diff --git a/Examples/testLED.jl b/Examples/testLED.jl
index a1ca59942854ca6c4542387967468c72f4478ef0..66d634dfc9b8e6ca32f4ca63fa1810e71054baff 100644
--- a/Examples/testLED.jl
+++ b/Examples/testLED.jl
@@ -15,30 +15,40 @@ led4 = SysLED(4)
# and adds a ref in motor and led to stream
init_devices!(stream, led1, led2, led3, led4)
ledon = true
-for i = 1:50
- set!(led1, ledon)
- set!(led2, !ledon)
- set!(led3, ledon)
- set!(led4, !ledon)
+for i = 1:100
+ put!(led1, ledon)
+ put!(led2, !ledon)
+ put!(led3, ledon)
+ put!(led4, !ledon)
send(stream) #Sends all the outputs to the stream in one atomic call
- #read(stream) #Sends request to read, reads all inputs
- sleep(0.1)
+ #read(stream)
+ get(led1)
+ get(led2)
+ get(led3)
+ #sleep(0.1)
+ v1,v2,v3 = read(stream) #Sends request to read, reads all inputs for which get! was called
+ v1 == !v2 == v3 == ledon ? nothing : println("ledon is $ledon, but read v1, v2, v3 = $v1, $v2, $v3")
ledon = !ledon
end
for i = 1:40
send(led1, ledon)
- sleep(0.03)
+ #sleep(0.03)
+ v1 = read(led1)
send(led2, ledon)
- sleep(0.03)
+ #sleep(0.03)
+ v2 = read(led2)
send(led3, ledon)
- sleep(0.03)
+ #sleep(0.03)
+ v3 = read(led3)
send(led4, ledon)
- sleep(0.03)
+ #sleep(0.03)
+ v4 = read(led4)
+ v1 == v2 == v3 == v4 == ledon ? nothing : println("ledon is $ledon, but read v1, v2, v3, v4 = $v1, $v2, $v3, $v4")
ledon = !ledon
end
-set!(led1, false)
-set!(led2, false)
-set!(led3, false)
-set!(led4, false)
+put!(led1, false)
+put!(led2, false)
+put!(led3, false)
+put!(led4, false)
send(stream)
close(stream) #Tells BeagleBone to stop listening and close outputs
diff --git a/src/BeagleBone/BeagleBone.jl b/src/BeagleBone/BeagleBone.jl
index adb09efd7effe8f88f7506b93f5a13afbcbf6ce0..3b419a52643e76327b400b246b1ac825abf059f3 100644
--- a/src/BeagleBone/BeagleBone.jl
+++ b/src/BeagleBone/BeagleBone.jl
@@ -29,27 +29,43 @@ Parse and execute the command `cmd`
"""
bbparse(any) = error("Unexpected input: $any")
+
+function bbsend(sock, vals)#, timestamps)
+ serialize(sock, vals)#, (timestamps...)))
