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[Krobot-commits] [SCM] krobot branch, master, updated. 0ef1a91b2e2b76850c49e886509582c29fedca10
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From: Jérémie D. <Ba...@us...> - 2011-03-17 17:33:40
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- Log -----------------------------------------------------------------
commit 0ef1a91b2e2b76850c49e886509582c29fedca10
Merge: e349b0939341e36863161e6ec90fb2e4456aaf54 e45ba7e950de7c8e47e1fb22fe65fe5d70f5c9d0
Author: Jérémie Dimino <je...@di...>
Date: Thu Mar 17 18:32:38 2011 +0100
Merge commit 'e45ba7e950de7c8e47e1fb22fe65fe5d70f5c9d0'
commit e45ba7e950de7c8e47e1fb22fe65fe5d70f5c9d0
Author: Jérémie Dimino <je...@di...>
Date: Thu Mar 17 18:30:45 2011 +0100
[info] add modules Krobot_service and Krobot_init
commit 79daa52c3f1ca70c351dc1e962fdadf65572034a
Author: Jérémie Dimino <je...@di...>
Date: Thu Mar 17 10:06:01 2011 +0100
[info] use the environment variable DBUS_KROBOT_BUS_ADDRESS to get the address of the krobot bus
commit e349b0939341e36863161e6ec90fb2e4456aaf54
Author: Jérémie Dimino <je...@di...>
Date: Thu Mar 17 09:58:41 2011 +0100
Revert "[info] do not send back messages comming from the can in the driver"
This reverts commit 4507dff68656ad0300ed2138a58f694f7889ee1f.
commit 4507dff68656ad0300ed2138a58f694f7889ee1f
Author: Jérémie Dimino <je...@di...>
Date: Thu Mar 17 00:37:16 2011 +0100
[info] do not send back messages comming from the can in the driver
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index 9e15987..ad461ed 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -28,7 +28,9 @@ Library krobot
Modules:
Krobot_can,
Krobot_bus,
- Krobot_message
+ Krobot_message,
+ Krobot_service,
+ Krobot_init
Library "krobot-can"
FindlibName: can
diff --git a/info/control2011/krobot-api.odocl b/info/control2011/krobot-api.odocl
index eb2e004..c80c72a 100644
--- a/info/control2011/krobot-api.odocl
+++ b/info/control2011/krobot-api.odocl
@@ -1,7 +1,9 @@
# OASIS_START
-# DO NOT EDIT (digest: f5cc533adaa505f8bedbd5bafe08f3f0)
+# DO NOT EDIT (digest: 979bfe64930f512bd800c4336aa992aa)
src/lib/Krobot_can
src/lib/Krobot_bus
src/lib/Krobot_message
+src/lib/Krobot_service
+src/lib/Krobot_init
src/can/Krobot_can_bus
# OASIS_STOP
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index 51de5db..aa37ba5 100644
--- a/info/control2011/setup.ml
+++ b/info/control2011/setup.ml
@@ -1,9 +1,9 @@
(* setup.ml generated for the first time by OASIS v0.2.0~alpha1 *)
(* OASIS_START *)
-(* DO NOT EDIT (digest: 3c3d5a057069def7d5ccec6bb9cbfeaa) *)
+(* DO NOT EDIT (digest: c4a37702729314af3884a7f930148eae) *)
(*
- Regenerated by OASIS v0.2.0~alpha1
+ Regenerated by OASIS v0.2.0
Visit http://oasis.forge.ocamlcore.org for more information and
documentation about functions used in this file.
