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[Krobot-commits] [SCM] krobot branch, master, updated. f2213bbbf674944c0d841ddb4a7e71d25010bb2e
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From: Jérémie D. <Ba...@us...> - 2010-03-20 14:12:01
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- Log -----------------------------------------------------------------
commit f2213bbbf674944c0d841ddb4a7e71d25010bb2e
Author: Jérémie Dimino <je...@di...>
Date: Sat Mar 20 15:09:42 2010 +0100
Handle errors as responses
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 804c532..8705b76 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -388,14 +388,14 @@ struct
dev.state <- Trajectory trajectory;
let thread = Lwt_event.next dev.traj_completed >> return () in
lwt () =
- select [waiter;
- (lwt () =
- if dist > 0 then
- USB_commands.Motors.forward dev.card dist velocity acc
- else
- USB_commands.Motors.backward dev.card (-dist) velocity acc
- in
- thread)]
+ pick [waiter;
+ (lwt () =
+ if dist > 0 then
+ USB_commands.Motors.forward dev.card dist velocity acc
+ else
+ USB_commands.Motors.backward dev.card (-dist) velocity acc
+ in
+ thread)]
in
dev.state <- Static;
return (if trajectory.stopped then `Stopped else `OK)
@@ -424,14 +424,14 @@ struct
dev.state <- Trajectory trajectory;
let thread = Lwt_event.next dev.traj_completed >> return () in
lwt () =
- select [waiter;
- (lwt () =
- if angle > 0 then
- USB_commands.Motors.left dev.card angle velocity acc
- else
- USB_commands.Motors.right dev.card (-angle) velocity acc
- in
- thread)]
+ pick [waiter;
+ (lwt () =
+ if angle > 0 then
+ USB_commands.Motors.left dev.card angle velocity acc
+ else
+ USB_commands.Motors.right dev.card (-angle) velocity acc
+ in
+ thread)]
in
dev.state <- Static;
return (if trajectory.stopped then `Stopped else `OK)
@@ -468,16 +468,16 @@ struct
dev.state <- Trajectory trajectory;
let thread = Lwt_event.next dev.traj_completed >> return () in
lwt () =
- select [waiter;
- (lwt () =
- USB_commands.Motors.goto dev.card
- ~x ~y
- ~velocity:velocity
- ~acceleration:acc
- ~mode
- ~bypass_distance
- in
- thread)]
+ pick [waiter;
+ (lwt () =
+ USB_commands.Motors.goto dev.card
+ ~x ~y
+ ~velocity:velocity
+ ~acceleration:acc
+ ~mode
+ ~bypass_distance
+ in
+ thread)]
in
dev.state <- Static;
return (if trajectory.stopped then `Stopped else `OK)
diff --git a/PC_Mainboard/driver/krobot_card.ml b/PC_Mainboard/driver/krobot_card.ml
index 3370f59..d89b116 100644
--- a/PC_Mainboard/driver/krobot_card.ml
+++ b/PC_Mainboard/driver/krobot_card.ml
@@ -11,6 +11,29 @@ module Log = Lwt_log.Make(struct let section = "card" end)
open Lwt
+let error_messages = [
+ PcInterface.err_unknown_cmd, "unknown command";
+ PcInterface.err_unknown_get, "unknown get request";
+ PcInterface.err_unknown_set, "unknown set request";
+ PcInterface.err_invalid_response, "invalid response";
+ PcInterface.err_ax12_wrong_packet, "invalid AX12 packet";
+ PcInterface.err_ax12_error, "AX12 error";
+ PcInterface.err_ax12_chksum, "invalid checksum of AX12 packet";
+ PcInterface.err_cmp03_not_responding, "cmp03 not responding";
+ PcInterface.err_adjd_s371_not_responding, "adjd_s371 not responding";
+ PcInterface.err_lm_command_error, "lm command error";
+ PcInterface.err_lm_position_error, "lm position error";
+ PcInterface.err_invalid_axis, "invalid axis";
+]
+
+let error_message error =
+ try
+ List.assoc error error_messages
+ with Not_found ->
+ Printf.sprintf "unknown error (%d)" error
+
+exception Error of string
+
(* +-----------------------------------------------------------------+
| Messages |
+-----------------------------------------------------------------+ *)
@@ -161,8 +184,8 @@ let dropped typ card msg =
host_serial = %d
device_serial = %d
command = %d
-error = %d
-data:" msg.host_serial msg.device_serial msg.command msg.error in
+error = %s
+data:" msg.host_serial msg.device_serial msg.command (if msg.error <> 0 then error_message msg.error else "none") in
Lwt_stream.iter_s (fun line -> Log.warning line) (Lwt_stream.hexdump (Lwt_stream.of_string msg.data))
(* Dispatch incomming messages continously *)
@@ -170,11 +193,11 @@ let rec dispatch card =
let buffer = String.create 64 in
begin
try_lwt
- select [card.abort_waiter;
- USB.interrupt_recv
- ~handle:card.handle
- ~endpoint:1
- buffer 0 64] >|= fun len -> `OK len
+ pick [card.abort_waiter;
+ USB.interrupt_recv
+ ~handle:card.handle
+ ~endpoint:1
+ buffer 0 64] >|= fun len -> `OK len
with exn ->
return (`Error exn)
end >>= function
@@ -195,7 +218,10 @@ let rec dispatch card =
| Some wakener ->
card.reply_waiters <- Int_map.remove msg.host_serial card.reply_waiters;
card.serial_pool <- card.serial_pool @ [msg.host_serial];
- Lwt.wakeup wakener msg.data
+ if msg.error <> 0 then
+ Lwt.wakeup_exn wakener (Error(error_message msg.error))
+ else
+ Lwt.wakeup wakener msg.data
| None ->
ignore (dropped "response" card msg)
end else begin
@@ -267,7 +293,7 @@ let rec make ~name ~handle =
+-----------------------------------------------------------------+ *)
let send card buffer =
- lwt len = select [card.abort_waiter; USB.interrupt_send ~handle:card.handle ~endpoint:1 buffer 0 64] in
+ lwt len = pick [card.abort_waiter; USB.interrupt_send ~handle:card.handle ~endpoint:1 buffer 0 64] in
if len <> 64 then begin
let msg = Printf.sprintf "write on %s card returned %d instead of 64" card.wrapper.name len in
lwt () = Log.error msg in
diff --git a/PC_Mainboard/driver/krobot_card.mli b/PC_Mainboard/driver/krobot_card.mli
index 06063a3..8c65caf 100644
--- a/PC_Mainboard/driver/krobot_card.mli
+++ b/PC_Mainboard/driver/krobot_card.mli
@@ -30,6 +30,9 @@ exception Card_closed
exception Card_crashed of string
(** Exception raised when a fatal error happen on the card *)
+exception Error of string
+ (** An error returned by a card *)
+
(** {6 Card opening/closing} *)
val make : name : string -> handle : USB.handle -> t Lwt.t
hooks/post-receive
--
krobot
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