[Krobot-commits] [SCM] krobot branch, master, updated. 08f9457bae8f067a43784a49e4271a7b7c1a8963

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 08f9457bae8f067a43784a49e4271a7b7c1a8963
Author: Jérémie Dimino <je...@di...>
Date:   Thu Mar 31 14:26:27 2011 +0200

    [krobot_viewer] cancel the goto thread on stop

commit 20489cf95c9174859dea5fdb9e9e2a65f06ac9ba
Author: Jérémie Dimino <je...@di...>
Date:   Thu Mar 31 14:18:49 2011 +0200

    [krobot_viewer] clear the trajectory on stop
    
    This way the robot won't try to continue it.

commit 51a8d6e5e71f3224b5592e4db5f9f174c7b55108
Author: Jérémie Dimino <je...@di...>
Date:   Thu Mar 31 14:17:59 2011 +0200

    [krobot_viewer] do not fail if we clear the trajectory while moving

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

Changes:
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 2834f20..d6ebd28 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -486,7 +486,9 @@ module Board = struct
             lwt () = wait_done board in
 
             (* Remove the point. *)
-            board.points <- List.tl board.points;
+            (match board.points with
+               | _ :: l -> board.points <- l
+               | [] -> ());
 
             (* Redraw everything without the last point. *)
             queue_draw board;
@@ -587,15 +589,22 @@ lwt () =
             Board.smooth board;
           false));
 
+  let thread_go = ref (return ()) in
   ignore
     (ui#button_go#event#connect#button_release
        (fun ev ->
           if GdkEvent.Button.button ev = 1 then
             ignore_result (
               ui#button_go#misc#set_sensitive false;
-              lwt () = Board.go board in
-              ui#button_go#misc#set_sensitive true;
-              return ()
+              try_lwt
+                thread_go := Board.go board;
+                !thread_go
+              with
+                | Canceled ->
+                    return ()
+              finally
+                ui#button_go#misc#set_sensitive true;
+                return ()
             );
           false));
 
@@ -624,10 +633,13 @@ lwt () =
   ignore
     (ui#button_stop#event#connect#button_release
        (fun ev ->
-          if GdkEvent.Button.button ev = 1 then
+          if GdkEvent.Button.button ev = 1 then begin
+            Board.clear board;
+            cancel !thread_go;
             ignore_result (
               Krobot_message.send bus (Unix.gettimeofday (), Motor_stop)
-            );
+            )
+          end;
           false));
 
   pick [


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