diff --git a/test/.config/moberg.d/00-comedi_ttyUSB0_serial.conf b/examples/00-comedi_ttyUSB0_serial.conf
similarity index 100%
rename from test/.config/moberg.d/00-comedi_ttyUSB0_serial.conf
rename to examples/00-comedi_ttyUSB0_serial.conf
diff --git a/test/.config/moberg.d/30-comedi_ttyUSB0_serial.conf b/examples/30-comedi_ttyUSB0_serial.conf
similarity index 100%
rename from test/.config/moberg.d/30-comedi_ttyUSB0_serial.conf
rename to examples/30-comedi_ttyUSB0_serial.conf
diff --git a/plugins/libtest/Makefile b/plugins/libtest/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..189d37b28aef1196d6256f58fe9206ebad5a0cf4
--- /dev/null
+++ b/plugins/libtest/Makefile
@@ -0,0 +1,18 @@
+LIBRARIES=libmoberg_libtest.so
+CCFLAGS+=-Wall -Werror -I../.. -I. -O3 -g -fPIC
+LDFLAGS+=-Lbuild/ -lmoberg
+LDFLAGS_libtest=-shared -fPIC -L../../build -lmoberg
+
+all: $(LIBRARIES:%=build/%)
+
+build/libmoberg_%.so: build/%.o Makefile | build
+ $(CC) $(LDFLAGS) $(LDFLAGS_$(*)) -o $@ $(filter %.o,$^)
+
+.PRECIOUS: build/%.o
+build/%.o: %.c Makefile | build
+ $(CC) $(CCFLAGS) -c -o $@ $<
+
+build:
+ mkdir -p $@
+
+build/libtest.o: ../../moberg_module.h
diff --git a/plugins/libtest/libtest.c b/plugins/libtest/libtest.c
new file mode 100644
index 0000000000000000000000000000000000000000..eb202de83f1cd31305ee6f050474d10ad7adc820
--- /dev/null
+++ b/plugins/libtest/libtest.c
@@ -0,0 +1,393 @@
+/*
+ libtest.c -- libtest plugin for moberg
+
+ Copyright (C) 2019 Anders Blomdell <anders.blomdell@gmail.com>
+
+ This file is part of Moberg.
+
+ Moberg is free software: you can redistribute it and/or modify
+ it under the terms of the GNU 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 General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <https://www.gnu.org/licenses/>.
+*/
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <asm/termbits.h>
+#include <linux/serial.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include <moberg.h>
+#include <moberg_config.h>
+#include <moberg_device.h>
+#include <moberg_inline.h>
+#include <moberg_module.h>
+#include <moberg_parser.h>
+
+struct moberg_device_context {
+ struct moberg *moberg;
+ int (*dlclose)(void *dlhandle);
+ void *dlhandle;
+ int use_count;
+ double analog;
+ int digital;
+ long encoder;
+};
+
+struct moberg_channel_context {
+ void *to_free; /* To be free'd when use_count goes to zero */
+ struct moberg_device_context *device;
+ int use_count;
+ int index;
+};
+
+struct moberg_channel_analog_in {
+ struct moberg_channel channel;
+ struct moberg_channel_context channel_context;
+};
+
+struct moberg_channel_analog_out {
+ struct moberg_channel channel;
+ struct moberg_channel_context channel_context;
+};
+
+struct moberg_channel_digital_in {
+ struct moberg_channel channel;
+ struct moberg_channel_context channel_context;
+};
+
+struct moberg_channel_digital_out {
+ struct moberg_channel channel;
+ struct moberg_channel_context channel_context;
+};
+
+struct moberg_channel_encoder_in {
+ struct moberg_channel channel;
+ struct moberg_channel_context channel_context;
+};
+
+static struct moberg_status analog_in_read(
+ struct moberg_channel_analog_in *analog_in,
+ double *value)
+{
+ if (! value) { goto err_einval; }
+
+ struct moberg_channel_context *channel = &analog_in->channel_context;
+ struct moberg_device_context *device = channel->device;
+ *value = device->analog / (channel->index + 1);
+ return MOBERG_OK;
+err_einval:
+ return MOBERG_ERRNO(EINVAL);
+
+}
+
+static struct moberg_status analog_out_write(
+ struct moberg_channel_analog_out *analog_out,
+ double value)
+{
+ struct moberg_channel_context *channel = &analog_out->channel_context;
+ struct moberg_device_context *device = channel->device;
+ device->analog = value * (channel->index + 1);
+ return MOBERG_OK;
+}
+
+static struct moberg_status digital_in_read(
+ struct moberg_channel_digital_in *digital_in,
+ int *value)
+{
+ if (! value) { goto err_einval; }
+
+ struct moberg_channel_context *channel = &digital_in->channel_context;
+ struct moberg_device_context *device = channel->device;
+ *value = (device->digital & (1<<channel->index)) != 0;
+ return MOBERG_OK;
+err_einval:
+ return MOBERG_ERRNO(EINVAL);
+}
+
+static struct moberg_status digital_out_write(
+ struct moberg_channel_digital_out *digital_out,
+ int value)
+{
+ struct moberg_channel_context *channel = &digital_out->channel_context;
+ struct moberg_device_context *device = channel->device;
+ int mask = (1<<channel->index);
+ if (value) {
+ device->digital |= mask;
+ } else {
+ device->digital &= ~mask;
+ }
+ return MOBERG_OK;
+}
+
+static struct moberg_status encoder_in_read(
+ struct moberg_channel_encoder_in *encoder_in,
+ long *value)
+{
+ if (! value) { goto err_einval; }
+
+ struct moberg_channel_context *channel = &encoder_in->channel_context;
+ struct moberg_device_context *device = channel->device;
+ *value = device->digital;
+ return MOBERG_OK;
+err_einval:
+ return MOBERG_ERRNO(EINVAL);
+}
+
+static struct moberg_device_context *new_context(struct moberg *moberg,
+ int (*dlclose)(void *dlhandle),
+ void *dlhandle)
+{
+ struct moberg_device_context *result = malloc(sizeof(*result));
+ if (result) {
+ memset(result, 0, sizeof(*result));
+ result->moberg = moberg;
+ result->dlclose = dlclose;
+ result->dlhandle = dlhandle;
+ }
+ return result;
+}
+
+static int device_up(struct moberg_device_context *context)
+{
+ context->use_count++;
+ return context->use_count;
+}
+
+static int device_down(struct moberg_device_context *context)
+{
+ context->use_count--;
+ if (context->use_count <= 0) {
+ moberg_deferred_action(context->moberg,
+ context->dlclose, context->dlhandle);
+ free(context);
+ return 0;
+ }
+ return context->use_count;
+}
+
+static struct moberg_status device_open(struct moberg_device_context *device)
+{
+ return MOBERG_OK;
+}
+
+static struct moberg_status device_close(struct moberg_device_context *device)
+{
+ return MOBERG_OK;
+}
+
+static int channel_up(struct moberg_channel *channel)
+{
+ device_up(channel->context->device);
+ channel->context->use_count++;
+ return channel->context->use_count;
+}
+
+static int channel_down(struct moberg_channel *channel)
+{
+ device_down(channel->context->device);
+ channel->context->use_count--;
+ if (channel->context->use_count <= 0) {
+ free(channel->context->to_free);
+ return 0;
+ }
+ return channel->context->use_count;
+}
+
+static struct moberg_status channel_open(struct moberg_channel *channel)
+{
+ device_open(channel->context->device);
+ return MOBERG_OK;
+}
+
+static struct moberg_status channel_close(struct moberg_channel *channel)
+{
+ device_close(channel->context->device);
+ return MOBERG_OK;
+}
+
+static void init_channel(
+ struct moberg_channel *channel,
+ void *to_free,
+ struct moberg_channel_context *context,
+ struct moberg_device_context *device,
+ int index,
+ enum moberg_channel_kind kind,
+ union moberg_channel_action action)