*)
@@ -5101,7 +5101,13 @@ let setup_t =
},
{
lib_modules =
- ["Krobot_can"; "Krobot_bus"; "Krobot_message"];
+ [
+ "Krobot_can";
+ "Krobot_bus";
+ "Krobot_message";
+ "Krobot_service";
+ "Krobot_init"
+ ];
lib_internal_modules = [];
lib_findlib_parent = None;
lib_findlib_name = Some "krobot";
@@ -5299,7 +5305,7 @@ let setup_t =
schema_data = PropList.Data.create ();
plugin_data = [];
};
- version = "0.2.0~alpha1";
+ version = "0.2.0";
};;
let setup () = BaseSetup.setup setup_t;;
diff --git a/info/control2011/src/driver/krobot_driver.ml b/info/control2011/src/driver/krobot_driver.ml
index 2883b33..fe7af7f 100644
--- a/info/control2011/src/driver/krobot_driver.ml
+++ b/info/control2011/src/driver/krobot_driver.ml
@@ -12,17 +12,15 @@
open Lwt
open Lwt_react
+let device = ref "slcan0"
+
+let () = Krobot_init.arg "-device" (Arg.Set_string device) "<device> The device to use"
+
lwt () =
- if Array.length Sys.argv <> 2 then begin
- print_endline "usage: krobot-driver <interface>";
- exit 2;
- end;
+ lwt bus = Krobot_init.init_service "Driver" in
(* Open the CAN bus. *)
- lwt can = Krobot_can_bus.open_can Sys.argv.(1) in
-
- (* Open the D-Bus connection. *)
- lwt bus = Krobot_bus.get () in
+ lwt can = Krobot_can_bus.open_can !device in
(* D-Bus --> CAN *)
E.keep (E.map_s (Krobot_can_bus.send can) (Krobot_can.recv bus));
diff --git a/info/control2011/src/interfaces/krobot_interface_service.obus b/info/control2011/src/interfaces/krobot_interface_service.obus
new file mode 100644
index 0000000..6f5e940
--- /dev/null
+++ b/info/control2011/src/interfaces/krobot_interface_service.obus
@@ -0,0 +1,20 @@
+(*
+ * krobot_interface_service.obus
+ * -----------------------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(** Interface for krobot services. *)
+interface fr.krobot.Service {
+ (** Make the service to exit. *)
+ method kill : () -> ()
+ with {
+ org.freedesktop.DBus.Method.NoReply = "true"
+ }
+
+ signal log : (message : string)
+ (** Signal emitted when the service emit a log message. *)
+}
diff --git a/info/control2011/src/lib/krobot.mllib b/info/control2011/src/lib/krobot.mllib
index b7f4d81..a197c9c 100644
--- a/info/control2011/src/lib/krobot.mllib
+++ b/info/control2011/src/lib/krobot.mllib
@@ -1,6 +1,8 @@
# OASIS_START
-# DO NOT EDIT (digest: b3bccfeb9433d08b24a1724cd101e42d)
+# DO NOT EDIT (digest: 28c0fb0dd216f4e31f545770f08d4c64)
Krobot_can
Krobot_bus
Krobot_message
+Krobot_service
+Krobot_init
# OASIS_STOP
diff --git a/info/control2011/src/lib/krobot_bus.ml b/info/control2011/src/lib/krobot_bus.ml
index 18a1352..f6e6112 100644
--- a/info/control2011/src/lib/krobot_bus.ml
+++ b/info/control2011/src/lib/krobot_bus.ml
@@ -7,11 +7,27 @@
* This file is a part of [kro]bot.
*)
+let section = Lwt_log.Section.make "bus"
+
type t = OBus_bus.t
external of_bus : OBus_bus.t -> t = "%identity"
external to_bus : t -> OBus_bus.t = "%identity"
-let bus = lazy(OBus_bus.of_addresses [OBus_address.make "unix" [("abstract", "krobot")]])
+let address = ref (
+ match try Some(Sys.getenv "DBUS_KROBOT_BUS_ADDRESS") with Not_found -> None with
+ | Some addr ->
+ addr
+ | None ->
+ "unix:abstract=krobot"
+)
+
+let bus = lazy(
+ try_lwt
+ OBus_bus.of_addresses (OBus_address.of_string !address)
+ with exn ->
+ lwt () = Lwt_log.error_f ~section ~exn "failed to connect to the krobot bus at address '%s'" !address in
+ raise_lwt exn
+)
let get () = Lazy.force bus
diff --git a/info/control2011/src/lib/krobot_bus.mli b/info/control2011/src/lib/krobot_bus.mli
index 3fe3946..4c94893 100644
--- a/info/control2011/src/lib/krobot_bus.mli
+++ b/info/control2011/src/lib/krobot_bus.mli
@@ -17,3 +17,7 @@ external to_bus : t -> OBus_bus.t = "%identity"
val get : unit -> t Lwt.t
(** [get ()] returns the krobot bus. *)
+
+(**/**)
+
+val address : string ref
diff --git a/info/control2011/src/lib/krobot_init.ml b/info/control2011/src/lib/krobot_init.ml
new file mode 100644
index 0000000..65ddc81
--- /dev/null
+++ b/info/control2011/src/lib/krobot_init.ml
@@ -0,0 +1,140 @@
+(*
+ * krobot_init.ml
+ * --------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+open Lwt
+open Lwt_react
+
+let section = Lwt_log.Section.make "init"
+
+(* +-----------------------------------------------------------------+
+ | Misc |
+ +-----------------------------------------------------------------+ *)
+
+let () =
+ Printexc.register_printer
+ (function
+ | Unix.Unix_error(error, func, "") ->
+ Some(Printf.sprintf "%s: %s" func (Unix.error_message error))
+ | Unix.Unix_error(error, func, arg) ->
