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[Krobot-commits] [SCM] krobot branch, master, updated. 6c4e8c5630ad64620ea8228a0a4c56d50b02571f
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From: Jérémie D. <Ba...@us...> - 2010-03-07 22:29:06
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- Log -----------------------------------------------------------------
commit 6c4e8c5630ad64620ea8228a0a4c56d50b02571f
Author: Jérémie Dimino <je...@di...>
Date: Sun Mar 7 23:28:35 2010 +0100
build and install the krobot library
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/Makefile b/PC_Mainboard/Makefile
index 96a8d60..026a6a4 100644
--- a/PC_Mainboard/Makefile
+++ b/PC_Mainboard/Makefile
@@ -24,6 +24,14 @@ clean:
.PHONY: install
install:
+ $(OF) install krobot META \
+ lib_krobot/krobot.mli \
+ $(wildcard _build/lib_krobot/*.cmi) \
+ $(wildcard _build/lib_krobot/*.cmx) \
+ $(wildcard _build/*.cma) \
+ $(wildcard _build/*.cmxa) \
+ $(wildcard _build/*.cmxs) \
+ $(wildcard _build/*.a)
install -m 0755 _build/card_tools/send_firmware.best $(PREFIX)/bin/krobot-send-firmware
install -m 0755 _build/card_tools/dump_memory.best $(PREFIX)/bin/krobot-dump-memory
install -m 0755 _build/tools/forward_dbus.best $(PREFIX)/bin/krobot-forward-dbus
@@ -35,6 +43,7 @@ install:
.PHONY: uninstall
uninstall:
+ $(OF) remove krobot
rm -vf $(PREFIX)/bin/krobot-*
.PHONY: reinstall
diff --git a/PC_Mainboard/_tags b/PC_Mainboard/_tags
index 2b3245a..0d628c0 100644
--- a/PC_Mainboard/_tags
+++ b/PC_Mainboard/_tags
@@ -38,8 +38,8 @@
# | Common |
# +------------------------------------------------------------------+
-<common/{types,util}.{ml,mli}>: syntax_camlp4o, pkg_obus.syntax, pkg_lwt.syntax
-<common/{types,util}.*>: pkg_obus
+<common/{krobot_types,util}.{ml,mli}>: syntax_camlp4o, pkg_obus.syntax, pkg_lwt.syntax
+<common/{krobot_types,util}.*>: pkg_obus
# +------------------------------------------------------------------+
# | Driver |
diff --git a/PC_Mainboard/clients/init_position.ml b/PC_Mainboard/clients/init_position.ml
index 0a4e6d9..4e74d75 100644
--- a/PC_Mainboard/clients/init_position.ml
+++ b/PC_Mainboard/clients/init_position.ml
@@ -28,7 +28,7 @@ lwt () =
lwt () = move_backward_slowly krobot in
lwt () = Log.notice "going to initial position on first axis" in
- lwt _ = Krobot.move krobot ~distance:Config.initial_position ~velocity:400 ~acceleration:800 in
+ lwt _ = Krobot.move krobot ~distance:Krobot_config.initial_position ~velocity:400 ~acceleration:800 in
lwt () = Log.notice "turning" in
lwt _ = Krobot.turn krobot ~angle:(-90) ~velocity:400 ~acceleration:800 in
@@ -36,7 +36,7 @@ lwt () =
lwt () = move_backward_slowly krobot in
lwt () = Log.notice "going to initial position on second axis" in
- lwt _ = Krobot.move krobot ~distance:Config.initial_position ~velocity:400 ~acceleration:800 in
+ lwt _ = Krobot.move krobot ~distance:Krobot_config.initial_position ~velocity:400 ~acceleration:800 in
lwt () = Log.notice "turning" in
lwt _ = Krobot.turn krobot ~angle:45 ~velocity:400 ~acceleration:800 in
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index 64a5ed8..5c64cf6 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -274,7 +274,7 @@ let () =
let id = int "id"
and position = int "position"
- and velocity = int ~default:Config.ax12_default_velocity "velocity"
+ and velocity = int ~default:Krobot_config.ax12_default_velocity "velocity"
and timeout = int ~default:100 "timeout"
and goto_mode = keyword ~default:`Now "mode" [("now", `Now); ("action", `Action)] in
@@ -301,13 +301,13 @@ let () =
register ~path:["ax12"] "get-stats" (f2 id timeout)
(fun logger krobot id timeout ->
lwt stats = Krobot_unsafe.AX12.get_stats krobot id timeout in
- lwt () = logger [textf "ax12[%d] position = %d" id stats.Types.ax12_position] in
- lwt () = logger [textf "ax12[%d] velocity = %d" id stats.Types.ax12_velocity] in
- lwt () = logger [textf "ax12[%d] torque = %d" id stats.Types.ax12_torque] in
