[Krobot-commits] [SCM] krobot branch, master, updated. 6ce1124621e474f08558dac8d8f526973716bb9c

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 6ce1124621e474f08558dac8d8f526973716bb9c
Author: Jérémie Dimino <je...@di...>
Date:   Thu Mar 17 00:24:02 2011 +0100

    [info] draw in a different thread in krobot-plot

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

Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index dd67350..660cd97 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -70,7 +70,7 @@ Executable "krobot-plot"
   Install: true
   CompiledObject: best
   MainIs: krobot_plot.ml
-  BuildDepends: krobot.can-bus, lwt.syntax, cairo.lablgtk2, lwt.glib
+  BuildDepends: krobot.can-bus, lwt.syntax, cairo.lablgtk2, lwt.glib, threads
 
 # +-------------------------------------------------------------------+
 # | Examples                                                          |
diff --git a/info/control2011/_tags b/info/control2011/_tags
index fee2129..84b7177 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
 <src/interfaces/*.ml>: -syntax_camlp4o
 
 # OASIS_START
-# DO NOT EDIT (digest: 38a5a55661f6998cf1a3f011ff7ecfd3)
+# DO NOT EDIT (digest: 0d12bbe4a1abf7768037e82c428ea4fa)
 # Library krobot
 "src/lib": include
 <src/lib/*.ml{,i}>: pkg_obus
@@ -54,6 +54,7 @@
 # Executable krobot-plot
 <tools/krobot_plot.{native,byte}>: use_krobot-can-bus
 <tools/krobot_plot.{native,byte}>: use_krobot
+<tools/krobot_plot.{native,byte}>: pkg_threads
 <tools/krobot_plot.{native,byte}>: pkg_obus
 <tools/krobot_plot.{native,byte}>: pkg_lwt.unix
 <tools/krobot_plot.{native,byte}>: pkg_lwt.syntax
@@ -62,6 +63,7 @@
 <tools/krobot_plot.{native,byte}>: pkg_cairo.lablgtk2
 <tools/*.ml{,i}>: use_krobot-can-bus
 <tools/*.ml{,i}>: use_krobot
+<tools/*.ml{,i}>: pkg_threads
 <tools/*.ml{,i}>: pkg_obus
 <tools/*.ml{,i}>: pkg_lwt.unix
 <tools/*.ml{,i}>: pkg_lwt.syntax
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index 02aa273..ced1ec2 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: a60a31dc8dbfa28c3584c2830b23531f) *)
+(* DO NOT EDIT (digest: c25983b62a9af39916294c75cf318f50) *)
 (*
    Regenerated by OASIS v0.2.0
    Visit http://oasis.forge.ocamlcore.org for more information and
@@ -5251,7 +5251,8 @@ let setup_t =
                            InternalLibrary "krobot-can-bus";
                            FindlibPackage ("lwt.syntax", None);
                            FindlibPackage ("cairo.lablgtk2", None);
-                           FindlibPackage ("lwt.glib", None)
+                           FindlibPackage ("lwt.glib", None);
+                           FindlibPackage ("threads", None)
                         ];
                       bs_build_tools = [ExternalTool "ocamlbuild"];
                       bs_c_sources = [];
diff --git a/info/control2011/tools/krobot_plot.ml b/info/control2011/tools/krobot_plot.ml
index 3e8b1f9..e610d8f 100644
--- a/info/control2011/tools/krobot_plot.ml
+++ b/info/control2011/tools/krobot_plot.ml
@@ -85,6 +85,24 @@ let decode_frame time frame =
      direction = if get_uint8 data 5 = 0 then Forward else Backward })
 
 (* +-----------------------------------------------------------------+
+   | Drawing                                                         |
+   +-----------------------------------------------------------------+ *)
+
+let draw window graph =
+  while 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;
+    ignore (Unix.select [] [] [] (1. /. 25.))
+  done
+
+(* +-----------------------------------------------------------------+
    | Main-loop                                                       |
    +-----------------------------------------------------------------+ *)
 
@@ -102,38 +120,24 @@ lwt () =
 
   let graph = { points = Array.init 4 (fun _ -> Queue.create ()); max = 1 } in
 
+  ignore (Thread.create (fun () -> draw window graph) ());
+
   try_lwt
     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;
-    ]
+    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
   with Unix.Unix_error(error, func, arg) ->
     Lwt_log.error_f "'%s' failed with: %s" func (Unix.error_message error)


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