+ Some(Printf.sprintf "%s(%S): %s" func arg (Unix.error_message error))
+ | _ ->
+ None)
+
+let program_name = Filename.basename Sys.executable_name
+let usage = Printf.sprintf "%s <options>" program_name
+
+(* +-----------------------------------------------------------------+
+ | Command line arguments |
+ +-----------------------------------------------------------------+ *)
+
+let arguments = ref []
+let arg key spec doc = arguments := (key, spec, doc) :: !arguments
+
+let () = arg "-dbus-address" (Arg.Set_string Krobot_bus.address) "<address> The address to connect to the krobot bus"
+
+(* +-----------------------------------------------------------------+
+ | Programs |
+ +-----------------------------------------------------------------+ *)
+
+let init_program name =
+ Arg.parse (Arg.align !arguments) (fun _ -> raise (Arg.Bad "unknown option")) usage;
+ lwt () = Lwt_log.info ~section "openning the robot bus" in
+ try_lwt
+ Krobot_bus.get ()
+ with exn ->
+ exit 1
+
+(* +-----------------------------------------------------------------+
+ | Services |
+ +-----------------------------------------------------------------+ *)
+
+open Krobot_interface_service.Fr_krobot_Service
+
+let init_service name =
+ let no_fork = ref false and kill = ref false in
+ arg "-no-fork" (Arg.Set no_fork) " Run in foreground";
+ arg "-kill" (Arg.Set kill) " Kill any running instance and exit";
+ Arg.parse (Arg.align !arguments) (fun _ -> raise (Arg.Bad "unknown option")) usage;
+
+ lwt () = Lwt_log.info ~section "openning the robot bus" in
+ lwt bus = try_lwt Krobot_bus.get () with exn -> exit 1 in
+
+ let dbus_name = Printf.sprintf "fr.krobot.Service.%s" name in
+
+ (* Kill other instances. *)
+ lwt () =
+ if !kill then begin
+ try_lwt
+ lwt owner = OBus_bus.get_name_owner (Krobot_bus.to_bus bus) dbus_name in
+ lwt () = Lwt_log.info_f ~section "killing the running %s service" name in
+ Krobot_service.kill (Krobot_service.of_proxy (OBus_proxy.make (OBus_peer.make (Krobot_bus.to_bus bus) owner) ["fr"; "krobot"; "Service"]))
+ with OBus_bus.Name_has_no_owner _ ->
+ return ()
+ finally
+ exit 0
+ end else
+ return ()
+ in
+
+ (* Exit the program when we lost the name. *)
+ lwt () =
+ OBus_signal.connect (OBus_bus.name_lost (Krobot_bus.to_bus bus))
+ >|= E.map (fun lost_name -> if dbus_name = lost_name then exit 0)
+ >|= E.keep
+ in
+
+ (* Daemonize or not. *)
+ lwt () =
+ if !no_fork then
+ Lwt_log.notice_f ~section "starting %s in foreground mode" name
+ else begin
+ lwt () = Lwt_log.notice_f ~section "starting %s in daemon mode" name in
+ Lwt_daemon.daemonize ();
+ return ()
+ end
+ in
+
+ (* Create the service object and export it. *)
+ let obj = OBus_object.make ~interfaces:[make { m_kill = (fun obj () -> exit 0) }] ["fr"; "krobot"; "Service"] in
+ OBus_object.attach obj ();
+ OBus_object.export (Krobot_bus.to_bus bus) obj;
+
+ (* Send logs over D-Bus. *)
+ let dbus_logger =
+ Lwt_log.make
+ (fun section level lines ->
+ if level > Lwt_log.Info then
+ let buf = Buffer.create 42 in
+ let lines =
+ List.map
+ (fun line ->
+ Buffer.clear buf;
+ Lwt_log.render ~buffer:buf ~template:"$(level)@$(name)[$(section)]: $(message)" ~section ~level ~message:line;
+ Buffer.contents buf)
+ lines
+ in
+ OBus_signal.emit s_log obj (String.concat "\n" lines)
+ else
+ return ())
+ return
+ in
+
+ Lwt_log.default := Lwt_log.broadcast [!Lwt_log.default; dbus_logger];
+
+ (* Register the program on the bus. *)
+ lwt () =
+ OBus_bus.request_name (Krobot_bus.to_bus bus) ~allow_replacement:true ~replace_existing:true dbus_name >>= function
+ | `Primary_owner ->
+ return ()
+ | _ ->
+ lwt () = Lwt_log.error_f ~section "cannot obtain the name %S on D-Bus" dbus_name in
+ exit 1
+ in
+
+ return bus
diff --git a/info/control2011/src/lib/krobot_init.mli b/info/control2011/src/lib/krobot_init.mli
new file mode 100644
index 0000000..38457cb
--- /dev/null
+++ b/info/control2011/src/lib/krobot_init.mli
@@ -0,0 +1,24 @@
+(*
+ * krobot_init.mli
+ * ---------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(** Initialization *)
+
+val arg : Arg.key -> Arg.spec -> Arg.doc -> unit
+ (** [arg key spec doc] registers the given command line argument. *)
+
+val init_program : string -> Krobot_bus.t Lwt.t
+ (** [init_program name] initialises a program. A program always run
+ in foreground. *)
+
+val init_service : string -> Krobot_bus.t Lwt.t
+ (** [init_service name] initialises a service. A service may run in
+ foreground or in background according to command line arguments.
