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#include <distrio_helper.h>
#include <distrio_error.h>
#include <distrio_io.h>
#include <ace/Task.h>
#include <iostream>
#include <map>
#include <string>
#include <gpio.h>
#include <poll.h>
#include "ini.h"
#define MODULE_ID 1212
static void err (const char *s)
{
fprintf (stderr, s);
}
class GPIO : public Distrio_Digital_i {
public:
GPIO (std::string name, ::Distrio::Direction dir, gpio_pin _p) :
Distrio_Digital_i (name, dir) { p = _p; }
int update_input (void) {
gpio_value v;
int ret = gpio_get_value (&p, &v);
if (ret) {
std::cerr << "update gpio " << io_name << " failed: " << ret << std::endl;
return -1;
}
update_timestamp ();
if (val)
raise ();
else
fall ();
}
::Distrio::Error *set () {
if (gpio_set_value (&p, GPIO_HIGH))
return distrio_error (Distrio::E_NOTSUPPORTED,
Distrio::L_NORMAL,
MODULE_ID,
"set gpio failed");
update_timestamp ();
val = 1;
std::cout << "set" << std::endl;
return distrio_success ();
}
::Distrio::Error *reset () {
if (gpio_set_value (&p, GPIO_LOW))
return distrio_error (Distrio::E_NOTSUPPORTED,
Distrio::L_NORMAL,
MODULE_ID,
"reset gpio failed");
update_timestamp ();
val = 0;
std::cout << "reset" << std::endl;
return distrio_success ();
}
::Distrio::Error *get (::CORBA::Long_out value) {
value = val;
std::cout << "get" << std::endl;
return distrio_success ();
}
private:
gpio_pin p;
};
class Input_observer : public ACE_Task < ACE_MT_SYNCH > {
public:
Input_observer (std::map <int, GPIO *> _input_list) {
input_list = _input_list;
}
~Input_observer () { }
private:
std::map <int, GPIO *> input_list;
int svc (void) {
struct pollfd *fds = (struct pollfd *)
malloc (input_list.size () * sizeof (struct pollfd));
int fd_cnt = 0;
for (std::map <int, GPIO *> :: iterator it = input_list.begin ();
it != input_list.end ();
it++)
{
fds[fd_cnt].fd = it->first;
fds[fd_cnt].events = POLLPRI | POLLERR;
}
while (1) {
int pos = 0;
int ret = poll (fds, input_list.size (), -1);
while (ret > 0) {
if (fds [pos].revents) {
if (fds [pos].revents & POLLPRI)
input_list[pos]->update_input ();
ret--;
}
pos++;
if (pos > input_list.size ()) {
std::cerr << "fatal error in poll checker" << std::endl;
abort ();
}
}
}
}
};
ACE_TMAIN (int argc, ACE_TCHAR *argv[])
{
int ret = 0, num = 0, i = 0;
std::map<int, GPIO *> input_list;
std::list<GPIO *> output_list;
Input_observer *obs;
dictionary *d;
d = _iniparser_load (GPIO_CONFIG);
if (!d) {
err ("load inifile failed\n");
return -EINVAL;
}
num = _iniparser_getnsec (d);
if (!num) {
err ("no gpios configured, check config\n");
return -ENOMEM;
}
if (init_corba (argc, argv))
return -EINVAL;
if (run_orb ())
return -EINVAL;
for (i = 0; i < num; i++) {
GPIO *g;
gpio_pin p;
::Distrio::Direction dir;
char tmp [255];
int id;
int rising = 0, falling = 0;
int ret = -1;
char *direction;
char *name = _iniparser_getsecname (d, i);
sprintf (tmp, "%s:id", name);
id = _iniparser_getint (d, tmp, -1);
sprintf (tmp, "%s:direction", name);
direction = _iniparser_getstring (d, tmp, (char *) "unknown");
if (strcmp (direction, "in") == 0)
dir = ::Distrio::INPUT;
else
dir = ::Distrio::OUTPUT;
std::cout << " new gpio: " << id << ": " << name << std::endl;
if (dir == ::Distrio::OUTPUT)
ret = gpio_open_dir (&p, id, GPIO_OUT);
if (dir == ::Distrio::INPUT)
ret = gpio_open_dir (&p, id, GPIO_IN);
if (ret) {
std::cerr << "open gpio: " << id << ": " << name << "failed" << std::endl;
continue;
}
if (dir == ::Distrio::INPUT) {
sprintf (tmp, "%s:rising", name);
rising = _iniparser_getint (d, tmp, -1);
sprintf (tmp, "%s:falling", name);
falling = _iniparser_getint (d, tmp, -1);
if (((rising == -1) && (falling == -1)) || (!rising && !falling)) {
std::cout << "gpio: " << id << ": " << name;
std::cout << "no edge defined.";
std::cout << "events will be emitted on rising and falling edge";
ret = gpio_enable_irq (&p, GPIO_BOTH);
}
else if (rising && falling)
ret = gpio_enable_irq (&p, GPIO_BOTH);
else if (rising)
ret = gpio_enable_irq (&p, GPIO_RISING);
else if (falling)
ret = gpio_enable_irq (&p, GPIO_FALLING);
else {
std::cerr << "gpio: " << id << ": " << name;
std::cerr << "no edge defined - gpio will be skipped." << std::endl;
continue;
}
if (ret) {
std::cerr << "gpio: " << id << ": " << name;
std::cerr << "enable irq failed - gpio will be skipped." << std::endl;
continue;
}
}
g = new GPIO (std::string (name), dir, p);
if (register_digital (g)) {
err ("register gpio object at the manager failed\n");
delete g;
continue;
}
if (dir == ::Distrio::INPUT) {
int fd = gpio_get_fd (&p);
input_list[fd] = g;
} else
output_list.push_back (g);
std::cout << "registered gpio " << name <<" with id: " << g->id () << std::endl;
}
_iniparser_freedict (d);
obs = new Input_observer (input_list);
join_orb ();
out:
/* input_list.erase (); */
/* output_list.erase (); */
return ret;
}
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