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[Krobot-commits] [SCM] krobot branch, master, updated. e7c92edc9c0d24e0ad519fc88ab61c355109b9cc
|
From: Jérémie D. <Ba...@us...> - 2011-03-30 20:46:04
|
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 e7c92edc9c0d24e0ad519fc88ab61c355109b9cc (commit)
via 3762e030dcc2ee5fcc4bcefbbac84dcfcc8381c4 (commit)
via 8cbe2604c014064abcab2c9a65b5942b7e4ae3b8 (commit)
via 92a5e4be9ce33bfce7a33372d479545465d9815c (commit)
from 09a86b1ab86b522c506e66519d27257f77a7d02b (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 e7c92edc9c0d24e0ad519fc88ab61c355109b9cc
Author: Jérémie Dimino <je...@di...>
Date: Wed Mar 30 22:45:29 2011 +0200
[krobot_viewer] fix the slowing problem
commit 3762e030dcc2ee5fcc4bcefbbac84dcfcc8381c4
Author: Jérémie Dimino <je...@di...>
Date: Wed Mar 30 22:41:49 2011 +0200
[info] fix frame id for motor_stop and set_odometry
commit 8cbe2604c014064abcab2c9a65b5942b7e4ae3b8
Author: Jérémie Dimino <je...@di...>
Date: Wed Mar 30 22:08:41 2011 +0200
[krobot_viewer] no threads needed
commit 92a5e4be9ce33bfce7a33372d479545465d9815c
Author: Jérémie Dimino <je...@di...>
Date: Wed Mar 30 21:59:57 2011 +0200
[krobot_viewer] wait longer before passing to the next command
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index 450a1bc..1292204 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -135,7 +135,7 @@ Executable "krobot-viewer"
Install$: flag(gtk)
CompiledObject: best
MainIs: krobot_viewer.ml
- BuildDepends: krobot, lwt.syntax, cairo.lablgtk2, lwt.glib, threads, lablgtk2.glade
+ BuildDepends: krobot, lwt.syntax, cairo.lablgtk2, lwt.glib, lablgtk2.glade
Executable "krobot-simulator"
Path: src/tools
diff --git a/info/control2011/_tags b/info/control2011/_tags
index 20baf17..2f57243 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
<src/interfaces/*.ml>: -syntax_camlp4o
# OASIS_START
-# DO NOT EDIT (digest: 255c5daac028047b8fd81335cc7a3a1d)
+# DO NOT EDIT (digest: 9d40de9cfde679815e27aa44dbe6939f)
# Library krobot-interfaces
"src/interfaces": include
"src/interfaces/krobot-interfaces.cmxs": use_krobot-interfaces
@@ -56,7 +56,6 @@
# Executable krobot-viewer
<src/tools/krobot_viewer.{native,byte}>: use_krobot
<src/tools/krobot_viewer.{native,byte}>: use_krobot-interfaces
-<src/tools/krobot_viewer.{native,byte}>: pkg_threads
<src/tools/krobot_viewer.{native,byte}>: pkg_obus
<src/tools/krobot_viewer.{native,byte}>: pkg_lwt.unix
<src/tools/krobot_viewer.{native,byte}>: pkg_lwt.syntax
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 3f22dfe..48d05a0 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: e7a994aa7e43385f1fc743e7a7663a49) *)
+(* DO NOT EDIT (digest: 60affd9777295d3612011711e6241ee4) *)
(*
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
@@ -5307,7 +5307,6 @@ let setup_t =
FindlibPackage ("lwt.syntax", None);
FindlibPackage ("cairo.lablgtk2", None);
FindlibPackage ("lwt.glib", None);
- FindlibPackage ("threads", None);
FindlibPackage ("lablgtk2.glade", None)
];
bs_build_tools = [ExternalTool "ocamlbuild"];
diff --git a/info/control2011/src/lib/krobot_message.ml b/info/control2011/src/lib/krobot_message.ml
index a68a8b3..08e4402 100644
--- a/info/control2011/src/lib/krobot_message.ml
+++ b/info/control2011/src/lib/krobot_message.ml
@@ -139,17 +139,6 @@ let encode = function
~remote:false
~format:F29bits
~data
- | Set_odometry(x, y, theta) ->
- let data = String.create 6 in
- put_sint16 data 0 (truncate (x *. 1000.));
- put_sint16 data 2 (truncate (y *. 1000.));
- put_sint16 data 4 (truncate (theta /. pi *. 18000.));
- frame
- ~identifier:105
- ~kind:Data
- ~remote:false
- ~format:F29bits
- ~data
| Motor_move(dist, speed, acc) ->
let data = String.create 8 in
put_sint32 data 0 (truncate (dist *. 1000.));
@@ -172,13 +161,24 @@ let encode = function
~remote:false
~format:F29bits
~data
- | Motor_stop ->
+ | Set_odometry(x, y, theta) ->
+ let data = String.create 6 in
+ put_sint16 data 0 (truncate (x *. 1000.));
+ put_sint16 data 2 (truncate (y *. 1000.));
+ put_sint16 data 4 (truncate (theta /. pi *. 18000.));
frame
~identifier:203
~kind:Data
~remote:false
~format:F29bits
- ~data:""
+ ~data
+ | Motor_stop ->
+ frame
+ ~identifier:204
+ ~kind:Data
+ ~remote:false
+ ~format:F29bits
+ ~data:"\x01"
| Req_motor_status ->
frame
~identifier:103
@@ -223,11 +223,6 @@ let decode frame =
(float (get_sint16 frame.data 0) /. 1000.,
float (get_sint16 frame.data 2) /. 1000.,
float (get_sint16 frame.data 4) *. pi /. 18000.)
