[Krobot-commits] [SCM] krobot branch, master, updated. 5d8a1f897c0083e62e6beb0f2d82458cf4760cf9

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 5d8a1f897c0083e62e6beb0f2d82458cf4760cf9
Author: Jérémie Dimino <je...@di...>
Date:   Fri May 28 02:53:34 2010 +0200

    typo

commit 376c4fe2d3eee0e85111cf2d9b1dc70afce658ee
Author: Jérémie Dimino <je...@di...>
Date:   Fri May 28 02:50:43 2010 +0200

    do not fail if the rx64 card fails to open

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

Changes:
diff --git a/info/control/driver/krobot_dynamixel_over_serial.ml b/info/control/driver/krobot_dynamixel_over_serial.ml
index 104c954..27374fd 100644
--- a/info/control/driver/krobot_dynamixel_over_serial.ml
+++ b/info/control/driver/krobot_dynamixel_over_serial.ml
@@ -465,11 +465,16 @@ class device ?timeout ~name ~path ~rate () =
   let state, set_state = React.S.create `Down in
 object
   val mutable card = None
+  val mutable closed = false
 
   method name = name
   method state : [ `Up | `Down ] React.signal = state
   method close =
-    match card with
+    closed <- true;
+    let card' = card in
+    card <- None;
+    set_state `Down;
+    match card' with
       | Some card ->
           close card
       | None ->
@@ -513,17 +518,21 @@ object
 
   initializer
     let rec loop () =
-      lwt c = make ?timeout ~name ~path ~rate in
-      card <- Some c;
-      set_state `Up;
-      c.watch >>= function
-        | `Closed ->
-            set_state `Down;
-            return ()
-        | `Error _ ->
-            set_state `Down;
-            lwt () = Lwt_unix.sleep 0.1 in
-            loop ()
+      lwt () =
+        try_lwt
+          lwt c = make ?timeout ~name ~path ~rate in
+          card <- Some c;
+          set_state `Up;
+          lwt _ = c.watch in
+          return ()
+        with exn ->
+          return ()
+      in
+      if closed then
+        return ()
+      else
+        lwt () = Lwt_unix.sleep 0.1 in
+        loop ()
     in
     ignore (loop ())
 end
diff --git a/info/control/lib-krobot/krobot_driver.ml b/info/control/lib-krobot/krobot_driver.ml
index 62863da..d93e38b 100644
--- a/info/control/lib-krobot/krobot_driver.ml
+++ b/info/control/lib-krobot/krobot_driver.ml
@@ -34,7 +34,7 @@ let card_interface krobot = card krobot "Interface"
 let card_sensors krobot = card krobot "Sensors"
 let card_motors krobot = card krobot "Motors"
 let card_monitoring krobot = card krobot "Monitoring"
-let card_rx64 krobot = card krobot "Rx64"
+let card_rx64 krobot = card krobot "RX64"
 
 module Analogic_motor =
 struct


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