+end
+
"""
- bbparse(l::Tuple)
-Parse input on the form `l=(iswrite, ndev, cmd1, cmd2, ..., cmdn)``
+ bbparse(l::Tuple, sock)
+Parse input on the form `l=(iswrite, ndev, cmd1, cmd2, ..., cmdn)`
where if `iswrite`
`cmdi = (devname, id, val)`
and if not `iswrite`
`cmdi = (devname, id)`
+
+and send back on socket (vals, timestamps)
"""
-function bbparse(l::Tuple)
+function bbparse(l::Tuple, sock)
iswrite = l[1]::Bool #True if write command, false if read
ndev = l[2]::Int32 #Number of devices/commands
- for i = 1:ndev
- command = l[2+i]::Tuple
- dev = getdev(command[1])
- if iswrite
+ if iswrite
+ for i = 1:ndev
+ command = l[2+i]::Tuple
+ dev = getdev(command[1])
write!(dev, command[2], command[3])
- else
- val = read(dev, command[2])
- println("$val")
- #TODO return somewhere
end
+ return
+ else
+ #TODO fix to have at least partial type stability
+ vals = Array{Any,1}(ndev)
+ timestamps = Array{UInt64,1}(ndev)
+ for i = 1:ndev
+ command = l[2+i]::Tuple
+ dev = getdev(command[1])
+ vals[i] = read(dev, command[2])
+ timestamps[i] = UInt64(0)#time_ns()
+ end
+ bbsend(sock, (vals, timestamps))
+ return
end
end
@@ -81,8 +97,8 @@ function run_server(port=2001; debug=false)
@async while isopen(sock)
try
l = deserialize(sock);
- println("deserialize: $l")
- bbparse(l)
+ #println("deserialize: $l")
+ bbparse(l, sock)
catch err
if !isopen(sock) && isa(err, Base.EOFError)
println("Connection to server closed")
diff --git a/src/BeagleBone/SysLED.jl b/src/BeagleBone/SysLED.jl
index 472fd5df5bc76b67827d9cb7c256b60f194376ba..d17c360cf6e281134e253ad57d19f4fe9df62b1a 100644
--- a/src/BeagleBone/SysLED.jl
+++ b/src/BeagleBone/SysLED.jl
@@ -18,8 +18,8 @@ function read(::SysLED, ind::Int32, debug::Bool=false)
ind ∉ [1,2,3,4] && error("Invalid SysLEND ind: $ind")
filename = "/sys/class/leds/beaglebone:green:usr$(ind-1)/brightness"
file = open(filename, "r")
- l = readline(file)
- (l != "1" && l != "0") && error("Invalid value \"$l\" read from SysLed")
+ l = read(file,Char)
+ (l != '1' && l != '0') && error("Invalid value \"$l\" read from SysLed")
close(file)
- return l == "1"
+ return l == '1'
end
diff --git a/src/BeagleBone/config/pins.jl b/src/BeagleBone/config/pins.jl
deleted file mode 100644
index 73635976eb1ece8c5ecdb0d139e4deb605d127f4..0000000000000000000000000000000000000000
--- a/src/BeagleBone/config/pins.jl
+++ /dev/null
@@ -1,131 +0,0 @@
-const GPIO_AVAILABLE = [
- ("P8.11","GPIO_30"),
- ("P8.12","GPIO_60"),
- ("P8.13","GPIO_31"),
- ("P8.14","GPIO_40"),
- ("P8.15","GPIO_48"),
- ("P8.16","GPIO_51"),
- ("P8.17","GPIO_4"),
