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[Krobot-commits] [SCM] krobot branch, master, updated. e6cd96db90c7985e0c0daabcdf4f37b5092dee02
|
From: Jérémie D. <Ba...@us...> - 2011-03-29 10:05:40
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via e6cd96db90c7985e0c0daabcdf4f37b5092dee02 (commit)
from a6796d7cb6dffc2bf443214c459f9df9922163b1 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit e6cd96db90c7985e0c0daabcdf4f37b5092dee02
Author: Jérémie Dimino <je...@di...>
Date: Tue Mar 29 12:04:16 2011 +0200
[info] add a simulator
It is an adaptation of the simulator of last year.
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index d883c70..710ebee 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -127,6 +127,13 @@ Executable "krobot-viewer"
MainIs: krobot_viewer.ml
BuildDepends: krobot, lwt.syntax, cairo.lablgtk2, lwt.glib, threads, lablgtk2.glade
+Executable "krobot-simulator"
+ Path: src/tools
+ Install: true
+ CompiledObject: best
+ MainIs: krobot_simulator.ml
+ BuildDepends: krobot, lwt.syntax
+
# +-------------------------------------------------------------------+
# | Examples |
# +-------------------------------------------------------------------+
diff --git a/info/control2011/_tags b/info/control2011/_tags
index 34b9c0b..20baf17 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
<src/interfaces/*.ml>: -syntax_camlp4o
# OASIS_START
-# DO NOT EDIT (digest: 8a8ef494b18055a22e7cd7b9c87b8a13)
+# DO NOT EDIT (digest: 255c5daac028047b8fd81335cc7a3a1d)
# Library krobot-interfaces
"src/interfaces": include
"src/interfaces/krobot-interfaces.cmxs": use_krobot-interfaces
@@ -117,12 +117,18 @@
<src/tools/krobot_plot.{native,byte}>: pkg_lwt.syntax
<src/tools/krobot_plot.{native,byte}>: pkg_lwt.glib
<src/tools/krobot_plot.{native,byte}>: pkg_cairo.lablgtk2
+<src/tools/*.ml{,i}>: pkg_threads
+<src/tools/*.ml{,i}>: pkg_lwt.glib
+<src/tools/*.ml{,i}>: pkg_cairo.lablgtk2
+# Executable krobot-simulator
+<src/tools/krobot_simulator.{native,byte}>: use_krobot
+<src/tools/krobot_simulator.{native,byte}>: use_krobot-interfaces
+<src/tools/krobot_simulator.{native,byte}>: pkg_obus
+<src/tools/krobot_simulator.{native,byte}>: pkg_lwt.unix
+<src/tools/krobot_simulator.{native,byte}>: pkg_lwt.syntax
<src/tools/*.ml{,i}>: use_krobot
<src/tools/*.ml{,i}>: use_krobot-interfaces
-<src/tools/*.ml{,i}>: pkg_threads
<src/tools/*.ml{,i}>: pkg_obus
<src/tools/*.ml{,i}>: pkg_lwt.unix
<src/tools/*.ml{,i}>: pkg_lwt.syntax
-<src/tools/*.ml{,i}>: pkg_lwt.glib
-<src/tools/*.ml{,i}>: pkg_cairo.lablgtk2
# OASIS_STOP
diff --git a/info/control2011/myocamlbuild.ml b/info/control2011/myocamlbuild.ml
index 58c15ed..08cc900 100644
--- a/info/control2011/myocamlbuild.ml
+++ b/info/control2011/myocamlbuild.ml
@@ -1,7 +1,7 @@
(* OASIS_START *)
-(* DO NOT EDIT (digest: 7b180d572761c507057af7fdf11b0222) *)
+(* DO NOT EDIT (digest: 570b31c8f48685aca9662d28e560f425) *)
module OASISGettext = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISGettext.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISGettext.ml"
let ns_ str =
str
@@ -24,7 +24,7 @@ module OASISGettext = struct
end
module OASISExpr = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISExpr.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISExpr.ml"
@@ -115,7 +115,7 @@ end
module BaseEnvLight = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseEnvLight.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseEnvLight.ml"
module MapString = Map.Make(String)
@@ -212,7 +212,7 @@ end
module MyOCamlbuildFindlib = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/plugins/ocamlbuild/MyOCamlbuildFindlib.ml"
+# 21 "/home/dim/sources/oasis/src/plugins/ocamlbuild/MyOCamlbuildFindlib.ml"
(** OCamlbuild extension, copied from
* http://brion.inria.fr/gallium/index.php/Using_ocamlfind_with_ocamlbuild
@@ -320,7 +320,7 @@ module MyOCamlbuildFindlib = struct
end
module MyOCamlbuildBase = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/plugins/ocamlbuild/MyOCamlbuildBase.ml"
+# 21 "/home/dim/sources/oasis/src/plugins/ocamlbuild/MyOCamlbuildBase.ml"
(** Base functions for writing myocamlbuild.ml
@author Sylvain Le Gall
@@ -335,7 +335,7 @@ module MyOCamlbuildBase = struct
type name = string
type tag = string
-# 55 "/home/krobot/ocaml-stuff/oasis/src/plugins/ocamlbuild/MyOCamlbuildBase.ml"
+# 55 "/home/dim/sources/oasis/src/plugins/ocamlbuild/MyOCamlbuildBase.ml"
