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[Krobot-commits] [SCM] krobot branch, master, updated. 6d90b631730d84819ae86b701829dc35c1b173f8
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From: Nicolas D. <Ba...@us...> - 2011-04-02 20:57:46
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- Log -----------------------------------------------------------------
commit 6d90b631730d84819ae86b701829dc35c1b173f8
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Sat Apr 2 22:57:13 2011 +0200
[krobot_viewer] Display the status of the rotary beacon
commit b972d273f58b18254fb24218becefe72ba47dd06
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Sat Apr 2 22:56:47 2011 +0200
[krobot_message] Implement message types for the rotary beacon
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/lib/krobot_message.ml b/info/control2011/src/lib/krobot_message.ml
index 60d13dd..3c3e51b 100644
--- a/info/control2011/src/lib/krobot_message.ml
+++ b/info/control2011/src/lib/krobot_message.ml
@@ -19,6 +19,8 @@ open Lwt_react
type direction = Forward | Backward
type t =
+ | Beacon_position of float * float * float
+ | Beacon_lowlevel_position of float * float * int
| Encoder_position_direction_3_4 of int * direction * int * direction
| Encoder_position_speed_3 of float * float
| Encoder_position_speed_4 of float * float
@@ -40,6 +42,18 @@ let string_of_direction = function
| Backward -> "Backward"
let to_string = function
+ | Beacon_position(angle, distance, period) ->
+ sprintf
+ "Beacon_position(%f, %f, %f)"
+ angle
+ distance
+ period
+ | Beacon_lowlevel_position(angle, width, period) ->
+ sprintf
+ "Beacon_lowlevel_position(%f, %f, %d)"
+ angle
+ width
+ period
| Encoder_position_direction_3_4(pos3, dir3, pos4, dir4) ->
sprintf
"Encoder_position_direction_3_4(%d, %s, %d, %s)"
@@ -177,6 +191,28 @@ let encode = function
~remote:false
~format:F29bits
~data
+ | Beacon_position(angle, length, period) ->
+ let data = String.create 6 in
+ put_uint16 data 0 (truncate (angle *. 10000.));
+ put_uint16 data 2 (truncate (length *. 1000.));
+ put_uint16 data 4 (truncate (period *. 10000.));
+ frame
+ ~identifier:301
+ ~kind:Data
+ ~remote:false
+ ~format:F29bits
+ ~data
+ | Beacon_lowlevel_position(angle, width, period) ->
+ let data = String.create 6 in
+ put_uint16 data 0 (truncate (angle *. 10000.));
+ put_uint16 data 2 (truncate (width *. 100000.));
+ put_uint16 data 4 period;
+ frame
+ ~identifier:302
+ ~kind:Data
+ ~remote:false
+ ~format:F29bits
+ ~data
| Motor_stop ->
frame
~identifier:204
@@ -260,6 +296,16 @@ let decode frame =
float (get_sint16 frame.data 4) /. 10000.)
| 204 ->
Motor_stop
+ | 301 ->
+ Beacon_position
+ (float (get_uint16 frame.data 0) /. 10000.,
+ float (get_uint16 frame.data 2) /. 1000.,
+ float (get_uint16 frame.data 4) /. 10000.)
+ | 302 ->
+ Beacon_lowlevel_position
+ (float (get_uint16 frame.data 0) /. 10000.,
+ float (get_uint16 frame.data 2) /. 100000.,
+ get_uint16 frame.data 4)
| _ ->
Unknown frame
with Invalid_argument _ ->
diff --git a/info/control2011/src/lib/krobot_message.mli b/info/control2011/src/lib/krobot_message.mli
index 5d83d7e..70f56b6 100644
--- a/info/control2011/src/lib/krobot_message.mli
+++ b/info/control2011/src/lib/krobot_message.mli
@@ -14,6 +14,10 @@ type direction = Forward | Backward
(** Type of messages. *)
type t =
+ | Beacon_position of float * float * float
+ (** The position of the beacon relative to the robot *)
+ | Beacon_lowlevel_position of float * float * int
+ (** The position of the beacon as internally stored (for calibration) *)
| Encoder_position_direction_3_4 of int * direction * int * direction
(** The position and direction of encoders 3 and 4. *)
| Encoder_position_speed_3 of float * float
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index c3b1757..5fa46f5 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -186,10 +186,17 @@ module Board = struct
theta : float;
}
+ type beacon = {
+ xbeacon : float;
+ ybeacon : float;
+ valid : bool;
+ }
+
type t = {
bus : Krobot_bus.t;
ui : Krobot_viewer_ui.window;
mutable state : state;
+ mutable beacon : beacon;
mutable points : (float * float) list;
mutable event : unit event;
mutable moving : bool;
@@ -202,6 +209,7 @@ module Board = struct
| Red
| Blue
| Yellow
+ | Purple
let set_color ctx color =
let r, g, b = match color with
@@ -211,6 +219,7 @@ module Board = struct
| Red -> (199., 23., 18.)
