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[Krobot-commits] [SCM] krobot branch, master, updated. 76537af4b98b2564c9d1371b574a493c3056f4e4
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From: Jérémie D. <Ba...@us...> - 2010-03-24 21:56:11
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generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 76537af4b98b2564c9d1371b574a493c3056f4e4 (commit)
from f39fcb227d0c9db8e22c34a31f4f791c9f52080c (commit)
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- Log -----------------------------------------------------------------
commit 76537af4b98b2564c9d1371b574a493c3056f4e4
Author: Kro[bot] <krobot@wally.(none)>
Date: Wed Mar 24 21:54:30 2010 +0000
new logs
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/controller.ml b/PC_Mainboard/clients/controller.ml
index 8c58876..bd8bba0 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -9,8 +9,6 @@
(* Prints status continuously *)
-module Log = Lwt_log.Make(struct let section = "" end)
-
open Lwt
open Lwt_term
open Lwt_read_line
@@ -32,7 +30,7 @@ let logs, set_logs = React.S.create []
let add_date line =
let buffer = Buffer.create 42 in
- Lwt_log.render ~buffer ~level:Lwt_log.Info ~message:"" ~template:"$(date): ";
+ Lwt_log.render ~buffer ~level:Lwt_log.Info ~message:"" ~template:"$(date): " ~section:Lwt_log.Section.main;
text (Buffer.contents buffer) :: line
(* Add a list of lines to logs *)
@@ -67,7 +65,7 @@ let redirect_stderr () =
let init_logger () =
Lwt_log.default :=
Lwt_log.make
- ~output:(fun level lines ->
+ ~output:(fun section level lines ->
log_add_lines
(List.map
(fun line ->
@@ -79,7 +77,6 @@ let init_logger () =
lines);
return ())
~close:return
- ()
(* +-----------------------------------------------------------------+
| Read-line |
@@ -119,7 +116,7 @@ let rec loop krobot history =
else if line <> "" then begin
let history = Lwt_read_line.add_entry line history in
set_engine_state (Engine.init history);
- lwt () = Log.notice line in
+ lwt () = Lwt_log.notice line in
ignore (Script.exec ~krobot ~logger:(fun line -> log_add_line line; return ()) ~command:line);
loop krobot history
end else
@@ -377,7 +374,7 @@ let refresh krobot =
+-----------------------------------------------------------------+ *)
lwt () =
- lwt () = Log.notice "connecting to the krobot bus..." in
+ lwt () = Lwt_log.notice "connecting to the krobot bus..." in
lwt bus = Lazy.force Krobot.bus in
lwt krobot = Krobot.create () in
diff --git a/PC_Mainboard/clients/init_position.ml b/PC_Mainboard/clients/init_position.ml
index 4e74d75..85a69bd 100644
--- a/PC_Mainboard/clients/init_position.ml
+++ b/PC_Mainboard/clients/init_position.ml
@@ -9,35 +9,33 @@
(* Put the robot into its initial state *)
-module Log = Lwt_log.Make(struct let section = "" end)
-
open Lwt
let move_backward_slowly krobot =
- lwt () = Log.notice "moving backward" in
+ lwt () = Lwt_log.notice "moving backward" in
Krobot.move krobot ~distance:(-1000) ~velocity:100 ~acceleration:100 >>= function
| `OK ->
- lwt () = Log.error "where am i ???" in
+ lwt () = Lwt_log.error "where am i ???" in
exit 1
| `Stopped ->
- Log.notice "backward colisiton dectected"
+ Lwt_log.notice "backward colisiton dectected"
lwt () =
lwt krobot = Krobot.create () in
lwt () = move_backward_slowly krobot in
- lwt () = Log.notice "going to initial position on first axis" in
+ lwt () = Lwt_log.notice "going to initial position on first axis" in
lwt _ = Krobot.move krobot ~distance:Krobot_config.initial_position ~velocity:400 ~acceleration:800 in
- lwt () = Log.notice "turning" in
+ lwt () = Lwt_log.notice "turning" in
lwt _ = Krobot.turn krobot ~angle:(-90) ~velocity:400 ~acceleration:800 in
lwt () = move_backward_slowly krobot in
- lwt () = Log.notice "going to initial position on second axis" in
+ lwt () = Lwt_log.notice "going to initial position on second axis" in
lwt _ = Krobot.move krobot ~distance:Krobot_config.initial_position ~velocity:400 ~acceleration:800 in
- lwt () = Log.notice "turning" in