- lwt () = logger [textf "ax12[%d] voltage = %d" id stats.Types.ax12_voltage] in
- lwt () = logger [textf "ax12[%d] temperature = %d" id stats.Types.ax12_temperature] in
- lwt () = logger [textf "ax12[%d] cw-angle-limit = %d" id stats.Types.ax12_cw_angle_limit] in
- lwt () = logger [textf "ax12[%d] ccw-angle-limit = %d" id stats.Types.ax12_ccw_angle_limit] in
+ lwt () = logger [textf "ax12[%d] position = %d" id stats.Krobot_types.ax12_position] in
+ lwt () = logger [textf "ax12[%d] velocity = %d" id stats.Krobot_types.ax12_velocity] in
+ lwt () = logger [textf "ax12[%d] torque = %d" id stats.Krobot_types.ax12_torque] in
+ lwt () = logger [textf "ax12[%d] voltage = %d" id stats.Krobot_types.ax12_voltage] in
+ lwt () = logger [textf "ax12[%d] temperature = %d" id stats.Krobot_types.ax12_temperature] in
+ lwt () = logger [textf "ax12[%d] cw-angle-limit = %d" id stats.Krobot_types.ax12_cw_angle_limit] in
+ lwt () = logger [textf "ax12[%d] ccw-angle-limit = %d" id stats.Krobot_types.ax12_ccw_angle_limit] in
return ());
register ~path:["ax12"] "action" (f1 (int ~default:254 "id"))
(fun logger krobot id ->
diff --git a/PC_Mainboard/clients/script_commands.ml b/PC_Mainboard/clients/script_commands.ml
index 5741602..0c92b84 100644
--- a/PC_Mainboard/clients/script_commands.ml
+++ b/PC_Mainboard/clients/script_commands.ml
@@ -9,7 +9,7 @@
(* +-----------------------------------------------------------------+
- | Types |
+ | Krobot_types |
+-----------------------------------------------------------------+ *)
type logger = Lwt_term.styled_text -> unit Lwt.t
diff --git a/PC_Mainboard/common/config.ml b/PC_Mainboard/common/config.ml
deleted file mode 100644
index c05aaf8..0000000
--- a/PC_Mainboard/common/config.ml
+++ /dev/null
@@ -1,20 +0,0 @@
-(*
- * config.ml
- * ---------
- * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-let back_sensors = [3; 6; 7; 10]
-let front_sensors = [0; 1; 2; 4; 5; 8; 9; 11; 12; 13; 14; 15]
-let initial_position = 200
-let bus_address = "unix:abstract=krobot"
-let update_delay = 0.05
-let reopen_delay = 1.0
-
-let ax12_grip_up_down = 1
-let grip_up_position = 880
-let grip_down_position = 580
-let ax12_default_velocity = 50
diff --git a/PC_Mainboard/common/config.mli b/PC_Mainboard/common/config.mli
deleted file mode 100644
index 66cd249..0000000
--- a/PC_Mainboard/common/config.mli
+++ /dev/null
@@ -1,33 +0,0 @@
-(*
- * config.mli
- * ----------
- * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-(** Krobot parameters *)
-
-val front_sensors : int list
- (** List of front sensors *)
-
-val back_sensors : int list
- (** List of back sensors *)
-
-val initial_position : int
- (** Position to borders at the beginning of the match *)
-
-val bus_address : string
- (** Default address of the krobot dbus daemon *)
-
-val update_delay : float
- (** Time to wait between updates *)
-
-val reopen_delay : float
- (** Time to wait before retrying to open a card *)
-
-val ax12_grip_up_down : int
-val grip_up_position : int
-val grip_down_position : int
-val ax12_default_velocity : int
diff --git a/PC_Mainboard/common/krobot_config.ml b/PC_Mainboard/common/krobot_config.ml
new file mode 100644
index 0000000..1895a58
--- /dev/null
+++ b/PC_Mainboard/common/krobot_config.ml
@@ -0,0 +1,20 @@
+(*
+ * krobot_config.ml
+ * ----------------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+let back_sensors = [3; 6; 7; 10]
+let front_sensors = [0; 1; 2; 4; 5; 8; 9; 11; 12; 13; 14; 15]
+let initial_position = 200
+let bus_address = "unix:abstract=krobot"
+let update_delay = 0.05
+let reopen_delay = 1.0
+
+let ax12_grip_up_down = 1
+let grip_up_position = 880
+let grip_down_position = 580
+let ax12_default_velocity = 50
diff --git a/PC_Mainboard/common/krobot_config.mli b/PC_Mainboard/common/krobot_config.mli
new file mode 100644
index 0000000..aa34719
--- /dev/null
+++ b/PC_Mainboard/common/krobot_config.mli
@@ -0,0 +1,33 @@
+(*
+ * krobot_config.mli
+ * -----------------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(** Krobot parameters *)
