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[Krobot-commits] [SCM] krobot branch, motor-nurbs, updated. 9f4b4583c8aa2e1bd14038afcbd19e061060734b
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From: Xavier L. <Ba...@us...> - 2010-03-20 14:39:37
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- Log -----------------------------------------------------------------
commit 9f4b4583c8aa2e1bd14038afcbd19e061060734b
Merge: 5f1263fc05729c7457e97b0c697a120101edfa93 f2213bbbf674944c0d841ddb4a7e71d25010bb2e
Author: Xavier Lagorce <Xav...@cr...>
Date: Sat Mar 20 15:38:24 2010 +0100
Merge branch 'master' into motor-nurbs
Binary firmwares were rebuild and are firmwares from the current merged branch
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/META b/PC_Mainboard/META
new file mode 100644
index 0000000..3a4d1c1
--- /dev/null
+++ b/PC_Mainboard/META
@@ -0,0 +1,9 @@
+# -*- conf -*-
+name = "krobot"
+version = "0.1"
+description = "Krobot client library"
+requires = "obus"
+archive(byte) = "krobot.cma"
+archive(native) = "krobot.cmxa"
+archive(plugin,byte) = "krobot.cma"
+archive(plugin,native) = "krobot.cmxs"
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/card_tools/boardname.mll b/PC_Mainboard/card_tools/boardname.mll
index 30f99cf..08df665 100644
--- a/PC_Mainboard/card_tools/boardname.mll
+++ b/PC_Mainboard/card_tools/boardname.mll
@@ -8,7 +8,7 @@
*)
-let boardname_regex = ("Carte " | "Robot Interface") [^'\n']+
+let boardname_regex = ("Carte " | "Robot Interface" | "Battery Monitoring ") [^'\n']+
rule boardname = parse
| (boardname_regex as name) '\n' { Some name }
diff --git a/PC_Mainboard/card_tools/send_firmware.ml b/PC_Mainboard/card_tools/send_firmware.ml
index 443036a..321edb6 100644
--- a/PC_Mainboard/card_tools/send_firmware.ml
+++ b/PC_Mainboard/card_tools/send_firmware.ml
@@ -41,7 +41,7 @@ let do_flash force filename =
lwt () = printf "Flash erased\n" in
lwt () = Bootloader.write_flash k ~address memory address length in
lwt () = printf "Flashing completed\n" in
- lwt () = Bootloader.close k in
+ lwt () = Bootloader.reset_board k in
return ()
let _ =
diff --git a/PC_Mainboard/clients/controller.ml b/PC_Mainboard/clients/controller.ml
index a253a34..329f205 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -191,6 +191,8 @@ let rec draw krobot =
fg line_color; text " ]─┬─[ ";
fg name_color; text "Services";
fg line_color; text " ]─┬─[ ";
+ fg name_color; text "Cards";
+ fg line_color; text " ]─┬─[ ";
fg name_color; text "Status";
fg line_color; text " ]─"];
points.(9).(0) <- { line with char = "├" };
@@ -201,15 +203,16 @@ let rec draw krobot =
for i = 1 to 8 do
points.(i).(20) <- { line with char = "│" };
points.(i).(40) <- { line with char = "│" };
- points.(i).(55) <- { line with char = "│" }
+ points.(i).(55) <- { line with char = "│" };
+ points.(i).(67) <- { line with char = "│" }
done;
- Draw.textc screen 1 9 [fg line_color; text "───────────────────┴───────────────────┴──────────────┴"];
+ Draw.textc screen 1 9 [fg line_color; text "───────────────────┴───────────────────┴──────────────┴───────────┴"];
let zone = Zone.inner screen in
let range_finders = React.S.value (Krobot.range_finders krobot) in
for i = 0 to Array.length range_finders - 1 do
- Draw.textf zone 0 i "%d : %d" i range_finders.(i)
+ Draw.textc zone 0 i [textf "%d : " i; text (Text.repeat (range_finders.(i) * 14 / 3146) "=")]
done;
let logic_sensors = React.S.value (Krobot.logic_sensors krobot) in
@@ -231,18 +234,20 @@ let rec draw krobot =
loop 0 (TextSet.elements (React.S.value services));
let x = 55 in
+ let text_of_state name = function
+ | `Absent -> [fg lred; text name]
