From bc029da6d1b6bb0c248f4c2c697e3b5e36ff8901 Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Tue, 26 Mar 2019 16:41:33 +0100
Subject: [PATCH] Add julia adaptor
---
adaptors/julia/AnalogIn.jl | 38 ++++++++++
adaptors/julia/AnalogOut.jl | 35 ++++++++++
adaptors/julia/DigitalIn.jl | 38 ++++++++++
adaptors/julia/DigitalOut.jl | 35 ++++++++++
adaptors/julia/EncoderIn.jl | 38 ++++++++++
adaptors/julia/Makefile | 1 +
adaptors/julia/MobergIO.jl | 35 ++++++++++
adaptors/julia/moberg.jl | 126 ++++++++++++++++++++++++++++++++++
adaptors/julia/test_moberg.jl | 66 ++++++++++++++++++
9 files changed, 412 insertions(+)
create mode 100644 adaptors/julia/AnalogIn.jl
create mode 100644 adaptors/julia/AnalogOut.jl
create mode 100644 adaptors/julia/DigitalIn.jl
create mode 100644 adaptors/julia/DigitalOut.jl
create mode 100644 adaptors/julia/EncoderIn.jl
create mode 100644 adaptors/julia/Makefile
create mode 100644 adaptors/julia/MobergIO.jl
create mode 100755 adaptors/julia/moberg.jl
create mode 100644 adaptors/julia/test_moberg.jl
diff --git a/adaptors/julia/AnalogIn.jl b/adaptors/julia/AnalogIn.jl
new file mode 100644
index 0000000..ac4d4a1
--- /dev/null
+++ b/adaptors/julia/AnalogIn.jl
@@ -0,0 +1,38 @@
+mutable struct AnalogInChannel
+ context::Ptr{Nothing}
+ read::Ptr{Nothing}
+end
+
+mutable struct AnalogIn
+ moberg::Moberg
+ index::UInt32
+ channel::AnalogInChannel
+ AnalogIn(moberg::Moberg, index::Unsigned) = (
+ channel = AnalogInChannel(0,0);
+ checkOK(ccall((:moberg_analog_in_open, "libmoberg"),
+ Status,
+ (Moberg, Cint, Ref{AnalogInChannel}),
+ moberg, index, channel));
+ self = new(moberg, index, channel);
+ finalizer(close, self);
+ self
+ )
+end
+
+function close(ain::AnalogIn)
+ # println("closing $(ain)")
+ checkOK(ccall((:moberg_analog_in_close, "libmoberg"),
+ Status,
+ (Moberg, Cint, AnalogInChannel),
+ ain.moberg, ain.index, ain.channel))
+end
+
+function read(ain::AnalogIn)
+ result = Ref{Cdouble}(0.0)
+ checkOK(ccall(ain.channel.read,
+ Status,
+ (Ptr{Nothing}, Ptr{Cdouble}),
+ ain.channel.context, result))
+ return result[]
+end
+
diff --git a/adaptors/julia/AnalogOut.jl b/adaptors/julia/AnalogOut.jl
new file mode 100644
index 0000000..534960f
--- /dev/null
+++ b/adaptors/julia/AnalogOut.jl
@@ -0,0 +1,35 @@
+mutable struct AnalogOutChannel
+ context::Ptr{Nothing}
+ write::Ptr{Nothing}
+end
+
+mutable struct AnalogOut
+ moberg::Moberg
+ index::UInt32
+ channel::AnalogOutChannel
+ AnalogOut(moberg::Moberg, index::Unsigned) = (
+ channel = AnalogOutChannel(0,0);
+ checkOK(ccall((:moberg_analog_out_open, "libmoberg"),
+ Status,
+ (Moberg, Cint, Ref{AnalogOutChannel}),
+ moberg, index, channel));
+ self = new(moberg, index, channel);
+ finalizer(close, self);
+ self
+ )
+end
+
+function close(aout::AnalogOut)
+ # println("closing $(aout)")
+ checkOK(ccall((:moberg_analog_out_close, "libmoberg"),
