[Krobot-commits] [SCM] krobot branch, master, updated. a66675c38188c8ce812898d3d4865d53294c7be6

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- Log -----------------------------------------------------------------
commit a66675c38188c8ce812898d3d4865d53294c7be6
Author: chicco <cha...@cr...>
Date:   Tue May 15 17:34:06 2012 +0200

    [control] krobot_vm set the led according to the team, some packets doc

commit ea47bc225093a0f6c9c0534c4177d74036f11966
Author: chicco <cha...@cr...>
Date:   Tue May 15 15:45:55 2012 +0200

    [krobot_viewer] reduce line size

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

Changes:

diff --git a/info/control2011/src/lib/krobot_message.mli b/info/control2011/src/lib/krobot_message.mli
index a071772..752e937 100644
--- a/info/control2011/src/lib/krobot_message.mli
+++ b/info/control2011/src/lib/krobot_message.mli
@@ -23,11 +23,18 @@ type t =
   | Beacon_lowlevel_position of float * float * int
       (** The position of the beacon as internally stored (for calibration) *)
   | Switch1_status of bool * bool * bool * bool * bool * bool * bool * bool
-      (** The status of the first 8 switches *)
+      (** The status of the first 8 switches
+          1 : start
+          2 : team
+          3 : emergency stop *)
   | Switch2_status of bool * bool * bool * bool * bool * bool * bool * bool
       (** The status of the other 8 switches *)
   | Switch_request of int * bool
-      (** A request to switch something on/off *)
+      (** A request to switch something on/off
+          4 : buzzer
+          5 : yellow led
+          6 : red led
+          7 : green led *)
   | Adc1_values of int * int * int * int
       (** The values of the first 4 ADCs *)
   | Adc2_values of int * int * int * int
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 92af2d6..c7453b7 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -78,11 +78,11 @@ let set_color ctx color =
   let r, g, b = match color with
     | Black -> (0., 0., 0.)
     | White -> (255., 255., 255.)
-    | Green -> (36., 145., 64.)
-    | Red -> (199., 23., 18.)
-    | Blue -> (0., 59., 128.)
-    | Yellow -> (252., 189., 31.)
-    | Purple -> (128., 0., 128.)
+    | Green -> (36., 200., 64.)
+    | Red -> (220., 23., 18.)
+    | Blue -> (20., 80., 170.)
+    | Yellow -> (232., 232., 0.)
+    | Purple -> (180., 0., 128.)
     | Brown -> (175., 89., 67.)
   in
   Cairo.set_source_rgb ctx (r /. 255.) (g /. 255.) (b /. 255.)
@@ -124,21 +124,27 @@ let draw viewer =
 
   (* Draw beacon supports *)
   Cairo.rectangle ctx (-0.102) (-0.102) 0.08 0.08;
+  set_color ctx Purple;
   Cairo.fill ctx;
 
   Cairo.rectangle ctx (-0.102) (world_height /. 2. -. 0.04) 0.08 0.08;
+  set_color ctx Red;
   Cairo.fill ctx;
 
   Cairo.rectangle ctx (-0.102) (world_height +. 0.022) 0.08 0.08;
+  set_color ctx Purple;
   Cairo.fill ctx;
 
   Cairo.rectangle ctx (world_width +. 0.022) (-0.102) 0.08 0.08;
+  set_color ctx Red;
   Cairo.fill ctx;
 
   Cairo.rectangle ctx (world_width +. 0.022) (world_height /. 2. -. 0.04) 0.08 0.08;
+  set_color ctx Purple;
   Cairo.fill ctx;
 
   Cairo.rectangle ctx (world_width +. 0.022) (world_height +. 0.022) 0.08 0.08;
+  set_color ctx Red;
   Cairo.fill ctx;
 
   (* Draw the viewer background *)
@@ -169,6 +175,7 @@ let draw viewer =
   set_color ctx Black;
   Cairo.set_line_width ctx (5. /. scale);
   Cairo.stroke ctx;
+  Cairo.set_line_width ctx (1. /. scale);
 
   (* draw the homes *)
   Cairo.move_to ctx 0. 0.;
@@ -228,6 +235,30 @@ let draw viewer =
   set_color ctx Green;
   Cairo.fill ctx;
 