+ lwt () = Lwt_log.notice "turning" in
lwt _ = Krobot.turn krobot ~angle:45 ~velocity:400 ~acceleration:800 in
return ()
diff --git a/PC_Mainboard/clients/joy_control.ml b/PC_Mainboard/clients/joy_control.ml
index a31a0b7..2247147 100644
--- a/PC_Mainboard/clients/joy_control.ml
+++ b/PC_Mainboard/clients/joy_control.ml
@@ -9,8 +9,6 @@
(* Control the robot with a joystick *)
-module Log = Lwt_log.Make(struct let section = "" end)
-
open Lwt
open Sdljoystick
open Sdlevent
@@ -135,11 +133,11 @@ let try_call action f =
try_lwt
f ()
with Failure msg ->
- lwt () = Log.error_f "action %s failed with: %s" action msg in
+ lwt () = Lwt_log.error_f "action %s failed with: %s" action msg in
return ()
let rec set_velocities krobot velocities =
- lwt () = Log.info_f "set-velocities: left=%d right=%d" (fst velocities) (snd velocities) in
+ lwt () = Lwt_log.info_f "set-velocities: left=%d right=%d" (fst velocities) (snd velocities) in
lwt () =
try_call "set-velocities"
(fun () ->
@@ -223,6 +221,6 @@ let () =
Unix.close fd_w;
Lwt_main.run begin
lwt krobot = Krobot.create () in
- lwt () = Log.notice "ready to process event" in
+ lwt () = Lwt_log.notice "ready to process event" in
parent_loop krobot (Lwt_io.of_unix_fd ~mode:Lwt_io.input fd_r)
end
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 41c7c76..fcb947a 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -9,7 +9,7 @@
(* Driver for USB cards *)
-module Log = Lwt_log.Make(struct let section = "driver" end)
+let section = Lwt_log.Section.make "driver"
open OBus_pervasives
open Krobot_types
@@ -363,18 +363,18 @@ struct
let move dev dist velocity acc =
lwt () =
- Log.info_f "move: distance=%d velocity=%d acceleration=%d"
+ Lwt_log.info_f ~section "move: distance=%d velocity=%d acceleration=%d"
dist velocity acc
in
match dev.state with
| Trajectory _ ->
- lwt () = Log.info "move: state=trajectory" in
+ lwt () = Lwt_log.info ~section "move: state=trajectory" in
fail (Failure "already in a trajectory")
| Manual _ ->
- lwt () = Log.info "move: state=manual" in
+ lwt () = Lwt_log.info ~section "move: state=manual" in
fail (Failure "currently in manual mode")
| Static ->
- lwt () = Log.info "move: state=static" in
+ lwt () = Lwt_log.info ~section "move: state=static" in
let date = Unix.gettimeofday () in
if (dist > 0 && date < dev.inhibit_forward_until) || (dist < 0 && date < dev.inhibit_backward_until) then
fail (Failure "inhibited move")
@@ -403,18 +403,18 @@ struct
let turn dev angle velocity acc =
lwt () =
- Log.info_f "turn: angle=%d velocity=%d acceleration=%d"
+ Lwt_log.info_f ~section "turn: angle=%d velocity=%d acceleration=%d"
angle velocity acc
in
match dev.state with
| Trajectory _ ->
- lwt () = Log.info "turn: state=trajectory" in
+ lwt () = Lwt_log.info ~section "turn: state=trajectory" in
fail (Failure "already in a trajectory")
| Manual _ ->
- lwt () = Log.info "turn: state=manual" in
+ lwt () = Lwt_log.info ~section "turn: state=manual" in
fail (Failure "currently in manual mode")
| Static ->
- lwt () = Log.info "turn: state=static" in
+ lwt () = Lwt_log.info ~section "turn: state=static" in
let waiter, wakener = Lwt.wait () in
let trajectory = {
abort = wakener;
@@ -443,18 +443,18 @@ struct
let goto dev x y velocity acc mode bypass_distance =
lwt () =
- Log.info_f "goto: x=%d y=%d velocity=%d acceleration=%d mode=%s bypass_distance=%d"
+ Lwt_log.info_f ~section "goto: x=%d y=%d velocity=%d acceleration=%d mode=%s bypass_distance=%d"
x y velocity acc (string_of_goto_mode mode) bypass_distance
in
match dev.state with
| Trajectory _ ->
- lwt () = Log.info "goto: state=trajectory" in
+ lwt () = Lwt_log.info ~section "goto: state=trajectory" in
fail (Failure "already in a trajectory")
| Manual _ ->
- lwt () = Log.info "goto: state=manual" in
+ lwt () = Lwt_log.info ~section "goto: state=manual" in
fail (Failure "currently in manual mode")
| Static ->
- lwt () = Log.info "goto: state=static" in
+ lwt () = Lwt_log.info ~section "goto: state=static" in
let date = Unix.gettimeofday () in
if date < dev.inhibit_forward_until then