+
+val front_sensors : int list
+ (** List of front sensors *)
+
+val back_sensors : int list
+ (** List of back sensors *)
+
+val initial_position : int
+ (** Position to borders at the beginning of the match *)
+
+val bus_address : string
+ (** Default address of the krobot dbus daemon *)
+
+val update_delay : float
+ (** Time to wait between updates *)
+
+val reopen_delay : float
+ (** Time to wait before retrying to open a card *)
+
+val ax12_grip_up_down : int
+val grip_up_position : int
+val grip_down_position : int
+val ax12_default_velocity : int
diff --git a/PC_Mainboard/common/krobot_types.ml b/PC_Mainboard/common/krobot_types.ml
new file mode 100644
index 0000000..0b5a297
--- /dev/null
+++ b/PC_Mainboard/common/krobot_types.ml
@@ -0,0 +1,68 @@
+(*
+ * krobot_types.ml
+ * ---------------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+open OBus_pervasives
+
+type move_result = [ `OK | `Stopped ]
+
+let obus_move_result =
+ OBus_type.mapping obus_int [(`OK, 0); (`Stopped, 1)]
+
+type motor = [ `Left | `Right | `Both ]
+
+let obus_motor = OBus_type.mapping obus_int
+ [(`Left, -1);
+ (`Both, 0);
+ (`Right, 1)]
+
+type stop_mode = [ `Off | `Abrupt | `Smooth ]
+
+let obus_stop_mode = OBus_type.mapping obus_int
+ [(`Off, 0);
+ (`Abrupt, 1);
+ (`Smooth, 2)]
+
+type card_state = [ `Present | `Absent ]
+
+let obus_card_state = OBus_type.mapping obus_int
+ [(`Present, 0);
+ (`Absent, 1)]
+
+type goto_mode = [ `Straight | `Curve_right | `Curve_left ]
+
+let obus_goto_mode = OBus_type.mapping obus_int
+ [(`Straight, 0);
+ (`Curve_right, 1);
+ (`Curve_left, 2)]
+
+type ax12_stats = {
+ ax12_position : int;
+ ax12_velocity : int;
+ ax12_torque : int;
+ ax12_voltage : int;
+ ax12_temperature : int;
+ ax12_cw_angle_limit : int;
+ ax12_ccw_angle_limit : int;
+} with obus
+
+type exec_mode = [ `Now | `Action ]
+
+let obus_exec_mode = OBus_type.mapping obus_int
+ [(`Now, 0); (`Action, 1)]
+
+type direction = [ `Forward | `Backward ]
+
+let obus_direction = OBus_type.mapping obus_int
+ [(`Forward, 0); (`Backward, 1)]
+
+type ax12_action = {
+ aa_id : int;
+ aa_position : int;
+ aa_velocity : int;
+} with obus
diff --git a/PC_Mainboard/common/krobot_types.mli b/PC_Mainboard/common/krobot_types.mli
new file mode 100644
index 0000000..c7c261f
--- /dev/null
+++ b/PC_Mainboard/common/krobot_types.mli
@@ -0,0 +1,54 @@
+(*
+ * krobot_types.mli
+ * ----------------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(** Common types with their obus type combinators *)
+
+(** This types are used by the driver and the client-side krobot
+ library.
+
+ Putting in a module shared by the client and the server prevents
+ typos in conversions. *)
+
+type move_result = [ `OK | `Stopped ] with obus(basic)
+ (** Result of a movement started by [Krobot.move] or
+ [Krobot.turn] *)
+
+type motor = [ `Left | `Right | `Both ] with obus(basic)
+ (** Motors *)
+
+type stop_mode = [ `Off | `Abrupt | `Smooth ] with obus(basic)
+ (** Mode for stopping motors *)
+
+type direction = [ `Forward | `Backward ] with obus(basic)
+
+type card_state = [ `Present | `Absent ] with obus(basic)
+ (** State of a card *)
+
+type goto_mode = [ `Straight | `Curve_right | `Curve_left ] with obus(basic)
+ (** Form of the trajectory for the goto command *)
+
+type exec_mode = [ `Now | `Action ] with obus(basic)
+ (** Mode of execution of the goto command for ax12 *)
+
+type ax12_stats = {
+ ax12_position : int;
+ ax12_velocity : int;
+ ax12_torque : int;
+ ax12_voltage : int;
+ ax12_temperature : int;
+ ax12_cw_angle_limit : int;
+ ax12_ccw_angle_limit : int;
+} with obus(sequence)
+
+(** Action on an AX12: *)
+type ax12_action = {
+ aa_id : int;
+ aa_position : int;
+ aa_velocity : int;
+} with obus(sequence)
diff --git a/PC_Mainboard/common/types.ml b/PC_Mainboard/common/types.ml
deleted file mode 100644
index 3f970ca..0000000
--- a/PC_Mainboard/common/types.ml
+++ /dev/null
@@ -1,68 +0,0 @@
-(*
- * types.ml
- * --------
- * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-open OBus_pervasives
-
-type move_result = [ `OK | `Stopped ]
-
-let obus_move_result =
- OBus_type.mapping obus_int [(`OK, 0); (`Stopped, 1)]
-
-type motor = [ `Left | `Right | `Both ]
-
-let obus_motor = OBus_type.mapping obus_int
- [(`Left, -1);
- (`Both, 0);
- (`Right, 1)]
-
-type stop_mode = [ `Off | `Abrupt | `Smooth ]
-
-let obus_stop_mode = OBus_type.mapping obus_int
- [(`Off, 0);
- (`Abrupt, 1);
- (`Smooth, 2)]
-
-type card_state = [ `Present | `Absent ]
-
-let obus_card_state = OBus_type.mapping obus_int
- [(`Present, 0);
- (`Absent, 1)]
-
-type goto_mode = [ `Straight | `Curve_right | `Curve_left ]
-
-let obus_goto_mode = OBus_type.mapping obus_int
- [(`Straight, 0);
- (`Curve_right, 1);
- (`Curve_left, 2)]
-
-type ax12_stats = {
- ax12_position : int;
- ax12_velocity : int;
- ax12_torque : int;
- ax12_voltage : int;
- ax12_temperature : int;
- ax12_cw_angle_limit : int;
- ax12_ccw_angle_limit : int;
-} with obus
-
-type exec_mode = [ `Now | `Action ]
-
-let obus_exec_mode = OBus_type.mapping obus_int
- [(`Now, 0); (`Action, 1)]
-
-type direction = [ `Forward | `Backward ]
-
-let obus_direction = OBus_type.mapping obus_int
- [(`Forward, 0); (`Backward, 1)]
-
-type ax12_action = {
- aa_id : int;
- aa_position : int;
- aa_velocity : int;
-} with obus
diff --git a/PC_Mainboard/common/types.mli b/PC_Mainboard/common/types.mli
deleted file mode 100644
index 6fa04c8..0000000
--- a/PC_Mainboard/common/types.mli
+++ /dev/null
@@ -1,54 +0,0 @@
-(*
- * types.mli
- * ---------
- * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-(** Common types with their obus type combinators *)
-
-(** This types are used by the driver and the client-side krobot
- library.
-
- Putting in a module shared by the client and the server prevents
- typos in conversions. *)
-
-type move_result = [ `OK | `Stopped ] with obus(basic)
- (** Result of a movement started by [Krobot.move] or
- [Krobot.turn] *)
-
-type motor = [ `Left | `Right | `Both ] with obus(basic)
- (** Motors *)
-
-type stop_mode = [ `Off | `Abrupt | `Smooth ] with obus(basic)
- (** Mode for stopping motors *)
-
-type direction = [ `Forward | `Backward ] with obus(basic)
-
-type card_state = [ `Present | `Absent ] with obus(basic)
- (** State of a card *)
-
-type goto_mode = [ `Straight | `Curve_right | `Curve_left ] with obus(basic)
- (** Form of the trajectory for the goto command *)
-
-type exec_mode = [ `Now | `Action ] with obus(basic)
- (** Mode of execution of the goto command for ax12 *)
-
-type ax12_stats = {
- ax12_position : int;
- ax12_velocity : int;
- ax12_torque : int;
- ax12_voltage : int;
- ax12_temperature : int;
- ax12_cw_angle_limit : int;
- ax12_ccw_angle_limit : int;
-} with obus(sequence)
-
-(** Action on an AX12: *)
-type ax12_action = {
- aa_id : int;
- aa_position : int;
- aa_velocity : int;
-} with obus(sequence)
diff --git a/PC_Mainboard/common/util.ml b/PC_Mainboard/common/util.ml
index 705623f..1f3ca4f 100644
--- a/PC_Mainboard/common/util.ml
+++ b/PC_Mainboard/common/util.ml
@@ -13,7 +13,7 @@ let front_collide sensors =
if Array.length sensors <> 16 then invalid_arg "Until.front_collide";
let rec loop = function
| 16 -> false
- | n -> (sensors.(n) && List.mem n Config.front_sensors) || loop (n + 1)
+ | n -> (sensors.(n) && List.mem n Krobot_config.front_sensors) || loop (n + 1)
in
loop 0
@@ -21,7 +21,7 @@ let back_collide sensors =
if Array.length sensors <> 16 then invalid_arg "Until.back_collide";
let rec loop = function
| 16 -> false
- | n -> (sensors.(n) && List.mem n Config.back_sensors) || loop (n + 1)
+ | n -> (sensors.(n) && List.mem n Krobot_config.back_sensors) || loop (n + 1)
in
loop 0
diff --git a/PC_Mainboard/driver/bus.conf b/PC_Mainboard/driver/bus.conf
index 9808b8e..0fb7c62 100644
--- a/PC_Mainboard/driver/bus.conf
+++ b/PC_Mainboard/driver/bus.conf
@@ -1,5 +1,5 @@
-<!-- Configuration for the dbus daemon -->
-<!DOCTYPE busconfig PUBLIC "-//freedesktop//DTD D-Bus Bus Configuration 1.0//EN"