+ This module ensure that only one instance of the service is
+ running at a time. It also export a simple interface over
+ D-Bus. *)
diff --git a/info/control2011/src/lib/krobot_service.ml b/info/control2011/src/lib/krobot_service.ml
new file mode 100644
index 0000000..784664d
--- /dev/null
+++ b/info/control2011/src/lib/krobot_service.ml
@@ -0,0 +1,60 @@
+(*
+ * krobot_service.ml
+ * -----------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+include OBus_proxy.Private
+
+open Lwt
+open Lwt_react
+open Krobot_interface_service.Fr_krobot_Service
+
+let all bus =
+ OBus_proxy.make
+ (OBus_peer.anonymous (Krobot_bus.to_bus bus))
+ ["fr"; "krobot"; "Service"]
+
+let make bus name =
+ if name = "" then
+ all bus
+ else
+ OBus_proxy.make
+ (OBus_peer.make
+ (Krobot_bus.to_bus bus)
+ (Printf.sprintf "fr.krobot.Service.%s" name))
+ ["fr"; "krobot"; "Service"]
+
+let name service =
+ let s = OBus_proxy.name service in
+ let i = String.rindex s '.' in
+ String.sub s (i + 1) (String.length s - (i + 1))
+
+let list bus =
+ lwt names = OBus_bus.list_names (Krobot_bus.to_bus bus) in
+ return
+ (List.map
+ (fun name ->
+ OBus_proxy.make
+ (OBus_peer.make (Krobot_bus.to_bus bus) name)
+ ["fr"; "krobot"; "Service"])
+ (List.sort
+ String.compare
+ (List.filter
+ (fun name ->
+ String.sub name 0 (String.rindex name '.') = "fr.krobot.Service")
+ names)))
+
+let monitor bus =
+ lwt e = OBus_signal.connect (OBus_bus.name_owner_changed (Krobot_bus.to_bus bus)) in
+ lwt l = list bus in
+ return (S.hold l (E.map_s (fun _ -> list bus) e))
+
+let kill service =
+ OBus_method.call_no_reply m_kill service ()
+
+let log service =
+ OBus_signal.make s_log service
diff --git a/info/control2011/src/lib/krobot_service.mli b/info/control2011/src/lib/krobot_service.mli
new file mode 100644
index 0000000..e04fac4
--- /dev/null
+++ b/info/control2011/src/lib/krobot_service.mli
@@ -0,0 +1,34 @@
+(*
+ * krobot_service.mli
+ * ------------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+include OBus_proxy.Private
+
+val make : Krobot_bus.t -> string -> t
+ (** [make bus name pid] creates a service proxy from its name. *)
+
+val all : Krobot_bus.t -> t
+ (** Proxy that represent all running services. You can use it to
+ receive logs from all services. *)
+
+val name : t -> string
+ (** Returns the name of the given service. *)
+
+val list : Krobot_bus.t -> t list Lwt.t
+ (** List all available services on the bus. *)
+
+val monitor : Krobot_bus.t -> t list React.signal Lwt.t
+ (** Returns the signal holding the sorted list of services on the
+ bus. *)
+
+val kill : t -> unit Lwt.t
+ (** [kill service] kills the given service. *)
+
+val log : t -> string OBus_signal.t
+ (** [log service] is the D-Bus signal which occurs when [service]
+ emit a log message. *)
hooks/post-receive
--
krobot
|