type t =
{
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index 650e561..6f7ed53 100644
--- a/info/control2011/setup.ml
+++ b/info/control2011/setup.ml
@@ -1,14 +1,14 @@
(* setup.ml generated for the first time by OASIS v0.2.0~alpha1 *)
(* OASIS_START *)
-(* DO NOT EDIT (digest: 2a8cc2d164b159f24cb072891525da9a) *)
+(* DO NOT EDIT (digest: 4353dde9f1283d0e97c3df83edda68fd) *)
(*
Regenerated by OASIS v0.2.0
Visit http://oasis.forge.ocamlcore.org for more information and
documentation about functions used in this file.
*)
module OASISGettext = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISGettext.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISGettext.ml"
let ns_ str =
str
@@ -31,7 +31,7 @@ module OASISGettext = struct
end
module OASISContext = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISContext.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISContext.ml"
open OASISGettext
@@ -90,7 +90,7 @@ module OASISContext = struct
end
module OASISUtils = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISUtils.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISUtils.ml"
module MapString = Map.Make(String)
@@ -242,7 +242,7 @@ module OASISUtils = struct
end
module PropList = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/PropList.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/PropList.ml"
open OASISGettext
@@ -277,7 +277,7 @@ module PropList = struct
let clear t =
Hashtbl.clear t
-# 59 "/home/krobot/ocaml-stuff/oasis/src/oasis/PropList.ml"
+# 59 "/home/dim/sources/oasis/src/oasis/PropList.ml"
end
module Schema =
@@ -518,7 +518,7 @@ module PropList = struct
end
module OASISMessage = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISMessage.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISMessage.ml"
open OASISGettext
@@ -567,7 +567,7 @@ module OASISMessage = struct
end
module OASISVersion = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISVersion.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISVersion.ml"
open OASISGettext
@@ -751,7 +751,7 @@ module OASISVersion = struct
end
module OASISLicense = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISLicense.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISLicense.ml"
(** License for _oasis fields
@author Sylvain Le Gall
@@ -784,7 +784,7 @@ module OASISLicense = struct
end
module OASISExpr = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISExpr.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISExpr.ml"
@@ -874,7 +874,7 @@ module OASISExpr = struct
end
module OASISTypes = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISTypes.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISTypes.ml"
@@ -951,7 +951,7 @@ module OASISTypes = struct
type plugin_data = (all_plugin * plugin_data_purpose * (unit -> unit)) list
-# 102 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISTypes.ml"
+# 102 "/home/dim/sources/oasis/src/oasis/OASISTypes.ml"
type 'a conditional = 'a OASISExpr.choices
@@ -1105,7 +1105,7 @@ module OASISTypes = struct
end
module OASISUnixPath = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISUnixPath.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISUnixPath.ml"
type unix_filename = string
type unix_dirname = string
@@ -1184,7 +1184,7 @@ module OASISUnixPath = struct
end
module OASISSection = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISSection.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISSection.ml"
(** Manipulate section
@author Sylvain Le Gall
@@ -1246,12 +1246,12 @@ module OASISSection = struct
end
module OASISBuildSection = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISBuildSection.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISBuildSection.ml"
end
module OASISExecutable = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISExecutable.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISExecutable.ml"
open OASISTypes
@@ -1282,7 +1282,7 @@ module OASISExecutable = struct
end
module OASISLibrary = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISLibrary.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISLibrary.ml"
open OASISTypes
open OASISUtils
@@ -1573,33 +1573,33 @@ module OASISLibrary = struct
end
module OASISFlag = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISFlag.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISFlag.ml"