+{
+ context->to_free = to_free;
+ context->device = device;
+ context->use_count = 0;
+ context->index = index;
+
+ channel->context = context;
+ channel->up = channel_up;
+ channel->down = channel_down;
+ channel->open = channel_open;
+ channel->close = channel_close;
+ channel->kind = kind;
+ channel->action = action;
+};
+
+static struct moberg_status parse_config(
+ struct moberg_device_context *device,
+ struct moberg_parser_context *c)
+{
+ if (! acceptsym(c, tok_LBRACE, NULL)) { goto syntax_err; }
+ for (;;) {
+ if (acceptsym(c, tok_RBRACE, NULL)) {
+ break;
+ } else {
+ goto syntax_err;
+ }
+ }
+ return MOBERG_OK;
+syntax_err:
+ return moberg_parser_failed(c, stderr);
+}
+
+static struct moberg_status parse_map(
+ struct moberg_device_context *device,
+ struct moberg_parser_context *c,
+ enum moberg_channel_kind ignore,
+ struct moberg_channel_map *map)
+{
+ enum moberg_channel_kind kind;
+ token_t min, max;
+
+ if (acceptkeyword(c, "analog_in")) { kind = chan_ANALOGIN; }
+ else if (acceptkeyword(c, "analog_out")) { kind = chan_ANALOGOUT; }
+ else if (acceptkeyword(c, "digital_in")) { kind = chan_DIGITALIN; }
+ else if (acceptkeyword(c, "digital_out")) { kind = chan_DIGITALOUT; }
+ else if (acceptkeyword(c, "encoder_in")) { kind = chan_ENCODERIN; }
+ else { goto syntax_err; }
+ if (! acceptsym(c, tok_LBRACKET, NULL)) { goto syntax_err; }
+ if (! acceptsym(c, tok_INTEGER, &min)) { goto syntax_err; }
+ if (acceptsym(c, tok_COLON, NULL)) {
+ if (! acceptsym(c, tok_INTEGER, &max)) { goto syntax_err; }
+ } else {
+ max = min;
+ }
+ if (! acceptsym(c, tok_RBRACKET, NULL)) { goto syntax_err; }
+ for (int i = min.u.integer.value ; i <= max.u.integer.value ; i++) {
+ switch (kind) {
+ case chan_ANALOGIN: {
+ struct moberg_channel_analog_in *channel = malloc(sizeof(*channel));
+
+ if (! channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ i,
+ kind,
+ (union moberg_channel_action) {
+ .analog_in.context=channel,
+ .analog_in.read=analog_in_read });
+ map->map(map->device, &channel->channel);
+ } break;
+ case chan_ANALOGOUT: {
+ struct moberg_channel_analog_out *channel = malloc(sizeof(*channel));
+
+ if (! channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ i,
+ kind,
+ (union moberg_channel_action) {
+ .analog_out.context=channel,
+ .analog_out.write=analog_out_write });
+ map->map(map->device, &channel->channel);
+ } break;
+ case chan_DIGITALIN: {
+ struct moberg_channel_digital_in *channel = malloc(sizeof(*channel));
+
+ if (! channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ i,
+ kind,
+ (union moberg_channel_action) {
+ .digital_in.context=channel,
+ .digital_in.read=digital_in_read });
+ map->map(map->device, &channel->channel);
+ } break;
+ case chan_DIGITALOUT: {
+ struct moberg_channel_digital_out *channel = malloc(sizeof(*channel));
+
+ if (! channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ i,
+ kind,
+ (union moberg_channel_action) {
+ .digital_out.context=channel,
+ .digital_out.write=digital_out_write });
+ map->map(map->device, &channel->channel);
+ } break;
+ case chan_ENCODERIN: {
+ struct moberg_channel_encoder_in *channel = malloc(sizeof(*channel));
+
+ if (! channel) { goto err_enomem; }
+ init_channel(&channel->channel,
+ channel,
+ &channel->channel_context,
+ device,
+ i,
+ kind,
+ (union moberg_channel_action) {
+ .encoder_in.context=channel,
+ .encoder_in.read=encoder_in_read });
+ map->map(map->device, &channel->channel);