fail (Failure "inhibited move")
@@ -497,22 +497,22 @@ struct
| `Off -> "off"
let stop_motors dev mode =
- lwt () = Log.info_f "stop-motors: mode=%s" (string_of_stop_mode mode) in
+ lwt () = Lwt_log.info_f ~section "stop-motors: mode=%s" (string_of_stop_mode mode) in
match dev.state with
| Trajectory trajectory ->
- lwt () = Log.info "stop-motors: state=trajectory" in
+ lwt () = Lwt_log.info ~section "stop-motors: state=trajectory" in
trajectory.stopped <- true;
lwt () = USB_commands.Motors.traj_stop dev.card `Both mode in
wakeup trajectory.abort ();
return ()
| Manual(stopper, left, right) ->
- lwt () = Log.info "stop-motors: state=manual" in
+ lwt () = Lwt_log.info ~section "stop-motors: state=manual" in
lwt () = USB_commands.Motors.traj_stop dev.card `Both mode in
dev.state <- Static;
cancel stopper;
return ()
| Static ->
- lwt () = Log.info "stop-motors: state=static" in
+ lwt () = Lwt_log.info ~section "stop-motors: state=static" in
USB_commands.Motors.traj_stop dev.card `Both mode
let _set_velocities dev stopper (settings_l, settings_r) (velocity_l, velocity_r) (acceleration_l, acceleration_r) duration =
@@ -546,20 +546,20 @@ struct
let set_velocities dev velocities accelerations duration =
lwt () =
- Log.info_f "set-velocities: velocities=(%d, %d) accelerations=(%d, %d) duration=%f"
+ Lwt_log.info_f ~section "set-velocities: velocities=(%d, %d) accelerations=(%d, %d) duration=%f"
(fst velocities) (snd velocities)
(fst accelerations) (snd accelerations)
duration
in
match dev.state with
| Trajectory _ ->
- lwt () = Log.info "set-velocities: state=trajectory" in
+ lwt () = Lwt_log.info ~section "set-velocities: state=trajectory" in
fail (Failure "currently in trajectory mode")
| Manual(stopper, left, right) ->
- lwt () = Log.info "set-velocities: state=manual" in
+ lwt () = Lwt_log.info ~section "set-velocities: state=manual" in
_set_velocities dev stopper (left, right) velocities accelerations duration
| Static ->
- lwt () = Log.info "set-velocities: state=static" in
+ lwt () = Lwt_log.info ~section "set-velocities: state=static" in
let static = { velocity = 0; acceleration = 0; direction = `Forward } in
_set_velocities dev (return ()) (static, static) velocities accelerations duration
@@ -654,7 +654,7 @@ struct
state card_monitoring)
OL_method Shutdown : OBus_connection.t -> unit = fun manager connection ->
- lwt () = Log.info "exiting" in
+ lwt () = Lwt_log.info ~section "exiting" in
quit := true;
lwt () = close card_interface
and () = close card_sensor
@@ -749,10 +749,10 @@ end
let rec monitor_card ~name ~vendor_id ~product_id ~set on_up on_down =
match try `Handle(USB.open_device_with ~vendor_id ~product_id) with exn -> `Error exn with
| `Error exn ->
- lwt () = Log.info_f "failed to open %s card: %s" name (Printexc.to_string exn) in
+ lwt () = Lwt_log.info_f ~section "failed to open %s card: %s" name (Printexc.to_string exn) in
restart_card ~name ~vendor_id ~product_id ~set on_up on_down
| `Handle handle ->
- lwt () = Log.info_f "%s card opened" name in
+ lwt () = Lwt_log.info_f ~section "%s card opened" name in
begin
try_lwt
lwt card = Krobot_card.make name handle in
@@ -761,7 +761,7 @@ let rec monitor_card ~name ~vendor_id ~product_id ~set on_up on_down =
return (`Error exn)
end >>= function
| `Krobot_card card ->
- lwt () = Log.info_f "%s card is up and running" name in
+ lwt () = Lwt_log.info_f ~section "%s card is up and running" name in
set (Some card);
lwt () = on_up card in
lwt result = Krobot_card.watch card in
@@ -772,11 +772,11 @@ let rec monitor_card ~name ~vendor_id ~product_id ~set on_up on_down =
| `Closed ->
return ()
| `Error exn ->
- Log.info_f "%s card crashed: %s" name (Printexc.to_string exn)
+ Lwt_log.info_f ~section "%s card crashed: %s" name (Printexc.to_string exn)
in
restart_card ~name ~vendor_id ~product_id ~set on_up on_down
| `Error exn ->
- lwt () = Log.exn_f exn "failed to make %s card" name in
+ lwt () = Lwt_log.exn_f ~section ~exn "failed to make %s card" name in
restart_card ~name ~vendor_id ~product_id ~set on_up on_down