end
module OASISPackage = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISPackage.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISPackage.ml"
end
module OASISSourceRepository = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISSourceRepository.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISSourceRepository.ml"
end
module OASISTest = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISTest.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISTest.ml"
end
module OASISDocument = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/oasis/OASISDocument.ml"
+# 21 "/home/dim/sources/oasis/src/oasis/OASISDocument.ml"
end
module BaseEnvLight = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseEnvLight.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseEnvLight.ml"
module MapString = Map.Make(String)
@@ -1696,7 +1696,7 @@ end
module BaseContext = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseContext.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseContext.ml"
open OASISContext
@@ -1707,7 +1707,7 @@ module BaseContext = struct
end
module BaseMessage = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseMessage.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseMessage.ml"
(** Message to user, overrid for Base
@author Sylvain Le Gall
@@ -1728,7 +1728,7 @@ module BaseMessage = struct
end
module BaseFilePath = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseFilePath.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseFilePath.ml"
open Filename
@@ -1760,7 +1760,7 @@ module BaseFilePath = struct
end
module BaseEnv = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseEnv.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseEnv.ml"
open OASISTypes
open OASISGettext
@@ -2219,7 +2219,7 @@ module BaseEnv = struct
end
module BaseExec = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseExec.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseExec.ml"
open OASISGettext
open OASISUtils
@@ -2279,7 +2279,7 @@ module BaseExec = struct
end
module BaseFileUtil = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseFileUtil.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseFileUtil.ml"
open OASISGettext
@@ -2457,7 +2457,7 @@ module BaseFileUtil = struct
end
module BaseArgExt = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseArgExt.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseArgExt.ml"
open OASISUtils
open OASISGettext
@@ -2485,7 +2485,7 @@ module BaseArgExt = struct
end
module BaseCheck = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseCheck.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseCheck.ml"
open BaseEnv
open BaseMessage
@@ -2611,7 +2611,7 @@ module BaseCheck = struct
end
module BaseOCamlcConfig = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseOCamlcConfig.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseOCamlcConfig.ml"
open BaseEnv
@@ -2713,7 +2713,7 @@ module BaseOCamlcConfig = struct
end
module BaseStandardVar = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseStandardVar.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseStandardVar.ml"
open OASISGettext
@@ -2973,7 +2973,7 @@ module BaseStandardVar = struct
end
module BaseFileAB = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseFileAB.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseFileAB.ml"
open BaseEnv
open OASISGettext
@@ -3021,7 +3021,7 @@ module BaseFileAB = struct
end
module BaseLog = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseLog.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseLog.ml"
open OASISUtils
@@ -3140,7 +3140,7 @@ module BaseLog = struct
end
module BaseBuilt = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseBuilt.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseBuilt.ml"
open OASISTypes
open OASISGettext
@@ -3287,7 +3287,7 @@ module BaseBuilt = struct
end
module BaseCustom = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseCustom.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseCustom.ml"
open BaseEnv
open BaseMessage
@@ -3337,7 +3337,7 @@ module BaseCustom = struct
end
module BaseDynVar = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseDynVar.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseDynVar.ml"
open OASISTypes
@@ -3381,7 +3381,7 @@ module BaseDynVar = struct
end