+ | `Present -> [text name]
+ in
+ Draw.textc zone x 0 (text_of_state "interface" (React.S.value (Krobot.Card.state (krobot, `Interface))));
+ Draw.textc zone x 1 (text_of_state "sensor" (React.S.value (Krobot.Card.state (krobot, `Sensor))));
+ Draw.textc zone x 2 (text_of_state "motor" (React.S.value (Krobot.Card.state (krobot, `Motor))));
+ Draw.textc zone x 3 (text_of_state "monitoring" (React.S.value (Krobot.Card.state (krobot, `Monitoring))));
+ let x = x + 12 in
Draw.textf zone x 0 "team = %s" (match React.S.value (Krobot.team krobot) with
| Krobot.Team_red -> "red"
| Krobot.Team_green -> "green");
Draw.textf zone x 1 "jack = %s" (if React.S.value (Krobot.jack krobot) then "present" else "absent");
Draw.textf zone x 2 "compass = %d" (React.S.value (Krobot.compass krobot));
- let text_of_state name = function
- | `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)));
let date = Unix.gettimeofday () in
let text_of_motor_state mode until =
if date < until then
@@ -250,8 +255,8 @@ let rec draw krobot =
else
[text mode; text "OK"]
in
- Draw.textc zone x 6 (text_of_motor_state "move forward: " (React.S.value (Krobot.inhibited_forward_until krobot)));
- Draw.textc zone x 7 (text_of_motor_state "move backward: " (React.S.value (Krobot.inhibited_backward_until krobot)));
+ Draw.textc zone x 3 (text_of_motor_state "move forward: " (React.S.value (Krobot.inhibited_forward_until krobot)));
+ Draw.textc zone x 4 (text_of_motor_state "move backward: " (React.S.value (Krobot.inhibited_backward_until krobot)));
(* ===== History ===== *)
@@ -361,7 +366,7 @@ let refresh krobot =
return ()
else begin
refresh_needed := true;
- lwt () = Lwt_main.fast_yield () in
+ lwt () = Lwt.pause () in
refresh_needed := false;
draw krobot;
return ()
@@ -415,9 +420,9 @@ 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..f2e8501 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
@@ -32,4 +32,5 @@ lwt () =
lwt () = print_card krobot `Interface in
lwt () = print_card krobot `Sensor in
lwt () = print_card krobot `Motor in
+ lwt () = print_card krobot `Monitoring in
return ()
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 614e73c..d38ea46 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -44,15 +44,20 @@ let args_of_command name =
let rec after_prefix prefix path =
match prefix, path with
- | [], p -> Some p
- | e1 :: p1, e2 :: p2 when e1 = e2 -> after_prefix p1 p2
- | _ -> None
+ | [], path ->
+ Some path
+ | e1 :: p1, e2 :: p2 when e1 = e2 ->
+ after_prefix p1 p2
+ | [e1], e2 :: p2 when Text.starts_with e2 e1 ->
+ Some path
+ | _ ->
+ None
let complete ~before ~after =
try
match Script_lexer.partial_command (Lexing.from_string before) with
| `Command(before, name) -> begin
- let full_path, path, name =
+ let full_path, path, basename =
match Text.rev_split ~sep:"." ~max:2 name with
| [] ->
("", [], "")
@@ -75,12 +80,15 @@ let complete ~before ~after =
(TextSet.add name paths, names))
(TextSet.empty, TextSet.empty) !commands)
in
- let prefix, words = Lwt_read_line.lookup name names in
+ let prefix, words = Lwt_read_line.lookup basename (TextSet.union paths names) in
match TextSet.cardinal words with
| 0 ->
- Lwt_read_line.complete ~suffix:"." (before ^ full_path) name after paths
+ { Lwt_read_line.comp_state = (before ^ name, after);
+ Lwt_read_line.comp_words = words }
| 1 ->
- { Lwt_read_line.comp_state = (before ^ full_path ^ prefix ^ " ", after);
+ { Lwt_read_line.comp_state = (before ^ full_path ^ prefix ^
+ (if TextSet.mem (TextSet.choose words) paths then "." else " "),
+ after);
Lwt_read_line.comp_words = words }
| _ ->
{ Lwt_read_line.comp_state = (before ^ full_path ^ prefix, after);
