[Krobot-commits] [SCM] krobot branch, master, updated. 773e02438462c3eb9d7b58086faac1e5e096d280

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 773e02438462c3eb9d7b58086faac1e5e096d280
Author: Jérémie Dimino <je...@di...>
Date:   Tue Apr 5 17:33:48 2011 +0200

    [krobot_viewer] compute simple bezier curves

commit 45a5cf2f19790d43b614389c01bd916972da6ce4
Author: Jérémie Dimino <je...@di...>
Date:   Tue Apr 5 11:46:56 2011 +0200

    [krobot_graph] use floats instead of ints

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

Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index 8eb1060..a1e18d0 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -128,7 +128,7 @@ Executable "krobot-plot"
   Install$: flag(gtk)
   CompiledObject: best
   MainIs: krobot_plot.ml
-  BuildDepends: krobot, lwt.syntax, cairo.lablgtk2, lwt.glib, threads
+  BuildDepends: krobot, lwt.syntax, cairo.lablgtk2, lwt.glib
 
 Executable "krobot-plot-battery"
   Path: src/tools
@@ -136,7 +136,7 @@ Executable "krobot-plot-battery"
   Install$: flag(gtk)
   CompiledObject: best
   MainIs: krobot_plot_battery.ml
-  BuildDepends: krobot, lwt.syntax, cairo.lablgtk2, lwt.glib, threads
+  BuildDepends: krobot, lwt.syntax, cairo.lablgtk2, lwt.glib
 
 Executable "krobot-viewer"
   Path: src/tools
diff --git a/info/control2011/_tags b/info/control2011/_tags
index 7c5ae73..593a279 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
 <src/interfaces/*.ml>: -syntax_camlp4o
 
 # OASIS_START
-# DO NOT EDIT (digest: 5cd0fff2e5e7303cfc985c8215a456e0)
+# DO NOT EDIT (digest: c5fb31f60362628ba2becc8b6a98c80b)
 # Library krobot-interfaces
 "src/interfaces": include
 "src/interfaces/krobot-interfaces.cmxs": use_krobot-interfaces
@@ -73,7 +73,6 @@
 # Executable krobot-plot-battery
 <src/tools/krobot_plot_battery.{native,byte}>: use_krobot
 <src/tools/krobot_plot_battery.{native,byte}>: use_krobot-interfaces
-<src/tools/krobot_plot_battery.{native,byte}>: pkg_threads
 <src/tools/krobot_plot_battery.{native,byte}>: pkg_obus
 <src/tools/krobot_plot_battery.{native,byte}>: pkg_lwt.unix
 <src/tools/krobot_plot_battery.{native,byte}>: pkg_lwt.syntax
@@ -119,13 +118,11 @@
 # Executable krobot-plot
 <src/tools/krobot_plot.{native,byte}>: use_krobot
 <src/tools/krobot_plot.{native,byte}>: use_krobot-interfaces
-<src/tools/krobot_plot.{native,byte}>: pkg_threads
 <src/tools/krobot_plot.{native,byte}>: pkg_obus
 <src/tools/krobot_plot.{native,byte}>: pkg_lwt.unix
 <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
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index 05b8ab2..2ba8666 100644
--- a/info/control2011/setup.ml
+++ b/info/control2011/setup.ml
@@ -1,7 +1,7 @@
 (* setup.ml generated for the first time by OASIS v0.2.0~alpha1 *)
 