module BaseTest = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseTest.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseTest.ml"
open BaseEnv
open BaseMessage
@@ -3463,7 +3463,7 @@ module BaseTest = struct
end
module BaseDoc = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseDoc.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseDoc.ml"
open BaseEnv
open BaseMessage
@@ -3493,7 +3493,7 @@ module BaseDoc = struct
end
module BaseSetup = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseSetup.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseSetup.ml"
open BaseEnv
open BaseMessage
@@ -3911,7 +3911,7 @@ module BaseSetup = struct
end
module BaseDev = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/base/BaseDev.ml"
+# 21 "/home/dim/sources/oasis/src/base/BaseDev.ml"
@@ -3969,7 +3969,7 @@ end
module InternalConfigurePlugin = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/plugins/internal/InternalConfigurePlugin.ml"
+# 21 "/home/dim/sources/oasis/src/plugins/internal/InternalConfigurePlugin.ml"
(** Configure using internal scheme
@author Sylvain Le Gall
@@ -4185,7 +4185,7 @@ module InternalConfigurePlugin = struct
end
module InternalInstallPlugin = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/plugins/internal/InternalInstallPlugin.ml"
+# 21 "/home/dim/sources/oasis/src/plugins/internal/InternalInstallPlugin.ml"
(** Install using internal scheme
@author Sylvain Le Gall
@@ -4584,7 +4584,7 @@ end
module OCamlbuildCommon = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/plugins/ocamlbuild/OCamlbuildCommon.ml"
+# 21 "/home/dim/sources/oasis/src/plugins/ocamlbuild/OCamlbuildCommon.ml"
(** Functions common to OCamlbuild build and doc plugin
*)
@@ -4684,7 +4684,7 @@ module OCamlbuildCommon = struct
end
module OCamlbuildPlugin = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/plugins/ocamlbuild/OCamlbuildPlugin.ml"
+# 21 "/home/dim/sources/oasis/src/plugins/ocamlbuild/OCamlbuildPlugin.ml"
(** Build using ocamlbuild
@author Sylvain Le Gall
@@ -4928,7 +4928,7 @@ module OCamlbuildPlugin = struct
end
module OCamlbuildDocPlugin = struct
-# 21 "/home/krobot/ocaml-stuff/oasis/src/plugins/ocamlbuild/OCamlbuildDocPlugin.ml"
+# 21 "/home/dim/sources/oasis/src/plugins/ocamlbuild/OCamlbuildDocPlugin.ml"
(* Create documentation using ocamlbuild .odocl files
@author Sylvain Le Gall
@@ -5504,7 +5504,37 @@ let setup_t =
bs_byteopt = [(OASISExpr.EBool true, [])];
bs_nativeopt = [(OASISExpr.EBool true, [])];
},
- {exec_custom = false; exec_main_is = "krobot_plot.ml"; })
+ {exec_custom = false; exec_main_is = "krobot_plot.ml"; });
+ Executable
+ ({
+ cs_name = "krobot-simulator";
+ 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_simulator.ml";
+ })
];
plugins =
[(`Extra, "DevFiles", Some "0.2"); (`Extra, "META", Some "0.2")];
diff --git a/info/control2011/src/lib/krobot_config.ml b/info/control2011/src/lib/krobot_config.ml
new file mode 100644
index 0000000..05e699d
--- /dev/null
+++ b/info/control2011/src/lib/krobot_config.ml
@@ -0,0 +1,14 @@
+(*
+ * krobot_config.ml
+ * ----------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+let world_height = 2.1
+let world_width = 3.
+let robot_size = 0.3
+let wheels_diameter = 0.098
+let wheels_distance = 0.259
diff --git a/info/control2011/src/lib/krobot_config.mli b/info/control2011/src/lib/krobot_config.mli
new file mode 100644
index 0000000..7876fdd
--- /dev/null
+++ b/info/control2011/src/lib/krobot_config.mli
@@ -0,0 +1,25 @@
+(*
+ * krobot_config.mli
+ * -----------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(** Parameters *)
+
+val world_width : float
+ (** The width of the board. *)
+
+val world_height : float
+ (** THe height of the board. *)
+
+val robot_size : float
+ (** The size of the robot, which is a square. *)
+
+val wheels_diameter : float
+ (** The diameter of the wheels. *)
+
+val wheels_distance : float
+ (** The distance between the two wheels. *)
diff --git a/info/control2011/src/lib/krobot_message.ml b/info/control2011/src/lib/krobot_message.ml
index 76eccc5..debdc1d 100644
--- a/info/control2011/src/lib/krobot_message.ml
+++ b/info/control2011/src/lib/krobot_message.ml
@@ -203,9 +203,9 @@ let decode frame =
float (get_uint16 frame.data 6) /. 1000.)
| 202 ->
Motor_turn
- (float (get_sint32 frame.data 0) *. pi /. 1800.,
- float (get_uint16 frame.data 4) *. pi /. 1800.,
- float (get_uint16 frame.data 6) *. pi /. 1800.)