@@ -183,12 +191,13 @@ let () =
register "right" (f3 angle velocity acceleration)
(fun logger krobot angle velocity acceleration ->
Krobot.turn krobot (-angle) velocity acceleration >>= move_result logger);
- register "goto" (f6
- (int ~default:0 "x") (int ~default:0 "y") velocity acceleration
- (keyword ~default:`Straight "mode" [("straight", `Straight);
- ("curve-left", `Curve_left);
- ("curve-right", `Curve_right)])
- (int ~default:0 "bypass-distance"))
+ register"goto"
+ (f6
+ (int ~default:0 "x") (int ~default:0 "y") velocity acceleration
+ (keyword ~default:`Straight "mode" [("straight", `Straight);
+ ("curve-left", `Curve_left);
+ ("curve-right", `Curve_right)])
+ (int ~default:0 "bypass-distance"))
(fun logger krobot x y velocity acceleration mode bypass ->
Krobot.goto krobot x y velocity acceleration mode bypass >>= move_result logger);
@@ -222,20 +231,21 @@ let () =
let card = keyword "card" [("interface", `Interface);
("motor", `Motor);
- ("sensor", `Sensor)] in
+ ("sensor", `Sensor);
+ ("monitoring", `Monitoring)] in
- register "bootloader" (f1 card)
- (fun logger -> Krobot.Card.bootloader);
- register "reset" (f1 card)
- (fun logger -> Krobot.Card.reset);
- register "test" (f1 card)
- (fun logger -> Krobot.Card.test);
+ register ~path:["card"] "bootloader" (f1 card)
+ (fun logger krobot card -> Krobot.Card.bootloader (krobot, card));
+ register ~path:["card"] "reset" (f1 card)
+ (fun logger krobot card -> Krobot.Card.reset (krobot, card));
+ register ~path:["card"] "test" (f1 card)
+ (fun logger krobot card -> Krobot.Card.test (krobot, card));
(* +---------------------------------------------------------------+
| Range finders |
+---------------------------------------------------------------+ *)
- register "get-calibration" f0
+ register ~path:["calibration"] "get" f0
(fun logger krobot ->
lwt cals = Lwt_list.map_p (Krobot.get_calibration krobot) [0; 1; 2; 3; 4; 5; 6; 7] in
let rec loop i = function
@@ -252,11 +262,11 @@ let () =
in
loop 0 cals);
- register "calibration-start" (f2 (int "range-finder") (keyword "skip-meas" [("true", true); ("false", false)]))
+ register ~path:["calibration"] "start" (f2 (int "range-finder") (keyword "skip-meas" [("true", true); ("false", false)]))
(fun logger -> Krobot.calibration_start);
- register "calibration-stop" f0
+ register ~path:["calibration"] "stop" f0
(fun logger -> Krobot.calibration_stop);
- register "calibration-continue" f0
+ register ~path:["calibration"] "continue" f0
(fun logger -> Krobot.calibration_continue);
(* +---------------------------------------------------------------+
@@ -265,7 +275,7 @@ let () =
let id = int "id"
and position = int "position"
- and velocity = int ~default:50 "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
@@ -292,16 +302,28 @@ 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 ->
- Krobot_unsafe.AX12.action krobot id)
+ Krobot_unsafe.AX12.action krobot id);
+
+ (* +---------------------------------------------------------------+
+ | Grip |
+ +---------------------------------------------------------------+ *)
+
+ register ~path:["grip"] "up" f0
+ (fun logger krobot ->
+ Krobot.grip_up krobot);
+ register ~path:["grip"] "down" f0
+ (fun logger krobot ->
+ Krobot.grip_down krobot)
+
let () = Script_unsafe.register ()
diff --git a/PC_Mainboard/clients/script_commands.ml b/PC_Mainboard/clients/script_commands.ml
index b7369a4..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
@@ -18,6 +18,7 @@ type logger = Lwt_term.styled_text -> unit Lwt.t
type arg_type =
| Int
| Float
+ | String
| Keyword of string list
type command = {
@@ -130,6 +131,13 @@ let int ?default name = {
a_default = default;