- ("P8.18","GPIO_5"),
- ("P8.19","GPIO_13"),
- ("P8.20","GPIO_12"),
- ("P8.21","GPIO_3"),
- ("P8.22","GPIO_2"),
- ("P8.23","GPIO_49"),
- ("P8.24","GPIO_15"),
- ("P8.25","GPIO_117"),
- ("P8.26","GPIO_14"),
- ("P8.27","GPIO_125"),
- ("P8.28","GPIO_123"),
- ("P8.29","GPIO_111"),
- ("P8.30","GPIO_112"),
- ("P8.31","GPIO_110"),
- ("P8.41","GPIO_20"),
- ("P8.42","GPIO_7"),
- ("P9.3", "GPIO_38"),
- ("P9.4", "GPIO_39"),
- ("P9.5", "GPIO_34"),
- ("P9.6", "GPIO_35"),
- ("P9.7", "GPIO_66"),
- ("P9.8", "GPIO_67"),
- ("P9.9", "GPIO_69"),
- ("P9.10","GPIO_68"),
- ("P9.11","GPIO_45"),
- ("P9.12","GPIO_44"),
- ("P9.13","GPIO_23"),
- ("P9.14","GPIO_26"),
- ("P9.15","GPIO_47"),
- ("P9.16","GPIO_46"),
- ("P9.17","GPIO_27"),
- ("P9.18","GPIO_65"),
- ("P9.19","GPIO_22"),
- ("P9.20","GPIO_63"),
- ("P9.21","GPIO_62"),
- ("P9.22","GPIO_37"),
- ("P9.23","GPIO_36"),
- ("P9.24","GPIO_33"),
- ("P9.25","GPIO_32"),
- ("P9.26","GPIO_61"),
- ("P9.27","GPIO_86"),
- ("P9.28","GPIO_88"),
- ("P9.29","GPIO_87"),
- ("P9.30","GPIO_89"),
- ("P9.31","GPIO_10"),
- ("P9.32","GPIO_11"),
- ("P9.33","GPIO_9"),
- ("P9.34","GPIO_81"),
- ("P9.35","GPIO_8"),
- ("P9.36","GPIO_80"),
- ("P9.37","GPIO_78"),
- ("P9.38","GPIO_79"),
- ("P9.39","GPIO_76"),
- ("P9.40","GPIO_77"),
- ("P9.41","GPIO_74"),
- ("P9.42","GPIO_75"),
- ("P9.43","GPIO_72"),
- ("P9.44","GPIO_73"),
- ("P9.45","GPIO_70"),
- ("P9.46","GPIO_71")]
-
-const PWM_AVAILABLE = [
- ("P8.14","PWM1A"),
- ("P8.16","PWM1B"),
- ("P8.21","PWM0B"),
- ("P8.22","PWM0A"),
- ("P8.28","ECAPPWM2"),
- ("P8.29","PWM0B"),
- ("P8.31","PWM0A"),
- ("P8.42","ECAPPWM0"),
- ("P9.13","PWM2B"),
- ("P9.19","PWM2A"),
- ("P9.34","PWM1B"),
- ("P9.36","PWM1A"),
- ("P9.45","PWM2A"),
- ("P9.46","PWM2B")]
-
-const SPI_AVAILABLE = [
- ("P8.17","SPI0_CS0"),
- ("P8.18","SPI0_D1"),
- ("P8.21","SPI0_D0"),
- ("P8.22","SPI0_SCLK"),
- ("P8.28","SPI1_CS0"),
- ("P8.29","SPI1_D0"),
- ("P8.30","SPI1_D1"),
- ("P8.31","SPI1_SCLK")]
-
-const UART_AVAILABLE = [
- ("P8.11","UART4_RX"),
- ("P8.13","UART4_TX"),
- ("P8.21","UART2_TX"),
- ("P8.22","UART2_RX"),
- ("P8.24","UART1_TX"),
- ("P8.26","UART1_RX"),
- ("P9.37","UART5_TX"),
- ("P9.38","UART5_RX")]
-
-const I2C_AVAILABLE = [
- ("P8.17", "I2C1_SCL"),
- ("P8.18", "I2C1_SDA"),
- ("P8.19", "I2C2_SCL"),
- ("P8.20", "I2C2_SDA")]
-
-const EQEP_AVAILABLE = [
- ("P8.25", "eQEP0_strobe"),
- ("P8.27", "eQEP0B_in"),
- ("P8.41", "eQEP0_index"),
- ("P8.42", "eQEP0A_in"),
- ("P9.11", "eQEP2B_in"),
- ("P9.12", "eQEP2A_in"),
- ("P9.15", "eQEP2_strobe"),
- ("P9.16", "eQEP2_index"),
- ("P9.31", "eQEP1_index"),
