[Krobot-commits] [SCM] krobot branch, master, updated. ea6ee177b5f55f2c5c1c62c647962596786000a0

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit ea6ee177b5f55f2c5c1c62c647962596786000a0
Author: Jérémie Dimino <je...@di...>
Date:   Sun Mar 7 23:45:43 2010 +0100

    High level command for controlling the LCD

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

Changes:
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 82b5d48..e1472f0 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -79,6 +79,26 @@ struct
 
   module Unsafe = DBus_exports.LCD(OBus)(struct let get dev = dev.card end)
 
+  OL_interface(OBus) "fr.krobot.Device.LCD"
+
+  OL_method SetLCD : string list -> unit = fun dev lines ->
+    if List.length lines > 4 || List.exists (fun line -> String.length line > 20) lines then
+      invalid_arg "SetLCD"
+    else
+      match lines with
+        | [] ->
+            return ()
+        | line :: lines ->
+            lwt () = Unsafe.send dev ("\x1b\x43\x1b\x73" ^ line) in
+            let rec loop i = function
+              | [] ->
+                  return ()
+              | line :: lines ->
+                  lwt () = Unsafe.send dev (String.make 1 (char_of_int i) ^  line) in
+                  loop (i + 1) lines
+            in
+            loop 2 lines
+
   let make card path =
     let dev = {
       obus = OBus.make ~interfaces:[Unsafe.interface] path;
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 800683e..7f3940d 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -157,6 +157,15 @@ let jack krobot =
   React.S.map (fun ls -> ls.(15)) krobot.logic_sensors
 
 (* +-----------------------------------------------------------------+
+   | LCD                                                             |
+   +-----------------------------------------------------------------+ *)
+
+module LCD = Make_device(struct let name = "LCD" end)
+OP_interface(LCD) "fr.krobot.Device.LCD"
+
+OP_method SetLCD : string list -> unit
+
+(* +-----------------------------------------------------------------+
    | Range finders                                                   |
    +-----------------------------------------------------------------+ *)
 
diff --git a/PC_Mainboard/lib_krobot/krobot.mli b/PC_Mainboard/lib_krobot/krobot.mli
index b5a56bf..3dc8a9a 100644
--- a/PC_Mainboard/lib_krobot/krobot.mli
+++ b/PC_Mainboard/lib_krobot/krobot.mli
@@ -29,6 +29,12 @@ val create : ?peer : OBus_peer.t -> unit -> t Lwt.t
 val peer : t -> OBus_peer.t
   (** Returns the driver peer *)
 
+(** {6 LCD} *)
+
+val set_lcd : t -> string list -> unit Lwt.t
+  (** [set_lcd lines] set the lines displayed on the LCD. [lines] may
+      contains at most 4 lines, of maximum length 20. *)
+
 (** {6 Compass} *)
 
 val compass : t -> int React.signal


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