}
+let string ?default name = {
+ a_name = name;
+ a_type = String;
+ a_cast = (fun str -> str);
+ a_default = default;
+}
+
let float ?default name = {
a_name = name;
a_type = Float;
diff --git a/PC_Mainboard/common/PcInterface.h b/PC_Mainboard/common/PcInterface.h
index e79e8fa..a24b00c 100644
--- a/PC_Mainboard/common/PcInterface.h
+++ b/PC_Mainboard/common/PcInterface.h
@@ -61,6 +61,7 @@ typedef struct _UP {
#define CMD_TRAJ 10 ///< Transmet une trajetoire au Krobot
#define CMD_MOTOR 11 ///< Gestion des moteurs
#define CMD_MOTOR_TOR 12
+#define CMD_LCD 13 ///< Commande de l'afficheur LCD
// CMD_GET arguments
#define GET_RESET_SOURCE 0 ///< Demande au PIC la source du Reset
@@ -79,6 +80,7 @@ typedef struct _UP {
#define GET_POWER_STATE 13 ///< Etat de l'alimentation de puissance (On/Off) [Battery Monitoring]
#define GET_BATTERY_STATE 14 ///< Etat des batteries (Pleine charge/Charge moyenne/Charge faible) [Battery Monitoring]
#define GET_CURRENT_SPEED 15 ///< Demande au PIC la valeur actuelle d'un moteur [Carte d'asservissement]
+#define GET_INTEGRATION_SUM 16 ///< Demande au PIC la valeur actuelle du terme integration de l'asservissement [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
@@ -90,6 +92,9 @@ typedef struct _UP {
#define ERR_AX12_CHKSUM 7
#define ERR_CMP03_NOT_RESPONDING 8
#define ERR_ADJD_S371_NOT_RESPONDING 9
+#define ERR_LM_COMMAND_ERROR 10
+#define ERR_LM_POSITION_ERROR 11
+#define ERR_INVALID_AXIS 12
// CMD_SET arguments
#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
@@ -119,16 +124,18 @@ typedef struct _UP {
#define RESET_SOURCE_MCLR 0x07 ///< Master Clear Reset
// CMD_AX12
-#define AX12_PING 0x01
-#define AX12_READ 0x02
-#define AX12_WRITE 0x03
-#define AX12_GOTO 0x04
-#define AX12_GET_POS 0x05
-#define AX12_GET_SPEED 0x06
-#define AX12_GET_LOAD 0x07
-#define AX12_GET_STATS 0x08
-#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10
+#define AX12_PING 1
+#define AX12_READ 2
+#define AX12_WRITE 3
+#define AX12_GOTO 4
+#define AX12_GET_POS 5
+#define AX12_GET_SPEED 6
+#define AX12_GET_LOAD 7
+#define AX12_GET_STATS 8
+#define AX12_WRITE_REG 9
+#define AX12_ACTION 10
+#define AX12_RESET 11
+#define AX12_CONFIG 12
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
@@ -136,6 +143,16 @@ typedef struct _UP {
#define AX12_EXEC_NOW 0x00
#define AX12_EXEC_ACTION 0x01
+// CMD_LCD
+#define LCD_CLEAR 0x00
+#define LCD_CURSOR_ON 0x01
+#define LCD_CURSOR_OFF 0x02
+#define LCD_BACKLIGHT_ON 0x03
+#define LCD_BACKLIGHT_OFF 0x04
+#define LCD_GOTO_POS 0x05
+#define LCD_WRITE 0x06
+#define LCD_WRITE_LINE 0x07
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
@@ -153,6 +170,7 @@ typedef struct _UP {
#define TRAJ_START 0x0D
#define TRAJ_GET_REL_POS 0x0E
#define TRAJ_READ_CONFIG 0x0F
+#define TRAJ_TURN 0x10
#define TRAJ_NOT_COMPLETED 0x00
#define TRAJ_COMPLETED 0x01
@@ -166,9 +184,9 @@ typedef struct _UP {
#define MOTOR_DISABLE 2
#define MOTOR_MOVE 3
-#define MOTOR_RIGHT 0 ///< Sction du moteur de droite (moteur 1)
-#define MOTOR_LEFT 1 ///< Sction du moteur de gauche (moteur 2)
-#define MOTOR_BOTH 2 ///< Sction des 2 moteurs simultannt
+#define MOTOR_RIGHT 1 ///< Sction du moteur de droite (moteur 1)
+#define MOTOR_LEFT 2 ///< Sction du moteur de gauche (moteur 2)
+#define MOTOR_BOTH 3 ///< Sction des 2 moteurs simultannt
// XXX omplr
#define READ_VERSION 0x00
diff --git a/PC_Mainboard/common/config.ml b/PC_Mainboard/common/config.ml
deleted file mode 100644
index c248d6e..0000000
--- a/PC_Mainboard/common/config.ml
+++ /dev/null
@@ -1,15 +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
diff --git a/PC_Mainboard/common/config.mli b/PC_Mainboard/common/config.mli
