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[Krobot-commits] [SCM] krobot branch, master, updated. 8dc0a8c11338c9b18afbe9bd3473370afc110dd7
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From: Jérémie D. <Ba...@us...> - 2010-03-20 15:09:26
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- Log -----------------------------------------------------------------
commit 8dc0a8c11338c9b18afbe9bd3473370afc110dd7
Author: Jérémie Dimino <je...@di...>
Date: Sat Mar 20 16:08:50 2010 +0100
Display errors in the controller
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/controller.ml b/PC_Mainboard/clients/controller.ml
index 329f205..8c58876 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -425,6 +425,13 @@ lwt () =
notify (Krobot.Card.state (krobot, `Motor));
notify services;
+ List.iter
+ (fun card ->
+ Lwt_event.always_notify
+ (fun error -> log_add_line [fg lred; textf "error on card %s: %s" (Krobot.Card.name card) error])
+ (Krobot.Card.errors (krobot, card)))
+ [`Interface; `Sensor; `Motor; `Monitoring];
+
(* Redraw immedlatly the screen when [signal] changes: *)
let urgent signal = Lwt_signal.always_notify_p (fun _ -> refresh krobot) signal in
urgent Lwt_term.size;
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 8705b76..41c7c76 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -678,6 +678,7 @@ struct
obus : OBus_object.t;
name : string;
mutable state : unit Lwt.t React.signal;
+ mutable errors : unit Lwt.t React.event;
}
module OBus = OBus_object.Make(struct
@@ -721,6 +722,7 @@ struct
USB_commands.Card.test (get_card dev)
OL_signal StateChanged : Krobot_types.card_state
+ OL_signal Error : string
let make name card path =
let dev = {
@@ -728,17 +730,19 @@ struct
obus = OBus.make ~interfaces:[Unsafe.ol_interface; ol_interface] path;
name = name;
state = React.S.const (return ());
+ errors = React.E.never;
} in
dev.state <- React.S.map (function
| None ->
state_changed dev `Absent
- | Some _ ->
+ | Some card ->
+ dev.errors <- React.E.map (error dev) (Krobot_card.errors card);
state_changed dev `Present) card;
dev
end
(* +-----------------------------------------------------------------+
- | Krobot_cards management |
+ | Krobot_cards management |
+-----------------------------------------------------------------+ *)
(* Continously try to open the card with given parameters *)
diff --git a/PC_Mainboard/driver/krobot_card.ml b/PC_Mainboard/driver/krobot_card.ml
index d89b116..f12da8b 100644
--- a/PC_Mainboard/driver/krobot_card.ml
+++ b/PC_Mainboard/driver/krobot_card.ml
@@ -124,6 +124,9 @@ type card = {
abort_wakener : int Lwt.u;
(* Sleeping thread which is wakeup when the card is closed *)
+ errors : string React.event;
+ push_error : string -> unit;
+
wrapper : wrapper;
(* The associated wrapper *)
}
@@ -148,12 +151,16 @@ let closed wrapper = match wrapper.state with
let watch wrapper = wrapper.watch
(* Return a running card, if possible. *)
-let rec get_card wrapper = match wrapper.state with
+let get_card wrapper = match wrapper.state with
| Opened card ->
return card
| Closed exn ->
fail exn
+let errors wrapper = match wrapper.state with
+ | Opened card -> card.errors
+ | Closed exn -> raise exn
+
(* +-----------------------------------------------------------------+
| Aborting |
+-----------------------------------------------------------------+ *)
@@ -235,7 +242,10 @@ let rec dispatch card =
ignore (Log.exn_f exn "pushing event %d from %s card failed with" msg.command card.wrapper.name))
seq
| None ->
- ignore (dropped "command" card msg)
+ if msg.error <> 0 then
+ card.push_error (error_message msg.error)
+ else
+ ignore (dropped "command" card msg)
end;
dispatch card
