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[Krobot-commits] [SCM] krobot branch, master, updated. c8e4360b8d33d3ece5eda6020e207d1ffd4cd71f
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From: Jérémie D. <Ba...@us...> - 2011-03-16 23:17:32
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- Log -----------------------------------------------------------------
commit c8e4360b8d33d3ece5eda6020e207d1ffd4cd71f
Author: Jérémie Dimino <je...@di...>
Date: Thu Mar 17 00:15:58 2011 +0100
[info] make krobot-plot display a graph with cairo
commit ac782540fa94043e31d790e4dd4ad60cd2a00957
Author: Jérémie Dimino <je...@di...>
Date: Wed Mar 16 23:17:20 2011 +0100
[info] replace E.notify_s by E.map_s and E.keep
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index 8c23795..dd67350 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -62,7 +62,7 @@ Executable "krobot-driver"
BuildDepends: krobot.can-bus, lwt.syntax
# +-------------------------------------------------------------------+
-# | Tools |
+# | Tools |
# +-------------------------------------------------------------------+
Executable "krobot-plot"
@@ -70,7 +70,7 @@ Executable "krobot-plot"
Install: true
CompiledObject: best
MainIs: krobot_plot.ml
- BuildDepends: krobot.can-bus, lwt.syntax
+ BuildDepends: krobot.can-bus, lwt.syntax, cairo.lablgtk2, lwt.glib
# +-------------------------------------------------------------------+
# | Examples |
diff --git a/info/control2011/_tags b/info/control2011/_tags
index fedbe71..fee2129 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
<src/interfaces/*.ml>: -syntax_camlp4o
# OASIS_START
-# DO NOT EDIT (digest: 714f24c8f8cd15c9da08a3b463f1d17c)
+# DO NOT EDIT (digest: 38a5a55661f6998cf1a3f011ff7ecfd3)
# Library krobot
"src/lib": include
<src/lib/*.ml{,i}>: pkg_obus
@@ -57,11 +57,15 @@
<tools/krobot_plot.{native,byte}>: pkg_obus
<tools/krobot_plot.{native,byte}>: pkg_lwt.unix
<tools/krobot_plot.{native,byte}>: pkg_lwt.syntax
+<tools/krobot_plot.{native,byte}>: pkg_lwt.glib
<tools/krobot_plot.{native,byte}>: pkg_krobot.interfaces
+<tools/krobot_plot.{native,byte}>: pkg_cairo.lablgtk2
<tools/*.ml{,i}>: use_krobot-can-bus
<tools/*.ml{,i}>: use_krobot
<tools/*.ml{,i}>: pkg_obus
<tools/*.ml{,i}>: pkg_lwt.unix
<tools/*.ml{,i}>: pkg_lwt.syntax
+<tools/*.ml{,i}>: pkg_lwt.glib
<tools/*.ml{,i}>: pkg_krobot.interfaces
+<tools/*.ml{,i}>: pkg_cairo.lablgtk2
# OASIS_STOP
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index e003f47..02aa273 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: 003c94954a115118c0158a0ee154e6cc) *)
+(* DO NOT EDIT (digest: a60a31dc8dbfa28c3584c2830b23531f) *)
(*
Regenerated by OASIS v0.2.0
Visit http://oasis.forge.ocamlcore.org for more information and
@@ -5249,7 +5249,9 @@ let setup_t =
bs_build_depends =
[
InternalLibrary "krobot-can-bus";
- FindlibPackage ("lwt.syntax", None)
+ FindlibPackage ("lwt.syntax", None);
+ FindlibPackage ("cairo.lablgtk2", None);
+ FindlibPackage ("lwt.glib", None)
];
bs_build_tools = [ExternalTool "ocamlbuild"];
bs_c_sources = [];
diff --git a/info/control2011/src/driver/krobot_driver.ml b/info/control2011/src/driver/krobot_driver.ml
index 71d36ff..5ab3ea7 100644
--- a/info/control2011/src/driver/krobot_driver.ml
+++ b/info/control2011/src/driver/krobot_driver.ml
@@ -27,7 +27,8 @@ lwt () =
(* D-Bus --> CAN *)
lwt () =
OBus_signal.connect (Krobot_can.frames bus)
- >|= E.notify_s (Krobot_can_bus.send can)
+ >|= E.map_s (Krobot_can_bus.send can)
+ >|= E.keep
in
(* CAN --> D-Bus *)
diff --git a/info/control2011/tools/krobot_plot.ml b/info/control2011/tools/krobot_plot.ml
index 0629f22..3e8b1f9 100644
--- a/info/control2011/tools/krobot_plot.ml
+++ b/info/control2011/tools/krobot_plot.ml
@@ -10,53 +10,130 @@
open Lwt
open Krobot_can
-type data = {
- coder_pos : int;
- coder_dir : int;
+type direction = Forward | Backward
+
+type point = { time : float; position : int; direction : direction }
+
+(* +-----------------------------------------------------------------+
+ | Graphs |
+ +-----------------------------------------------------------------+ *)
+
+let graph_duration = 10.0
+ (* Which amount of data to keep in graphs. *)
+
+(* Type of graphs. *)
+type graph = {
+ points : point Queue.t array;
+ (* Queue of points with their time. They are ordered by increasing
+ date. *)
+ mutable max : int;
+ (* The maximum reached. *)
}
-let decode_frame frame =
+(* Remove old points. *)
+let update_graph graph time =
+ Array.iter
+ (fun q ->
+ while not (Queue.is_empty q) && (Queue.top q).time +. graph_duration < time do
