[Krobot-commits] [SCM] krobot branch, master, updated. a2b6a8fdf2fde7a3df6bfbc187d2b6fe6babe349

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit a2b6a8fdf2fde7a3df6bfbc187d2b6fe6babe349
Author: Jérémie Dimino <je...@di...>
Date:   Tue Mar 29 00:56:48 2011 +0200

    [info] typo in error messages for the can

commit b83b2f61af4e53a1be00ca12acf4af47ba239a55
Author: Jérémie Dimino <je...@di...>
Date:   Tue Mar 29 00:47:22 2011 +0200

    [info] do not redraw when not needed in the viewer

commit 14d2b497db894d53b3bbcf04dfe2f42b60357d1d
Author: Jérémie Dimino <je...@di...>
Date:   Tue Mar 29 00:45:04 2011 +0200

    [info] send extend can frame instead of small ones

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

Changes:
diff --git a/info/control2011/src/can/can_stubs.c b/info/control2011/src/can/can_stubs.c
index 9cdc4b3..2b6c711 100644
--- a/info/control2011/src/can/can_stubs.c
+++ b/info/control2011/src/can/can_stubs.c
@@ -61,7 +61,7 @@ CAMLprim value ocaml_can_recv(value val_fd)
   if (ret < 0) uerror("recv", Nothing);
 
   /* It is an error if we do not receive exactly one frame. */
-  if (ret != sizeof(frame)) caml_failwith("recvmsg: invalid size");
+  if (ret != sizeof(frame)) caml_failwith("recv: invalid size");
 
   /* Receive the timestamp. */
   struct timeval tv;
@@ -101,10 +101,10 @@ CAMLprim value ocaml_can_send(value val_fd, value val_frame)
 
   /* Send the frame. */
   int ret = send(Int_val(val_fd), &frame, sizeof(frame), 0);
-  if (ret < 0) uerror("sendmsg", Nothing);
+  if (ret < 0) uerror("send", Nothing);
 
   /* It is an error if we do not sent exactly one frame. */
-  if (ret != sizeof(frame)) caml_failwith("sendmsg: invalid size");
+  if (ret != sizeof(frame)) caml_failwith("send: invalid size");
 
   return Val_unit;
 }
diff --git a/info/control2011/src/lib/krobot_message.ml b/info/control2011/src/lib/krobot_message.ml
index ae4fe99..76eccc5 100644
--- a/info/control2011/src/lib/krobot_message.ml
+++ b/info/control2011/src/lib/krobot_message.ml
@@ -88,7 +88,7 @@ let encode = function
         ~identifier:100
         ~kind:Data
         ~remote:false
-        ~format:F11bits
+        ~format:F29bits
         ~data
   | Encoder_position_speed_3(pos, speed) ->
       let data = String.create 8 in
@@ -98,7 +98,7 @@ let encode = function
         ~identifier:101
         ~kind:Data
         ~remote:false
-        ~format:F11bits
+        ~format:F29bits
         ~data
   | Encoder_position_speed_4(pos, speed) ->
       let data = String.create 8 in
@@ -108,7 +108,7 @@ let encode = function
         ~identifier:102
         ~kind:Data
         ~remote:false
-        ~format:F11bits
+        ~format:F29bits
         ~data
   | Motor_status moving ->
       let data = String.create 1 in
@@ -117,7 +117,7 @@ let encode = function
         ~identifier:103
         ~kind:Data
         ~remote:false
-        ~format:F11bits
+        ~format:F29bits
         ~data
   | Odometry(x, y, theta) ->
       let data = String.create 6 in
@@ -128,7 +128,7 @@ let encode = function
         ~identifier:104
         ~kind:Data
         ~remote:false
-        ~format:F11bits
+        ~format:F29bits
         ~data
   | Motor_move(dist, speed, acc) ->
       let data = String.create 8 in
@@ -139,7 +139,7 @@ let encode = function
         ~identifier:201
         ~kind:Data
         ~remote:false
-        ~format:F11bits
+        ~format:F29bits
         ~data
   | Motor_turn(angle, speed, acc) ->
       let data = String.create 8 in
@@ -150,14 +150,14 @@ let encode = function
         ~identifier:202
         ~kind:Data
         ~remote:false
-        ~format:F11bits
+        ~format:F29bits
         ~data
   | Req_motor_status ->
       frame
         ~identifier:103
         ~kind:Data
         ~remote:true
-        ~format:F11bits
+        ~format:F29bits
         ~data:""
   | Unknown frame ->
       frame
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index c5561c2..a65f342 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -498,8 +498,11 @@ module Board = struct
         (fun (ts, frame) ->
            match frame with
              | Odometry(x, y, theta) ->
-                 board.state <- { x; y; theta };
-                 queue_draw board
+                 let state = { x; y; theta } in
+                 if state <> board.state then begin
+                   board.state <- state;
+                   queue_draw board
+                 end
              | _ ->
                  ())
         (Krobot_message.recv bus)


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