+<!-- Krobot_configuration for the dbus daemon -->
+<!DOCTYPE busconfig PUBLIC "-//freedesktop//DTD D-Bus Bus Krobot_configuration 1.0//EN"
"http://www.freedesktop.org/standards/dbus/1.0/busconfig.dtd">
<busconfig>
<keep_umask/>
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index a7f256e..82b5d48 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -12,7 +12,7 @@
module Log = Lwt_log.Make(struct let section = "driver" end)
open OBus_pervasives
-open Types
+open Krobot_types
open Lwt
(* +-----------------------------------------------------------------+
@@ -44,10 +44,10 @@ struct
if data <> dev.data then begin
dev.data <- data;
lwt () = value dev data in
- lwt () = Lwt_unix.sleep Config.update_delay in
+ lwt () = Lwt_unix.sleep Krobot_config.update_delay in
loop dev
end else
- lwt () = Lwt_unix.sleep Config.update_delay in
+ lwt () = Lwt_unix.sleep Krobot_config.update_delay in
loop dev
let make card path =
@@ -107,7 +107,7 @@ struct
OL_interface(OBus) "fr.krobot.Device.AX12" as interface
- OL_method SetAX12 : Types.ax12_action structure list -> unit = fun dev actions ->
+ OL_method SetAX12 : Krobot_types.ax12_action structure list -> unit = fun dev actions ->
lwt () =
Lwt_list.iter_p
(fun action ->
@@ -122,10 +122,10 @@ struct
USB_commands.AX12.action dev.card ~id:0xfe
OL_method GripUp : unit = fun dev ->
- set_ax12 dev [{ aa_id = Config.ax12_grip_up_down; aa_position = Config.grip_up_position; aa_velocity = Config.ax12_default_velocity }]
+ set_ax12 dev [{ aa_id = Krobot_config.ax12_grip_up_down; aa_position = Krobot_config.grip_up_position; aa_velocity = Krobot_config.ax12_default_velocity }]
OL_method GripDown : unit = fun dev ->
- set_ax12 dev [{ aa_id = Config.ax12_grip_up_down; aa_position = Config.grip_down_position; aa_velocity = Config.ax12_default_velocity }]
+ set_ax12 dev [{ aa_id = Krobot_config.ax12_grip_up_down; aa_position = Krobot_config.grip_down_position; aa_velocity = Krobot_config.ax12_default_velocity }]
let make card path =
return {
@@ -163,10 +163,10 @@ struct
if data <> dev.data then begin
dev.data <- data;
lwt () = value dev data in
- lwt () = Lwt_unix.sleep Config.update_delay in
+ lwt () = Lwt_unix.sleep Krobot_config.update_delay in
loop dev
end else
- lwt () = Lwt_unix.sleep Config.update_delay in
+ lwt () = Lwt_unix.sleep Krobot_config.update_delay in
loop dev
let make card path =
@@ -217,10 +217,10 @@ struct
if data <> dev.data then begin
dev.data <- data;
lwt () = value dev data in
- lwt () = Lwt_unix.sleep Config.update_delay in
+ lwt () = Lwt_unix.sleep Krobot_config.update_delay in
loop dev
end else
- lwt () = Lwt_unix.sleep Config.update_delay in
+ lwt () = Lwt_unix.sleep Krobot_config.update_delay in
loop dev
let make card path =
@@ -437,9 +437,9 @@ struct
return (if trajectory.stopped then `Stopped else `OK)
end
- OL_method Turn : int -> int -> int -> Types.move_result
- OL_method Move : int -> int -> int -> Types.move_result
- OL_method Goto : int -> int -> int -> int -> Types.goto_mode -> int -> Types.move_result
+ OL_method Turn : int -> int -> int -> Krobot_types.move_result
+ OL_method Move : int -> int -> int -> Krobot_types.move_result
+ OL_method Goto : int -> int -> int -> int -> Krobot_types.goto_mode -> int -> Krobot_types.move_result
(* +---------------------------------------------------------------+
| Manually sets the velocity and acceleration of each motor |
@@ -517,7 +517,7 @@ struct
let static = { velocity = 0; acceleration = 0; direction = `Forward } in
_set_velocities dev (return ()) (static, static) velocities accelerations duration
- OL_method StopMotors : Types.stop_mode -> unit
+ OL_method StopMotors : Krobot_types.stop_mode -> unit
OL_method SetVelocities : int * int -> int * int -> float -> unit
(* +---------------------------------------------------------------+
@@ -596,7 +596,7 @@ struct
| Some card ->
Krobot_card.close card
- OL_method CardStates : OBus_connection.t -> Types.card_state * Types.card_state * Types.card_state = fun manager connection ->