and restart_card ~name ~vendor_id ~product_id ~set on_up on_down =
@@ -805,7 +805,7 @@ lwt () =
lwt () =
try_lwt
- lwt () = Log.info "Killing any running driver" in
+ lwt () = Lwt_log.info ~section "Killing any running driver" in
OBus_connection.method_call bus
~path:["fr"; "krobot"; "Manager"]
~interface:"fr.krobot.Manager"
@@ -826,9 +826,9 @@ lwt () =
lwt () =
if !foreground then
(* Running foreground, prints message on stderr: *)
- Log.notice "starting krobot driver in foreground mode"
+ Lwt_log.notice ~section "starting krobot driver in foreground mode"
else begin
- lwt () = Log.notice "starting krobot driver in daemon mode" in
+ lwt () = Lwt_log.notice ~section "starting krobot driver in daemon mode" in
Lwt_daemon.daemonize ();
return ()
end
@@ -889,7 +889,7 @@ lwt () =
OBus_object.export bus Manager.manager;
- lwt () = Log.notice "ready, waiting for requests" in
+ lwt () = Lwt_log.notice ~section "ready, waiting for requests" in
lwt () = done_waiter in
OBus_connection.close bus
end
diff --git a/PC_Mainboard/driver/krobot_card.ml b/PC_Mainboard/driver/krobot_card.ml
index f12da8b..5b23d9d 100644
--- a/PC_Mainboard/driver/krobot_card.ml
+++ b/PC_Mainboard/driver/krobot_card.ml
@@ -7,7 +7,7 @@
* This file is a part of [kro]bot.
*)
-module Log = Lwt_log.Make(struct let section = "card" end)
+let section = Lwt_log.Section.make "card"
open Lwt
@@ -186,14 +186,14 @@ let abort wrapper exn =
+-----------------------------------------------------------------+ *)
let dropped typ card msg =
- lwt () = Log.warning_f "%s dropped on card %s" typ card.wrapper.name in
- lwt () = Log.warning_f "=====
+ lwt () = Lwt_log.warning_f ~section "%s dropped on card %s" typ card.wrapper.name in
+ lwt () = Lwt_log.warning_f ~section "=====
host_serial = %d
device_serial = %d
command = %d
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))
+ Lwt_stream.iter_s (fun line -> Lwt_log.warning ~section line) (Lwt_stream.hexdump (Lwt_stream.of_string msg.data))
(* Dispatch incomming messages continously *)
let rec dispatch card =
@@ -209,13 +209,13 @@ let rec dispatch card =
return (`Error exn)
end >>= function
| `Error exn ->
- lwt () = Log.exn_f exn "stop dispatching on %s card" card.wrapper.name in
+ lwt () = Lwt_log.exn_f ~section ~exn "stop dispatching on %s card" card.wrapper.name in
lwt _ = abort card.wrapper exn in
return ()
| `OK len ->
if len <> 64 then begin
let msg = Printf.sprintf "read on %s card returned %d instead of 64" card.wrapper.name len in
- lwt () = Log.error msg in
+ lwt () = Lwt_log.error ~section msg in
lwt _ = abort card.wrapper (Card_crashed msg) in
return ()
end else begin
@@ -239,7 +239,7 @@ let rec dispatch card =
try
push msg.data
with exn ->
- ignore (Log.exn_f exn "pushing event %d from %s card failed with" msg.command card.wrapper.name))
+ ignore (Lwt_log.exn_f ~section ~exn "pushing event %d from %s card failed with" msg.command card.wrapper.name))
seq
| None ->
if msg.error <> 0 then
@@ -309,7 +309,7 @@ let send card buffer =
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
+ lwt () = Lwt_log.error ~section msg in
fail =<< abort card.wrapper (Card_crashed msg)
end else
return ()
@@ -343,7 +343,7 @@ let rec send_request wrapper command data =
| Canceled ->
fail Canceled
| exn ->
- lwt () = Log.exn_f exn "write to %s card failed with" wrapper.name in
+ lwt () = Lwt_log.exn_f ~section ~exn "write to %s card failed with" wrapper.name in
fail =<< abort wrapper exn
(* Send a command without waiting for the reply: *)
@@ -360,7 +360,7 @@ let rec send_command wrapper command data =
| Canceled ->
fail Canceled
| exn ->
- lwt () = Log.exn_f exn "write to %s card failed with" wrapper.name in
+ lwt () = Lwt_log.exn_f ~section ~exn "write to %s card failed with" wrapper.name in
fail =<< abort wrapper exn
let connect wrapper command = match wrapper.state with
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 54647ed..ef40608 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -7,7 +7,7 @@
* This file is a part of [kro]bot.