+ Status,
+ (Moberg, Cint, AnalogOutChannel),
+ aout.moberg, aout.index, aout.channel))
+end;
+
+function write(aout::AnalogOut, value::Cdouble)
+ checkOK(ccall(aout.channel.write,
+ Status,
+ (Ptr{Nothing}, Cdouble),
+ aout.channel.context, value))
+end
diff --git a/adaptors/julia/DigitalIn.jl b/adaptors/julia/DigitalIn.jl
new file mode 100644
index 0000000..74c455d
--- /dev/null
+++ b/adaptors/julia/DigitalIn.jl
@@ -0,0 +1,38 @@
+mutable struct DigitalInChannel
+ context::Ptr{Nothing}
+ read::Ptr{Nothing}
+end
+
+mutable struct DigitalIn
+ moberg::Moberg
+ index::UInt32
+ channel::DigitalInChannel
+ DigitalIn(moberg::Moberg, index::Unsigned) = (
+ channel = DigitalInChannel(0,0);
+ checkOK(ccall((:moberg_digital_in_open, "libmoberg"),
+ Status,
+ (Moberg, Cint, Ref{DigitalInChannel}),
+ moberg, index, channel));
+ self = new(moberg, index, channel);
+ finalizer(close, self);
+ self
+ )
+end
+
+function close(din::DigitalIn)
+ # println("closing $(din)")
+ checkOK(ccall((:moberg_digital_in_close, "libmoberg"),
+ Status,
+ (Moberg, Cint, DigitalInChannel),
+ din.moberg, din.index, din.channel))
+end
+
+function read(din::DigitalIn)
+ result = Ref{Cint}(0)
+ checkOK(ccall(din.channel.read,
+ Status,
+ (Ptr{Nothing}, Ptr{Cint}),
+ din.channel.context, result))
+ return result[] != 0
+end
+
diff --git a/adaptors/julia/DigitalOut.jl b/adaptors/julia/DigitalOut.jl
new file mode 100644
index 0000000..7dc18b7
--- /dev/null
+++ b/adaptors/julia/DigitalOut.jl
@@ -0,0 +1,35 @@
+mutable struct DigitalOutChannel
+ context::Ptr{Nothing}
+ write::Ptr{Nothing}
+end
+
+mutable struct DigitalOut
+ moberg::Moberg
+ index::UInt32
+ channel::DigitalOutChannel
+ DigitalOut(moberg::Moberg, index::Unsigned) = (
+ channel = DigitalOutChannel(0,0);
+ checkOK(ccall((:moberg_digital_out_open, "libmoberg"),
+ Status,
+ (Moberg, Cint, Ref{DigitalOutChannel}),
+ moberg, index, channel));
+ self = new(moberg, index, channel);
+ finalizer(close, self);
+ self
+ )
+end
+
+function close(dout::DigitalOut)
+ # println("closing $(dout)")
+ checkOK(ccall((:moberg_digital_out_close, "libmoberg"),
+ Status,
+ (Moberg, Cint, DigitalOutChannel),
+ dout.moberg, dout.index, dout.channel))
+end;
+
+function write(dout::DigitalOut, value::Bool)
+ checkOK(ccall(dout.channel.write,
+ Status,
+ (Ptr{Nothing}, Cint),
+ dout.channel.context, value ? 1 : 0))
+end
diff --git a/adaptors/julia/EncoderIn.jl b/adaptors/julia/EncoderIn.jl
new file mode 100644
index 0000000..b45046f
--- /dev/null
+++ b/adaptors/julia/EncoderIn.jl
@@ -0,0 +1,38 @@
+mutable struct EncoderInChannel
+ context::Ptr{Nothing}
+ read::Ptr{Nothing}
+end
+
+mutable struct EncoderIn
+ moberg::Moberg
+ index::UInt32
+ channel::EncoderInChannel
+ EncoderIn(moberg::Moberg, index::Unsigned) = (
+ channel = EncoderInChannel(0,0);