+ OL_method CardStates : OBus_connection.t -> Krobot_types.card_state * Krobot_types.card_state * Krobot_types.card_state = fun manager connection ->
let state card = match React.S.value card with
| Some _ -> `Present
| None -> `Absent
@@ -649,7 +649,7 @@ struct
OL_property_r Name : string = fun dev ->
return (Krobot_card.name (get_card dev))
- OL_method GetState : Types.card_state = fun dev ->
+ OL_method GetState : Krobot_types.card_state = fun dev ->
match React.S.value dev.card with
| None ->
return `Absent
@@ -671,7 +671,7 @@ struct
OL_method Test : unit = fun dev ->
USB_commands.Card.test (get_card dev)
- OL_signal StateChanged : Types.card_state
+ OL_signal StateChanged : Krobot_types.card_state
let make name card path =
let dev = {
@@ -730,7 +730,7 @@ and restart_card ~name ~vendor_id ~product_id ~set on_up on_down =
if !quit then
return ()
else begin
- lwt () = Lwt_unix.sleep Config.reopen_delay in
+ lwt () = Lwt_unix.sleep Krobot_config.reopen_delay in
monitor_card ~name ~vendor_id ~product_id ~set on_up on_down
end
@@ -748,7 +748,7 @@ lwt () =
Arg.parse args ignore usage_msg;
(* Open the krobot message bus *)
- lwt bus = OBus_bus.of_addresses (OBus_address.of_string Config.bus_address) in
+ lwt bus = OBus_bus.of_addresses (OBus_address.of_string Krobot_config.bus_address) in
lwt () =
try_lwt
diff --git a/PC_Mainboard/generators/gen_dbus_exports.ml b/PC_Mainboard/generators/gen_dbus_exports.ml
index 134edef..fc99314 100644
--- a/PC_Mainboard/generators/gen_dbus_exports.ml
+++ b/PC_Mainboard/generators/gen_dbus_exports.ml
@@ -78,10 +78,10 @@ let rec print path indent = function
printf "%send\n" indent
| Enum enum ->
- printf "%stype %s = Types.%s with obus\n" indent (Name.lid enum.enum_name) (Name.lid enum.enum_name)
+ printf "%stype %s = Krobot_types.%s with obus\n" indent (Name.lid enum.enum_name) (Name.lid enum.enum_name)
| Record record ->
- printf "%stype %s = Types.%s with obus\n" indent (Name.lid record.rec_name) (Name.lid record.rec_name)
+ printf "%stype %s = Krobot_types.%s with obus\n" indent (Name.lid record.rec_name) (Name.lid record.rec_name)
let () =
printf "open OBus_pervasives\n";
diff --git a/PC_Mainboard/generators/gen_dbus_imports.ml b/PC_Mainboard/generators/gen_dbus_imports.ml
index 2f62ba9..09eac87 100644
--- a/PC_Mainboard/generators/gen_dbus_imports.ml
+++ b/PC_Mainboard/generators/gen_dbus_imports.ml
@@ -60,10 +60,10 @@ let rec print indent = function
printf "%send\n" indent
| Enum enum ->
- printf "%stype %s = Types.%s with obus\n" indent (Name.lid enum.enum_name) (Name.lid enum.enum_name)
+ printf "%stype %s = Krobot_types.%s with obus\n" indent (Name.lid enum.enum_name) (Name.lid enum.enum_name)
| Record record ->
- printf "%stype %s = Types.%s with obus\n" indent (Name.lid record.rec_name) (Name.lid record.rec_name)
+ printf "%stype %s = Krobot_types.%s with obus\n" indent (Name.lid record.rec_name) (Name.lid record.rec_name)
let () =
print_string "\
diff --git a/PC_Mainboard/generators/gen_script_commands.ml b/PC_Mainboard/generators/gen_script_commands.ml
index 8ee4f3e..be2da55 100644
--- a/PC_Mainboard/generators/gen_script_commands.ml
+++ b/PC_Mainboard/generators/gen_script_commands.ml
@@ -80,7 +80,7 @@ let rec print is_card path caml_path = function
printf " \"{\" ^ (String.concat \"; \" [";
List.iter
(fun (name, typ) ->
- printf "\"%s = \" ^ %s; " name (typ.print (sprintf "x.Types.%s%s" record.rec_prefix (Name.lid name))))
+ printf "\"%s = \" ^ %s; " name (typ.print (sprintf "x.Krobot_types.%s%s" record.rec_prefix (Name.lid name))))
record.rec_args;
printf "]) ^ \"}\" in\n";
printf " let _ = print_%s in\n" (Name.lid record.rec_name)
diff --git a/PC_Mainboard/generators/gen_usb_commands.ml b/PC_Mainboard/generators/gen_usb_commands.ml
index 70bfb92..2c457dd 100644
--- a/PC_Mainboard/generators/gen_usb_commands.ml
+++ b/PC_Mainboard/generators/gen_usb_commands.ml
@@ -78,7 +78,7 @@ let rec print indent = function