| Blue -> (0., 59., 128.)
| Yellow -> (252., 189., 31.)
+ | Purple -> (128., 0., 128.)
in
Cairo.set_source_rgb ctx (r /. 255.) (g /. 255.) (b /. 255.)
@@ -379,6 +388,13 @@ module Board = struct
Cairo.restore ctx;
+ (* Draw the beacon *)
+ if board.beacon.valid then begin
+ Cairo.arc ctx board.beacon.xbeacon board.beacon.ybeacon 0.04 0. (2. *. pi);
+ set_color ctx Purple;
+ Cairo.fill ctx;
+ end;
+
(* Draw points. *)
Cairo.set_source_rgb ctx 255. 255. 0.;
Cairo.move_to ctx board.state.x board.state.y;
@@ -508,6 +524,7 @@ module Board = struct
bus;
ui;
state = { x = 0.2; y = 1.9; theta = -0.5 *. pi };
+ beacon = { xbeacon = 1.; ybeacon = 1.; valid = true };
points = [];
event = E.never;
moving = false;
@@ -534,6 +551,17 @@ module Board = struct
board.ui#entry_moving2#set_text (if m2 then "yes" else "no");
board.ui#entry_moving3#set_text (if m3 then "yes" else "no");
board.ui#entry_moving4#set_text (if m4 then "yes" else "no")
+ | Beacon_position(angle, distance, period) ->
+ let newangle = math_mod_float (board.state.theta +. angle) (2. *. pi) in
+ let x = board.state.x +. distance *. cos (newangle) in
+ let y = board.state.y +. distance *. sin (newangle) in
+ let valid = distance <> 0. in
+ let beacon = { xbeacon = x; ybeacon = y; valid; } in
+ if beacon <> board.beacon then begin
+ board.beacon <- beacon;
+ board.ui#entry_beacon#set_text (if valid then "valid" else "invalid");
+ queue_draw board
+ end
| _ ->
())
(Krobot_message.recv bus)
diff --git a/info/control2011/src/tools/krobot_viewer_ui.glade b/info/control2011/src/tools/krobot_viewer_ui.glade
index 56ec218..45fbd13 100644
--- a/info/control2011/src/tools/krobot_viewer_ui.glade
+++ b/info/control2011/src/tools/krobot_viewer_ui.glade
@@ -301,7 +301,7 @@
<child>
<widget class="GtkTable" id="table1">
<property name="visible">True</property>
- <property name="n_rows">9</property>
+ <property name="n_rows">10</property>
<property name="n_columns">2</property>
<child>
<widget class="GtkSpinButton" id="moving_speed">
@@ -315,8 +315,8 @@
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
- <property name="top_attach">5</property>
- <property name="bottom_attach">6</property>
+ <property name="top_attach">6</property>
+ <property name="bottom_attach">7</property>
<property name="y_options">GTK_FILL</property>
</packing>
</child>
@@ -332,8 +332,8 @@
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
- <property name="top_attach">6</property>
- <property name="bottom_attach">7</property>
+ <property name="top_attach">7</property>
+ <property name="bottom_attach">8</property>
<property name="y_options">GTK_FILL</property>
</packing>
</child>
@@ -349,8 +349,8 @@
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
- <property name="top_attach">7</property>
- <property name="bottom_attach">8</property>
+ <property name="top_attach">8</property>
+ <property name="bottom_attach">9</property>
<property name="y_options">GTK_FILL</property>
</packing>
</child>
@@ -366,8 +366,8 @@
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
- <property name="top_attach">8</property>
- <property name="bottom_attach">9</property>
+ <property name="top_attach">9</property>
+ <property name="bottom_attach">10</property>
<property name="y_options">GTK_FILL</property>
</packing>
</child>
@@ -397,8 +397,8 @@
</child>
</widget>
<packing>
- <property name="top_attach">5</property>
- <property name="bottom_attach">6</property>
+ <property name="top_attach">6</property>
+ <property name="bottom_attach">7</property>
<property name="x_options">GTK_FILL</property>
<property name="y_options">GTK_FILL</property>
</packing>
@@ -429,8 +429,8 @@
</child>
</widget>
<packing>
- <property name="top_attach">6</property>