+ checkOK(ccall((:moberg_encoder_in_open, "libmoberg"),
+ Status,
+ (Moberg, Cint, Ref{EncoderInChannel}),
+ moberg, index, channel));
+ self = new(moberg, index, channel);
+ finalizer(close, self);
+ self
+ )
+end
+
+function close(ein::EncoderIn)
+ # println("closing $(ein)")
+ checkOK(ccall((:moberg_encoder_in_close, "libmoberg"),
+ Status,
+ (Moberg, Cint, EncoderInChannel),
+ ein.moberg, ein.index, ein.channel))
+end
+
+function read(ein::EncoderIn)
+ result = Ref{Clong}(0)
+ checkOK(ccall(ein.channel.read,
+ Status,
+ (Ptr{Nothing}, Ptr{Clong}),
+ ein.channel.context, result))
+ return result[]
+end
+
diff --git a/adaptors/julia/Makefile b/adaptors/julia/Makefile
new file mode 100644
index 0000000..1263948
--- /dev/null
+++ b/adaptors/julia/Makefile
@@ -0,0 +1 @@
+all:
diff --git a/adaptors/julia/MobergIO.jl b/adaptors/julia/MobergIO.jl
new file mode 100644
index 0000000..ec35eeb
--- /dev/null
+++ b/adaptors/julia/MobergIO.jl
@@ -0,0 +1,35 @@
+module MobergIO
+
+
+struct Status
+ result::Clong
+end
+
+function checkOK(status::Status)
+ if status.result != 0
+ error("Moberg call failed with errno $(status.result)")
+ end
+end
+
+mutable struct Moberg
+ handle::Ptr{Nothing}
+end
+
+function Moberg()
+ handle = ccall((:moberg_new, "libmoberg"), Ptr{Moberg}, ())
+ m = Moberg(handle)
+ finalizer(close, m)
+ m
+end
+
+function close(h::Moberg)
+ ccall((:moberg_free, "libmoberg"), Nothing, (Moberg,), h)
+end
+
+include("AnalogIn.jl")
+include("AnalogOut.jl")
+include("DigitalIn.jl")
+include("DigitalOut.jl")
+include("EncoderIn.jl")
+
+end
diff --git a/adaptors/julia/moberg.jl b/adaptors/julia/moberg.jl
new file mode 100755
index 0000000..e45888a
--- /dev/null
+++ b/adaptors/julia/moberg.jl
@@ -0,0 +1,126 @@
+#!/usr/bin/julia
+
+struct moberg_status
+ result::Clong
+end
+
+function check_OK(status::moberg_status)
+ if status.result != 0
+ error("Moberg call failed with errno $(status.result)")
+ end
+end
+
+mutable struct moberg
+ handle::Ptr{Nothing}
+end
+
+function moberg()
+ handle = ccall((:moberg_new, "libmoberg"), Ptr{Nothing}, ())
+ println(handle)
+ m = moberg(handle)
+ function close(h::moberg)
+ println(h)
+ ccall((:moberg_free, "libmoberg"), Nothing, (Ptr{Nothing},),
+ h.handle)
+ end
+ finalizer(close, m)
+ m
+end
+
+mutable struct moberg_analog_in
+ context::Ptr{Nothing}
+ do_read::Ptr{Nothing}
+ handle::moberg
+ moberg_analog_in(m::moberg, index::Unsigned) = (
+ self = new();
+ check_OK(ccall((:moberg_analog_in_open, "libmoberg"),
+ moberg_status,
+ (Ptr{Nothing}, Cint, Ref{moberg_analog_in}),
+ m.handle, index, self));
+ self.handle = m;
+ function close(channel::moberg_analog_in)
+ println(channel)
+ ccall((:moberg_analog_in_close, "libmoberg"),
+ moberg_status,
+ (Ptr{Nothing}, Cint, moberg_analog_in),
+ channel.handle.handle, index, self)
+ end;
+ finalizer(close, self);
+ self
+ )