 (* OASIS_START *)
-(* DO NOT EDIT (digest: ab615aa1d52e40116d1afa35b031733b) *)
+(* DO NOT EDIT (digest: 4dcf80b777e23d14096fb05b034e73dc) *)
 (*
    Regenerated by OASIS v0.2.0
    Visit http://oasis.forge.ocamlcore.org for more information and
@@ -5382,8 +5382,7 @@ let setup_t =
                            InternalLibrary "krobot";
                            FindlibPackage ("lwt.syntax", None);
                            FindlibPackage ("cairo.lablgtk2", None);
-                           FindlibPackage ("lwt.glib", None);
-                           FindlibPackage ("threads", None)
+                           FindlibPackage ("lwt.glib", None)
                         ];
                       bs_build_tools = [ExternalTool "ocamlbuild"];
                       bs_c_sources = [];
@@ -5558,8 +5557,7 @@ let setup_t =
                            InternalLibrary "krobot";
                            FindlibPackage ("lwt.syntax", None);
                            FindlibPackage ("cairo.lablgtk2", None);
-                           FindlibPackage ("lwt.glib", None);
-                           FindlibPackage ("threads", None)
+                           FindlibPackage ("lwt.glib", None)
                         ];
                       bs_build_tools = [ExternalTool "ocamlbuild"];
                       bs_c_sources = [];
diff --git a/info/control2011/src/lib/krobot_geom.ml b/info/control2011/src/lib/krobot_geom.ml
index 7f04395..28178d6 100644
--- a/info/control2011/src/lib/krobot_geom.ml
+++ b/info/control2011/src/lib/krobot_geom.ml
@@ -71,12 +71,10 @@ let vector a b = {
 let distance a b =
   sqrt (sqr (a.x -. b.x) +. sqr (a.y -. b.y))
 
-let tangent a b c =
-  let a = vector origin a
-  and b = vector origin b
-  and c = vector origin c in
-  let v = (b -| a) +| (b -| c) in
-  v /| norm v
+let tangents a b c =
+  let ba = vector b a /| distance b a and bc = vector b c /| distance b c in
+  let v1 = ba -| bc and v2 = bc -| ba in
+  (v1 /| norm v1, v2 /| norm v2)
 
 (* +-----------------------------------------------------------------+
    | Cubic bezier curves                                             |
@@ -97,7 +95,7 @@ module Bezier = struct
     and r = vector origin r
     and s = vector origin s in
     let c = (q -| p) *| 3. in
-    let b = (r -| q) -| c in
+    let b = (r -| q) *| 3. -| c in
     let a = s -| p -| c -| b in
     { p; a; b; c }
 
diff --git a/info/control2011/src/lib/krobot_geom.mli b/info/control2011/src/lib/krobot_geom.mli
index b1a9936..ddeabbf 100644
--- a/info/control2011/src/lib/krobot_geom.mli
+++ b/info/control2011/src/lib/krobot_geom.mli
@@ -35,8 +35,9 @@ val vector : vertice -> vertice -> vector
 val norm : vector -> float
 val distance : vertice -> vertice -> float
 
-val tangent : vertice -> vertice -> vertice -> vector
-  (** [tangent a b c] returns the tangent to the triangle abc in b. *)
+val tangents : vertice -> vertice -> vertice -> vector * vector
+  (** [tangents a b c] returns the two unitary vectors tangent to the
+      triangle abc in b. *)
 
 (** {6 Cubic Bezier curves} *)
 
diff --git a/info/control2011/src/tools/krobot_graph.ml b/info/control2011/src/tools/krobot_graph.ml
index 327ae72..4a9bdde 100644
--- a/info/control2011/src/tools/krobot_graph.ml
+++ b/info/control2011/src/tools/krobot_graph.ml
@@ -16,10 +16,10 @@ let graph_duration = 10.0
 
 (* Type of graphs. *)
 type graph = {
-  points : (float * int) Queue.t array;
+  points : (float * float) Queue.t array;
   (* Queue of points with their time. They are ordered by increasing
      date. *)
-  mutable max : int;
+  mutable max : float;
   (* The maximum reached. *)
 }
 
