[Krobot-commits] [SCM] krobot branch, master, updated. a4c94e5b7dfe71df192312cc0b5edc83bd678e1f

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit a4c94e5b7dfe71df192312cc0b5edc83bd678e1f
Author: Jérémie Dimino <je...@di...>
Date:   Sun Mar 28 18:58:53 2010 +0200

    add a tool for interactive control of the ax12s

-----------------------------------------------------------------------

Changes:
diff --git a/PC_Mainboard/Makefile b/PC_Mainboard/Makefile
index 9435bbb..bbaf447 100644
--- a/PC_Mainboard/Makefile
+++ b/PC_Mainboard/Makefile
@@ -40,6 +40,7 @@ install:
 	install -m 0755 _build/clients/krobot_controller.best $(PREFIX)/bin/krobot-controller
 	install -m 0755 _build/services/krobot_hard_stop.best $(PREFIX)/bin/krobot-hard-stop
 	install -m 0755 _build/driver/krobot_driver.best $(PREFIX)/bin/krobot-driver
+	install -m 0755 _build/clients/krobot_ax12.best $(PREFIX)/bin/krobot-ax12
 
 .PHONY: uninstall
 uninstall:
diff --git a/PC_Mainboard/_tags b/PC_Mainboard/_tags
index 4f33d64..bf46a8a 100644
--- a/PC_Mainboard/_tags
+++ b/PC_Mainboard/_tags
@@ -26,6 +26,7 @@
 <clients/krobot_joy_control.*>: pkg_sdl
 <clients/krobot_controller.*>: pkg_lwt.text
 <clients/krobot_script*>: pkg_text
+<clients/krobot_ax12.*>: pkg_lwt.text
 
 # +------------------------------------------------------------------+
 # | Services                                                         |
diff --git a/PC_Mainboard/clients/krobot_ax12.ml b/PC_Mainboard/clients/krobot_ax12.ml
new file mode 100644
index 0000000..439ac38
--- /dev/null
+++ b/PC_Mainboard/clients/krobot_ax12.ml
@@ -0,0 +1,83 @@
+(*
+ * krobot_ax12.ml
+ * --------------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(* AX12 interactive controller *)
+
+open Lwt
+open Lwt_io
+open Lwt_term
+
+let render positions selected =
+  let size = React.S.value Lwt_term.size in
+  let zone = Zone.make ~width:size.columns ~height:size.lines in
+  let x = (size.columns / 2) - 7 in
+  let y = (size.lines / 2) - (Array.length positions / 2) in
+  for i = 0 to Array.length positions - 1 do
+    if i = selected then
+      Draw.textc ~zone ~x ~y:(y + i * 2)
+        ~text:[inverse; textf "ax12[%d] : %4d" (i + 1) positions.(i)]
+    else
+      Draw.textc ~zone ~x ~y:(y + i * 2)
+        ~text:[textf "ax12[%d] : %4d" (i + 1) positions.(i)]
+  done;
+  Lwt_term.render (Zone.points zone)
+
+lwt () =
+  lwt krobot = Krobot.create () in
+
+  lwt () = Lwt_log.notice "reading current ax12 positions" in
+  lwt pos1 = Krobot_unsafe.AX12.get_position krobot ~id:1 ~timeout:100
+  and pos2 = Krobot_unsafe.AX12.get_position krobot ~id:2 ~timeout:100
+  and pos3 = Krobot_unsafe.AX12.get_position krobot ~id:3 ~timeout:100 in
+  lwt () = Lwt_log.notice "done" in
+
+  let positions = [|pos1; pos2; pos3|] in
+
+  let rec loop selected =
+    lwt () = render positions selected in
+    Lwt_term.read_key () >>= function
+      | Key_up ->
+          if selected > 0 then
+            loop (selected - 1)
+          else
+            loop selected
+      | Key_down ->
+          if selected < Array.length positions - 1 then
+            loop (selected + 1)
+          else
+            loop selected
+      | Key_left ->
+          positions.(selected) <- max 0 (positions.(selected) - 10);
+          lwt () = Krobot_unsafe.AX12.goto krobot ~id:(selected + 1) ~position:positions.(selected) ~velocity:50 ~mode:`Now in
+          loop selected
+      | Key_right ->
+          positions.(selected) <- min 1023 (positions.(selected) + 10);
+          lwt () = Krobot_unsafe.AX12.goto krobot ~id:(selected + 1) ~position:positions.(selected) ~velocity:50 ~mode:`Now in
+          loop selected
+      | Key ("\027[d" | "\027[1;2D") ->
+          positions.(selected) <- max 0 (positions.(selected) - 1);
+          lwt () = Krobot_unsafe.AX12.goto krobot ~id:(selected + 1) ~position:positions.(selected) ~velocity:50 ~mode:`Now in
+          loop selected
+      | Key ("\027[c" | "\027[1;2C") ->
+          positions.(selected) <- min 1023 (positions.(selected) + 1);
+          lwt () = Krobot_unsafe.AX12.goto krobot ~id:(selected + 1) ~position:positions.(selected) ~velocity:50 ~mode:`Now in
+          loop selected
+      | Key_control '[' ->
+          return ()
+      | _ ->
+          loop selected
+  in
+
+  lwt () = Lwt_term.enter_drawing_mode () in
+  lwt () = Lwt_term.hide_cursor () in
+
+  try_lwt
+    loop 0
+  finally
+    Lwt_term.leave_drawing_mode ()
diff --git a/PC_Mainboard/myocamlbuild.ml b/PC_Mainboard/myocamlbuild.ml
index 42a97e6..4a083c6 100644
--- a/PC_Mainboard/myocamlbuild.ml
+++ b/PC_Mainboard/myocamlbuild.ml
@@ -73,6 +73,7 @@ let targets = List.filter_opt (function (true, target) -> Some target | (false,
   (have_lwt_unix && have_obus, "clients/krobot_init_position.best");
   (have_lwt_unix && have_obus && have_lwt_text, "clients/krobot_controller.best");
   (have_lwt_unix && have_obus && have_sdl, "clients/krobot_joy_control.best");
+  (have_lwt_unix && have_obus && have_lwt_text, "clients/krobot_ax12.best");
 
   (* Services *)
   (have_lwt_unix && have_obus, "services/krobot_hard_stop.best");


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