+end
+
+mutable struct moberg_analog_out
+ context::Ptr{Nothing}
+ do_write::Ptr{Nothing}
+ handle::moberg
+ moberg_analog_out(m::moberg, index::Unsigned) = (
+ self = new();
+ check_OK(ccall((:moberg_analog_out_open, "libmoberg"),
+ moberg_status,
+ (Ptr{Nothing}, Cint, Ref{moberg_analog_out}),
+ m.handle, index, self));
+ self.handle = m;
+ function close(channel::moberg_analog_out)
+ println(channel)
+ ccall((:moberg_analog_out_close, "libmoberg"),
+ moberg_status,
+ (Ptr{Nothing}, Cint, moberg_analog_out),
+ channel.handle.handle, index, self)
+ end;
+ finalizer(close, self);
+ self
+ )
+end
+
+function read(ain::moberg_analog_in)
+ result = Ref{Cdouble}(0.0)
+ check_OK(ccall(ain.do_read,
+ moberg_status,
+ (Ptr{Nothing}, Ptr{Cdouble}),
+ ain.context, result))
+ return result[]
+end
+
+function write(aout::moberg_analog_out, value::Cdouble)
+ check_OK(ccall(aout.do_write,
+ moberg_status,
+ (Ptr{Nothing}, Cdouble),
+ aout.context, value))
+end
+
+function test()
+ m = moberg()
+ println(m)
+
+ for v in -10.0:2.0:10
+ for i in 30:31
+ try
+ aout = moberg_analog_out(m, Unsigned(i))
+ value = v + i - 32;
+ write(aout, value)
+ print("$value ")
+ catch
+ println("analog_out $i does not exist")
+ end
+ end
+ println()
+ sleep(0.1)
+ for j in 30:33
+ try
+ ain = moberg_analog_in(m, Unsigned(j))
+ println(read(ain))
+ catch
+ println("analog_in $j does not exist")
+ end
+ end
+ println()
+ GC.gc()
+ end
+end
+
+test()
+
+println("DONE")
+GC.gc()
+println("Really DONE")
diff --git a/adaptors/julia/test_moberg.jl b/adaptors/julia/test_moberg.jl
new file mode 100644
index 0000000..3f3a22d
--- /dev/null
+++ b/adaptors/julia/test_moberg.jl
@@ -0,0 +1,66 @@
+#!/usr/bin/julia
+
+push!(LOAD_PATH, ".")
+
+using MobergIO
+import MobergIO: read, write
+
+function test()
+ m = MobergIO.Moberg()
+ println(m)
+
+ for v in -10.0:2.0:10
+ for i in 30:31
+ try
+ aout = MobergIO.AnalogOut(m, Unsigned(i))
+ value = v + i - 32;
+ write(aout, value)
+ print("$value ")
+ catch ex
+ println("analog_out $i does not exist $(ex)")
+ end
+ end
+ println()
+ sleep(0.01)
+ for j in 30:33
+ try
+ ain = MobergIO.AnalogIn(m, Unsigned(j))
+ println(read(ain))
+ catch ex
+ println("analog_in $j does not exist $(ex)")
+ end
+ end
+ println()
+# GC.gc()
+ end
+ for v in false:true
+ for i in 30:36
+ try
+ dout = MobergIO.DigitalOut(m, Unsigned(i))
+ value = xor(v, isodd(i))
+ write(dout, value)
+ print("$value ")
+ catch ex
+ println("digital_out $i does not exist $(ex)")
+ end
+ end
+ println()
+ for i in 30:36
+ try
+ din = MobergIO.DigitalIn(m, Unsigned(i))
+ print("$(read(din)) ")
+ catch ex
+ println("digital_out $i does not exist $(ex)")
+ end
+ end
+ println()
+ println()
+ sleep(0.01)
+ end
+end
+
+test()
+
+println("DONE")
+GC.gc()
+println("Really DONE")
--
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