d57ab
Author: Jérémie Dimino <je...@di...>
Date: Tue Mar 2 14:25:31 2010 +0100
Use a more suitable proxy type for cards
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/controller.ml b/PC_Mainboard/clients/controller.ml
index 3f01691..cd91d27 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -240,9 +240,9 @@ let rec draw krobot =
| `Absent -> [fg lred; textf "%s card is absent" name]
| `Present -> [textf "%s card is present" name]
in
- Draw.textc zone x 3 (text_of_state "interface" (React.S.value (Krobot.Card.state krobot `Interface)));
- Draw.textc zone x 4 (text_of_state "sensor" (React.S.value (Krobot.Card.state krobot `Sensor)));
- Draw.textc zone x 5 (text_of_state "motor" (React.S.value (Krobot.Card.state krobot `Motor)));
+ Draw.textc zone x 3 (text_of_state "interface" (React.S.value (Krobot.Card.state (krobot, `Interface))));
+ Draw.textc zone x 4 (text_of_state "sensor" (React.S.value (Krobot.Card.state (krobot, `Sensor))));
+ Draw.textc zone x 5 (text_of_state "motor" (React.S.value (Krobot.Card.state (krobot, `Motor))));
let date = Unix.gettimeofday () in
let text_of_motor_state mode until =
if date < until then
@@ -415,9 +415,9 @@ lwt () =
notify (Krobot.jack krobot);
notify (Krobot.inhibited_forward_until krobot);
notify (Krobot.inhibited_backward_until krobot);
- notify (Krobot.Card.state krobot `Interface);
- notify (Krobot.Card.state krobot `Sensor);
- notify (Krobot.Card.state krobot `Motor);
+ notify (Krobot.Card.state (krobot, `Interface));
+ notify (Krobot.Card.state (krobot, `Sensor));
+ notify (Krobot.Card.state (krobot, `Motor));
notify services;
(* Redraw immedlatly the screen when [signal] changes: *)
diff --git a/PC_Mainboard/clients/info.ml b/PC_Mainboard/clients/info.ml
index 99519db..7efb03a 100644
--- a/PC_Mainboard/clients/info.ml
+++ b/PC_Mainboard/clients/info.ml
@@ -13,10 +13,10 @@ open Lwt
open Lwt_io
let print_card krobot card =
- match React.S.value (Krobot.Card.state krobot card) with
+ match React.S.value (Krobot.Card.state (krobot, card)) with
| `Present ->
- lwt firmware_build = Krobot.Card.get_firmware_build krobot card
- and board_info = Krobot.Card.get_board_info krobot card in
+ lwt firmware_build = Krobot.Card.get_firmware_build (krobot, card)
+ and board_info = Krobot.Card.get_board_info (krobot, card) in
let name = Krobot.Card.name card in
lwt () = printl "==========" in
lwt () = printlf "card.%s.state = present" name in
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index 166ce54..f57651b 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -234,11 +234,11 @@ let () =
("sensor", `Sensor)] in
register ~path:["card"] "bootloader" (f1 card)
- (fun logger -> Krobot.Card.bootloader);
+ (fun logger krobot card -> Krobot.Card.bootloader (krobot, card));
register ~path:["card"] "reset" (f1 card)
- (fun logger -> Krobot.Card.reset);
+ (fun logger krobot card -> Krobot.Card.reset (krobot, card));
register ~path:["card"] "test" (f1 card)
- (fun logger -> Krobot.Card.test);
+ (fun logger krobot card -> Krobot.Card.test (krobot, card));
(* +---------------------------------------------------------------+
| Range finders |
diff --git a/PC_Mainboard/generators/gen_dbus_imports.ml b/PC_Mainboard/generators/gen_dbus_imports.ml
index 2f27622..d4d5f1d 100644
--- a/PC_Mainboard/generators/gen_dbus_imports.ml
+++ b/PC_Mainboard/generators/gen_dbus_imports.ml
@@ -69,22 +69,19 @@ let () =
print_string "\
open OBus_pervasives
module Card = struct
- OP_interface \"fr.krobot.Card.Unsafe\"
+ module Proxy = OBus_proxy.Make
+ (struct
+ type proxy = Krobot.t * Krobot.Card.card
+ let cast (krobot, card) =
+ OBus_proxy.make (Krobot.peer krobot)
+ [\"fr\"; \"krobot\"; \"Cards\"; (match card with
+ | `Interface -> \"Interface\"
+ | `Sensor -> \"Sensor\"
+ | `Motor -> \"Motor\")]
+ let make proxy = failwith \"not implemented\"
+ end)
+ OP_interface(Proxy) \"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\")]
-";
- 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/generators/gen_script_commands.ml b/PC_Mainboard/generators/gen_script_commands.ml
index 020bf5d..8e48838 100644
--- a/PC_Mainboard/generators/gen_script_commands.ml
+++ b/PC_Mainboard/generators/gen_script_commands.ml
@@ -10,12 +10,13 @@
open Printf
open Interface
-let print_common path caml_path name args repl =
+let print_common is_card path caml_path name args repl =
printf " register ~path:[%s] \"%s\" (f%d"
path name