end
@@ -258,6 +268,7 @@ let rec make ~name ~handle =
lwt () = USB.set_configuration handle 1 in
lwt () = USB.claim_interface handle 0 in
let abort_waiter, abort_wakener = wait () in
+ let errors, push_error = React.E.create () in
let rec card = {
serial_pool = (let rec loop = function
| 256 -> []
@@ -272,6 +283,8 @@ let rec make ~name ~handle =
abort_waiter = abort_waiter;
abort_wakener = abort_wakener;
wrapper = wrapper;
+ errors = errors;
+ push_error = push_error;
} and wrapper = {
state = Opened card;
name = name;
diff --git a/PC_Mainboard/driver/krobot_card.mli b/PC_Mainboard/driver/krobot_card.mli
index 8c65caf..219bf62 100644
--- a/PC_Mainboard/driver/krobot_card.mli
+++ b/PC_Mainboard/driver/krobot_card.mli
@@ -57,3 +57,7 @@ val send_command : t -> int -> string -> unit Lwt.t
val connect : t -> int -> < event : string React.event; stop : unit >
(** [connect card command] connects to signals [command] emitted by
[card] *)
+
+val errors : t -> string React.event
+ (** [errors card] is an event which occurs each time a card send an
+ error *)
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index a866c75..54647ed 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -21,6 +21,7 @@ type team = Team_red | Team_green
type card = {
card_state : Krobot_types.card_state React.signal;
+ card_errors : string React.event;
}
type t = {
@@ -138,10 +139,38 @@ let create ?peer () =
range_finders = range_finders;
inhibited_forward_until = inhibited_forward_until;
inhibited_backward_until = inhibited_backward_until;
- interface = { card_state = card_interface };
- sensor = { card_state = card_sensor };
- motor = { card_state = card_motor };
- monitoring = { card_state = card_monitoring };
+ interface = {
+ card_state = card_interface;
+ card_errors = (OBus_proxy.connect
+ (OBus_proxy.make peer ["fr"; "krobot"; "Cards"; "Interface"])
+ ~interface:"fr.krobot.Card"
+ ~member:"Error"
+ <:obus_type< string >>)#event;
+ };
+ sensor = {
+ card_state = card_sensor;
+ card_errors = (OBus_proxy.connect
+ (OBus_proxy.make peer ["fr"; "krobot"; "Cards"; "Sensor"])
+ ~interface:"fr.krobot.Card"
+ ~member:"Error"
+ <:obus_type< string >>)#event;
+ };
+ motor = {
+ card_state = card_motor;
+ card_errors = (OBus_proxy.connect
+ (OBus_proxy.make peer ["fr"; "krobot"; "Cards"; "Motor"])
+ ~interface:"fr.krobot.Card"
+ ~member:"Error"
+ <:obus_type< string >>)#event;
+ };
+ monitoring = {
+ card_state = card_monitoring;
+ card_errors = (OBus_proxy.connect
+ (OBus_proxy.make peer ["fr"; "krobot"; "Cards"; "Monitoring"])
+ ~interface:"fr.krobot.Card"
+ ~member:"Error"
+ <:obus_type< string >>)#event;
+ };
}
(* +-----------------------------------------------------------------+
@@ -230,6 +259,12 @@ struct
| `Motor -> krobot.motor.card_state
| `Monitoring -> krobot.monitoring.card_state
+ let errors (krobot, card) = match card with
+ | `Interface -> krobot.interface.card_errors
+ | `Sensor -> krobot.sensor.card_errors
+ | `Motor -> krobot.motor.card_errors
+ | `Monitoring -> krobot.monitoring.card_errors
+
module Proxy = OBus_proxy.Make
(struct
type proxy = t * card
diff --git a/PC_Mainboard/lib_krobot/krobot.mli b/PC_Mainboard/lib_krobot/krobot.mli
index 26d12d9..3138a02 100644
--- a/PC_Mainboard/lib_krobot/krobot.mli
+++ b/PC_Mainboard/lib_krobot/krobot.mli
@@ -139,6 +139,8 @@ module Card : sig
val bootloader : t * card -> unit Lwt.t
(** Put the card into bootloader mode *)
+ val errors : t * card -> string React.event
+
val get_firmware_build : t * card -> string Lwt.t
val get_board_info : t * card -> string Lwt.t
val reset : t * card -> unit Lwt.t
hooks/post-receive
--
krobot
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