- | 105 ->
- Set_odometry
- (float (get_sint16 frame.data 0) /. 1000.,
- float (get_sint16 frame.data 2) /. 1000.,
- float (get_sint16 frame.data 4) *. pi /. 18000.)
| 201 ->
Motor_move
(float (get_sint32 frame.data 0) /. 1000.,
@@ -239,6 +234,11 @@ let decode frame =
float (get_uint16 frame.data 4) *. pi /. 18000.,
float (get_uint16 frame.data 6) *. pi /. 18000.)
| 203 ->
+ Set_odometry
+ (float (get_sint16 frame.data 0) /. 1000.,
+ float (get_sint16 frame.data 2) /. 1000.,
+ float (get_sint16 frame.data 4) *. pi /. 18000.)
+ | 204 ->
Motor_stop
| _ ->
Unknown frame
@@ -249,33 +249,3 @@ let decode frame =
let send bus (timestamp, msg) = Krobot_can.send bus (timestamp, encode msg)
let recv bus = E.map (fun (timestamp, frame) -> (timestamp, decode frame)) (Krobot_can.recv bus)
-
-(* +-----------------------------------------------------------------+
- | Calls |
- +-----------------------------------------------------------------+ *)
-
-let wait_timeout = 0.1
-
-let send_and_recv bus req f =
- let t =
- E.next
- (E.fmap
- (fun (ts, frame) ->
- match f frame with
- | Some x -> Some(`Value(ts, x))
- | None -> None)
- (recv bus))
- in
- let rec loop () =
- lwt () = send bus (Unix.gettimeofday (), req) in
- match_lwt choose [t; Lwt_unix.sleep wait_timeout >|= fun () -> `Timeout] with
- | `Value x -> return x
- | `Timeout -> loop ()
- in
- loop ()
-
-let motor_status bus =
- send_and_recv bus Req_motor_status
- (function
- | Motor_status status -> Some status
- | _ -> None)
diff --git a/info/control2011/src/lib/krobot_message.mli b/info/control2011/src/lib/krobot_message.mli
index d1cb523..298572d 100644
--- a/info/control2011/src/lib/krobot_message.mli
+++ b/info/control2011/src/lib/krobot_message.mli
@@ -66,9 +66,3 @@ val send : Krobot_bus.t -> (float * t) -> unit Lwt.t
val recv : Krobot_bus.t -> (float * t) React.event
(** [recv bus] is the event which receive messages. *)
-
-(** {6 Calls} *)
-
-(** The following functions send a request and wait for the result. *)
-
-val motor_status : Krobot_bus.t -> (float * bool) Lwt.t
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 2665d0f..a3d7a79 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -192,6 +192,7 @@ module Board = struct
mutable state : state;
mutable points : (float * float) list;
mutable event : unit event;
+ mutable moving : bool;
}
type color =
@@ -451,9 +452,8 @@ module Board = struct
queue_draw board
let rec wait_done board =
- lwt () = Lwt_unix.sleep 0.05 in
- lwt ts, moving = Krobot_message.motor_status board.bus in
- if moving then
+ lwt () = Lwt_unix.sleep 0.2 in
+ if board.moving then
wait_done board
else
return ()
@@ -498,6 +498,7 @@ module Board = struct
state = { x = 0.2; y = 1.9; theta = -0.5 *. pi };
points = [];
event = E.never;
+ moving = false;
} in
(* Move the robot on the board when we receive odometry
informations. *)
@@ -513,8 +514,10 @@ module Board = struct
queue_draw board
end
| Motor_status true ->
+ board.moving <- true;
board.ui#entry_moving#set_text "yes"
| Motor_status false ->
+ board.moving <- false;
board.ui#entry_moving#set_text "no"
| _ ->
())
@@ -611,8 +614,11 @@ lwt () =
);
false));
- (* Ask for the status of the motor in order to display the correct
- status initially. *)
- lwt () = Krobot_message.send bus (Unix.gettimeofday (), Req_motor_status) in
-
- waiter
+ pick [
+ waiter;
+ (* Sends motor status request continously. *)
+ while_lwt true do
+ lwt () = Krobot_message.send bus (Unix.gettimeofday (), Req_motor_status) in
+ Lwt_unix.sleep 0.2
+ done;
+ ]
hooks/post-receive
--
krobot
|
