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[Krobot-commits] [SCM] krobot branch, master, updated. db4524176b7945fb99beaf8d3f7c306d1bd461cf
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From: Xavier L. <Ba...@us...> - 2013-04-17 16:05:56
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- Log -----------------------------------------------------------------
commit db4524176b7945fb99beaf8d3f7c306d1bd461cf
Author: Xavier Lagorce <Xav...@cr...>
Date: Wed Apr 17 18:06:38 2013 +0200
[info/krobot-io-simulator] First minimal versio of the input/output simulator
(with a skeleton for Urg data simulation)
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index fb0111d..be457fb 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -183,6 +183,13 @@ Executable "krobot-mc-simulator"
MainIs: krobot_mc_simulator.ml
BuildDepends: krobot, lwt.syntax
+Executable "krobot-io-simulator"
+ Path: src/tools
+ Install: true
+ CompiledObject: best
+ MainIs: krobot_io_simulator.ml
+ BuildDepends: krobot, lwt.syntax
+
Executable "krobot-planner"
Path: src/tools
Install: true
diff --git a/info/control2011/_tags b/info/control2011/_tags
index 4b665fc..9af45e4 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
<src/interfaces/*.ml>: -syntax_camlp4o
# OASIS_START
-# DO NOT EDIT (digest: 68e14c8d43423b2050fb1cf67d1938cc)
+# DO NOT EDIT (digest: 44c1536155bea156ff4e324744cffda8)
# Library krobot
"src/lib": include
<src/lib/krobot.{cma,cmxa}>: use_libkrobot
@@ -260,6 +260,11 @@
<src/tools/krobot_homologation.{native,byte}>: pkg_lwt.unix
<src/tools/krobot_homologation.{native,byte}>: pkg_lwt.syntax
<src/tools/krobot_homologation.{native,byte}>: pkg_lwt.react
+# Executable krobot-io-simulator
+<src/tools/krobot_io_simulator.{native,byte}>: use_krobot
+<src/tools/krobot_io_simulator.{native,byte}>: pkg_lwt.unix
+<src/tools/krobot_io_simulator.{native,byte}>: pkg_lwt.syntax
+<src/tools/krobot_io_simulator.{native,byte}>: pkg_lwt.react
# Executable krobot-pet
<src/tools/krobot_pet.{native,byte}>: use_krobot
<src/tools/krobot_pet.{native,byte}>: pkg_lwt.unix
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index 18934ac..2b5c6f0 100644
--- a/info/control2011/setup.ml
+++ b/info/control2011/setup.ml
@@ -8,7 +8,7 @@
*)
(* OASIS_START *)
-(* DO NOT EDIT (digest: 868e08593bf53c96a1f79923d193b872) *)
+(* DO NOT EDIT (digest: bf059af587069cdcfbcb6e820bb05831) *)
(*
Regenerated by OASIS v0.2.0
Visit http://oasis.forge.ocamlcore.org for more information and
@@ -6226,6 +6226,36 @@ let setup_t =
});
Executable
({
+ cs_name = "krobot-io-simulator";
+ 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_io_simulator.ml";
+ });
+ Executable
+ ({
cs_name = "krobot-pet";
cs_data = PropList.Data.create ();
cs_plugin_data = [];
diff --git a/info/control2011/src/tools/krobot_io_simulator.ml b/info/control2011/src/tools/krobot_io_simulator.ml
new file mode 100644
index 0000000..9c37c01
--- /dev/null
+++ b/info/control2011/src/tools/krobot_io_simulator.ml
@@ -0,0 +1,116 @@
+(*
+ * krobot_io_simulator.ml
+ * ----------------
+ * Copyright : (c) 2013, Xavier Lagorce <Xav...@cr...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(* Service simulating all inputs/outputs from the robot *)
+
+open Lwt
+open Lwt_react
+open Lwt_preemptive
+open Krobot_bus
+open Krobot_message
+open Krobot_geom
+
+let section = Lwt_log.Section.make "krobot(io_simulator)"
+
+(* +-----------------------------------------------------------------+
+ | Types |
+ +-----------------------------------------------------------------+ *)
+
+(* State of the robot. *)
+type state = {
+ s_x : float;
+ s_y : float;
+ theta : float;
+}
+
+let robot = ref { s_x = 0.; s_y = 0.; theta = 0.}
+
+(* +-----------------------------------------------------------------+
+ | read/send loop |
+ +-----------------------------------------------------------------+ *)
+
+let gen_data robot =
+ let dim = Array.length Krobot_config.urg_angles in
+ let l = ref [] in
+ for i = 0 to dim - 1 do
+ let angle = Krobot_config.urg_angles.(i) in
+ let x = 1. *. cos angle in
+ let y = 1. *. sin angle in
+ l := {x;y} :: !l
+ done;
+ Array.of_list !l
+
+let loop bus =
+ let rec aux () =
+ let time = Unix.gettimeofday () in
+ let msg = Urg (gen_data robot) in
+ lwt () = Krobot_bus.send bus (time, msg) in
+ lwt () = Lwt_unix.sleep 0.01 in
+ aux () in
+ aux ()
+
+(* +-----------------------------------------------------------------+
+ | Message handling |
+ +-----------------------------------------------------------------+ *)
+
+let handle_message (timestamp, message) =
+ match message with
+ | Kill "io_simulator" ->
+ exit 0
+ | CAN(_, frame) -> begin
+ match decode frame with
+ | Odometry(x, y, theta) ->
+ robot := { s_x = x; s_y = y; theta }
+ | _ ->
+ ()
+ end
+ | _ ->
+ ()
+
+(* +-----------------------------------------------------------------+
+ | Command-line arguments |
+ +-----------------------------------------------------------------+ *)
+
+let fork = ref true
+
+let options = Arg.align [
+ "-no-fork", Arg.Clear fork, " Run in foreground";
+]
+
+let usage = "\
+Usage: krobot-io-simulator [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 Krobot_daemon.daemonize bus;
+
+ (* Handle krobot message. *)
+ E.keep (E.map (handle_message) (Krobot_bus.recv bus));
+
+ (* Kill any running io_simulator. *)
+ lwt () = Krobot_bus.send bus (Unix.gettimeofday (), Krobot_bus.Kill "io_simulator") in
+
+ (* Wait a bit to let the other handler release the connection *)
+ lwt () = Lwt_unix.sleep 0.4 in
+
+ (* Loop forever. *)
+ Lwt_unix.run (loop bus)
hooks/post-receive
--
krobot
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