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[Krobot-commits] [SCM] krobot branch, master, updated. 6fb26acfacd1d4dad6c0548a468b0f306a592b96
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From: Jérémie D. <Ba...@us...> - 2010-05-08 18:17:59
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- Log -----------------------------------------------------------------
commit 6fb26acfacd1d4dad6c0548a468b0f306a592b96
Author: Jérémie Dimino <je...@di...>
Date: Sat May 8 20:17:17 2010 +0200
remove commands for the AX12 with id=1
commit a4259c9b12f2c296cbba23bf555f87e21ed58c79
Author: Jérémie Dimino <je...@di...>
Date: Sat May 8 20:03:15 2010 +0200
add a simple scanner
commit 88da80d088b3f40b7573bcc5b2738df471f81501
Author: Jérémie Dimino <je...@di...>
Date: Sat May 8 19:36:04 2010 +0200
add infrared status in the controller
commit 7558634aade35227628e140f81b58cef7d602af8
Author: Jérémie Dimino <je...@di...>
Date: Sat May 8 18:17:40 2010 +0200
add the object for infrared sensors
-----------------------------------------------------------------------
Changes:
diff --git a/info/control/clients/controller.ml b/info/control/clients/controller.ml
index f038d41..cbe8baf 100644
--- a/info/control/clients/controller.ml
+++ b/info/control/clients/controller.ml
@@ -173,6 +173,7 @@ let draw krobot =
Krobot.dev_motor = false;
Krobot.dev_ax12 = false;
Krobot.dev_lcd = false;
+ Krobot.dev_infrared = false;
}
in
@@ -318,6 +319,19 @@ let draw krobot =
return ()
end
in
+ lwt () =
+ if driver && devices.Krobot.dev_infrared then begin
+ lwt i1, i2 = OBus_property.get (Krobot.infrared_states krobot) in
+ Draw.textc zone x 5 [textf "infrared 1: %d" i1];
+ Draw.textc zone x 6 [textf "infrared 2: %d" i2];
+ return ()
+ end else begin
+ for i = 5 to 6 do
+ Draw.textc zone x i [fg red; text "unavailable"]
+ done;
+ return ()
+ end
+ in
(* ===== History ===== *)
diff --git a/info/control/driver/driver.ml b/info/control/driver/driver.ml
index 7130a43..b1d59ca 100644
--- a/info/control/driver/driver.ml
+++ b/info/control/driver/driver.ml
@@ -56,7 +56,7 @@ let get_card card =
(* List of services, by cards *)
let services = [
- card_interface, ["Servo"; "Compass"; "AX12"; "LCD"; "Gate"];
+ card_interface, ["Servo"; "Compass"; "AX12"; "LCD"; "Gate"; "Infrared"];
card_monitoring, ["Power"];
card_sensor, ["LogicSensors"; "RangeFinders"];
card_motor, ["Motors"];
@@ -152,6 +152,31 @@ struct
}]
end
+
+(* +-----------------------------------------------------------------+
+ | Infrared |
+ +-----------------------------------------------------------------+ *)
+
+module Infrared =
+struct
+ include Service(struct let name = "Infrared" end)
+
+ open Krobot_interfaces.Fr_krobot_Device_Infrared
+
+ let states =
+ poll card (0, 0)
+ (fun card ->
+ lwt ar = USBCard.call Commands.Infrared.get_state card () in
+ return (ar.(0), ar.(1)))
+
+ let () =
+ OBus_object.add_interfaces obus
+ [make ~notify_mode
+ {
+ p_States = (fun () -> React.S.map (fun (i1, i2) -> (Int32.of_int i1, Int32.of_int i2)) states);
+ }]
+end
+
(* +-----------------------------------------------------------------+
| Compass |
+-----------------------------------------------------------------+ *)
@@ -314,17 +339,17 @@ struct
USBCard.call Commands.AX12.action (get_card card) 0xfe
let grip_up () =
- set_ax12 [{ aa_id = 1;
+ set_ax12 [(*{ aa_id = 1;
aa_position = 190;
- aa_velocity = 50 };
+ aa_velocity = 50 };*)
{ aa_id = 2;
aa_position = 180;
aa_velocity = 50 }]
let grip_down () =
- set_ax12 [{ aa_id = 1;
+ set_ax12 [(*{ aa_id = 1;
aa_position = 490;
- aa_velocity = 50 };
+ aa_velocity = 50 };*)
{ aa_id = 2;
aa_position = 510;
aa_velocity = 50 };
@@ -1211,6 +1236,7 @@ lwt () =
OBus_object.export bus Range_finders.obus;
OBus_object.export bus Motors.obus;
OBus_object.export bus Gate.obus;
+ OBus_object.export bus Infrared.obus;
OBus_object.export bus (Card.make card_interface ["fr"; "krobot"; "Cards"; "Interface"]).Card.obus;
OBus_object.export bus (Card.make card_sensor ["fr"; "krobot"; "Cards"; "Sensor"]).Card.obus;