deleted file mode 100644
index 645ac10..0000000
--- a/PC_Mainboard/common/config.mli
+++ /dev/null
@@ -1,28 +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 *)
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..b10800c
--- /dev/null
+++ b/PC_Mainboard/common/krobot_types.ml
@@ -0,0 +1,75 @@
+(*
+ * 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
+
+type motor_config = {
+ motor_kp : int;
+ motor_ki : int;
+ motor_kd : int;
+ motor_li : 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..56d042b
--- /dev/null
+++ b/PC_Mainboard/common/krobot_types.mli
@@ -0,0 +1,62 @@
+(*
+ * 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)
+
+(** Motor configuration *)
+type motor_config = {
+ motor_kp : int;
+ motor_ki : int;
+ motor_kd : int;
+ motor_li : 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 eae08a2..8705b76 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -12,10 +12,35 @@
module Log = Lwt_log.Make(struct let section = "driver" end)
open OBus_pervasives
-open Types
+open Krobot_types
open Lwt
(* +-----------------------------------------------------------------+
+ | Battery monitoring |
+ +-----------------------------------------------------------------+ *)
+
+module Power =
+struct
+ type t = {
+ obus : OBus_object.t;
+ card : Krobot_card.t;
+ }
+
+ module OBus = OBus_object.Make(struct
+ type obj = t
+ let cast obj = obj.obus
+ end)
+
+ module Unsafe = DBus_exports.Power(OBus)(struct let get dev = dev.card end)
+
+ let make card path =
+ return {
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface] path;
+ card = card;
+ }
+end
+
+(* +-----------------------------------------------------------------+
| Compass |
+-----------------------------------------------------------------+ *)
@@ -29,31 +54,31 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.Compass(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.Compass(OBus)(struct let get dev = dev.card end)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Compass" end)
+ let ol_interface = OBus.make_interface "fr.krobot.Device.Compass"
OL_signal Value : int
OL_method Get : int = fun dev -> return dev.data
let rec loop dev =
- lwt data = USB_commands.Compass.get dev.card in
+ lwt _, data = USB_commands.Compass.get dev.card in
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 =
- lwt data = USB_commands.Compass.get card in
+ lwt _, data = USB_commands.Compass.get card in
let dev = {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
card = card;
data = data;
} in
@@ -62,6 +87,53 @@ struct
end
(* +-----------------------------------------------------------------+
+ | LCD |
+ +-----------------------------------------------------------------+ *)
+
+module LCD =
+struct
+ type t = {
+ obus : OBus_object.t;
+ card : Krobot_card.t;
+ }
+
+ module OBus = OBus_object.Make(struct
+ type obj = t
+ let cast obj = obj.obus
+ end)
+
+ module Unsafe = DBus_exports.LCD(OBus)(struct let get dev = dev.card end)
+
+ 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
+ invalid_arg "SetLCD"
+ else begin
+ lwt () = Unsafe.clear dev in
+ lwt () = Unsafe.cursor_off dev in
+ let rec loop i = function
+ | [] ->
+ return ()
+ | line :: lines ->
+ lwt () = Unsafe.write_line dev i line in
+ loop (i + 1) lines
+ in
+ loop 1 lines
+ end
+
+ OL_method BacklightOn : unit = Unsafe.backlight_on
+ OL_method BacklightOff : unit = Unsafe.backlight_off
+
+ let make card path =
+ let dev = {
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
+ card = card;
+ } in
+ return dev
+end
+
+(* +-----------------------------------------------------------------+
| AX12 |
