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[Krobot-commits] [SCM] krobot branch, master, updated. 23679818e579d02c51823757eac4e73395bfacbd
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From: Jérémie D. <Ba...@us...> - 2011-05-29 15:28:32
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- Log -----------------------------------------------------------------
commit 23679818e579d02c51823757eac4e73395bfacbd
Author: Jérémie Dimino <je...@di...>
Date: Sun May 29 17:27:54 2011 +0200
[info] keep krobot-objects for testing
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index f75063a..337a6f5 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -155,6 +155,13 @@ Executable "krobot-planner"
MainIs: krobot_planner.ml
BuildDepends: krobot, lwt.syntax, ocamlgraph
+Executable "krobot-objects"
+ Path: src/tools
+ Install: true
+ CompiledObject: best
+ MainIs: krobot_objects.ml
+ BuildDepends: krobot, lwt.syntax
+
Executable "krobot-webcam"
Path: src/tools
Install: true
diff --git a/info/control2011/_tags b/info/control2011/_tags
index f229535..14d98e6 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
<src/interfaces/*.ml>: -syntax_camlp4o
# OASIS_START
-# DO NOT EDIT (digest: 658e3c296fe6ed07c286a18053ad18f1)
+# DO NOT EDIT (digest: 2b0a35e51cf2e902c1aae093db385268)
# Ignore VCS directories, you can use the same kind of rule outside
# OASIS_START/STOP if you want to exclude directories that contains
# useless stuff for the build process
@@ -97,6 +97,11 @@
<src/tools/krobot_webcam.{native,byte}>: pkg_lwt.unix
<src/tools/krobot_webcam.{native,byte}>: pkg_lwt.syntax
<src/tools/krobot_webcam.{native,byte}>: pkg_lwt.react
+# Executable krobot-objects
+<src/tools/krobot_objects.{native,byte}>: use_krobot
+<src/tools/krobot_objects.{native,byte}>: pkg_lwt.unix
+<src/tools/krobot_objects.{native,byte}>: pkg_lwt.syntax
+<src/tools/krobot_objects.{native,byte}>: pkg_lwt.react
# Executable krobot-replay
<src/tools/krobot_replay.{native,byte}>: use_krobot
<src/tools/krobot_replay.{native,byte}>: pkg_lwt.unix
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index 1270096..b4b7d73 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: 9b4431568a1901300432755d30aeb373) *)
+(* DO NOT EDIT (digest: 710ef41bf3f100a1f1ecd818da6623e3) *)
(*
Regenerated by OASIS v0.2.1~alpha1
Visit http://oasis.forge.ocamlcore.org for more information and
@@ -5388,6 +5388,34 @@ let setup_t =
{exec_custom = false; exec_main_is = "krobot_webcam.ml"; });
Executable
({
+ cs_name = "krobot-objects";
+ cs_data = PropList.Data.create ();
+ cs_plugin_data = [];
+ },
+ {
+ bs_build = [(OASISExpr.EBool true, true)];
+ bs_install = [(OASISExpr.EBool true, true)];
+ bs_path = "src/tools";
+ bs_compiled_object = Best;
+ bs_build_depends =
+ [
+ InternalLibrary "krobot";
+ FindlibPackage ("lwt.syntax", None)
+ ];
+ bs_build_tools = [ExternalTool "ocamlbuild"];
+ bs_c_sources = [];
+ bs_data_files = [];
+ bs_ccopt = [(OASISExpr.EBool true, [])];
+ bs_cclib = [(OASISExpr.EBool true, [])];
+ bs_dlllib = [(OASISExpr.EBool true, [])];
+ bs_dllpath = [(OASISExpr.EBool true, [])];
+ bs_byteopt = [(OASISExpr.EBool true, [])];
+ bs_nativeopt = [(OASISExpr.EBool true, [])];
+ },
+ {exec_custom = false; exec_main_is = "krobot_objects.ml";
+ });