+ (float (get_sint32 frame.data 0) *. pi /. 18000.,
+ float (get_uint16 frame.data 4) *. pi /. 18000.,
+ float (get_uint16 frame.data 6) *. pi /. 18000.)
| _ ->
Unknown frame
diff --git a/info/control2011/src/tools/krobot_simulator.ml b/info/control2011/src/tools/krobot_simulator.ml
new file mode 100644
index 0000000..c2f1f68
--- /dev/null
+++ b/info/control2011/src/tools/krobot_simulator.ml
@@ -0,0 +1,214 @@
+(*
+ * krobot_simulator.ml
+ * -------------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(* Simulate the robot. *)
+
+open Lwt
+open Lwt_react
+open Krobot_config
+open Krobot_message
+
+(* +-----------------------------------------------------------------+
+ | Types |
+ +-----------------------------------------------------------------+ *)
+
+(* State of the robot. *)
+type state = {
+ x : float;
+ y : float;
+ theta : float;
+}
+
+type internal_state = {
+ theta_l : float;
+ theta_r : float;
+}
+
+type command =
+ | Speed of float * float * float * float
+ (* [Speed(start_time, end_time, left_velocity, right_velocity)] *)
+ | Turn of float * float * float * float
+ (* [Turn(start_time, t_acc, end_time, velocity)] *)
+ | Move of float * float * float * float
+ (* [Move(start_time, t_acc, end_time, velocity)] *)
+
+(* Type of simulators. *)
+type simulator = {
+ mutable state : state;
+ mutable internal_state : internal_state;
+ mutable command : command;
+ mutable time : float;
+}
+
+(* +-----------------------------------------------------------------+
+ | Simulation |
+ +-----------------------------------------------------------------+ *)
+
+let sim_step = 0.01
+
+let velocities_of_command cmd time =
+ match cmd with
+ | Speed (start, tend, l_v, r_v) ->
+ if time < start || time > tend then
+ (0., 0.)
+ else
+ ((l_v +. r_v) *. wheels_diameter /. 4., (l_v -. r_v) *. wheels_diameter /. wheels_distance)
+ | Turn (start, t_acc, tend, vel) ->
+ if time < start || time > tend then
+ (0., 0.)
+ else if time < (start +. t_acc) then
+ (0., vel *. (time -. start) /. t_acc)
+ else if time < (tend -. t_acc) then
+ (0., vel)
+ else
+ (0., vel *. (tend -. time) /. t_acc)
+ | Move (start, t_acc, tend, vel) ->
+ if time < start || time > tend then
+ (0., 0.)
+ else if time < (start +. t_acc) then
+ (vel *. (time -. start) /. t_acc, 0.)
+ else if time < (tend -. t_acc) then
+ (vel, 0.)
+ else
+ (vel *. (tend -. time) /. t_acc, 0.)
+
+let move sim distance velocity acceleration =
+ let t_acc = velocity /. acceleration in
+ let t_end = (velocity *. velocity +. distance *. acceleration) /. (velocity *. acceleration) in
+ sim.command <-
+ if t_end > 2. *. t_acc
+ then
+ Move (sim.time, t_acc, sim.time +. t_end, velocity)
+ else begin
+ let t_acc = sqrt (distance /. acceleration) in
+ let t_end = 2. *. t_acc in
+ let velocity = acceleration *. t_acc in
+ Move (sim.time, t_acc, sim.time +. t_end, velocity)
+ end
+
+let turn sim angle velocity acceleration =
+ let t_acc = velocity /. acceleration in
+ let t_end = (velocity *. velocity +. angle *. acceleration) /. (velocity *. acceleration) in
+ sim.command <-
+ if t_end > 2. *. t_acc
+ then
+ Turn (sim.time, t_acc, sim.time +. t_end, velocity)
+ else begin
+ let t_acc = sqrt (angle /. acceleration) in
+ let t_end = 2. *. t_acc in
+ let velocity = acceleration *. t_acc in
+ Turn (sim.time, t_acc, sim.time +. t_end, velocity)
+ end
+
+let set_velocities sim left_velocity right_velocity duration =
+ sim.command <- Speed (sim.time, sim.time +. duration, left_velocity, right_velocity)
+
+let get_velocities sim =
+ let (u1, u2) = velocities_of_command sim.command sim.time in
+ let l_v = (4. *. u1 +. wheels_distance *. u2) /. (2. *. wheels_diameter)
+ and r_v = (4. *. u1 -. wheels_distance *. u2) /. (2. *. wheels_diameter) in
+ (l_v, r_v)
+
+let get_state sim =
+ sim.state
+
+let get_encoders sim =
+ let (theta_l, theta_r) = (sim.internal_state.theta_l, sim.internal_state.theta_r) in
+ (theta_l *. wheels_diameter /. 2., theta_r *. wheels_diameter /. 2.)