+ } break;
+ }
+ }
+ return MOBERG_OK;
+err_enomem:
+ return MOBERG_ERRNO(ENOMEM);
+syntax_err:
+ return moberg_parser_failed(c, stderr);
+}
+
+static struct moberg_status start(struct moberg_device_context *device,
+ FILE *f)
+{
+ fprintf(f, "# %s %s\n", __FILE__, __FUNCTION__);
+ return MOBERG_OK;
+}
+
+static struct moberg_status stop(struct moberg_device_context *device,
+ FILE *f)
+{
+ fprintf(f, "# %s %s\n", __FILE__, __FUNCTION__);
+ return MOBERG_OK;
+}
+
+struct moberg_device_driver moberg_device_driver = {
+ .new=new_context,
+ .up=device_up,
+ .down=device_down,
+ .parse_config=parse_config,
+ .parse_map=parse_map,
+ .start=start,
+ .stop=stop
+};
diff --git a/test/.config/moberg.d/moberg.conf b/test/.config/moberg.d/moberg.conf
index 9332da8a4fbf4b54099df6f2895d1b2215d71598..4dc16c423696b76e592f937a65ed35f531a78b67 100644
--- a/test/.config/moberg.d/moberg.conf
+++ b/test/.config/moberg.d/moberg.conf
@@ -1,50 +1,8 @@
-driver(comedi) {
- config {
- /* Parsed by parse_config in libmoberg_comedi.so */
- device = "/dev/comedi0" ;
- modprobe = [ comedi "8255" comedi_fc mite ni_tio ni_tiocmd ni_pcimio ] ;
- config = [ ni_pcimio ] ;
- }
- /* Moberg mapping[indices] = {driver specific}[indices]
- {driver specific} is parsed by parse_map in libmoberg_comedi.so */
- map analog_in[0:15] = { subdevice[0][0:15] };
- map analog_out[0:1] = { subdevice[1][0:1] };
- map digital_in[0:7] = { subdevice[7][15],
- subdevice[7][2],
- subdevice[7][11],
- subdevice[7][4],
- subdevice[7][3],
- subdevice[7][10],
- subdevice[7][8],
- subdevice[7][9] };
- map digital_out[0:7] = { subdevice[7] route 16 [0:1],
- subdevice[7] route 16 [5:7],
- subdevice[7] route 16 [14],
- subdevice[7] route 16 [13],
- subdevice[7] route 16 [12] };
-}
-driver(comedi) {
- config {
- /* Parsed by parse_config in libmoberg_comedi.so */
- device = "/dev/comedi0" ;
- modprobe = [ comedi serial2002 ] ;
- config = [ serial2002 "100" "115200" ] ;
- }
- /* Moberg mapping[indices] = {driver specific}[indices]
- {driver specific} is parsed by parse_map in libmoberg_comedi.so */
- map analog_in[0:1] = { subdevice[2][0:1] };
-}
-driver(serial2002) {
- config {
- /* Parsed by parse_config in libmoberg_serial2002.so */
- device = "/dev/ttyS0" ;
- baud = 115200 ;
- }
- /* Moberg mapping[indices] = {driver specific}[indices]
- {driver specific} is parsed by parse_map in libmoberg_serial2002.so */
- map analog_in[30:37] = analog_in[0:7] ;
- map analog_out[30:37] = analog_out[0:7] ;
- map digital_in[30:37] = digital_in[0:7] ;
- map digital_out[30:37] = digital_out[0:7] ;
- map encoder_in[30:37] = encoder_in[0:7] ;
+driver(libtest) {
+ config { }
+ map analog_in[0:7] = analog_in[0:7] ;
+ map analog_out[0:7] = analog_out[0:7] ;
+ map digital_in[0:7] = digital_in[0:7] ;
+ map digital_out[0:7] = digital_out[0:7] ;
+ map encoder_in[0:7] = encoder_in[0:7] ;
}
diff --git a/test/Makefile b/test/Makefile
index 10abd013ad0daf67a0c4c7c4edfc685bbae59f33..ca3141846f7a7f964a245fd2a7ebb06a3462246b 100644
--- a/test/Makefile
+++ b/test/Makefile
@@ -1,7 +1,7 @@
TEST = test_start_stop test_io test_moberg4simulink
CCFLAGS += -Wall -Werror -I$(shell pwd) -g
LDFLAGS += -L$(shell pwd)/build/ -lmoberg
-ENV_TEST = LD_LIBRARY_PATH=../build HOME=.
+ENV_TEST = LD_LIBRARY_PATH=../build XDG_CONFIG_HOME=.config XDG_CONFIG_DIRS=.
LDFLAGS_test_moberg4simulink = -lmoberg4simulink
CCFLAGS_test_moberg4simulink = -I../adaptors/matlab -Wall -Werror -I$(shell pwd) -g