+ Executable
+ ({
cs_name = "krobot-replay";
cs_data = PropList.Data.create ();
cs_plugin_data = [];
diff --git a/info/control2011/src/tools/krobot_objects.ml b/info/control2011/src/tools/krobot_objects.ml
new file mode 100644
index 0000000..0c2d681
--- /dev/null
+++ b/info/control2011/src/tools/krobot_objects.ml
@@ -0,0 +1,115 @@
+(*
+ * krobot_objects.ml
+ * -----------------
+ * Copyright : (c) 2011, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(* Service handling the position of the objects on the board. *)
+
+open Lwt
+open Lwt_react
+open Krobot_bus
+open Krobot_geom
+
+let section = Lwt_log.Section.make "krobot(objects)"
+
+(* +-----------------------------------------------------------------+
+ | Types |
+ +-----------------------------------------------------------------+ *)
+
+type objects = {
+ bus : Krobot_bus.t;
+ (* The message bus used to communicate with the robot. *)
+
+ mutable objects : vertice list;
+ (* The list of objects on the board. *)
+}
+
+(* +-----------------------------------------------------------------+
+ | Message handling |
+ +-----------------------------------------------------------------+ *)
+
+let handle_message objects (timestamp, message) =
+ match message with
+ | Kill "objects" ->
+ exit 0
+
+ | Send ->
+ ignore (
+ let ts = Unix.gettimeofday () in
+ Krobot_bus.send objects.bus (ts, Objects objects.objects)
+ )
+
+ | _ ->
+ ()
+
+(* +-----------------------------------------------------------------+
+ | Command-line arguments |
+ +-----------------------------------------------------------------+ *)
+
+let fork = ref true
+
+let options = Arg.align [
+ "-no-fork", Arg.Clear fork, " Run in foreground";
+]
+
+let usage = "\
+Usage: krobot-planner [options]
+options are:"
+
+(* +-----------------------------------------------------------------+
+ | Entry point |
+ +-----------------------------------------------------------------+ *)
+
+lwt () =
+ Arg.parse options ignore usage;
+
+ (* Display all informative messages. *)
+ Lwt_log.append_rule "*" Lwt_log.Info;
+
+ (* Open the krobot bus. *)
+ lwt bus = Krobot_bus.get () in
+
+ (* Fork if not prevented. *)
+ if !fork then Lwt_daemon.daemonize ();
+
+ (* Kill any running planner. *)
+ lwt () = Krobot_bus.send bus (Unix.gettimeofday (), Krobot_bus.Kill "objects") in
+
+ (* Create a new planner. *)
+ let objects = {
+ bus;
+ objects = [
+ { x = 0.800; y = 0.350 };
+ { x = 1.150; y = 0.350 };
+ { x = 1.850; y = 0.350 };
+ { x = 2.200; y = 0.350 };
+ { x = 1.500; y = 1.050 };
+ { x = 0.800; y = 1.400 };
+ { x = 2.200; y = 1.400 };
+ { x = 1.150; y = 1.750 };
+ { x = 1.850; y = 1.750 };
+ { x = 0.200; y = 0.290 };
+ { x = 0.200; y = 0.570 };
+ { x = 0.200; y = 0.850 };
+ { x = 0.200; y = 1.130 };
+ { x = 0.200; y = 1.410 };
+ { x = 2.800; y = 0.290 };
+ { x = 2.800; y = 0.570 };
+ { x = 2.800; y = 0.850 };
+ { x = 2.800; y = 1.130 };
+ { x = 2.800; y = 1.410 };
+ ];
+ } in
+
+ (* Handle krobot message. *)
+ E.keep (E.map (handle_message objects) (Krobot_bus.recv bus));
+
+ (* Sends initial objects. *)
+ lwt () = Krobot_bus.send objects.bus (Unix.gettimeofday (), Objects objects.objects) in
+
+ (* Wait forever. *)
+ fst (wait ())
hooks/post-receive
--
krobot
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