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[Krobot-commits] [SCM] krobot branch, master, updated. edf08efe16e1a8a7154641c1fd3005da2f729eeb
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From: Jérémie D. <Ba...@us...> - 2010-03-15 16:20:42
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from 6a511b012683824b3ec4a3a6b8efda3ee6a237ae (commit)
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- Log -----------------------------------------------------------------
commit edf08efe16e1a8a7154641c1fd3005da2f729eeb
Author: Jérémie Dimino <je...@di...>
Date: Mon Mar 15 17:17:10 2010 +0100
OBus update
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 5e2ae19..9687900 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -35,7 +35,7 @@ struct
let make card path =
return {
- obus = OBus.make ~interfaces:[Unsafe.interface] path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface] path;
card = card;
}
end
@@ -59,7 +59,7 @@ struct
module Unsafe = DBus_exports.Compass(OBus)(struct let get dev = dev.card end)
- OL_interface(OBus) "fr.krobot.Device.Compass" as interface
+ let ol_interface = OBus.make_interface "fr.krobot.Device.Compass"
OL_signal Value : int
OL_method Get : int = fun dev -> return dev.data
@@ -78,7 +78,7 @@ struct
let make card path =
lwt data = USB_commands.Compass.get card in
let dev = {
- obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
card = card;
data = data;
} in
@@ -104,7 +104,7 @@ struct
module Unsafe = DBus_exports.LCD(OBus)(struct let get dev = dev.card end)
- OL_interface(OBus) "fr.krobot.Device.LCD" as interface
+ let ol_interface = OBus.make_interface "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
@@ -127,7 +127,7 @@ struct
let make card path =
let dev = {
- obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
card = card;
} in
return dev
@@ -151,7 +151,7 @@ struct
module Unsafe = DBus_exports.AX12(OBus)(struct let get dev = dev.card end)
- OL_interface(OBus) "fr.krobot.Device.AX12" as interface
+ let ol_interface = OBus.make_interface "fr.krobot.Device.AX12"
OL_method SetAX12 : Krobot_types.ax12_action structure list -> unit = fun dev actions ->
lwt () =
@@ -175,7 +175,7 @@ struct
let make card path =
return {
- obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
card = card;
}
end
@@ -199,7 +199,7 @@ struct
module Unsafe = DBus_exports.Logic_sensors(OBus)(struct let get dev = dev.card end)
- OL_interface(OBus) "fr.krobot.Device.LogicSensors" as interface
+ let ol_interface = OBus.make_interface "fr.krobot.Device.LogicSensors"
OL_signal Value : bool array
OL_method Get : bool array = fun dev -> return dev.data
@@ -217,7 +217,7 @@ struct
let make card path =
let dev = {
- obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
card = card;
data = Array.create 16 false;
} in
@@ -244,7 +244,7 @@ struct
module Unsafe = DBus_exports.Range_finders(OBus)(struct let get dev = dev.card end)
- OL_interface(OBus) "fr.krobot.Device.RangeFinders" as interface
+ let ol_interface = OBus.make_interface "fr.krobot.Device.RangeFinders"
OL_signal Value : int array
OL_method Get : int array = fun dev -> return dev.data
@@ -271,7 +271,7 @@ struct
let make card path =
let dev = {
- obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
card = card;
data = Array.create 8 0;
} in
@@ -333,7 +333,7 @@ struct
module Unsafe = DBus_exports.Motors(OBus)(struct let get dev = dev.card end)
- OL_interface(OBus) "fr.krobot.Device.Motors" as interface
+ let ol_interface = OBus.make_interface "fr.krobot.Device.Motors"
let string_of_direction = function
| `Forward -> "forward"
@@ -612,7 +612,7 @@ 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.make ~interfaces:[Unsafe.interface; interface] path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
card = card;
inhibit_forward_until = 0.0;
inhibit_backward_until = 0.0;
@@ -635,7 +635,7 @@ let card_motor, set_card_motor = React.S.create None
module Manager =
struct
- OL_interface "fr.krobot.Manager" as interface
+ let ol_interface = OBus_object.make_interface "fr.krobot.Manager"
let close card = match React.S.value card with