@@ -27,7 +27,7 @@ type graph = {
 let update_graph graph time =
   Array.iter
     (fun q ->
-       while not (Queue.is_empty q) && fst (Queue.top q) +. graph_duration < time do
+       while not (Queue.is_empty q) && fst (Queue.top q) +. graph_duration *. 1.5 < time do
          ignore (Queue.take q)
        done)
     graph.points
@@ -52,7 +52,7 @@ let plot ctx width height graph time =
        Queue.iter
          (fun (date, position) ->
             let x = (date -. (time -. graph_duration)) /. graph_duration *. width
-            and y = height -. height *. (float position /. float graph.max) in
+            and y = height -. height *. (position /. graph.max) in
             match !prev with
               | None ->
                   prev := Some(x, y)
diff --git a/info/control2011/src/tools/krobot_plot.ml b/info/control2011/src/tools/krobot_plot.ml
index cef19f2..e5e4cab 100644
--- a/info/control2011/src/tools/krobot_plot.ml
+++ b/info/control2011/src/tools/krobot_plot.ml
@@ -10,81 +10,7 @@
 open Lwt
 open Lwt_react
 open Krobot_message
-
-(* +-----------------------------------------------------------------+
-   | Graphs                                                          |
-   +-----------------------------------------------------------------+ *)
-
-let graph_duration = 10.0
-  (* Which amount of data to keep in graphs. *)
-
-(* Type of graphs. *)
-type graph = {
-  points : (float * int) Queue.t array;
-  (* Queue of points with their time. They are ordered by increasing
-     date. *)
-  mutable max : int;
-  (* The maximum reached. *)
-}
-
-(* Remove old points. *)
-let update_graph graph time =
-  Array.iter
-    (fun q ->
-       while not (Queue.is_empty q) && fst (Queue.top q) +. graph_duration < time do
-         ignore (Queue.take q)
-       done)
-    graph.points
-
-(* +-----------------------------------------------------------------+
-   | Plotting                                                        |
-   +-----------------------------------------------------------------+ *)
-
-let rec colors = (1., 0., 0.) :: (0., 1., 0.) :: (0., 0., 1.) :: (1., 1., 0.) :: colors
-
-let plot ctx width height graph time =
-  Cairo.set_source_rgb ctx 1. 1. 1.;
-  Cairo.rectangle ctx 0. 0. width height;
-  Cairo.fill ctx;
-  let colors = ref colors in
-  Array.iter
-    (fun q ->
-       let r, g, b = List.hd !colors in
-       colors := List.tl !colors;
-       Cairo.set_source_rgb ctx r g b;
-       let prev = ref None in
-       Queue.iter
-         (fun (date, position) ->
-            let x = (date -. (time -. graph_duration)) /. graph_duration *. width
-            and y = height -. height *. (float position /. float graph.max) in
-            match !prev with
-              | None ->
-                  prev := Some(x, y)
-              | Some(x', y') ->
-                  prev := Some(x, y);
-                  Cairo.move_to ctx x' y';
-                  Cairo.line_to ctx x y;
-                  Cairo.stroke ctx)
-         q)
-    graph.points
-
-(* +-----------------------------------------------------------------+
-   | Drawing                                                         |
-   +-----------------------------------------------------------------+ *)
-
-let draw window graph =
-  while true do
-    let { Gtk.width; Gtk.height } = window#misc#allocation in
-    let surface = Cairo.image_surface_create Cairo.FORMAT_ARGB32 width height in
-    let ctx = Cairo.create surface in
-    plot ctx (float width) (float height) graph (Unix.gettimeofday ());
-    let ctx = Cairo_lablgtk.create window#misc#window in
-    Cairo.set_source_surface ctx surface 0. 0.;
-    Cairo.rectangle ctx 0. 0. (float width) (float height);
-    Cairo.fill ctx;
-    Cairo.surface_finish surface;
-    ignore (Unix.select [] [] [] (1. /. 25.))
-  done
+open Krobot_graph
 
 (* +-----------------------------------------------------------------+
    | Main-loop                                                       |
@@ -103,16 +29,13 @@ lwt () =
   window#show ();
 
   (* Create the graph. *)
-  let graph = { points = Array.init 2 (fun _ -> Queue.create ()); max = 1 } in
-
-  (* Draw in a separate thread. *)
-  ignore (Thread.create (fun () -> draw window graph) ());
-
+  let graph = { points = Array.init 2 (fun _ -> Queue.create ()); max = 1. } in
   E.keep
     (E.map
        (fun (timestamp, msg) ->
           match msg with
             | Encoder_position_direction_3_4(pos3, dir3, pos4, dir4) ->
+                let pos3 = float pos3 and pos4 = float pos4 in
                 graph.max <- max graph.max (max pos3 pos4);
                 Queue.push (timestamp, pos3) graph.points.(0);
                 Queue.push (timestamp, pos4) graph.points.(1);
@@ -121,4 +44,10 @@ lwt () =
                 ())
        (Krobot_message.recv bus));
 