*)
-module Log = Lwt_log.Make(struct let section = "krobot" end)
+let section = Lwt_log.Section.make "krobot"
open OBus_pervasives
open Lwt
@@ -89,7 +89,7 @@ let bus = lazy(
match try Some(Sys.getenv "KROBOT") with Not_found -> None with
| Some command -> begin
try_lwt
- lwt () = Log.info_f "connecting to the krobot with command %S" command in
+ lwt () = Lwt_log.info_f ~section "connecting to the krobot with command %S" command in
let process = Lwt_process.open_process (Lwt_process.shell command) in
let transport =
OBus_transport.make
@@ -102,15 +102,15 @@ let bus = lazy(
lwt () = OBus_bus.register_connection connection in
return connection
with exn ->
- lwt () = Log.exn exn "failed to create remote transport" in
+ lwt () = Lwt_log.exn ~section ~exn "failed to create remote transport" in
fail exn
end
| None ->
try_lwt
- lwt () = Log.info "connecting to the krobot with the local krobot bus" in
+ lwt () = Lwt_log.info ~section "connecting to the krobot with the local krobot bus" in
OBus_bus.of_addresses (OBus_address.of_string Krobot_config.bus_address)
with exn ->
- lwt () = Log.exn exn "failed to connect to the local krobot bus" in
+ lwt () = Lwt_log.exn ~section ~exn "failed to connect to the local krobot bus" in
fail exn
)
diff --git a/PC_Mainboard/services/hard_stop.ml b/PC_Mainboard/services/hard_stop.ml
index c457125..f72269a 100644
--- a/PC_Mainboard/services/hard_stop.ml
+++ b/PC_Mainboard/services/hard_stop.ml
@@ -9,8 +9,6 @@
(* Stop the robot on collisions *)
-module Log = Lwt_log.Make(struct let section = "" end)
-
open Lwt
(* Duration of an inhibition: *)
@@ -28,18 +26,18 @@ let handle_collide krobot sensors =
try_lwt
join [
(if Util.front_collide sensors then begin
- lwt () = Log.notice "front collision detected, inhibit motors" in
+ lwt () = Lwt_log.notice "front collision detected, inhibit motors" in
Krobot.inhibit_forward krobot duration
end else
return ());
(if Util.back_collide sensors then begin
- lwt () = Log.notice "back collision detected, inhibit motors" in
+ lwt () = Lwt_log.notice "back collision detected, inhibit motors" in
Krobot.inhibit_backward krobot duration
end else
return ());
]
with exn ->
- Log.info_f "collision handling failed with: %s" (Printexc.to_string exn)
+ Lwt_log.info_f "collision handling failed with: %s" (Printexc.to_string exn)
lwt () =
Arg.parse args ignore usage;
@@ -50,9 +48,9 @@ lwt () =
lwt () =
if !foreground then
- Log.info "starting krobot hard stopper in foreground mode"
+ Lwt_log.info "starting krobot hard stopper in foreground mode"
else begin
- lwt () = Log.info "starting krobot hard stopper in daemon mode" in
+ lwt () = Lwt_log.info "starting krobot hard stopper in daemon mode" in
Lwt_daemon.daemonize ();
return ()
end
hooks/post-receive
--
krobot
|
