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[Krobot-commits] [SCM] krobot branch, master, updated. 8b3e9b66e2076f44754a5283696bc17f3288f6d1
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From: Jérémie D. <Ba...@us...> - 2010-04-23 08:53:21
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This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 8b3e9b66e2076f44754a5283696bc17f3288f6d1 (commit)
from ad5e0b49e34128237c74cb551a2f3243387d9a3f (commit)
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- Log -----------------------------------------------------------------
commit 8b3e9b66e2076f44754a5283696bc17f3288f6d1
Author: Jérémie Dimino <dim@gaia.(none)>
Date: Fri Apr 23 10:51:53 2010 +0200
Use record instead of labelled arguments for D-Bus interface creation
This improve error messages
-----------------------------------------------------------------------
Changes:
diff --git a/info/control/driver/driver.ml b/info/control/driver/driver.ml
index 70fbde6..d8614ac 100644
--- a/info/control/driver/driver.ml
+++ b/info/control/driver/driver.ml
@@ -59,6 +59,8 @@ struct
value : int React.signal;
}
+ open Krobot_interfaces.Fr_krobot_Device_Compass
+
let make card path =
lwt value = make_signal ~update_delay:(Config.update_delay *. 2.) (fun card -> snd =|< USBCard.call Commands.Compass.get card ()) card in
let dev = {
@@ -67,8 +69,9 @@ struct
~interfaces:[Export_unsafe.interface "compass" (fun dev -> dev.card);
Krobot_interfaces.Fr_krobot_Device_Compass.make
~notify_mode:(OBus_object.notify_update "PropertiesChanged")
- ~p_Value:(fun dev -> React.S.map Int32.of_int dev.value)
- ()]
+ {
+ p_Value = (fun dev -> React.S.map Int32.of_int dev.value);
+ }]
path;
card = card;
value = value;
@@ -88,6 +91,8 @@ struct
card : USBCard.t;
}
+ open Krobot_interfaces.Fr_krobot_Device_LCD
+
let set_lcd dev lines =
if List.length lines > 4 || List.exists (fun line -> String.length line > 20) lines then
invalid_arg "SetLCD"
@@ -114,10 +119,11 @@ struct
~interfaces:[Export_unsafe.interface "LCD" (fun dev -> dev.card);
Krobot_interfaces.Fr_krobot_Device_LCD.make
~notify_mode:(OBus_object.notify_update "PropertiesChanged")
- ~m_SetLCD:(fun ctx -> set_lcd)
- ~m_BacklightOn:(fun ctx obj () -> backlight_on obj)
- ~m_BacklightOff:(fun ctx obj () -> backlight_off obj)
- ()]
+ {
+ m_SetLCD = (fun ctx -> set_lcd);
+ m_BacklightOn = (fun ctx obj () -> backlight_on obj);
+ m_BacklightOff = (fun ctx obj () -> backlight_off obj);
+ }]
path;
card = card;
} in
@@ -136,6 +142,8 @@ struct
card : USBCard.t;
}
+ open Krobot_interfaces.Fr_krobot_Device_Servo
+
let claws_enable dev =
USBCard.call Commands.Servo.set_config dev.card (0b10100, 0)
@@ -158,12 +166,13 @@ struct
~interfaces:[Export_unsafe.interface "servo" (fun dev -> dev.card);
Krobot_interfaces.Fr_krobot_Device_Servo.make
~notify_mode:(OBus_object.notify_update "PropertiesChanged")
- ~m_ClawsEnable:(fun ctx obj () -> claws_enable obj)
- ~m_ClawsDisable:(fun ctx obj () -> claws_disable obj)
- ~m_ClawsOpen:(fun ctx obj () -> claws_open obj)
- ~m_ClawsClose:(fun ctx obj () -> claws_close obj)
- ~m_ClawsTake:(fun ctx obj () -> claws_take obj)
