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[Krobot-commits] [SCM] krobot branch, master, updated. 258c436c669b76ab50c63192ad60224f9c649eb8
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From: Jérémie D. <Ba...@us...> - 2010-05-11 12:17:31
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The branch, master has been updated
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from 18bb10e639922efb98e3b2273013c37042cf2db4 (commit)
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- Log -----------------------------------------------------------------
commit 258c436c669b76ab50c63192ad60224f9c649eb8
Author: Jérémie Dimino <je...@di...>
Date: Tue May 11 14:17:00 2010 +0200
better replay
-----------------------------------------------------------------------
Changes:
diff --git a/info/control/clients/joy_control.ml b/info/control/clients/joy_control.ml
index 7d980a6..a9823cf 100644
--- a/info/control/clients/joy_control.ml
+++ b/info/control/clients/joy_control.ml
@@ -129,43 +129,33 @@ let axis_coef_turn = 4
let accelerations = (400, 400)
let duration = 0.2
-let try_call action f =
+let record_oc =
+ if Array.length Sys.argv >= 2 && Sys.argv.(1) = "record" then
+ Lwt_io.open_file ~mode:Lwt_io.output "krobot.record"
+ else
+ Lwt_io.null
+
+let date_last_command = ref (Unix.gettimeofday ())
+
+let robot_call record f =
+ let date = Unix.gettimeofday () in
+ let delta = date -. !date_last_command in
+ date_last_command := date;
+ lwt () = Lwt_io.fprintf record_oc "%Ld\n%s\n" (Int64.bits_of_float delta) record in
try_lwt
f ()
with Failure msg ->
- lwt () = Lwt_log.error_f "action %s failed with: %s" action msg in
+ lwt () = Lwt_log.error_f "action << %s >> failed with: %s" record msg in
return ()
-let record =
- if Array.length Sys.argv >= 2 && Sys.argv.(1) = "record" then begin
- let oc = Lwt_io.open_file ~mode:Lwt_io.output "krobot.record" in
- let prev = ref (Unix.gettimeofday ()) in
- fun cmd ->
- let date = Unix.gettimeofday () in
- let delta = date -. !prev in
- prev := date;
- lwt () =
- if delta > 0. then
- Lwt_io.fprintlf oc "sleep duration=%f" delta
- else
- return ()
- in
- Lwt_io.write_line oc cmd
- end else begin
- fun cmd -> return ()
- end
-
let rec set_velocities krobot velocities =
lwt () = Lwt_log.info_f "set-velocities: left=%d right=%d" (fst velocities) (snd velocities) in
lwt () =
- try_call "set-velocities"
+ robot_call
+ (Printf.sprintf
+ "set-velocities velocity-left=%d velocity-right=%d acceleration-left=%d acceleration-right=%d duration=%f"
+ (fst velocities) (snd velocities) (fst accelerations) (snd accelerations) duration)
(fun () ->
- lwt () =
- Printf.ksprintf
- record
- "set-velocities velocity-left=%d velocity-right=%d acceleration-left=%d acceleration-right=%d duration=%f"
- (fst velocities) (snd velocities) (fst accelerations) (snd accelerations) duration
- in
Krobot.Motors.set_velocities krobot ~velocities ~accelerations ~duration)
in
if velocities = (0, 0) then
@@ -190,6 +180,7 @@ let parent_loop krobot pipe =
(!laxis_v * axis_coef - !raxis_h * axis_coef_turn,
!laxis_v * axis_coef + !raxis_h * axis_coef_turn)
in
+ let enable_claws = lazy(robot_call "claws.enable" (fun () -> Krobot.Claws.enable krobot)) in
let rec loop () =
Lwt_io.read_value pipe >>= function
| KeyPressed KEY_ESCAPE ->
@@ -213,18 +204,18 @@ let parent_loop krobot pipe =
| JoyButtonPressed ButtonSquare ->
stop := true;
cancel !thread;
- lwt () = try_call "stop-motors" (fun () -> Krobot.Motors.stop krobot ~mode:`Abrupt) in
+ lwt () = robot_call "stop-motors mode=abrupt" (fun () -> Krobot.Motors.stop krobot ~mode:`Abrupt) in
loop ()
| JoyButtonReleased ButtonSquare ->
stop := false;
loop ()
| JoyButtonPressed ButtonCross ->
- lwt () = record "claws.take" in
- lwt () = try_call "claws.take" (fun () -> Krobot.Claws.take krobot) in
+ lwt () = Lazy.force enable_claws in
+ lwt () = robot_call "claws.take" (fun () -> Krobot.Claws.take krobot) in
loop ()
| JoyButtonPressed ButtonCircle ->
- lwt () = record "claws.open" in
- lwt () = try_call "claws.open" (fun () -> Krobot.Claws.open_ krobot) in
+ lwt () = Lazy.force enable_claws in
+ lwt () = robot_call "claws.open" (fun () -> Krobot.Claws.open_ krobot) in
loop ()
| _ ->
loop ()
@@ -254,8 +245,6 @@ let () =
Unix.close fd_w;
Lwt_main.run begin
lwt krobot = Krobot.create () in
- lwt () = Krobot.Claws.enable krobot in
- lwt () = Krobot.Claws.close krobot 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/info/control/clients/replay.ml b/info/control/clients/replay.ml
index cc9060f..ba004a4 100644
--- a/info/control/clients/replay.ml
+++ b/info/control/clients/replay.ml
@@ -15,16 +15,25 @@ lwt () =
exit 2
end;
- let ic = Lwt_io.open_file ~mode:Lwt_io.input Sys.argv.(1) in
+ lwt lines = Lwt_stream.to_list (Lwt_io.lines_of_file Sys.argv.(1)) in
lwt krobot = Krobot.create () in
- let rec loop () =
- Lwt_io.read_line_opt ic >>= function
- | None ->
- return ()
- | Some line ->
- lwt () = Lwt_io.printl line in
- lwt () = Script.exec ~krobot ~logger:Lwt_term.printlc ~command:line in
- loop ()
+ let rec loop = function
+ | [] ->
+ return ()
+ | [_] ->
+ failwith "invalid record file"
+ | delta :: command :: lines ->
+ let delta = Int64.float_of_bits (Int64.of_string delta) in
+ lwt () = Lwt_io.printl command in
+ ignore (
+ try_lwt
+ Script.exec ~krobot ~logger:Lwt_term.printlc ~command
+ with exn ->
+ lwt () = Lwt_log.error_f "failure: %s" (Printexc.to_string exn) in
+ exit 1
+ );
+ lwt () = Lwt_unix.sleep delta in
+ loop lines
in
- loop ()
+ loop lines
hooks/post-receive
--
krobot
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