printf "%slet put_%s writer value =\n" indent (Name.lid record.rec_name);
List.iter
(fun (name, typ) ->
- printf "%s %s;\n" indent (typ.writer ("value.Types." ^ record.rec_prefix ^ Name.lid name)))
+ printf "%s %s;\n" indent (typ.writer ("value.Krobot_types." ^ record.rec_prefix ^ Name.lid name)))
record.rec_args;
printf "%s ()\n" indent;
@@ -92,7 +92,7 @@ let rec print indent = function
(List.map
(fun (name, typ) ->
let name = Name.lid name in
- sprintf "Types.%s%s = %s" record.rec_prefix (Name.lid name) name)
+ sprintf "Krobot_types.%s%s = %s" record.rec_prefix (Name.lid name) name)
record.rec_args))
| Module(name, items) ->
printf "%smodule %s = struct\n" indent (Name.uid name);
diff --git a/PC_Mainboard/krobot.mllib b/PC_Mainboard/krobot.mllib
new file mode 100644
index 0000000..6116255
--- /dev/null
+++ b/PC_Mainboard/krobot.mllib
@@ -0,0 +1,4 @@
+lib_krobot/Krobot
+lib_krobot/Krobot_unsafe
+common/Krobot_types
+common/Krobot_config
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 7a845d7..800683e 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -11,16 +11,16 @@ module Log = Lwt_log.Make(struct let section = "krobot" end)
open OBus_pervasives
open Lwt
-open Types
+open Krobot_types
(* +-----------------------------------------------------------------+
- | Types |
+ | Krobot_types |
+-----------------------------------------------------------------+ *)
type team = Team_red | Team_green
type card = {
- card_state : Types.card_state React.signal;
+ card_state : Krobot_types.card_state React.signal;
}
type t = {
@@ -106,7 +106,7 @@ let bus = lazy(
| None ->
try_lwt
lwt () = Log.info "connecting to the krobot with the local krobot bus" in
- OBus_bus.of_addresses (OBus_address.of_string Config.bus_address)
+ OBus_bus.of_addresses (OBus_address.of_string Krobot_config.bus_address)
with exn ->
lwt () = Log.exn exn "failed to connect to the local krobot bus" in
fail exn
@@ -125,9 +125,9 @@ let create ?peer () =
and range_finders = make_dev_signal peer "RangeFinders" "Get" "Value" <:obus_type< int array >> (Array.make 8 0)
and inhibited_forward_until = make_dev_signal peer "Motors" "InhibitedForward" "InhibitedForwardChanged" <:obus_type< float >> 0.
and inhibited_backward_until = make_dev_signal peer "Motors" "InhibitedBackward" "InhibitedBackwardChanged" <:obus_type< float >> 0.
- and card_interface = make_card_signal peer "Interface" "GetState" "StateChanged" <:obus_type< Types.card_state >> `Absent
- and card_sensor = make_card_signal peer "Sensor" "GetState" "StateChanged" <:obus_type< Types.card_state >> `Absent
- and card_motor = make_card_signal peer "Motor" "GetState" "StateChanged" <:obus_type< Types.card_state >> `Absent in
+ and card_interface = make_card_signal peer "Interface" "GetState" "StateChanged" <:obus_type< Krobot_types.card_state >> `Absent
+ and card_sensor = make_card_signal peer "Sensor" "GetState" "StateChanged" <:obus_type< Krobot_types.card_state >> `Absent
+ and card_motor = make_card_signal peer "Motor" "GetState" "StateChanged" <:obus_type< Krobot_types.card_state >> `Absent in
return {
peer = peer;
compass = compass;
@@ -175,7 +175,7 @@ OP_method CalibrationContinue : unit
module AX12 = Make_device(struct let name = "AX12" end)
OP_interface(AX12) "fr.krobot.Device.AX12"
-OP_method SetAX12 : Types.ax12_action structure list -> unit
+OP_method SetAX12 : Krobot_types.ax12_action structure list -> unit
OP_method GripUp : unit
OP_method GripDown : unit
@@ -186,10 +186,10 @@ OP_method GripDown : unit
module Motors = Make_device(struct let name = "Motors" end)
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
-OP_method Goto : x : int -> y : int -> velocity : int -> acceleration : int -> mode : Types.goto_mode -> bypass_distance : int -> Types.move_result
-OP_method StopMotors : mode : Types.stop_mode -> unit
+OP_method Turn : angle : int -> velocity : int -> acceleration : int -> Krobot_types.move_result
+OP_method Move : distance : int -> velocity : int -> acceleration : int -> Krobot_types.move_result