+ ignore (Queue.take q)
+ done)
+ graph.points
+
+(* +-----------------------------------------------------------------+
+ | Plotting |
+ +-----------------------------------------------------------------+ *)
+
+let rec colors = (1., 0., 0.) :: (0., 1., 0.) :: (0., 0., 1.) :: (1., 1., 0.) :: colors
+
+let plot ctx width height graph time =
+ Cairo.set_source_rgb ctx 1. 1. 1.;
+ Cairo.rectangle ctx 0. 0. width height;
+ Cairo.fill ctx;
+ let colors = ref colors in
+ Array.iter
+ (fun q ->
+ let r, g, b = List.hd !colors in
+ colors := List.tl !colors;
+ Cairo.set_source_rgb ctx r g b;
+ let prev = ref None in
+ Queue.iter
+ (fun point ->
+ let x = (point.time -. (time -. graph_duration)) /. graph_duration *. width
+ and y = height -. height *. (float point.position /. float graph.max) in
+ match !prev with
+ | None ->
+ prev := Some(x, y)
+ | Some(x', y') ->
+ prev := Some(x, y);
+ Cairo.move_to ctx x' y';
+ Cairo.line_to ctx x y;
+ Cairo.stroke ctx)
+ q)
+ graph.points
+
+(* +-----------------------------------------------------------------+
+ | Decoding frames |
+ +-----------------------------------------------------------------+ *)
+
+let decode_frame time frame =
let data = Krobot_can.data frame in
- ({ coder_pos = get_uint16 data 0;
- coder_dir = get_uint8 data 4 },
- { coder_pos = get_uint16 data 2;
- coder_dir = get_uint8 data 5 })
-
-let rec loop bus oc =
- let time = Unix.gettimeofday () in
- lwt coder1, coder2 = Krobot_can_bus.recv bus >|= decode_frame in
- lwt coder3, coder4 = Krobot_can_bus.recv bus >|= decode_frame in
- lwt () =
- Lwt_io.fprintlf oc
- "%f %d %d %d %d %d %d %d %d"
- time
- coder1.coder_pos coder1.coder_dir
- coder2.coder_pos coder2.coder_dir
- coder3.coder_pos coder3.coder_dir
- coder4.coder_pos coder4.coder_dir
- in
- lwt () =
- Lwt_io.printlf "time: %f
- coder1: pos = %d, dir = %d
- coder2: pos = %d, dir = %d
- coder3: pos = %d, dir = %d
- coder4: pos = %d, dir = %d
-"
- time
- coder1.coder_pos coder1.coder_dir
- coder2.coder_pos coder2.coder_dir
- coder3.coder_pos coder3.coder_dir
- coder4.coder_pos coder4.coder_dir
- in
- loop bus oc
+ ({ time = time;
+ position = get_uint16 data 0;
+ direction = if get_uint8 data 4 = 0 then Forward else Backward },
+ { time = time;
+ position = get_uint16 data 2;
+ direction = if get_uint8 data 5 = 0 then Forward else Backward })
+
+(* +-----------------------------------------------------------------+
+ | Main-loop |
+ +-----------------------------------------------------------------+ *)
lwt () =
if Array.length Sys.argv <> 2 then begin
print_endline "usage: krobot-plot <interface>";
exit 2;
end;
+ ignore (GMain.init ());
+ Lwt_glib.install ();
+
+ let window = GWindow.window ~title:"Krobot coders positions" () in
+ ignore (window#connect#destroy ~callback:(fun () -> exit 0));
+ window#show ();
+
+ let graph = { points = Array.init 4 (fun _ -> Queue.create ()); max = 1 } in
+
try_lwt
- lwt bus = Krobot_can_bus.open_can Sys.argv.(1) and oc = Lwt_io.open_file ~mode:Lwt_io.output "data" in
- loop bus oc
+ lwt bus = Krobot_can_bus.open_can Sys.argv.(1) in
+ join [
+ (* Data reading. *)
+ while_lwt true do
+ (* Read coder positions. *)
+ lwt coder1, coder2 = Krobot_can_bus.recv bus >|= (fun frame -> decode_frame (Unix.gettimeofday ()) frame) in
+ lwt coder3, coder4 = Krobot_can_bus.recv bus >|= (fun frame -> decode_frame (Unix.gettimeofday ()) frame) in
+ (* Compute the new maximum. *)
+ graph.max <- List.fold_left max graph.max [coder1.position; coder2.position; coder3.position; coder4.position];
+ (* Add points to the graph. *)
+ Queue.push coder1 graph.points.(0);
+ Queue.push coder2 graph.points.(1);
+ Queue.push coder3 graph.points.(2);
+ Queue.push coder4 graph.points.(3);
+ (* Remove old points. *)
+ update_graph graph (Unix.gettimeofday ());
+ return ()
+ done;
+ (* Drawing. *)
+ while_lwt true do
+ let { Gtk.width; Gtk.height } = window#misc#allocation in
+ let surface = Cairo.image_surface_create Cairo.FORMAT_ARGB32 width height in
+ let ctx = Cairo.create surface in
+ plot ctx (float width) (float height) graph (Unix.gettimeofday ());
+ let ctx = Cairo_lablgtk.create window#misc#window in
+ Cairo.set_source_surface ctx surface 0. 0.;
+ Cairo.rectangle ctx 0. 0. (float width) (float height);
+ Cairo.fill ctx;
+ Cairo.surface_finish surface;
+ Lwt_unix.sleep 0.05
+ done;
+ ]
with Unix.Unix_error(error, func, arg) ->
Lwt_log.error_f "'%s' failed with: %s" func (Unix.error_message error)
hooks/post-receive
--
krobot
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