-  waiter
+  pick [
+    waiter;
+    while_lwt true do
+      Krobot_graph.draw window graph;
+      Lwt_unix.sleep (1. /. 25.)
+    done;
+  ]
diff --git a/info/control2011/src/tools/krobot_plot_battery.ml b/info/control2011/src/tools/krobot_plot_battery.ml
index fa79f9b..3bbcad9 100644
--- a/info/control2011/src/tools/krobot_plot_battery.ml
+++ b/info/control2011/src/tools/krobot_plot_battery.ml
@@ -25,19 +25,19 @@ lwt () =
 
   (* Create the graph. *)
   let graph = { Krobot_graph.points = Array.init 2 (fun _ -> Queue.create ());
-                Krobot_graph.max = 1 } in
+                Krobot_graph.max = 14. } in
 
   E.keep
     (E.map
        (fun (timestamp, msg) ->
           match msg with
             | Battery1_voltages(x1, x2, x3, x4) ->
-                let s = int_of_float ((x1 +. x2 +. x3 +. x4) *. 1000.) in
+                let s = x1 +. x2 +. x3 +. x4 in
                 graph.Krobot_graph.max <- max graph.Krobot_graph.max s;
                 Queue.push (timestamp, s) graph.Krobot_graph.points.(0);
                 Krobot_graph.update_graph graph timestamp
             | Battery2_voltages(x1, x2, x3, x4) ->
-                let s = int_of_float ((x1 +. x2 +. x3 +. x4) *. 1000.) in
+                let s = x1 +. x2 +. x3 +. x4 in
                 graph.Krobot_graph.max <- max graph.Krobot_graph.max s;
                 Queue.push (timestamp, s) graph.Krobot_graph.points.(1);
                 Krobot_graph.update_graph graph timestamp
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 00bb54c..22a5c20 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -435,6 +435,7 @@ module Board = struct
 
   let clear board =
     board.points <- [];
+    board.bezier <- [];
     queue_draw board
 
   let rec last = function
@@ -477,20 +478,18 @@ module Board = struct
     in
     let result = List.tl (loop [0; Array.length points - 1]); in
     board.points <- List.map (fun i -> points.(i)) result;
-(*
-    let speed = board.ui#moving_speed#adjustment#value
-    and acceleration = board.ui#moving_acceleration#adjustment#value in
 
     (* Compute cubic bezier curves. *)
     let rec loop = function
       |  p :: (q :: r :: s :: _ as rest) ->
-           (* Compute the speed vectors. *)
-           let v1 = tangent p q r and v2 = tangent q r s in
-           let v1 = { vx = -. v1.vy; vy = v1.vx } *| speed
-           and v2 = { vx = v2.vy; vy = -. v2.vx } *| speed in
+           (* Computes tangents with a length that is half of the
+              minimum length of the adjacent segments. *)
+           let _, v1 = tangents p q r and v2, _ = tangents q r s in
+           let v1 = v1 *| (min (distance p q) (distance q r) /. 2.)
+           and v2 = v2 *| (min (distance q r) (distance r s) /. 2.) in
 
            (* Create the bezier curve. *)
-           let curve = Bezier.make ~p:q ~s:r ~vp:v1 ~vs:v2 ~a:acceleration ~error_max:0.1 in
+           let curve = Bezier.of_vertices q (translate q v1) (translate r v2) r in
 
            (* Create vertices. *)
            let vertices = Array.create 101 origin in
@@ -502,8 +501,8 @@ module Board = struct
       | _ ->
           []
     in
-    board.bezier <- [||] :: loop board.points;
-*)
+    board.bezier <- [||] :: loop ({ x = board.state.pos.x; y = board.state.pos.y } :: board.points);
+
     queue_draw board
 
   let wait_done board =


hooks/post-receive
-- 
krobot