From 441ec877d7ea7177271331a8da3103579b3598b5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Mattias=20F=C3=A4lt?= <mattiasf@control.lth.se>
Date: Thu, 11 Apr 2019 18:43:37 +0200
Subject: [PATCH] Fixed GPIO for julia1 and added GPIO on computer side
---
src/BeagleBone/BeagleBone.jl | 10 ++++++++-
src/BeagleBone/GPIO.jl | 9 ++++++++
src/Computer/AbstractDevice.jl | 2 ++
src/Computer/BeagleBoneStream.jl | 11 ++++++++--
src/Computer/ComediStream.jl | 2 +-
src/Computer/Computer.jl | 1 +
src/Computer/GPIO.jl | 36 ++++++++++++++++++++++++++++++++
7 files changed, 67 insertions(+), 4 deletions(-)
create mode 100644 src/Computer/GPIO.jl
diff --git a/src/BeagleBone/BeagleBone.jl b/src/BeagleBone/BeagleBone.jl
index 1d888ac..0278241 100644
--- a/src/BeagleBone/BeagleBone.jl
+++ b/src/BeagleBone/BeagleBone.jl
@@ -177,10 +177,18 @@ function run_server(port=2001; debug=false)
@async while isopen(sock)
try
l = deserialize(sock);
- bbparse(l, sock)
+ println("deserialized:")
+ println(l)
+ try
+ bbparse(l, sock)
+ catch err
+ @warn "Failure in bbparse, server should keep running, error:"
+ println(err)
+ end
catch err
if !isopen(sock) && (isa(err, Base.EOFError) || isa(err, Base.UVError))
println("Connection to server closed")
+ # TODO teardown and remove all devices
else
println("error: $(typeof(err))")
println("err: $err")
diff --git a/src/BeagleBone/GPIO.jl b/src/BeagleBone/GPIO.jl
index 88a1879..e016325 100644
--- a/src/BeagleBone/GPIO.jl
+++ b/src/BeagleBone/GPIO.jl
@@ -35,6 +35,11 @@ struct GPIO <: IO_Object
end
end
+# Default to writing "value"
+function write!(gpio::GPIO, val::String, debug::Bool=false)
+ write!(gpio, (Int32(1), val), debug=debug)
+end
+
"""
write!(gpio::GPIO, args::Tuple{Int32,String}, debug::Bool=false)
Writes an entry to an operation on a GPIO, of the form args = (operation, entry).
@@ -53,6 +58,10 @@ function write!(gpio::GPIO, args::Tuple{Int32,String}, debug::Bool=false)
end
end
+# Default to reading "value"
+function read(gpio::GPIO, debug::Bool=false)
+ read(gpio, Int32(1), debug=debug)
+end
"""
l = read(gpio::GPIO, operation::Int32, debug::Bool=false)
Reads the current value from an operation on a GPIO.
diff --git a/src/Computer/AbstractDevice.jl b/src/Computer/AbstractDevice.jl
index f5c5552..c88a2b0 100644
--- a/src/Computer/AbstractDevice.jl
+++ b/src/Computer/AbstractDevice.jl
@@ -10,6 +10,8 @@ getstream(dev::AbstractDevice) = dev.stream
#Set the stream the AbstractDevice is connected to
setstream!(dev::AbstractDevice, stream::LabStream) = dev.stream = stream
+# Write command that needs to be sent after setup (for example direction of GPIO)
+getsetupwrite(::LabStream, ::AbstractDevice) = nothing
function safe_getwritecommand(dev::AbstractDevice, val)
stream = try getstream(dev) catch
diff --git a/src/Computer/BeagleBoneStream.jl b/src/Computer/BeagleBoneStream.jl
index 844d721..1da986b 100644
--- a/src/Computer/BeagleBoneStream.jl
+++ b/src/Computer/BeagleBoneStream.jl
@@ -27,8 +27,16 @@ function init_devices!(bbstream::BeagleBoneStream, devs::AbstractDevice...)
name = readcmd[1]::String
idx = readcmd[2]::Integer
serialize(bbstream.stream, (Int32(2), Int32(1), (name, Int32(idx))))
+
+ setupwrite = getsetupwrite(bbstream, dev)
+ if setupwrite !== nothing
+ name = setupwrite[1]::String
+ idx = setupwrite[2]::Integer
+ commands = setupwrite[3]::Tuple
+ serialize(bbstream.stream, (Int32(1), Int32(1), (name, Int32(idx), commands)))
+ end
else
- warn("Device $dev already added to a stream")
+ @warn "Device $dev already added to a stream"
end
end
return
@@ -69,7 +77,6 @@ function read(bbstream::BeagleBoneStream, cmd)
end
function close(bbstream::BeagleBoneStream)
- cmds = Tuple[]
for dev in bbstream.devices
close(dev)
end
diff --git a/src/Computer/ComediStream.jl b/src/Computer/ComediStream.jl
index c2cddda..f3ac457 100644
--- a/src/Computer/ComediStream.jl
+++ b/src/Computer/ComediStream.jl
@@ -23,7 +23,7 @@ function init_devices!(comedistream::ComediStream, devs::AbstractDevice...)
push!(comedistream.devices, dev)
initialize(dev)
else
- warn("Device $dev already added to the stream")
+ @warn "Device $dev already added to the stream"
end
end
return
diff --git a/src/Computer/Computer.jl b/src/Computer/Computer.jl
index 19e6ab5..1a803e4 100644
--- a/src/Computer/Computer.jl
+++ b/src/Computer/Computer.jl
@@ -34,4 +34,5 @@ include("BeagleBoneStream.jl")
#Include the device definitions
include("SysLED.jl")
+include("GPIO.jl")
include("10V.jl")
diff --git a/src/Computer/GPIO.jl b/src/Computer/GPIO.jl
new file mode 100644
index 0000000..a611e2a
--- /dev/null
+++ b/src/Computer/GPIO.jl
@@ -0,0 +1,36 @@
+export GPIO
+
+"""
+GPIO(i::Integer, direction:Bool)
+direction = true if output (write)
+direction = false if input (read)
+
+"""
+mutable struct GPIO <: AbstractDevice
+ i::Int32
+ direction::Bool
+ stream::LabStream
+ GPIO(i::Int32, direction::Bool) = new(i, direction)
+end
+GPIO(i::Integer, direction::Bool) = GPIO(convert(Int32, i), direction)
+
+function getsetupwrite(stream::BeagleBoneStream, gpio::GPIO)
+ if gpio.direction
+ return ("gpio", gpio.i, (Int32(2), "out"))
+ else
+ return ("gpio", gpio.i, (Int32(2), "in"))
+ end
+end
+
+#Stream specific methods
+function getwritecommand(stream::BeagleBoneStream, gpio::GPIO, val::Bool)
+ if !gpio.direction
+ error("Can not write to GPIO input (read) device")
+ end
+ # TODO Check valid GPIO index
+ return ("gpio", gpio.i, (Int32(1), val ? "1" : "0"))
+end
+function getreadcommand(stream::BeagleBoneStream, gpio::GPIO)
+ # TODO Check valid GPIO index
+ return ("gpio", gpio.i)
+end
--
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