+-----------------------------------------------------------------+ *)
@@ -74,14 +146,14 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.AX12(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.AX12(OBus)(struct let get dev = dev.card end)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.AX12" end)
+ let ol_interface = OBus.make_interface "fr.krobot.Device.AX12"
- 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 ->
@@ -95,9 +167,15 @@ struct
in
USB_commands.AX12.action dev.card ~id:0xfe
+ OL_method GripUp : unit = fun dev ->
+ 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 = 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 {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
card = card;
}
end
@@ -116,12 +194,12 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.Logic_sensors(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.Logic_sensors(OBus)(struct let get dev = dev.card end)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.LogicSensors" end)
+ 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
@@ -131,15 +209,15 @@ 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 =
let dev = {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
card = card;
data = Array.create 16 false;
} in
@@ -161,12 +239,12 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.Range_finders(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.Range_finders(OBus)(struct let get dev = dev.card end)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.RangeFinders" end)
+ 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
@@ -185,15 +263,15 @@ 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 =
let dev = {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
card = card;
data = Array.create 8 0;
} in
@@ -250,12 +328,12 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.Motors(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.Motors(OBus)(struct let get dev = dev.card end)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Motors" end)
+ let ol_interface = OBus.make_interface "fr.krobot.Device.Motors"
let string_of_direction = function
| `Forward -> "forward"
@@ -310,14 +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)
@@ -346,14 +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)
@@ -390,24 +468,24 @@ 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)
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 |
@@ -485,7 +563,7 @@ 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
(* +---------------------------------------------------------------+
@@ -534,7 +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_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
card = card;
inhibit_forward_until = 0.0;
inhibit_backward_until = 0.0;
@@ -551,19 +629,13 @@ end
let done_waiter, done_wakener = Lwt.wait ()
let quit = ref false
let card_interface, set_card_interface = React.S.create None
+let card_monitoring, set_card_monitoring = React.S.create None
let card_sensor, set_card_sensor = React.S.create None
let card_motor, set_card_motor = React.S.create None
module Manager =
struct
- let manager = OBus_object.make ["fr"; "krobot"; "Manager"]
-
- module OBus = OBus_object.Make(struct
- type obj = unit
- let get _ = manager
- end)
-
- include OBus.MakeInterface(struct let name = "fr.krobot.Manager" end)
+ let ol_interface = OBus_object.make_interface "fr.krobot.Manager"
let close card = match React.S.value card with
| None ->
@@ -571,24 +643,28 @@ struct
| Some card ->
Krobot_card.close card
- OL_method CardStates : OBus_connection.t -> Types.card_state * Types.card_state * Types.card_state = fun () connection ->
