pip/libs/main/io_devices/pigpio.cpp

/*
	PIP - Platform Independent Primitives
	GPIO
	Andrey Bychkov work.a.b@yandex.ru, Ivan Pelipenko peri4ko@yandex.ru

	This program is free software: you can redistribute it and/or modify
	it under the terms of the GNU Lesser General Public License as published by
	the Free Software Foundation, either version 3 of the License, or
	(at your option) any later version.

	This program is distributed in the hope that it will be useful,
	but WITHOUT ANY WARRANTY; without even the implied warranty of
	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
	GNU Lesser General Public License for more details.

	You should have received a copy of the GNU Lesser General Public License
	along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#include "pigpio.h"
#ifdef LINUX
#  define GPIO_SYS_CLASS
#endif
#ifdef GPIO_SYS_CLASS
#  include <fcntl.h>
#  include <unistd.h>
#  include <cstdlib>
#endif


/*! \class PIGPIO
 * @brief GPIO support
 *
 * \section PIGPIO_sec0 Synopsis
 * This class provide initialize, get/set and watch functions for GPIO.
 *
 * Currently supported only \"/sys/class/gpio\" mechanism on Linux.
 *
 * This class should be used with \a PIGPIO::instance() singleton.
 *
 *
 *
 * \section PIGPIO_sec1 API
 * There are several function to directly read or write pin states.
 *
 * Also you can start %PIGPIO as thread to watch pin states and receive
 * \a pinChanged() event.
 *
 */


PIGPIO::PIGPIO(): PIThread() {
}


PIGPIO::~PIGPIO() {
	stop();
	waitForFinish(100);
	PIMutexLocker ml(mutex);
#ifdef GPIO_SYS_CLASS
	PIVector<int> ids = gpio_.keys();
	for(int i = 0; i < ids.size_s(); i++) {
		GPIOData & g(gpio_[ids[i]]);
		if (g.fd != -1) {
			::close(g.fd);
			g.fd = -1;
		}
	}
	gpio_.clear();
#endif
}


PIGPIO * PIGPIO::instance() {
	static PIGPIO ret;
	return &ret;
}



PIString PIGPIO::GPIOName(int gpio_num) {
	return PIStringAscii("gpio") + PIString::fromNumber(gpio_num);
}


void PIGPIO::exportGPIO(int gpio_num) {
#ifdef GPIO_SYS_CLASS
	PIString valfile = "/sys/class/gpio/" + GPIOName(gpio_num) + "/value";
	int fd = ::open(valfile.dataAscii(), O_RDONLY);
	if (fd != -1) {
		::close(fd);
		return;
	}
	int ret = 0;
	ret = system(PIString("echo " + PIString::fromNumber(gpio_num) + " >> /sys/class/gpio/export").dataAscii());
	if (ret == 0) {
		PITimeMeasurer tm;
		while (tm.elapsed_s() < 1.) {
			fd = ::open(valfile.dataAscii(), O_RDWR);
			if (fd != -1) {
				::close(fd);
				return;
			}
			piMSleep(1);
		}
	}
#endif
}


void PIGPIO::openGPIO(GPIOData & g) {
#ifdef GPIO_SYS_CLASS
	if (g.fd != -1) {
		::close(g.fd);
		g.fd = -1;
	}
	PIString fp = "/sys/class/gpio/" + g.name + "/value";
	g.fd = ::open(fp.dataAscii(), O_RDWR);
	//piCoutObj << "initGPIO" << g.num << ":"  << fp << g.fd << errorString();
#endif
}


bool PIGPIO::getPinState(int gpio_num) {
#ifdef GPIO_SYS_CLASS
	GPIOData & g(gpio_[gpio_num]);
	char r = 0;
	int ret = 0;
	if (g.fd != -1) {
		::lseek(g.fd, 0, SEEK_SET);
		ret = ::read(g.fd, &r, sizeof(r));
		if (ret > 0) {
			if (r == '1') return true;
			if (r == '0') return false;
		}
	}
	//piCoutObj << "pinState" << gpio_num << ":" << ret << (int)r << errorString();
#endif
	return false;
}


void PIGPIO::begin() {
	PIMutexLocker ml(mutex);
	if (watch_state.isEmpty()) return;
	PIVector<int> ids = watch_state.keys();
	for(int i = 0; i < ids.size_s(); i++) {
		GPIOData & g(gpio_[ids[i]]);
		if (g.num != -1 && !g.name.isEmpty()) {
			openGPIO(g);
			watch_state[ids[i]] = getPinState(ids[i]);
		}
	}
}


void PIGPIO::run() {
	PIMutexLocker ml(mutex);
	if (watch_state.isEmpty()) return;
	PIVector<int> ids = watch_state.keys();
	for(int i = 0; i < ids.size_s(); i++) {
		GPIOData & g(gpio_[ids[i]]);
		if (g.num != -1 && !g.name.isEmpty()) {
			bool v = getPinState(g.num);
			//piCoutObj << "*** pin state ***" << ids[i] << "=" << v;
			if (watch_state[g.num] != v) {
				watch_state[g.num] = v;
				pinChanged(g.num, v);
			}
		}
	}
}


void PIGPIO::end() {
	PIMutexLocker ml(mutex);
	if (watch_state.isEmpty()) return;
	PIVector<int> ids = watch_state.keys();
	for(int i = 0; i < ids.size_s(); i++) {
		GPIOData & g(gpio_[ids[i]]);
		if (g.fd != -1) {
#ifdef GPIO_SYS_CLASS
			::close(g.fd);
#endif
			g.fd = -1;
		}
	}
}


void PIGPIO::initPin(int gpio_num, Direction dir) {
#ifdef GPIO_SYS_CLASS
	PIMutexLocker ml(mutex);
	GPIOData & g(gpio_[gpio_num]);
	if (g.num == -1) {
		g.num = gpio_num;
		g.name = GPIOName(gpio_num);
		exportGPIO(gpio_num);
	}
	g.dir = dir;
	int ret = 0;
	switch(dir) {
	case In:
		ret = system(("echo in >> /sys/class/gpio/" + g.name + "/direction").dataAscii());
		break;
	case Out:
		ret = system(("echo out >> /sys/class/gpio/" + g.name + "/direction").dataAscii());
		break;
	default: break;
	}
	openGPIO(g);
#endif
}


void PIGPIO::pinSet(int gpio_num, bool value) {
#ifdef GPIO_SYS_CLASS
	PIMutexLocker ml(mutex);
	GPIOData & g(gpio_[gpio_num]);
	int ret = 0;
	if (g.fd != -1) {
		if (value) ret = ::write(g.fd, "1", 1);
		else ret = ::write(g.fd, "0", 1);
	}
	//piCoutObj << "pinSet" << gpio_num << ":" << ret << errorString();
#endif
}


bool PIGPIO::pinState(int gpio_num) {
	PIMutexLocker ml(mutex);
	return getPinState(gpio_num);
}


void PIGPIO::pinBeginWatch(int gpio_num) {
	PIMutexLocker ml(mutex);
	GPIOData & g(gpio_[gpio_num]);
	if (g.fd != -1) {
#ifdef GPIO_SYS_CLASS
		::close(g.fd);
#endif
		g.fd = -1;
	}
	watch_state.insert(gpio_num, false);
}


void PIGPIO::pinEndWatch(int gpio_num) {
	PIMutexLocker ml(mutex);
	watch_state.remove(gpio_num);
}


void PIGPIO::clearWatch() {
	PIMutexLocker ml(mutex);
	watch_state.clear();
}


#ifdef __GNUC__
#  pragma GCC diagnostic pop
#endif