- ("P9.32", "eQEP1_strobe"),
- ("P9.33", "eQEP1B_in"),
- ("P9.34", "eQEP1A_in"),
-]
-
-const TIMER_AVAILABLE = [
- ("P9.7", "TIMER4"),
- ("P9.8", "TIMER7"),
- ("P9.9", "TIMER2"),
- ("P9.10", "TIMER1")]
diff --git a/src/BeagleBone/config/pins.yml b/src/BeagleBone/config/pins.yml
new file mode 100644
index 0000000000000000000000000000000000000000..5b693c68de31a9092f8fd527b9ed63d5c85309d3
--- /dev/null
+++ b/src/BeagleBone/config/pins.yml
@@ -0,0 +1,127 @@
+---
+available_pins:
+ gpio:
+ P8.11: GPIO_30
+ P8.12: GPIO_60
+ P8.13: GPIO_31
+ P8.14: GPIO_40
+ P8.15: GPIO_48
+ P8.16: GPIO_51
+ P8.17: GPIO_4
+ P8.18: GPIO_5
+ P8.19: GPIO_13
+ P8.20: GPIO_12
+ P8.21: GPIO_3
+ P8.22: GPIO_2
+ P8.23: GPIO_49
+ P8.24: GPIO_15
+ P8.25: GPIO_117
+ P8.26: GPIO_14
+ P8.27: GPIO_125
+ P8.28: GPIO_123
+ P8.29: GPIO_111
+ P8.30: GPIO_112
+ P8.31: GPIO_110
+ P8.41: GPIO_20
+ P8.42: GPIO_7
+ P9.3: GPIO_38
+ P9.4: GPIO_39
+ P9.5: GPIO_34
+ P9.6: GPIO_35
+ P9.7: GPIO_66
+ P9.8: GPIO_67
+ P9.9: GPIO_69
+ P9.10: GPIO_68
+ P9.11: GPIO_45
+ P9.12: GPIO_44
+ P9.13: GPIO_23
+ P9.14: GPIO_26
+ P9.15: GPIO_47
+ P9.16: GPIO_46
+ P9.17: GPIO_27
+ P9.18: GPIO_65
+ P9.19: GPIO_22
+ P9.20: GPIO_63
+ P9.21: GPIO_62
+ P9.22: GPIO_37
+ P9.23: GPIO_36
+ P9.24: GPIO_33
+ P9.25: GPIO_32
+ P9.26: GPIO_61
+ P9.27: GPIO_86
+ P9.28: GPIO_88
+ P9.29: GPIO_87
+ P9.30: GPIO_89
+ P9.31: GPIO_10
+ P9.32: GPIO_11
+ P9.33: GPIO_9
+ P9.34: GPIO_81
+ P9.35: GPIO_8
+ P9.36: GPIO_80
+ P9.37: GPIO_78
+ P9.38: GPIO_79
+ P9.39: GPIO_76
+ P9.40: GPIO_77
+ P9.41: GPIO_74
+ P9.42: GPIO_75
+ P9.43: GPIO_72
+ P9.44: GPIO_73
+ P9.45: GPIO_70
+ P9.46: GPIO_71
+ pwm:
+ P8.14: PWM1A
+ P8.16: PWM1B
+ P8.21: PWM0B
+ P8.22: PWM0A
+ P8.28: ECAPPWM2
+ P8.29: PWM0B
+ P8.31: PWM0A
+ P8.42: ECAPPWM0
+ P9.13: PWM2B
+ P9.19: PWM2A
+ P9.34: PWM1B
+ P9.36: PWM1A
+ P9.45: PWM2A
+ P9.46: PWM2B
+ spi:
+ P8.17: SPI0_CS0
+ P8.18: SPI0_D1
+ P8.21: SPI0_D0
+ P8.22: SPI0_SCLK
+ P8.28: SPI1_CS0
+ P8.29: SPI1_D0
+ P8.30: SPI1_D1
+ P8.31: SPI1_SCLK
+ uart:
+ P8.11: UART4_RX
+ P8.13: UART4_TX
+ P8.21: UART2_TX
+ P8.22: UART2_RX
+ P8.24: UART1_TX
+ P8.26: UART1_RX
+ P9.37: UART5_TX
+ P9.38: UART5_RX
+ i2c:
+ P8.17: I2C1_SCL
+ P8.18: I2C1_SDA
+ P8.19: I2C2_SCL
+ P8.20: I2C2_SDA
+ eqep:
+ P8.25: eQEP0_strobe
+ P8.27: eQEP0B_in
+ P8.41: eQEP0_index
+ P8.42: eQEP0A_in
+ P9.11: eQEP2B_in
+ P9.12: eQEP2A_in
+ P9.15: eQEP2_strobe
+ P9.16: eQEP2_index
+ P9.31: eQEP1_index
+ P9.32: eQEP1_strobe
+ P9.33: eQEP1B_in
+ P9.34: eQEP1A_in
+ timer:
+ P9.7: TIMER4
+ P9.8: TIMER7
+ P9.9: TIMER2
+ P9.10: TIMER1
+...