(List.fold_left (fun n arg -> match arg with
| Arg _ -> n + 1
- | Cst _ -> n) 0 args);
+ | Cst _ -> n) (if is_card then 1 else 0) args);
+ if is_card then printf " (__type_card \"name\")";
List.iter (function
| Arg(name, { caml_type = "int" }) ->
printf " (int \"%s\")" name
@@ -27,15 +28,17 @@ let print_common path caml_path name args repl =
()) args;
printf ")\n";
printf " (fun logger krobot";
+ if is_card then printf " card";
List.iter (function
| Arg(name, typ) ->
printf " %s" (Name.lid name)
| Cst _ ->
()) args;
printf " ->\n";
- printf " lwt (%s) = Krobot_unsafe.%s%s krobot"
+ printf " lwt (%s) = Krobot_unsafe.%s%s"
(String.concat ", " (List.map (fun (name, typ) -> Name.lid name) repl))
caml_path (Name.lid name);
+ if is_card then printf " (krobot, card)" else printf " krobot";
List.iter (function
| Arg(name, typ) ->
printf " %s" (Name.lid name)
@@ -48,16 +51,16 @@ let print_common path caml_path name args repl =
repl;
printf " Lwt.return ());\n"
-let rec print path caml_path = function
+let rec print is_card path caml_path = function
| Request req ->
- print_common path caml_path req.req_name req.req_args
+ print_common is_card path caml_path req.req_name req.req_args
(List.map
(function
| Arg(name, typ) -> (name, typ)
| Cst _ -> failwith "constants not allow in replies")
req.req_repl)
| Command cmd ->
- print_common path caml_path cmd.cmd_name cmd.cmd_args []
+ print_common is_card path caml_path cmd.cmd_name cmd.cmd_args []
| Enum enum ->
printf " let __type_%s name = keyword name [" (Name.lid enum.enum_name);
List.iter (fun (name, code) ->
@@ -80,20 +83,12 @@ let rec print path caml_path = function
printf "]) ^ \"}\" in\n";
printf " let _ = print_%s in\n" (Name.lid record.rec_name)
| Module(name, items) ->
- List.iter (print (sprintf "%s; \"%s\"" path (String.lowercase name)) (caml_path ^ Name.uid name ^ ".")) items
+ List.iter (print false (sprintf "%s; \"%s\"" path (String.lowercase name)) (caml_path ^ Name.uid name ^ ".")) items
let () =
printf "open Script_commands\n";
printf "let register () =\n";
printf " let __type_card name = keyword name [(\"interface\", `Interface); (\"sensor\", `Sensor); (\"motor\", `Motor)] in\n";
- let card_type = typ "card" in
- List.iter
- (print "\"unsafe\"; \"card\"" "Card.")
- (List.map
- (function
- | Request req -> Request{ req with req_args = Arg("card", card_type) :: req.req_args }
- | Command cmd -> Command{ cmd with cmd_args = Arg("card", card_type) :: cmd.cmd_args }
- | item -> item)
- card);
- List.iter (print "\"unsafe\"" "") interfaces;
+ List.iter (print true "\"unsafe\"; \"card\"" "Card.") card;
+ List.iter (print false "\"unsafe\"" "") interfaces;
printf " ()"
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 4c6279f..62a7c10 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -205,28 +205,27 @@ struct
| `Sensor -> "sensor"
| `Motor -> "motor"
- let state krobot = function
+ let state (krobot, card) = match card with
| `Interface -> krobot.interface.card_state
| `Sensor -> krobot.sensor.card_state
| `Motor -> krobot.motor.card_state
- let proxy krobot card =
- OBus_proxy.make krobot.peer
- ["fr"; "krobot"; "Cards"; (match card with
- | `Interface -> "Interface"
- | `Sensor -> "Sensor"
- | `Motor -> "Motor")]
+ module Proxy = OBus_proxy.Make
+ (struct
+ type proxy = t * card
+ let cast (krobot, card) =
+ OBus_proxy.make krobot.peer
+ ["fr"; "krobot"; "Cards"; (match card with
+ | `Interface -> "Interface"
+ | `Sensor -> "Sensor"
+ | `Motor -> "Motor")]
+ let make proxy = failwith "not implemented"
+ end)
- OP_interface "fr.krobot.Card"
+ OP_interface(Proxy) "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
diff --git a/PC_Mainboard/lib_krobot/krobot.mli b/PC_Mainboard/lib_krobot/krobot.mli
index 0dbb1c6..4dde27c 100644
--- a/PC_Mainboard/lib_krobot/krobot.mli
+++ b/PC_Mainboard/lib_krobot/krobot.mli
@@ -118,14 +118,14 @@ module Card : sig
val name : card -> string
(** Returns the name of a card *)
- val state : t -> card -> Types.card_state React.signal
+ val state : t * card -> Types.card_state React.signal
(** Returns the status of one of the card of the krobot *)
- val bootloader : t -> card -> unit Lwt.t
+ val bootloader : t * card -> unit Lwt.t
(** Put the card into bootloader mode *)
- 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
+ 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
hooks/post-receive
--
krobot
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