+ OL_method CardStates : OBus_connection.t -> Krobot_types.card_state * 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
in
return (state card_interface,
state card_sensor,
- state card_motor)
+ state card_motor,
+ state card_monitoring)
- OL_method Shutdown : OBus_connection.t -> unit = fun () connection ->
+ OL_method Shutdown : OBus_connection.t -> unit = fun manager connection ->
lwt () = Log.info "exiting" in
quit := true;
lwt () = close card_interface
and () = close card_sensor
- and () = close card_motor in
+ and () = close card_motor
+ and () = close card_monitoring in
lwt _ = OBus_bus.release_name connection "fr.krobot.Driver" in
Lwt.wakeup done_wakener ();
return ()
+
+ let manager = OBus_object.make ~interfaces:[ol_interface] ["fr"; "krobot"; "Manager"]
end
(* +-----------------------------------------------------------------+
@@ -606,7 +682,7 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
let get_card dev = match React.S.value dev.card with
@@ -615,14 +691,14 @@ struct
| Some card ->
card
- include DBus_exports.Card(OBus)(struct let get = get_card end)
+ module Unsafe = DBus_exports.Card(OBus)(struct let get = get_card end)
- include OBus.MakeInterface(struct let name = "fr.krobot.Card" end)
+ let ol_interface = OBus.make_interface "fr.krobot.Card"
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
@@ -644,12 +720,12 @@ 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 = {
card = card;
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
name = name;
state = React.S.const (return ());
} in
@@ -703,7 +779,7 @@ 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
@@ -721,7 +797,7 @@ 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
@@ -757,13 +833,25 @@ lwt () =
ignore begin
monitor_card ~name:"interace" ~vendor_id:PcInterface.usb_vid ~product_id:PcInterface.usb_pid_robot_interface ~set:set_card_interface
(fun card ->
- lwt () = USB_commands.Motors.enable card `Both in
+ lwt () = USB_commands.Servo.enable card `Both in
lwt () = Compass.OBus.export bus =|< Compass.make card ["fr"; "krobot"; "Devices"; "Compass"]
- and () = AX12.OBus.export bus =|< AX12.make card ["fr"; "krobot"; "Devices"; "AX12"] in
+ and () = AX12.OBus.export bus =|< AX12.make card ["fr"; "krobot"; "Devices"; "AX12"]
+ and () = LCD.OBus.export bus =|< LCD.make card ["fr"; "krobot"; "Devices"; "LCD"] in
return ())
(fun () ->
OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "Compass"];
OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "AX12"];
+ OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "LCD"];
+ return ())
+ end;
+
+ ignore begin
+ monitor_card ~name:"monitoring" ~vendor_id:PcInterface.usb_vid ~product_id:PcInterface.usb_pid_battery_monitoring ~set:set_card_monitoring
+ (fun card ->
+ lwt () = Power.OBus.export bus =|< Power.make card ["fr"; "krobot"; "Devices"; "Power"] in
+ return ())
+ (fun () ->
+ OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "Power"];
return ())
end;
@@ -793,8 +881,9 @@ lwt () =
Card.OBus.export bus (Card.make "interface" card_interface ["fr"; "krobot"; "Cards"; "Interface"]);
Card.OBus.export bus (Card.make "sensor" card_sensor ["fr"; "krobot"; "Cards"; "Sensor"]);
Card.OBus.export bus (Card.make "motor" card_motor ["fr"; "krobot"; "Cards"; "Motor"]);
+ Card.OBus.export bus (Card.make "monitoring" card_monitoring ["fr"; "krobot"; "Cards"; "Monitoring"]);
- Manager.OBus.export bus ();
+ OBus_object.export bus Manager.manager;
lwt () = Log.notice "ready, waiting for requests" in
lwt () = done_waiter in
diff --git a/PC_Mainboard/driver/krobot_card.ml b/PC_Mainboard/driver/krobot_card.ml
index a2ba1be..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, "inva...
[truncated message content] |