diff --git a/src/Computer/AbstractDevice.jl b/src/Computer/AbstractDevice.jl
index f4d65c3907517a26fd2ebd5387d0203a67193bf0..f5c5552622e44f7ac8ad8edcceab48f1168eb57f 100644
--- a/src/Computer/AbstractDevice.jl
+++ b/src/Computer/AbstractDevice.jl
@@ -1,4 +1,4 @@
-export initialize, getstream, setstream!, send, set!
+export initialize, getstream, setstream!, send
###### Defaults for AbstractDevice
#What to do when connecting
@@ -37,17 +37,18 @@ function send(dev::AbstractDevice, val)
end
function read(dev::AbstractDevice)
cmd, stream = safe_getreadcommand(dev)
- return read(stream, cmd)
+ vals, ts = read(stream, cmd)
+ return vals
end
-function set!(dev::AbstractDevice, val)
+function put!(dev::AbstractDevice, val)
cmd, stream = safe_getwritecommand(dev, val)
push!(stream.sendbuffer,cmd)
return
end
-function get(dev::AbstractDevice, val)
- cmd, stream = safe_getreadcommand(dev, val)
+function get(dev::AbstractDevice)
+ cmd, stream = safe_getreadcommand(dev)
push!(stream.readbuffer,cmd)
return
end
diff --git a/src/Computer/BeagleBoneStream.jl b/src/Computer/BeagleBoneStream.jl
index ee9253d020075872e47ff79dc10d190209b6f571..d04600067554843ab993c20adaaee7a0157cdd61 100644
--- a/src/Computer/BeagleBoneStream.jl
+++ b/src/Computer/BeagleBoneStream.jl
@@ -34,51 +34,18 @@ function send(bbstream::BeagleBoneStream)
empty!(bbstream.sendbuffer)
return
end
-function read(comedistream::BeagleBoneStream)
+#TODO know the types of outputs some way
+function read(bbstream::BeagleBoneStream)
ncmds = length(bbstream.readbuffer)
serialize(bbstream.stream, (false, Int32(ncmds), bbstream.readbuffer...))
- #TODO wait for answer
- vals = nothing
empty!(bbstream.readbuffer)
- return vals
+ vals, timestamps = deserialize(bbstream.stream)
+ length(vals) == ncmds || error("Wrong number of return values in $vals on request $(bbstream.readbuffer)")
+ #TODO Do something with timestamps
+ return (vals...,) #Converting from array to tuple
end
-#
-# function send(stream::BeagleBoneStream)
-# cmds = Tuple[]
-# for dev in stream.devices
-# val = getsetvalue(dev)
-# cmd, devstream = safe_getwritecommand(dev, val)
-# devstream == stream || error("Device $dev is connected to other stream $devstream")
-# push!(cmds, cmd)
-# end
-# ncmds = Int32(length(cmds))
-# if ncmds > 0
-# allcmds = (true, ncmds, cmds...)
-# println("Sending command: $allcmds")
-# serialize(stream, allcmds)
-# end
-# return
-# end
-# function read(stream::BeagleBoneStream)
-# cmds = Tuple[]
-# for dev in stream.devices
-# cmd, devstream = safe_getreadcommand(dev)
-# devstream == stream || error("Device $dev is connected to other stream $devstream")
-# push!(cmds, cmd)
-# end
-# ncmds = Int32(length(cmds))
-# if ncmds > 0
-# allcmds = (false, ncmds, cmds...)