- ()]
+ {
+ m_ClawsEnable = (fun ctx obj () -> claws_enable obj);
+ m_ClawsDisable = (fun ctx obj () -> claws_disable obj);
+ m_ClawsOpen = (fun ctx obj () -> claws_open obj);
+ m_ClawsClose = (fun ctx obj () -> claws_close obj);
+ m_ClawsTake = (fun ctx obj () -> claws_take obj);
+ }]
path;
card = card;
} in
@@ -182,6 +191,8 @@ struct
card : USBCard.t;
}
+ open Krobot_interfaces.Fr_krobot_Device_AX12
+
let grip_up_position = 880
let grip_down_position = 580
let ax12_default_velocity = 50
@@ -255,7 +266,8 @@ struct
~interfaces:[Export_unsafe.interface "AX12" (fun dev -> dev.card);
Krobot_interfaces.Fr_krobot_Device_AX12.make
~notify_mode:(OBus_object.notify_update "PropertiesChanged")
- ~m_SetAX12:(fun ctx obj positions ->
+ {
+ m_SetAX12 = (fun ctx obj positions ->
let positions =
List.map
(fun (x1, x2, x3) ->
@@ -264,13 +276,13 @@ struct
aa_velocity = Int32.to_int x3 })
positions
in
- set_ax12 obj positions)
- ~m_GripUp:(fun ctx obj () -> grip_up obj)
- ~m_GripDown:(fun ctx obj () -> grip_down obj)
- ~m_GripOpen:(fun ctx obj () -> grip_open obj)
- ~m_GripClose:(fun ctx obj () -> grip_close obj)
- ~m_GripRelease:(fun ctx obj () -> grip_release obj)
- ()]
+ set_ax12 obj positions);
+ m_GripUp = (fun ctx obj () -> grip_up obj);
+ m_GripDown = (fun ctx obj () -> grip_down obj);
+ m_GripOpen = (fun ctx obj () -> grip_open obj);
+ m_GripClose = (fun ctx obj () -> grip_close obj);
+ m_GripRelease = (fun ctx obj () -> grip_release obj);
+ }]
path;
card = card;
}
@@ -291,6 +303,8 @@ struct
value : bool array React.signal;
}
+ open Krobot_interfaces.Fr_krobot_Device_LogicSensors
+
let make card path =
lwt value = make_signal (fun card -> USBCard.call Commands.Logic_sensors.get_state card ()) card in
let dev = {
@@ -299,8 +313,9 @@ struct
~interfaces:[Export_unsafe.interface "logic-sensors" (fun dev -> dev.card);
Krobot_interfaces.Fr_krobot_Device_LogicSensors.make
~notify_mode:(OBus_object.notify_update "PropertiesChanged")
- ~p_Value:(fun dev -> React.S.map Array.to_list dev.value)
- ()]
+ {
+ p_Value = (fun dev -> React.S.map Array.to_list dev.value);
+ }]
path;
card = card;
value = value;
@@ -321,6 +336,8 @@ struct
value : int array React.signal;
}
+ open Krobot_interfaces.Fr_krobot_Device_RangeFinders
+
let get_calibration dev id =
USBCard.call Commands.Range_finders.get_calibration dev.card id
@@ -341,16 +358,17 @@ struct
~interfaces:[Export_unsafe.interface "range-finders" (fun dev -> dev.card);
Krobot_interfaces.Fr_krobot_Device_RangeFinders.make
~notify_mode:(OBus_object.notify_update "PropertiesChanged")
- ~p_Value:(fun dev -> React.S.map (fun a -> List.map Int32.of_int (Array.to_list a)) dev.value)
- ~m_GetCalibration:(fun ctx obj id ->
- lwt result = get_calibration obj (Int32.to_int id) in
- return (List.map Int32.of_int (Array.to_list result)))
- ~m_CalibrationStart:(fun ctx obj (id, skip_measure) ->
- let id = Int32.to_int id in
- calibration_start obj id skip_measure)
- ~m_CalibrationStop:(fun ctx obj () -> calibration_stop obj)
- ~m_CalibrationContinue:(fun ctx obj () -> calibration_continue obj)
- ()]
+ {
