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[Krobot-commits] [SCM] krobot branch, master, updated. b64fde9d0632479d027d3ebba220d7de086b645a
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From: Pierre C. <Ba...@us...> - 2012-04-25 23:07:49
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the project "krobot".
The branch, master has been updated
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from f089f8fedd909a0c41a4fe75fc52e2584b31f7f1 (commit)
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- Log -----------------------------------------------------------------
commit b64fde9d0632479d027d3ebba220d7de086b645a
Author: chicco <cha...@cr...>
Date: Thu Apr 26 01:02:25 2012 +0200
[krobot_dump_ax12] small tool to record ax12 positions
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index 08eb04c..7409387 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -222,12 +222,18 @@ Executable "krobot-can-display"
Executable "krobot-ax12-control"
Path: src/tools
- Build$: flag(gtk)
- Install$: flag(gtk)
+ Install: true
CompiledObject: best
MainIs: krobot_ax12_control.ml
BuildDepends: krobot.can, lwt.syntax
+Executable "krobot-dump-ax12"
+ Path: src/tools
+ Install: true
+ CompiledObject: best
+ MainIs: krobot_dump_ax12.ml
+ BuildDepends: krobot.can, lwt.syntax
+
# +-------------------------------------------------------------------+
# | Examples |
# +-------------------------------------------------------------------+
diff --git a/info/control2011/_tags b/info/control2011/_tags
index b45f0f4..3049ac4 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
<src/interfaces/*.ml>: -syntax_camlp4o
# OASIS_START
-# DO NOT EDIT (digest: 3852a61af000802215e40b6ad6830d71)
+# DO NOT EDIT (digest: 77bb0a0cf22171b21400c7924cce86fe)
# 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
@@ -91,10 +91,6 @@
<src/tools/krobot_ax12_control.{native,byte}>: pkg_lwt.syntax
<src/tools/krobot_ax12_control.{native,byte}>: pkg_lwt.react
<src/tools/krobot_ax12_control.{native,byte}>: pkg_bitstring
-<src/tools/*.ml{,i}>: use_krobot-can
-<src/tools/*.ml{,i}>: pkg_sexplib.syntax
-<src/tools/*.ml{,i}>: pkg_sexplib
-<src/tools/*.ml{,i}>: pkg_bitstring
# Executable krobot-viewer
<src/tools/krobot_viewer.{native,byte}>: use_krobot
<src/tools/krobot_viewer.{native,byte}>: pkg_lwt.unix
@@ -185,6 +181,19 @@
<src/tools/krobot_plot.{native,byte}>: pkg_cairo.lablgtk2
<src/tools/*.ml{,i}>: pkg_lwt.glib
<src/tools/*.ml{,i}>: pkg_cairo.lablgtk2
+# Executable krobot-dump-ax12
+<src/tools/krobot_dump_ax12.{native,byte}>: use_krobot-can
+<src/tools/krobot_dump_ax12.{native,byte}>: use_krobot
+<src/tools/krobot_dump_ax12.{native,byte}>: pkg_sexplib.syntax
+<src/tools/krobot_dump_ax12.{native,byte}>: pkg_sexplib
+<src/tools/krobot_dump_ax12.{native,byte}>: pkg_lwt.unix
+<src/tools/krobot_dump_ax12.{native,byte}>: pkg_lwt.syntax
+<src/tools/krobot_dump_ax12.{native,byte}>: pkg_lwt.react
+<src/tools/krobot_dump_ax12.{native,byte}>: pkg_bitstring
+<src/tools/*.ml{,i}>: use_krobot-can
+<src/tools/*.ml{,i}>: pkg_sexplib.syntax
+<src/tools/*.ml{,i}>: pkg_sexplib
+<src/tools/*.ml{,i}>: pkg_bitstring
# Executable krobot-dump
<src/tools/krobot_dump.{native,byte}>: use_krobot
