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[Krobot-commits] [SCM] krobot branch, master, updated. 6409bfb8555556ae6d525498687b33f1ec8d125f
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From: Jérémie D. <Ba...@us...> - 2011-03-19 16:22:01
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- Log -----------------------------------------------------------------
commit 6409bfb8555556ae6d525498687b33f1ec8d125f
Author: Jérémie Dimino <je...@di...>
Date: Sat Mar 19 17:21:11 2011 +0100
[info] add a tool for recording can frames and a tool for replaying them
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index ad461ed..b85b498 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -76,6 +76,20 @@ Executable "krobot-dump"
MainIs: krobot_dump.ml
BuildDepends: krobot, lwt.syntax
+Executable "krobot-record"
+ Path: src/tools
+ Install: true
+ CompiledObject: best
+ MainIs: krobot_record.ml
+ BuildDepends: krobot, lwt.syntax
+
+Executable "krobot-replay"
+ Path: src/tools
+ Install: true
+ CompiledObject: best
+ MainIs: krobot_replay.ml
+ BuildDepends: krobot, lwt.syntax
+
Executable "krobot-plot"
Path: src/tools
Install: true
diff --git a/info/control2011/_tags b/info/control2011/_tags
index 91cf530..9c6da6c 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
<src/interfaces/*.ml>: -syntax_camlp4o
# OASIS_START
-# DO NOT EDIT (digest: 737f6ffc25aca37ee689df337eca3afe)
+# DO NOT EDIT (digest: 404e613a369861087dfd1cb3215a1db4)
# Library krobot-interfaces
"src/interfaces": include
<src/interfaces/*.ml{,i}>: pkg_obus
@@ -44,6 +44,12 @@
<src/driver/*.ml{,i}>: pkg_obus
<src/driver/*.ml{,i}>: pkg_lwt.unix
<src/driver/*.ml{,i}>: pkg_lwt.syntax
+# Executable krobot-replay
+<src/tools/krobot_replay.{native,byte}>: use_krobot
+<src/tools/krobot_replay.{native,byte}>: use_krobot-interfaces
+<src/tools/krobot_replay.{native,byte}>: pkg_obus
+<src/tools/krobot_replay.{native,byte}>: pkg_lwt.unix
+<src/tools/krobot_replay.{native,byte}>: pkg_lwt.syntax
# Executable dump-can
<examples/dump_can.{native,byte}>: use_krobot-can
<examples/dump_can.{native,byte}>: use_krobot
@@ -57,6 +63,12 @@
<examples/*.ml{,i}>: pkg_obus
<examples/*.ml{,i}>: pkg_lwt.unix
<examples/*.ml{,i}>: pkg_lwt.syntax
+# Executable krobot-record
+<src/tools/krobot_record.{native,byte}>: use_krobot
+<src/tools/krobot_record.{native,byte}>: use_krobot-interfaces
+<src/tools/krobot_record.{native,byte}>: pkg_obus
+<src/tools/krobot_record.{native,byte}>: pkg_lwt.unix
+<src/tools/krobot_record.{native,byte}>: pkg_lwt.syntax
# Executable krobot-plot
<src/tools/krobot_plot.{native,byte}>: use_krobot
<src/tools/krobot_plot.{native,byte}>: use_krobot-interfaces
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index aa37ba5..3e81a39 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: c4a37702729314af3884a7f930148eae) *)
+(* DO NOT EDIT (digest: c0061e3e8da638912d5008f7a294c616) *)
(*
Regenerated by OASIS v0.2.0
Visit http://oasis.forge.ocamlcore.org for more information and
@@ -5244,6 +5244,33 @@ let setup_t =
{exec_custom = false; exec_main_is = "krobot_driver.ml"; });
Executable
({
+ cs_name = "krobot-replay";
+ cs_data = PropList.Data.create ();
+ cs_plugin_data = [];
+ },
+ {
+ bs_build = [(OASISExpr.EBool true, true)];
+ bs_install = [(OASISExpr.EBool true, true)];
+ bs_path = "src/tools";
+ bs_compiled_object = Best;
+ bs_build_depends =
+ [
+ InternalLibrary "krobot";
+ 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_replay.ml"; });
+ Executable
+ ({
cs_name = "dump-can";
cs_data = PropList.Data.create ();
cs_plugin_data = [];
@@ -5271,6 +5298,33 @@ let setup_t =
{exec_custom = false; exec_main_is = "dump_can.ml"; });
Executable
({
+ cs_name = "krobot-record";
+ cs_data = PropList.Data.create ();
+ cs_plugin_data = [];
+ },
+ {
+ bs_build = [(OASISExpr.EBool true, true)];
+ bs_install = [(OASISExpr.EBool true, true)];
+ bs_path = "src/tools";
+ bs_compiled_object = Best;
+ bs_build_depends =
+ [
+ InternalLibrary "krobot";
+ 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_record.ml"; });