+ p_Value = (fun dev -> React.S.map (fun a -> List.map Int32.of_int (Array.to_list a)) dev.value);
+ m_GetCalibration = (fun ctx obj id ->
+ lwt result = get_calibration obj (Int32.to_int id) in
+ return (List.map Int32.of_int (Array.to_list result)));
+ m_CalibrationStart = (fun ctx obj (id, skip_measure) ->
+ let id = Int32.to_int id in
+ calibration_start obj id skip_measure);
+ m_CalibrationStop = (fun ctx obj () -> calibration_stop obj);
+ m_CalibrationContinue = (fun ctx obj () -> calibration_continue obj);
+ }]
path;
card = card;
value = value;
@@ -365,6 +383,8 @@ end
module Motors =
struct
+ open Krobot_interfaces.Fr_krobot_Device_Motors
+
type trajectory = {
trajectory : [ `Forward | `Backward | `Left | `Right | `Goto ];
mutable stopped : bool;
@@ -665,39 +685,40 @@ struct
~interfaces:[Export_unsafe.interface "motors" (fun dev -> dev.card);
Krobot_interfaces.Fr_krobot_Device_Motors.make
~notify_mode:(OBus_object.notify_update "PropertiesChanged")
- ~m_Turn:(fun ctx obj (angle, velocity, acceleration) ->
- let angle = Int32.to_int angle in
- let velocity = Int32.to_int velocity in
- let acceleration = Int32.to_int acceleration in
- turn obj angle velocity acceleration >|= int32_of_move_result)
- ~m_Move:(fun ctx obj (distance, velocity, acceleration) ->
- let distance = Int32.to_int distance in
- let velocity = Int32.to_int velocity in
- let acceleration = Int32.to_int acceleration in
- move obj distance velocity acceleration >|= int32_of_move_result)
- ~m_Goto:(fun ctx obj (x, y, velocity, acceleration, mode, bypass_distance) ->
- let x = Int32.to_int x in
- let y = Int32.to_int y in
- let velocity = Int32.to_int velocity in
- let acceleration = Int32.to_int acceleration in
- let mode = goto_mode_of_int32 mode in
- let bypass_distance = Int32.to_int bypass_distance in
- goto obj x y velocity acceleration mode bypass_distance >|= int32_of_move_result)
- ~m_StopMotors:(fun ctx obj mode ->
- let mode = stop_mode_of_int32 mode in
- stop_motors obj mode)
- ~m_SetVelocities:(fun ctx obj (velocity_l, acceleration_l, velocity_r, acceleration_r, duration) ->
- let velocity_l = Int32.to_int velocity_l in
- let acceleration_l = Int32.to_int acceleration_l in
- let velocity_r = Int32.to_int velocity_r in
- let acceleration_r = Int32.to_int acceleration_r in
- set_velocities obj (velocity_l, velocity_r) (acceleration_l, acceleration_r) duration)
- ~p_InhibitForwardUntil:((fun obj -> Var.signal obj.inhibit_forward_until),
- (fun ctx -> set_inhibit_forward_until))
- ~p_InhibitBackwardUntil:((fun obj -> Var.signal obj.inhibit_backward_until),
- (fun ctx -> set_inhibit_backward_until))
- ~p_State:(fun obj -> state obj)
- ()]
+ {
+ m_Turn = (fun ctx obj (angle, velocity, acceleration) ->
+ let angle = Int32.to_int angle in
+ let velocity = Int32.to_int velocity in
+ let acceleration = Int32.to_int acceleration in
+ turn obj angle velocity acceleration >|= int32_of_move_result);
+ m_Move = (fun ctx obj (distance, velocity, acceleration) ->
+ let distance = Int32.to_int distance in
+ let velocity = Int32.to_int velocity in
+ let acceleration = Int32.to_int acceleration in
+ move obj distance velocity acceleration >|= int32_of_move_result);
