[Krobot-commits] [SCM] krobot branch, master, updated. ea122f2120a515a92164b114a030ece3485da728

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit ea122f2120a515a92164b114a030ece3485da728
Author: Xavier Lagorce <Xav...@cr...>
Date:   Tue Apr 12 17:02:47 2011 +0200

    [info] Added menu items to manage normal/HIL mode.
    
    This menu items react to CAN message to allow setting the mode in
    a collaborative manner between viewers and other programs (like
    krobot-hil-simulator).

commit ae777de7a4849b774636e041ee4735f89b857610
Author: Xavier Lagorce <Xav...@cr...>
Date:   Tue Apr 12 14:56:13 2011 +0200

    [info] Re-enabling automatic passage in HIL mode when starting krobot-hil-simulator

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

Changes:
diff --git a/info/control2011/src/tools/krobot_hil_simulator.ml b/info/control2011/src/tools/krobot_hil_simulator.ml
index 57e9105..10881c0 100644
--- a/info/control2011/src/tools/krobot_hil_simulator.ml
+++ b/info/control2011/src/tools/krobot_hil_simulator.ml
@@ -122,7 +122,7 @@ lwt () =
                 return ())
        (Krobot_message.recv bus));
 
-(*  lwt () = Krobot_message.send bus (Unix.gettimeofday (), Set_controller_mode true) in*)
+  lwt () = Krobot_message.send bus (Unix.gettimeofday (), Set_controller_mode true) in
 
   while_lwt true do
     let time = Unix.gettimeofday () in
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 7406bc0..91ac856 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -641,6 +641,11 @@ module Board = struct
                    board.ui#beacon_period#set_text (string_of_float period);
                    queue_draw board
                  end
+             | Set_controller_mode (hil) ->
+               if hil then
+                 board.ui#menu_mode_hil#set_active true
+               else
+                 board.ui#menu_mode_normal#set_active true
              | _ ->
                  ())
         (Krobot_message.recv bus)
@@ -771,6 +776,28 @@ lwt () =
           end;
           false));
 
+  ignore
+    (ui#menu_mode_normal#event#connect#button_release
+       (fun ev ->
+          if GdkEvent.Button.button ev = 1 then
+            ignore_result (
+              Krobot_message.send bus
+                (Unix.gettimeofday (),
+                 Set_controller_mode false)
+            );
+          false));
+
+  ignore
+    (ui#menu_mode_hil#event#connect#button_release
+       (fun ev ->
+          if GdkEvent.Button.button ev = 1 then
+            ignore_result (
+              Krobot_message.send bus
+                (Unix.gettimeofday (),
+                 Set_controller_mode true)
+            );
+          false));
+
   pick [
     waiter;
     (* Sends motor status request continously. *)
diff --git a/info/control2011/src/tools/krobot_viewer_ui.glade b/info/control2011/src/tools/krobot_viewer_ui.glade
index 485278d..c1cf4e5 100644
--- a/info/control2011/src/tools/krobot_viewer_ui.glade
+++ b/info/control2011/src/tools/krobot_viewer_ui.glade
@@ -121,6 +121,37 @@
               </widget>
             </child>
             <child>
+              <widget class="GtkMenuItem" id="menu_mode">
+                <property name="visible">True</property>
+                <property name="label" translatable="yes">_Mode</property>
+                <property name="use_underline">True</property>
+                <child>
+                  <widget class="GtkMenu" id="menu4">
+                    <property name="visible">True</property>
+                    <child>
+                      <widget class="GtkRadioMenuItem" id="menu_mode_normal">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">_Normal</property>
+                        <property name="use_underline">True</property>
+                        <property name="active">True</property>
+                        <property name="draw_as_radio">True</property>
+                        <property name="group">menu_mode_hil</property>
+                      </widget>
+                    </child>
+                    <child>
+                      <widget class="GtkRadioMenuItem" id="menu_mode_hil">
+                        <property name="visible">True</property>
+                        <property name="label" translatable="yes">_HIL</property>
+                        <property name="use_underline">True</property>
+                        <property name="draw_as_radio">True</property>
+                        <property name="group">menu_mode_normal</property>
+                      </widget>
+                    </child>
+                  </widget>
+                </child>
+              </widget>
+            </child>
+            <child>
               <widget class="GtkMenuItem" id="menuitem4">
                 <property name="visible">True</property>
                 <property name="label" translatable="yes">Aid_e</property>


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