+ Executable
+ ({
cs_name = "krobot-plot";
cs_data = PropList.Data.create ();
cs_plugin_data = [];
diff --git a/info/control2011/src/lib/krobot_can.ml b/info/control2011/src/lib/krobot_can.ml
index 02a64f6..b533422 100644
--- a/info/control2011/src/lib/krobot_can.ml
+++ b/info/control2011/src/lib/krobot_can.ml
@@ -170,7 +170,7 @@ let value_of_frame (timestamp, frame) =
| F29bits -> 1l),
frame.data)
-let frame_of_values (timestamp, identifier, kind, remote, format, data) =
+let frame_of_tuple (timestamp, identifier, kind, remote, format, data) =
let identifier = Int32.to_int identifier in
let kind =
match kind with
@@ -187,7 +187,7 @@ let frame_of_values (timestamp, identifier, kind, remote, format, data) =
(timestamp, frame ~identifier ~kind ~remote ~format ~data)
let frame_of_value v =
- frame_of_values (C.cast_single typ v)
+ frame_of_tuple (C.cast_single typ v)
(* +-----------------------------------------------------------------+
| Sending/receiving frames |
@@ -214,5 +214,5 @@ let recv bus =
(E.delay
(OBus_signal.connect
(OBus_signal.with_context
- (OBus_signal.map frame_of_values
+ (OBus_signal.map frame_of_tuple
(OBus_signal.make Krobot_interface_can.Fr_krobot_CAN.s_message proxy)))))
diff --git a/info/control2011/src/lib/krobot_can.mli b/info/control2011/src/lib/krobot_can.mli
index 717092d..a0f9869 100644
--- a/info/control2011/src/lib/krobot_can.mli
+++ b/info/control2011/src/lib/krobot_can.mli
@@ -97,6 +97,9 @@ val value_of_frame : float * frame -> OBus_value.V.single
val frame_of_value : OBus_value.V.single -> float * frame
(** Converts a D-Bus structure into a can frame. *)
+val frame_of_tuple : float * int32 * int32 * bool * int32 * string -> float * frame
+ (** Converts a tuple into a can frame. *)
+
(** {6 Sending/receiving frames} *)
val send : Krobot_bus.t -> (float * frame) -> unit Lwt.t
diff --git a/info/control2011/src/tools/krobot_record.ml b/info/control2011/src/tools/krobot_record.ml
new file mode 100644
index 0000000..be68c96
--- /dev/null
+++ b/info/control2011/src/tools/krobot_record.ml
@@ -0,0 +1,31 @@
+(*
+ * krobot_record.ml
+ * ----------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(* Record CAN frames. *)
+
+open Lwt
+open Lwt_react
+
+lwt () =
+ let file = ref "krobot.record" in
+ Krobot_init.arg "-output" (Arg.Set_string file) "<file> output file";
+ lwt bus = Krobot_init.init_program "Record" in
+
+ lwt oc = Lwt_io.open_file ~mode:Lwt_io.output !file in
+
+ (* The proxy for the driver. *)
+ let driver = OBus_proxy.make (OBus_peer.make (Krobot_bus.to_bus bus) "fr.krobot.Driver") ["fr"; "krobot"; "CAN"] in
+
+ (* Receive frames comming from the driver. *)
+ lwt ev = OBus_signal.connect (OBus_signal.make Krobot_interface_can.Fr_krobot_CAN.s_message driver) in
+
+ (* Write all frames to the output file. *)
+ E.keep (E.map_s (fun v -> Lwt_io.write_value oc (Krobot_can.frame_of_tuple v)) ev);
+
+ fst (wait ())
diff --git a/info/control2011/src/tools/krobot_replay.ml b/info/control2011/src/tools/krobot_replay.ml
new file mode 100644
index 0000000..ffabded
--- /dev/null
+++ b/info/control2011/src/tools/krobot_replay.ml
@@ -0,0 +1,33 @@
+(*
+ * krobot_replay.ml
+ * ----------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(* Record CAN frames. *)
+
+open Lwt
+open Lwt_react
+
+lwt () =
+ let file = ref "krobot.record" in
+ Krobot_init.arg "-input" (Arg.Set_string file) "<file> input file";
+ lwt bus = Krobot_init.init_program "Record" in
+
+ lwt ic = Lwt_io.open_file ~mode:Lwt_io.input !file in
+
+ try_lwt
+ (* Read the first frame. *)
+ lwt timestamp, frame = Lwt_io.read_value ic in
+ (* Compute the difference of time to add to each timestamp. *)
+ let delta = Unix.gettimeofday () -. timestamp in
+ lwt () = Krobot_can.send bus (timestamp +. delta, frame) in
+ while_lwt true do
+ lwt timestamp, frame = Lwt_io.read_value ic in
+ Krobot_can.send bus (timestamp +. delta, frame)
+ done
+ with End_of_file ->
+ Lwt_io.close ic
hooks/post-receive
--
krobot
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