+  Cairo.rectangle ctx (0.64 +. 0.477 -. 0.125) (1. -. 0.125) 0.25 0.25;
+  set_color ctx Brown;
+  Cairo.fill ctx;
+
+  Cairo.rectangle ctx (world_width -. (0.64 +. 0.477 +. 0.125)) (1. -. 0.125) 0.25 0.25;
+  set_color ctx Brown;
+  Cairo.fill ctx;
+
+  Cairo.rectangle ctx 0.54 (-.0.1) 0.2 0.1;
+  set_color ctx Purple;
+  Cairo.fill ctx;
+
+  Cairo.rectangle ctx (0.54 +. 0.47)  (-.0.1) 0.2 0.1;
+  set_color ctx Red;
+  Cairo.fill ctx;
+
+  Cairo.rectangle ctx (world_width -. 0.74) (-.0.1) 0.2 0.1;
+  set_color ctx Red;
+  Cairo.fill ctx;
+
+  Cairo.rectangle ctx (world_width -. (0.74 +. 0.47))  (-.0.1) 0.2 0.1;
+  set_color ctx Purple;
+  Cairo.fill ctx;
+
   (* Draw objects *)
   List.iter
     (fun { x; y } ->
diff --git a/info/control2011/src/tools/krobot_vm.ml b/info/control2011/src/tools/krobot_vm.ml
index 9a67034..32d541a 100644
--- a/info/control2011/src/tools/krobot_vm.ml
+++ b/info/control2011/src/tools/krobot_vm.ml
@@ -79,6 +79,9 @@ type robot = {
   mutable team : [ `Red | `Blue ];
   (* The state of the team selector. *)
 
+  mutable emergency_stop : bool;
+  (* The state of the emergency button. *)
+
   ax12_front_low_left : ax12;
   ax12_front_low_right : ax12;
   ax12_front_high_left : ax12;
@@ -94,6 +97,20 @@ type robot = {
    | Message handling                                                |
    +-----------------------------------------------------------------+ *)
 
+let update_team_led robot =
+  let m1,m2 =
+    if robot.team = `Red then
+      Switch_request(6,true), Switch_request(7,false)
+    else
+      Switch_request(6,false), Switch_request(7,true)
+  in
+  lwt () = Krobot_message.send robot.bus (Unix.gettimeofday (),m1) in
+  Krobot_message.send robot.bus (Unix.gettimeofday (), m2)
+
+let clear_team_led robot =
+  lwt () = Krobot_message.send robot.bus (Unix.gettimeofday (), Switch_request(6,false)) in
+  Krobot_message.send robot.bus (Unix.gettimeofday (), Switch_request(7,false))
+
 let handle_message robot (timestamp, message) =
   match message with
     | CAN(_, frame) -> begin
@@ -118,8 +135,11 @@ let handle_message robot (timestamp, message) =
               end else
                 robot.beacon <- None
 
-          | Switch1_status(b, _, _, _, _, _, _, _) ->
-              robot.jack <- not b
+          | Switch1_status(jack, team, emergency, _, _, _, _, _) ->
+              robot.jack <- not jack;
+              robot.team <- if team then `Red else `Blue;
+              robot.emergency_stop <- emergency;
+              ignore (update_team_led robot)
 
           | Ax12_State(id, position, speed, torque) -> begin
               let set ax12 =
@@ -481,6 +501,7 @@ lwt () =
     beacon = None;
     date_seen_beacon = 0.;
     team = `Red;
+    emergency_stop = false;
     ax12_front_low_left = { ax12_position = 0; ax12_speed = 0; ax12_torque = 0 };
     ax12_front_low_right = { ax12_position = 0; ax12_speed = 0; ax12_torque = 0 };
     ax12_front_high_left = { ax12_position = 0; ax12_speed = 0; ax12_torque = 0 };
@@ -491,6 +512,8 @@ lwt () =
     ax12_back_high_right = { ax12_position = 0; ax12_speed = 0; ax12_torque = 0 };
   } in
 
+  lwt () = clear_team_led robot in
+
   (* Handle krobot message. *)
   E.keep (E.map (handle_message robot) (Krobot_bus.recv bus));
 


hooks/post-receive
-- 
krobot


