[Krobot-commits] [SCM] krobot branch, master, updated. e4676289e7990e6c6a086cf1597d4faf40df304f

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit e4676289e7990e6c6a086cf1597d4faf40df304f
Author: Jérémie Dimino <je...@di...>
Date:   Thu May 20 22:37:44 2010 +0200

    better handling of driver exit

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

Changes:
diff --git a/info/control/driver/driver.ml b/info/control/driver/driver.ml
index 2a3320d..08a8f59 100644
--- a/info/control/driver/driver.ml
+++ b/info/control/driver/driver.ml
@@ -16,6 +16,8 @@ open Lwt
 
 module String_map = Map.Make(String)
 
+let quit = ref false
+
 (* +-----------------------------------------------------------------+
    | Cards                                                           |
    +-----------------------------------------------------------------+ *)
@@ -103,15 +105,21 @@ let poll card ?(update_delay=Config.update_delay) initial get =
               lwt x = get usb_card in
               set_value x;
               return ()
-            with exn ->
-              lwt () = Lwt_log.error_f ~section ~exn "reading from card %s failed with" card.card_name in
-              return ()
+            with
+              | USBCard.Card_closed when !quit ->
+                  return ()
+              | exn ->
+                  lwt () = Lwt_log.error_f ~section ~exn "reading from card %s failed with" card.card_name in
+                  return ()
           end
         | None ->
             return ()
     in
     lwt () = Lwt_unix.sleep update_delay in
-    loop ()
+    if !quit then
+      return ()
+    else
+      loop ()
   in
   ignore (loop ());
   value
@@ -1125,7 +1133,6 @@ end
    +-----------------------------------------------------------------+ *)
 
 let done_waiter, done_wakener = Lwt.wait ()
-let quit = ref false
 
 module Manager =
 struct
@@ -1142,13 +1149,16 @@ struct
   let shutdown ctx manager =
     lwt () = Lwt_log.info ~section "exiting" in
     quit := true;
-    lwt () = close card_interface
-    and () = close card_sensor
-    and () = close card_motor
-    and () = close card_monitoring in
-    lwt _ = OBus_bus.release_name (OBus_context.connection ctx) "fr.krobot.Driver" in
-    Lwt.wakeup done_wakener ();
-    return ()
+    try_lwt
+      lwt () = close card_interface
+      and () = close card_sensor
+      and () = close card_motor
+      and () = close card_monitoring in
+      lwt _ = OBus_bus.release_name (OBus_context.connection ctx) "fr.krobot.Driver" in
+      return ()
+    finally
+      Lwt.wakeup done_wakener ();
+      return ()
 
   let services_status =
     React.S.map
@@ -1283,7 +1293,7 @@ let rec monitor_card ~name ~vendor_id ~product_id ~set on_up on_down =
               lwt () = Lwt_log.info_f ~section "%s card is up and running" name in
               set (Some card);
               lwt () = on_up card in
-              lwt result = USBCard.watch card in
+              lwt result = try_lwt USBCard.watch card with exn -> return (`Error exn) in
               set None;
               lwt () = on_down () in
               lwt () =
@@ -1318,7 +1328,7 @@ let rec monitor_rx64 ~name ~path ~rate ~set on_up on_down =
         lwt () = Lwt_log.info_f ~section "%s card is up and running" name in
         set (Some card);
         lwt () = on_up card in
-        lwt result = RX64Card.watch card in
+        lwt result = try_lwt RX64Card.watch card with exn -> return (`Error exn) in
         set None;
         lwt () = on_down () in
         lwt () =


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