+ m_Goto = (fun ctx obj (x, y, velocity, acceleration, mode, bypass_distance) ->
+ let x = Int32.to_int x in
+ let y = Int32.to_int y in
+ let velocity = Int32.to_int velocity in
+ let acceleration = Int32.to_int acceleration in
+ let mode = goto_mode_of_int32 mode in
+ let bypass_distance = Int32.to_int bypass_distance in
+ goto obj x y velocity acceleration mode bypass_distance >|= int32_of_move_result);
+ m_StopMotors = (fun ctx obj mode ->
+ let mode = stop_mode_of_int32 mode in
+ stop_motors obj mode);
+ m_SetVelocities = (fun ctx obj (velocity_l, acceleration_l, velocity_r, acceleration_r, duration) ->
+ let velocity_l = Int32.to_int velocity_l in
+ let acceleration_l = Int32.to_int acceleration_l in
+ let velocity_r = Int32.to_int velocity_r in
+ let acceleration_r = Int32.to_int acceleration_r in
+ set_velocities obj (velocity_l, velocity_r) (acceleration_l, acceleration_r) duration);
+ p_InhibitForwardUntil = ((fun obj -> Var.signal obj.inhibit_forward_until),
+ (fun ctx -> set_inhibit_forward_until));
+ p_InhibitBackwardUntil = ((fun obj -> Var.signal obj.inhibit_backward_until),
+ (fun ctx -> set_inhibit_backward_until));
+ p_State = (fun obj -> state obj);
+ }]
path;
card = card;
inhibit_forward_until = Var.create 0.0;
@@ -727,6 +748,8 @@ let card_motor, set_card_motor = React.S.create None
module Manager =
struct
+ open Krobot_interfaces.Fr_krobot_Manager
+
let close card = match React.S.value card with
| None ->
return ()
@@ -759,9 +782,10 @@ struct
OBus_object.make
~interfaces:[Krobot_interfaces.Fr_krobot_Manager.make
~notify_mode:(OBus_object.notify_update "PropertiesChanged")
- ~m_CardStates:(fun ctx obj () -> card_states obj)
- ~m_Shutdown:(fun ctx obj () -> shutdown ctx obj)
- ()]
+ {
+ m_CardStates = (fun ctx obj () -> card_states obj);
+ m_Shutdown = (fun ctx obj () -> shutdown ctx obj);
+ }]
["fr"; "krobot"; "Manager"]
in
OBus_object.attach manager ();
@@ -774,6 +798,8 @@ end
module Card =
struct
+ open Krobot_interfaces.Fr_krobot_Card
+
type t = {
card : USBCard.t option React.signal;
obus : t OBus_object.t;
@@ -813,14 +839,15 @@ struct
~interfaces:[Export_unsafe.interface "card" get_card;
Krobot_interfaces.Fr_krobot_Card.make
~notify_mode:(OBus_object.notify_update "PropertiesChanged")
- ~p_Name:(fun obj -> React.S.const name)
- ~p_State:(fun obj -> React.S.map int32_of_card_state obj.state)
- ~m_GetFirmwareBuild:(fun ctx obj () -> get_firmware_build obj)
- ~m_GetBoardInfo:(fun ctx obj () -> get_board_info obj)
- ~m_Bootloader:(fun ctx obj () -> bootloader obj)
- ~m_Reset:(fun ctx obj () -> reset obj)
- ~m_Test:(fun ctx obj () -> test obj)
- ()]
+ {
+ p_Name = (fun obj -> React.S.const name);
+ p_State = (fun obj -> React.S.map int32_of_card_state obj.state);
+ m_GetFirmwareBuild = (fun ctx obj () -> get_firmware_build obj);
+ m_GetBoardInfo = (fun ctx obj () -> get_board_info obj);
+ m_Bootloader = (fun ctx obj () -> bootloader obj);
+ m_Reset = (fun ctx obj () -> reset obj);
+ m_Test = (fun ctx obj () -> test obj);
+ }]
path;
card = card;
name = name;
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