<src/tools/krobot_dump.{native,byte}>: pkg_lwt.unix
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index e2a975d..ef14fdf 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: ebf28739fe9d63028b7611d27a835a73) *)
+(* DO NOT EDIT (digest: 3f1f69c4008e4511460ad8227132b513) *)
(*
Regenerated by OASIS v0.3.0~rc3
Visit http://oasis.forge.ocamlcore.org for more information and
@@ -5575,16 +5575,8 @@ let setup_t =
cs_plugin_data = [];
},
{
- bs_build =
- [
- (OASISExpr.EBool true, false);
- (OASISExpr.EFlag "gtk", true)
- ];
- bs_install =
- [
- (OASISExpr.EBool true, false);
- (OASISExpr.EFlag "gtk", true)
- ];
+ bs_build = [(OASISExpr.EBool true, true)];
+ bs_install = [(OASISExpr.EBool true, true)];
bs_path = "src/tools";
bs_compiled_object = Best;
bs_build_depends =
@@ -6053,6 +6045,36 @@ let setup_t =
{exec_custom = false; exec_main_is = "krobot_plot.ml"; });
Executable
({
+ cs_name = "krobot-dump-ax12";
+ 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-can";
+ 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_dump_ax12.ml";
+ });
+ Executable
+ ({
cs_name = "krobot-dump";
cs_data = PropList.Data.create ();
cs_plugin_data = [];
@@ -6143,13 +6165,13 @@ let setup_t =
};
oasis_fn = Some "_oasis";
oasis_version = "0.3.0~rc3";
- oasis_digest = Some "\252#\185\030(\181\232\r\160\214B\172\240o\156_";
+ oasis_digest = Some "q\1674\179\017\0115F\190\024gsXI=$";
oasis_exec = None;
oasis_setup_args = [];
};;
let setup () = BaseSetup.setup setup_t;;
-# 6154 "setup.ml"
+# 6176 "setup.ml"
(* OASIS_STOP *)
let () = setup ();;
diff --git a/info/control2011/src/tools/krobot_dump_ax12.ml b/info/control2011/src/tools/krobot_dump_ax12.ml
new file mode 100644
index 0000000..8b95a5e
--- /dev/null
+++ b/info/control2011/src/tools/krobot_dump_ax12.ml
@@ -0,0 +1,52 @@
+open Krobot_bus
+open Krobot_message
+open Lwt_react
+
+lwt bus = Krobot_bus.get ()
+
+type ax12_info =
+ { id : int;
+ pos : int;
+ speed : int;
+ torque : int;
+ time : float }
+
+module IntMap = Map.Make(struct type t = int let compare = compare end)
+
+let previous = ref IntMap.empty
+let is_previous info =
+ try
+ let v = IntMap.find info.id !previous in
+ (v.pos,v.speed) = (info.pos,info.speed)
+ with
+ | Not_found -> false
+
+let print_info ({ id; pos; speed; torque; time } as info) =
+ previous := IntMap.add id info !previous;
+ Printf.printf "id %i,pos %i, speed %i, torque %i, time %f\n%!" id pos speed torque time
+
+let log () =
+ E.keep
+ (E.map
+ (fun (time, message) ->
+ match message with
+ | CAN(_, frame) ->
+ begin
+ match Krobot_message.decode frame with
+ | Ax12_State (id,pos,speed,torque) ->
+ let info = { id;pos;speed;torque;time } in
+ if not (is_previous info)
+ then print_info info
+ | _ -> ()
+ end
+ | _ -> ())
+ (Krobot_bus.recv bus))
+
+let rec loop_request () =
+ lwt () = Lwt_unix.sleep 0.01 in
+ lwt () = Lwt_list.iter_s (fun i -> Krobot_bus.send bus (Unix.gettimeofday (), CAN (Info, Krobot_message.encode (Ax12_Request_State i)))) [2;3] in
+ loop_request ()
+
+let t = loop_request ()
+let () = log ()
+lwt () = fst (Lwt.wait ())
hooks/post-receive
--
krobot
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