| None ->
@@ -664,7 +664,7 @@ struct
Lwt.wakeup done_wakener ();
return ()
- let manager = OBus_object.make ~interfaces:[interface] ["fr"; "krobot"; "Manager"]
+ let manager = OBus_object.make ~interfaces:[ol_interface] ["fr"; "krobot"; "Manager"]
end
(* +-----------------------------------------------------------------+
@@ -693,7 +693,7 @@ struct
module Unsafe = DBus_exports.Card(OBus)(struct let get = get_card end)
- OL_interface(OBus) "fr.krobot.Card" as interface
+ let ol_interface = OBus.make_interface "fr.krobot.Card"
OL_property_r Name : string = fun dev ->
return (Krobot_card.name (get_card dev))
@@ -725,7 +725,7 @@ struct
let make name card path =
let dev = {
card = card;
- obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
name = name;
state = React.S.const (return ());
} in
diff --git a/PC_Mainboard/generators/gen_dbus_exports.ml b/PC_Mainboard/generators/gen_dbus_exports.ml
index fc99314..f330cf6 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 OL_interface(M) \"fr.krobot.Device.%s.Unsafe\" as interface\n"
+ printf "%s let ol_interface = M.make_interface \"fr.krobot.Device.%s.Unsafe\"\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 " OL_interface(M) \"fr.krobot.Card.Unsafe\" as interface\n";
+ printf " let ol_interface = M.make_interface \"fr.krobot.Card.Unsafe\"\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 0e91bd3..738ba36 100644
--- a/PC_Mainboard/generators/gen_dbus_imports.ml
+++ b/PC_Mainboard/generators/gen_dbus_imports.ml
@@ -55,7 +55,7 @@ let rec print indent = function
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 OP_interface(Proxy) \"fr.krobot.Device.%s.Unsafe\"\n" indent (Name.caml_case name);
+ printf "%s let op_interface = Proxy.make_interface \"fr.krobot.Device.%s.Unsafe\"\n" indent (Name.caml_case name);
List.iter (print (indent ^ " ")) items;
printf "%send\n" indent
@@ -81,7 +81,7 @@ module Card = struct
| `Monitoring -> \"Monitoring\")]
let make proxy = failwith \"not implemented\"
end)
- OP_interface(Proxy) \"fr.krobot.Card.Unsafe\"
+ let op_interface = Proxy.make_interface \"fr.krobot.Card.Unsafe\"
";
List.iter (print " ") card;
printf "end\n";
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 2650c1e..a866c75 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -165,7 +165,7 @@ let jack krobot =
+-----------------------------------------------------------------+ *)
module LCD = Make_device(struct let name = "LCD" end)
-OP_interface(LCD) "fr.krobot.Device.LCD"
+let op_interface = LCD.make_interface "fr.krobot.Device.LCD"
OP_method SetLCD : string list -> unit
OP_method BacklightOn : unit
@@ -176,7 +176,7 @@ OP_method BacklightOff : unit
+-----------------------------------------------------------------+ *)
module RF = Make_device(struct let name = "RangeFinders" end)
-OP_interface(RF) "fr.krobot.Device.RangeFinders"
+let op_interface = RF.make_interface "fr.krobot.Device.RangeFinders"
OP_method GetCalibration : int -> int array
OP_method CalibrationStart : int -> bool -> unit
@@ -188,7 +188,7 @@ OP_method CalibrationContinue : unit
+-----------------------------------------------------------------+ *)
module AX12 = Make_device(struct let name = "AX12" end)
-OP_interface(AX12) "fr.krobot.Device.AX12"
+let op_interface = AX12.make_interface "fr.krobot.Device.AX12"
OP_method SetAX12 : Krobot_types.ax12_action structure list -> unit
OP_method GripUp : unit
@@ -199,7 +199,7 @@ OP_method GripDown : unit
+-----------------------------------------------------------------+ *)
module Motors = Make_device(struct let name = "Motors" end)
-OP_interface(Motors) "fr.krobot.Device.Motors"
+let op_interface = Motors.make_interface "fr.krobot.Device.Motors"
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
@@ -243,7 +243,7 @@ struct
let make proxy = failwith "not implemented"
end)
- OP_interface(Proxy) "fr.krobot.Card"
+ let op_interface = Proxy.make_interface "fr.krobot.Card"
OP_method GetFirmwareBuild : string
OP_method GetBoardInfo : string
OP_method Bootloader : unit
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