diff --git a/info/control/lib-krobot/krobot.ml b/info/control/lib-krobot/krobot.ml
index b2ae4f6..e436389 100644
--- a/info/control/lib-krobot/krobot.ml
+++ b/info/control/lib-krobot/krobot.ml
@@ -44,6 +44,7 @@ type devices_status = {
dev_motor : bool;
dev_ax12 : bool;
dev_lcd : bool;
+ dev_infrared : bool;
}
let devices_status krobot =
@@ -55,6 +56,7 @@ let devices_status krobot =
dev_motor = List.assoc "Motors" l;
dev_ax12 = List.assoc "AX12" l;
dev_lcd = List.assoc "LCD" l;
+ dev_infrared = List.assoc "Infrared" l;
})
(OBus_property.make
~notify_mode
@@ -74,6 +76,17 @@ let jack krobot =
*)
(* +-----------------------------------------------------------------+
+ | Infrared |
+ +-----------------------------------------------------------------+ *)
+
+open Krobot_interfaces.Fr_krobot_Device_Infrared
+
+let infrared_states krobot =
+ OBus_property.map_r
+ (fun (i1, i2) -> (Int32.to_int i1, Int32.to_int i2))
+ (OBus_property.make ~notify_mode p_States (device krobot "Infrared"))
+
+(* +-----------------------------------------------------------------+
| Power |
+-----------------------------------------------------------------+ *)
diff --git a/info/control/lib-krobot/krobot.mli b/info/control/lib-krobot/krobot.mli
index 7bff545..ef3f09e 100644
--- a/info/control/lib-krobot/krobot.mli
+++ b/info/control/lib-krobot/krobot.mli
@@ -42,11 +42,16 @@ type devices_status = {
dev_motor : bool;
dev_ax12 : bool;
dev_lcd : bool;
+ dev_infrared : bool;
}
val devices_status : t -> devices_status OBus_property.r
(** List of services with their status *)
+(** {6 Infrared} *)
+
+val infrared_states : t -> (int * int) OBus_property.r
+
(** {6 Power} *)
val set_buzzer_state : t -> bool -> unit Lwt.t
diff --git a/info/control/myocamlbuild.ml b/info/control/myocamlbuild.ml
index 6519df2..deb5c13 100644
--- a/info/control/myocamlbuild.ml
+++ b/info/control/myocamlbuild.ml
@@ -83,6 +83,7 @@ let targets = List.filter_opt (function (true, target) -> Some target | (false,
(have_lwt_unix && have_obus, "tests/stop_and_restart.best");
(have_lwt_unix && have_obus, "tests/trajectories.best");
(have_lwt_unix && have_obus, "tests/move.best");
+ (have_lwt_unix && have_obus, "tests/scan_infrared.best");
]
(* +-----------------------------------------------------------------+
diff --git a/info/control/protocol/krobot.obus b/info/control/protocol/krobot.obus
index 12ca50c..6258f09 100644
--- a/info/control/protocol/krobot.obus
+++ b/info/control/protocol/krobot.obus
@@ -19,6 +19,10 @@ interface "fr.krobot.Device.Power" {
method SetBuzzerState : (state : boolean) -> ()
}
+interface "fr.krobot.Device.Infrared" {
+ property.r States : (int32 * int32) structure
+}
+
interface "fr.krobot.Device.Gate" {
method Enable : () -> ()
(** Enable the motor of the gate *)
diff --git a/info/control/tests/scan_infrared.ml b/info/control/tests/scan_infrared.ml
new file mode 100644
index 0000000..574d130
--- /dev/null
+++ b/info/control/tests/scan_infrared.ml
@@ -0,0 +1,39 @@
+(*
+ * scan_infrared.ml
+ * ----------------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+open Lwt
+
+let rec print krobot infrared =
+ lwt pos = Krobot.unsafe_call Commands.AX12.get_position krobot (1, 100) in
+ let i1, i2 = React.S.value infrared in
+ lwt () = Lwt_io.printlf "position: %3d, i1 = %4d, i2 = %4d" pos i1 i2 in
+ lwt () = Lwt_unix.sleep 0.2 in
+ print krobot infrared
+
+let delay = 1.5
+
+let action pos = {
+ Types.aa_id = 1;
+ Types.aa_position = pos;
+ Types.aa_velocity = 200;
+}
+
+lwt () =
+ lwt krobot = Krobot.create () in
+ let rec loop1 () =
+ lwt () = Krobot.set_ax12 krobot [action 250] in
+ lwt () = Lwt_unix.sleep delay in
+ loop2 ()
+ and loop2 () =
+ lwt () = Krobot.set_ax12 krobot [action 750] in
+ lwt () = Lwt_unix.sleep delay in
+ loop1 ()
+ in
+ lwt infrared = OBus_property.monitor (Krobot.infrared_states krobot) in
+ join [loop1 (); print krobot infrared]
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--
krobot
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