-# println("Sending command: $allcmds")
-# serialize(stream, allcmds)
-# #TODO save values in dev
-# # update_read_vale!(dev, val)
-# end
-# return
-# end
-
-#Maybe rethink a bit to support IObox
+#The following are for interal use only
function send(bbstream::BeagleBoneStream, cmd)
allcmds = (true, Int32(1), cmd)
println("Sending single command: $allcmds")
@@ -89,8 +56,10 @@ function read(bbstream::BeagleBoneStream, cmd)
allcmds = (false, Int32(1), cmd)
println("Sending single command: $allcmds")
serialize(bbstream.stream, allcmds)
- #TODO get, wait for and return response
- return
+ vals, timestamps = deserialize(bbstream.stream)
+ length(vals) == 1 || error("Wrong number of return values in $vals on request $cmd")
+ #TODO Do something with timestamps
+ return vals[1], timestamps[1]
end
function close(bbstream::BeagleBoneStream)
diff --git a/src/LabConnections.jl b/src/LabConnections.jl
index c564687919f676a8a6a64950235bb674f3973680..0b631489882871da15f88a7a471089ed480f6271 100644
--- a/src/LabConnections.jl
+++ b/src/LabConnections.jl
@@ -8,12 +8,12 @@ module LabConnections
include(joinpath("BeagleBone","BeagleBone.jl"))
include(joinpath("BeagleBone","precompile.jl"))
println("Precompiling BB")
- precompile_bb()
+ #precompile_bb()
return
end
module Computer
- import Base: read, send, close, get, serialize
+ import Base: read, send, close, get, put!, serialize
println("Initializing Computer")
include(joinpath("Computer","Computer.jl"))
end
diff --git a/test/BeagleBone/GPIO_test.jl b/test/BeagleBone/GPIO_test.jl
index 90afe80d2711c605e05ca8db430eb0ea5ed6a44e..b2a2731c467c5e7b7ae1c60cdda9e88d514360b2 100644
--- a/test/BeagleBone/GPIO_test.jl
+++ b/test/BeagleBone/GPIO_test.jl
@@ -1,4 +1,3 @@
-include("../../src/LabConnections.jl")
using LabConnections.BeagleBone
import LabConnections.BeagleBone: getdev, write!, channels
diff --git a/test/BeagleBone/PWM_test.jl b/test/BeagleBone/PWM_test.jl
index 41a630a72eb0acd20ffe8ae0e4d1d175eb09e010..f5f35503823152e2b34bac4260d4251569ce4fc3 100644
--- a/test/BeagleBone/PWM_test.jl
+++ b/test/BeagleBone/PWM_test.jl
@@ -1,4 +1,3 @@
-include("../../src/LabConnections.jl")
using LabConnections.BeagleBone
import LabConnections.BeagleBone: getdev, write!, setup, teardown
@@ -25,9 +24,8 @@ for pin in keys(pins)
teardown(dev, pin)
end
-
-println("Running second experiment on pin $(pin)...")
pin = "P9.22"
+println("Running second experiment on pin $(pin)...")
setup(dev, pin)
write!(dev, pin, 2, "1000000000")
write!(dev, pin, 3, "250000000")
diff --git a/test/BeagleBone/Sys_LED_test.jl b/test/BeagleBone/Sys_LED_test.jl
index b52ef567d07db2899f438893656f21638d6d95b5..3a48f065a2f00ad8493501b347fb13dab5b33f07 100644
--- a/test/BeagleBone/Sys_LED_test.jl
+++ b/test/BeagleBone/Sys_LED_test.jl
@@ -1,4 +1,3 @@
-include("../../src/LabConnections.jl")
using LabConnections.BeagleBone
import LabConnections.BeagleBone: getdev, write!
diff --git a/test/runtests.jl b/test/runtests.jl
index 833ef7555fb22ab1285e70cce11631aafdb37510..e380b9a522b09a1a22481bbdca3da16c38c1a25f 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -1,5 +1,6 @@
using LabConnections
using Base.Test
-# write your own tests here
-@test 1 == 2
+include("BeagleBone/PWM_test.jl")
+include("BeagleBone/Sys_LED_test.jl")
+include("BeagleBone/GPIO_test.jl")