+
+(* +-----------------------------------------------------------------+
+ | Entry point |
+ +-----------------------------------------------------------------+ *)
+
+let print sim =
+ Lwt_log.debug_f "
+time = %f
+state:
+ x = %f
+ y = %f
+ theta = %f
+internal_state:
+ theta_l = %f
+ theta_r = %f
+command = %s
+"
+ sim.time
+ sim.state.x
+ sim.state.y
+ sim.state.theta
+ sim.internal_state.theta_l
+ sim.internal_state.theta_r
+ (match sim.command with
+ | Speed(s, e, l, r) ->
+ Printf.sprintf "Speed(%f, %f, %f, %f)" s e l r
+ | Move(s, x, e, a) ->
+ Printf.sprintf "Move(%f, %f, %f, %f)" s x e a
+ | Turn(s, x, e, a) ->
+ Printf.sprintf "Turn(%f, %f, %f, %f)" s x e a)
+
+lwt () =
+ lwt bus = Krobot_bus.get () in
+
+ let sim = {
+ state = { x = 0.; y = 0.; theta = 0. };
+ internal_state = { theta_l = 0.; theta_r = 0. };
+ command = Speed(0., 0., 0., 0.);
+ time = Unix.gettimeofday ();
+ } in
+
+ (* Handle commands. *)
+ E.keep
+ (E.map_s
+ (fun (ts, msg) ->
+ match msg with
+ | Motor_move(dist, speed, acc) ->
+ lwt () = Lwt_log.info_f "received: move(%f, %f, %f)" dist speed acc in
+ move sim dist speed acc;
+ return ()
+ | Motor_turn(angle, speed, acc) ->
+ lwt () = Lwt_log.info_f "received: turn(%f, %f, %f)" angle speed acc in
+ turn sim angle speed acc;
+ return ()
+ | Req_motor_status ->
+ let s, e =
+ match sim.command with
+ | Speed(s, e, _, _) -> (s, e)
+ | Move(s, _, e, _) -> (s, e)
+ | Turn(s, _, e, _) -> (s, e)
+ in
+ let t= Unix.gettimeofday () in
+ Krobot_message.send bus (t, Motor_status(s <= t && t < e))
+ | _ ->
+ return ())
+ (Krobot_message.recv bus));
+
+ while_lwt true do
+ sim.time <- Unix.gettimeofday ();
+
+ (* Sends the state of the robot. *)
+ lwt () = Krobot_message.send bus (sim.time, Odometry(sim.state.x, sim.state.y, sim.state.theta)) in
+
+ lwt () = print sim in
+
+ let (u1, u2) = velocities_of_command sim.command sim.time in
+ let dx = u1 *. (cos sim.state.theta)
+ and dy = u1 *. (sin sim.state.theta)
+ and dtheta = u2 in
+ sim.state <- {
+ x = sim.state.x +. dx *. sim_step;
+ y = sim.state.y +. dy *. sim_step;
+ theta = sim.state.theta +. dtheta *. sim_step;
+ };
+ sim.internal_state <- {
+ theta_l = sim.internal_state.theta_l +. sim_step *. (u1 *. 4. +. u2 *. wheels_distance) /. (2. *. wheels_diameter);
+ theta_r = sim.internal_state.theta_r +. sim_step *. (u1 *. 4. -. u2 *. wheels_distance) /. (2. *. wheels_diameter);
+ };
+
+ Lwt_unix.sleep sim_step
+ done
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index cd1b61f..0bbe687 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -166,6 +166,8 @@ end
+-----------------------------------------------------------------+ *)
module Board = struct
+ open Krobot_config
+
type state = {
x : float;
y : float;
@@ -180,14 +182,6 @@ module Board = struct
mutable event : unit event;
}
- let world_height = 2.1
- let world_width = 3.
- let robot_size = 0.3
- let wheels_diam = 0.098
- let wheels_dist = 0.259
- let sim_step = 0.01
- let time = ref 0.
-
type color =
| Black
| White
hooks/post-receive
--
krobot
|
