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[Krobot-commits] [SCM] krobot branch, master, updated. 4e54c2a25cca9ff42042dce62420deea8545d6b7
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From: Jérémie D. <Ba...@us...> - 2011-03-12 21:00:35
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- Log -----------------------------------------------------------------
commit 4e54c2a25cca9ff42042dce62420deea8545d6b7
Author: Jérémie Dimino <je...@di...>
Date: Sat Mar 12 21:59:31 2011 +0100
[info] implement the driver
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index 42abfbc..8c23795 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -51,6 +51,17 @@ Library "krobot-interfaces"
Krobot_interface_can
# +-------------------------------------------------------------------+
+# | The driver |
+# +-------------------------------------------------------------------+
+
+Executable "krobot-driver"
+ Path: src/driver
+ Install: true
+ CompiledObject: best
+ MainIs: krobot_driver.ml
+ BuildDepends: krobot.can-bus, lwt.syntax
+
+# +-------------------------------------------------------------------+
# | Tools |
# +-------------------------------------------------------------------+
diff --git a/info/control2011/_tags b/info/control2011/_tags
index cc76a51..fedbe71 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
<src/interfaces/*.ml>: -syntax_camlp4o
# OASIS_START
-# DO NOT EDIT (digest: 4facc269f4400da42699b09bf69a0df9)
+# DO NOT EDIT (digest: 714f24c8f8cd15c9da08a3b463f1d17c)
# Library krobot
"src/lib": include
<src/lib/*.ml{,i}>: pkg_obus
@@ -22,6 +22,19 @@
"src/can/can_stubs.c": pkg_lwt.unix
"src/can/can_stubs.c": pkg_lwt.syntax
"src/can/can_stubs.c": pkg_krobot.interfaces
+# Executable krobot-driver
+<src/driver/krobot_driver.{native,byte}>: use_krobot-can-bus
+<src/driver/krobot_driver.{native,byte}>: use_krobot
+<src/driver/krobot_driver.{native,byte}>: pkg_obus
+<src/driver/krobot_driver.{native,byte}>: pkg_lwt.unix
+<src/driver/krobot_driver.{native,byte}>: pkg_lwt.syntax
+<src/driver/krobot_driver.{native,byte}>: pkg_krobot.interfaces
+<src/driver/*.ml{,i}>: use_krobot-can-bus
+<src/driver/*.ml{,i}>: use_krobot
+<src/driver/*.ml{,i}>: pkg_obus
+<src/driver/*.ml{,i}>: pkg_lwt.unix
+<src/driver/*.ml{,i}>: pkg_lwt.syntax
+<src/driver/*.ml{,i}>: pkg_krobot.interfaces
# Library krobot-interfaces
"src/interfaces": include
<src/interfaces/*.ml{,i}>: pkg_obus
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index 2e91799..e003f47 100644
--- a/info/control2011/setup.ml
+++ b/info/control2011/setup.ml
@@ -1,7 +1,7 @@
(* setup.ml generated for the first time by OASIS v0.2.0~alpha1 *)
(* OASIS_START *)
-(* DO NOT EDIT (digest: 0dc16674bcb1ea7bbf1df154eca87808) *)
+(* DO NOT EDIT (digest: 003c94954a115118c0158a0ee154e6cc) *)
(*
Regenerated by OASIS v0.2.0
Visit http://oasis.forge.ocamlcore.org for more information and
@@ -5152,6 +5152,33 @@ let setup_t =
doc_build_tools =
[ExternalTool "ocamlbuild"; ExternalTool "ocamldoc"];
});
+ Executable
+ ({
+ cs_name = "krobot-driver";
+ cs_data = PropList.Data.create ();
+ cs_plugin_data = [];
+ },
+ {
+ bs_build = [(OASISExpr.EBool true, true)];
+ bs_install = [(OASISExpr.EBool true, true)];
+ bs_path = "src/driver";
+ bs_compiled_object = Best;
+ bs_build_depends =
+ [
+ InternalLibrary "krobot-can-bus";
+ FindlibPackage ("lwt.syntax", None)
+ ];
+ bs_build_tools = [ExternalTool "ocamlbuild"];
+ bs_c_sources = [];
+ bs_data_files = [];
+ bs_ccopt = [(OASISExpr.EBool true, [])];
+ bs_cclib = [(OASISExpr.EBool true, [])];
+ bs_dlllib = [(OASISExpr.EBool true, [])];
+ bs_dllpath = [(OASISExpr.EBool true, [])];
+ bs_byteopt = [(OASISExpr.EBool true, [])];
+ bs_nativeopt = [(OASISExpr.EBool true, [])];
+ },
+ {exec_custom = false; exec_main_is = "krobot_driver.ml"; });
Library
({
cs_name = "krobot-interfaces";
diff --git a/info/control2011/src/driver/krobot_driver.ml b/info/control2011/src/driver/krobot_driver.ml
new file mode 100644
index 0000000..71d36ff
--- /dev/null
+++ b/info/control2011/src/driver/krobot_driver.ml
@@ -0,0 +1,36 @@
+(*
+ * krobot_driver.ml
+ * ----------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(* The interface between the CAN and D-Bus *)
+
+open Lwt
+open Lwt_react
+
+lwt () =
+ if Array.length Sys.argv <> 2 then begin
+ print_endline "usage: krobot-driver <interface>";
+ exit 2;
+ end;
+
+ (* Open the CAN bus. *)
+ lwt can = Krobot_can_bus.open_can Sys.argv.(1) in
+
+ (* Open the D-Bus connection. *)
+ lwt bus = OBus_bus.of_addresses [OBus_address.make "unix" [("abstract", "krobot")]] in
+
+ (* D-Bus --> CAN *)
+ lwt () =
+ OBus_signal.connect (Krobot_can.frames bus)
+ >|= E.notify_s (Krobot_can_bus.send can)
+ in
+
+ (* CAN --> D-Bus *)
+ while_lwt true do
+ Krobot_can_bus.recv can >>= Krobot_can.send bus
+ done
hooks/post-receive
--
krobot
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