- <property name="bottom_attach">7</property>
+ <property name="top_attach">7</property>
+ <property name="bottom_attach">8</property>
<property name="x_options">GTK_FILL</property>
<property name="y_options">GTK_FILL</property>
</packing>
@@ -461,8 +461,8 @@
</child>
</widget>
<packing>
- <property name="top_attach">7</property>
- <property name="bottom_attach">8</property>
+ <property name="top_attach">8</property>
+ <property name="bottom_attach">9</property>
<property name="x_options">GTK_FILL</property>
<property name="y_options">GTK_FILL</property>
</packing>
@@ -493,8 +493,8 @@
</child>
</widget>
<packing>
- <property name="top_attach">8</property>
- <property name="bottom_attach">9</property>
+ <property name="top_attach">9</property>
+ <property name="bottom_attach">10</property>
<property name="x_options">GTK_FILL</property>
<property name="y_options">GTK_FILL</property>
</packing>
@@ -555,8 +555,8 @@
</child>
</widget>
<packing>
- <property name="top_attach">2</property>
- <property name="bottom_attach">3</property>
+ <property name="top_attach">3</property>
+ <property name="bottom_attach">4</property>
</packing>
</child>
<child>
@@ -585,8 +585,8 @@
</child>
</widget>
<packing>
- <property name="top_attach">3</property>
- <property name="bottom_attach">4</property>
+ <property name="top_attach">4</property>
+ <property name="bottom_attach">5</property>
</packing>
</child>
<child>
@@ -615,8 +615,8 @@
</child>
</widget>
<packing>
- <property name="top_attach">4</property>
- <property name="bottom_attach">5</property>
+ <property name="top_attach">5</property>
+ <property name="bottom_attach">6</property>
</packing>
</child>
<child>
@@ -629,8 +629,8 @@
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
- <property name="top_attach">2</property>
- <property name="bottom_attach">3</property>
+ <property name="top_attach">3</property>
+ <property name="bottom_attach">4</property>
</packing>
</child>
<child>
@@ -643,8 +643,8 @@
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
- <property name="top_attach">3</property>
- <property name="bottom_attach">4</property>
+ <property name="top_attach">4</property>
+ <property name="bottom_attach">5</property>
</packing>
</child>
<child>
@@ -657,8 +657,8 @@
<packing>
<property name="left_attach">1</property>
<property name="right_attach">2</property>
- <property name="top_attach">4</property>
- <property name="bottom_attach">5</property>
+ <property name="top_attach">5</property>
+ <property name="bottom_attach">6</property>
</packing>
</child>
<child>
@@ -762,6 +762,50 @@
</child>
</widget>
</child>
+ <child>
+ <widget class="GtkHBox" id="hbox16">
+ <property name="visible">True</property>
+ <child>
+ <widget class="GtkLabel" id="label10">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Beacon status:</property>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkAlignment" id="alignment10">
+ <property name="visible">True</property>
+ <child>
+ <placeholder/>
+ </child>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
+ </child>
+ </widget>
+ <packing>
+ <property name="top_attach">2</property>
+ <property name="bottom_attach">3</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkEntry" id="entry_beacon">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="editable">False</property>
+ <property name="invisible_char">•</property>
+ </widget>
+ <packing>
+ <property name="left_attach">1</property>
+ <property name="right_attach">2</property>
+ <property name="top_attach">2</property>
+ <property name="bottom_attach">3</property>
+ </packing>
+ </child>
</widget>
<packing>
<property name="expand">False</property>
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