+OP_method Goto : x : int -> y : int -> velocity : int -> acceleration : int -> mode : Krobot_types.goto_mode -> bypass_distance : int -> Krobot_types.move_result
+OP_method StopMotors : mode : Krobot_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
diff --git a/PC_Mainboard/lib_krobot/krobot.mli b/PC_Mainboard/lib_krobot/krobot.mli
index 19b8c34..b5a56bf 100644
--- a/PC_Mainboard/lib_krobot/krobot.mli
+++ b/PC_Mainboard/lib_krobot/krobot.mli
@@ -64,7 +64,7 @@ val calibration_stop : t -> unit Lwt.t
(** {6 AX12s} *)
-val set_ax12 : t -> Types.ax12_action list -> unit Lwt.t
+val set_ax12 : t -> Krobot_types.ax12_action list -> unit Lwt.t
(** [set_ax12 krobot actions] move all given ax12 at the same
time. *)
@@ -76,16 +76,16 @@ val grip_down : t -> unit Lwt.t
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 turn : t -> angle : int -> velocity : int -> acceleration : int -> Krobot_types.move_result Lwt.t
+val move : t -> distance : int -> velocity : int -> acceleration : int -> Krobot_types.move_result Lwt.t
val goto : t ->
x : int -> y : int ->
velocity : int ->
acceleration : int ->
- mode : Types.goto_mode ->
- bypass_distance : int -> Types.move_result Lwt.t
+ mode : Krobot_types.goto_mode ->
+ bypass_distance : int -> Krobot_types.move_result Lwt.t
-val stop_motors : t -> mode : Types.stop_mode -> unit Lwt.t
+val stop_motors : t -> mode : Krobot_types.stop_mode -> unit Lwt.t
(** [stop_motorw t mode] stop the two motors. *)
val set_velocities : t ->
@@ -121,7 +121,7 @@ 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 -> Krobot_types.card_state React.signal
(** Returns the status of one of the card of the krobot *)
val bootloader : t * card -> unit Lwt.t
diff --git a/PC_Mainboard/myocamlbuild.ml b/PC_Mainboard/myocamlbuild.ml
index 3cedd3f..578fb43 100644
--- a/PC_Mainboard/myocamlbuild.ml
+++ b/PC_Mainboard/myocamlbuild.ml
@@ -61,8 +61,9 @@ let targets = List.filter_opt (function (true, target) -> Some target | (false,
(have_lwt_unix && have_usb, "card_tools/dump_memory.best");
(* Krobot client library *)
- (have_lwt_unix && have_obus, "lib_krobot/krobot.cma");
- (have_lwt_unix && have_obus && have_native, "lib_krobot/krobot.cmxa");
+ (have_lwt_unix && have_obus, "krobot.cma");
+ (have_lwt_unix && have_obus && have_native, "krobot.cmxa");
+ (have_lwt_unix && have_obus && have_native, "krobot.cmxs");
(* Tools *)
(have_lwt_unix && have_obus, "tools/forward_dbus.best");
@@ -148,6 +149,10 @@ let _ =
| After_rules ->
+ rule "shared libraries (cmxs)"
+ ~dep:"%.cmxa" ~prod:"%.cmxs"
+ (fun env _ -> Cmd(S[!(Options.ocamlopt); A"-shared"; A"-linkall"; A(env "%.cmxa"); A"-o"; A(env "%.cmxs")]));
+
(* +---------------------------------------------------------+
| Autogenerated files |
+---------------------------------------------------------+ *)
diff --git a/PC_Mainboard/tools/forward_dbus.ml b/PC_Mainboard/tools/forward_dbus.ml
index 7c85c84..8685578 100644
--- a/PC_Mainboard/tools/forward_dbus.ml
+++ b/PC_Mainboard/tools/forward_dbus.ml
@@ -15,7 +15,7 @@ let rec copy ta tb =
copy ta tb
lwt () =
- let addresses = OBus_address.of_string Config.bus_address in
+ let addresses = OBus_address.of_string Krobot_config.bus_address in
lwt (_, ta) = OBus_transport.of_addresses addresses in
let tb =
OBus_transport.make
diff --git a/PC_Mainboard/www/krobot.ml b/PC_Mainboard/www/krobot.ml
index 2636c6e..5fe7dae 100644
--- a/PC_Mainboard/www/krobot.ml
+++ b/PC_Mainboard/www/krobot.ml
@@ -65,7 +65,7 @@ let bottom sp = (
let side_menu cur_menu sp =
Eliom_tools.menu ~classe:["mainmenu"]
(serv_home, [pcdata "Home"]) [
- (serv_config, [pcdata "Config"]);
+ (serv_config, [pcdata "Krobot_config"]);
(serv_sensors, [pcdata "Sensors"]);
(serv_control, [pcdata "Control"])
] ~service:cur_menu ~sp
@@ -227,7 +227,7 @@ let config_handler sp posted =
div_with_id "page" [
div_with_id "content" [
h1 [pcdata "Mobile Robot Platform"];
- h2 [pcdata "Config"];
+ h2 [pcdata "Krobot_config"];
(res);
(form);
(bottom sp)
hooks/post-receive
--
krobot
|
