From 21b59266ed521f0bc2cc14a446eb81a84a18cb4e Mon Sep 17 00:00:00 2001
From: Anders Blomdell <anders.blomdell@control.lth.se>
Date: Thu, 28 Feb 2019 18:02:40 +0100
Subject: [PATCH] AnalogIn works for comedi
---
Makefile | 1 +
moberg.c | 83 ++++++++++-----
moberg.h | 58 ++++++-----
moberg_channel.h | 25 +----
moberg_device.c | 5 +-
moberg_device.h | 6 +-
moberg_module.h | 1 +
moberg_parser.c | 20 ++--
moberg_parser.h | 4 +-
modules/comedi/Makefile | 3 +-
modules/comedi/comedi.c | 164 ++++++++++++++++++++++++++----
modules/serial2002/serial2002.c | 11 +-
test/.config/moberg.d/moberg.conf | 11 ++
test/Makefile | 22 ++--
test/test_io.c | 14 +++
15 files changed, 312 insertions(+), 116 deletions(-)
create mode 100644 test/test_io.c
diff --git a/Makefile b/Makefile
index c0c47ed..1eab439 100644
--- a/Makefile
+++ b/Makefile
@@ -44,6 +44,7 @@ test: all
clean:
find build -type f -delete
rm -f *~
+ make -C test clean
build/libmoberg.so: build/lib/moberg_config.o
build/libmoberg.so: build/lib/moberg_device.o
diff --git a/moberg.c b/moberg.c
index ad8de2e..32437cd 100644
--- a/moberg.c
+++ b/moberg.c
@@ -13,6 +13,7 @@
#include <moberg.h>
#include <moberg_config.h>
#include <moberg_parser.h>
+#include <moberg_module.h>
struct moberg {
struct moberg_config *config;
@@ -20,19 +21,19 @@ struct moberg {
int capacity;
struct moberg_channel **value;
} analog_in, analog_out, digital_in, digital_out, encoder_in;
-};
+ struct deferred_action {
+ struct deferred_action *next;
+ int (*action)(void *param);
+ void *param;
+ } *deferred_action;
-static struct deferred_action {
- struct deferred_action *next;
- int (*action)(void *param);
- void *param;
-} *deferred_action = NULL;
+};
-static void run_deferred_actions()
+static void run_deferred_actions(struct moberg *moberg)
{
- while (deferred_action) {
- struct deferred_action *deferred = deferred_action;
- deferred_action = deferred_action->next;
+ while (moberg->deferred_action) {
+ struct deferred_action *deferred = moberg->deferred_action;
+ moberg->deferred_action = deferred->next;
deferred->action(deferred->param);
free(deferred);
}
@@ -100,7 +101,7 @@ static void parse_config_at(
buf[statbuf.st_size] = 0;
}
printf("Parsing... %s %d %d\n", pathname, dirfd, fd);
- struct moberg_config *config = moberg_parse(buf);
+ struct moberg_config *config = moberg_parse(moberg, buf);
printf("-> %p\n", config);
if (config) {
if (! moberg->config) {
@@ -236,6 +237,7 @@ struct moberg *moberg_new(
result->digital_out.value = NULL;
result->encoder_in.capacity = 0;
result->encoder_in.value = NULL;
+ result->deferred_action = NULL;
if (config) {
result->config = config;
} else {
@@ -263,7 +265,7 @@ struct moberg *moberg_new(
/* Parse environment overrides */
}
install_config(result);
- run_deferred_actions();
+ run_deferred_actions(result);
err:
return result;
@@ -278,37 +280,72 @@ void moberg_free(struct moberg *moberg)
channel_list_free(&moberg->digital_in);
channel_list_free(&moberg->digital_out);
channel_list_free(&moberg->encoder_in);
+ run_deferred_actions(moberg);
free(moberg);
}
- run_deferred_actions();
}
-enum moberg_status moberg_start(
+/* Input/output */
+
+int moberg_analog_in_open(struct moberg *moberg,
+ int index,
+ struct moberg_analog_in *analog_in)
+{
+ struct moberg_channel *channel = NULL;
+ channel_list_get(&moberg->analog_in, index, &channel);
+ if (channel) {
+ printf("Call open\n");
+ channel->open(channel);
+ channel->up(channel);
+ *analog_in = channel->action.analog_in;
+ return 1;
+ }
+ return 0;
+}
+
+int moberg_analog_in_close(struct moberg *moberg,
+ int index,
+ struct moberg_analog_in analog_in)
+{
+ struct moberg_channel *channel = NULL;
+ channel_list_get(&moberg->analog_in, index, &channel);
+ if (channel && channel->action.analog_in.context == analog_in.context) {
+ printf("Call close\n");
+ channel->close(channel);
+ channel->down(channel);
+ }
+ return 1;
+}
+
+
+
+/* System init functionality (systemd/init/...) */
+
+int moberg_start(
struct moberg *moberg,
FILE *f)
{
return moberg_config_start(moberg->config, f);
- return moberg_OK;
}
-
-enum moberg_status moberg_stop(
+int moberg_stop(
struct moberg *moberg,
FILE *f)
{
return moberg_config_stop(moberg->config, f);
- return moberg_OK;
}
-void moberg_deferred_action(
- int (*action)(void *param),
- void *param)
+/* Intended for final cleanup actions (dlclose so far...) */
+
+void moberg_deferred_action(struct moberg *moberg,
+ int (*action)(void *param),
+ void *param)
{
struct deferred_action *deferred = malloc(sizeof(*deferred));
if (deferred) {
- deferred->next = deferred_action;
+ deferred->next = moberg->deferred_action;
deferred->action = action;
deferred->param = param;
- deferred_action = deferred;
+ moberg->deferred_action = deferred;
}
}
diff --git a/moberg.h b/moberg.h
index 23e49c4..062892a 100644
--- a/moberg.h
+++ b/moberg.h
@@ -6,46 +6,54 @@
struct moberg;
struct moberg_config;
-enum moberg_status { moberg_OK };
+/* Creation & free */
struct moberg *moberg_new(struct moberg_config *config);
void moberg_free(struct moberg *moberg);
-/* Input/output functions */
+/* Input/output */
-enum moberg_status moberg_analog_in(
- double *value,
- struct moberg *moberg,
- int channel);
+struct moberg_analog_in {
+ struct moberg_channel_analog_in *context;
+ int (*read)(struct moberg_channel_analog_in *, double *value);
+};
-enum moberg_status moberg_analog_out(
- double value,
- struct moberg *moberg,
- int channel);
+struct moberg_analog_out {
+ struct moberg_channel_analog_out *context;
+ int (*write)(struct moberg_channel_analog_in *, double value);
+};
-enum moberg_status moberg_digital_in(
- int *value,
- struct moberg *moberg,
- int channel);
+struct moberg_digital_in {
+ struct moberg_channel_digital_in *context;
+ int (*read)(struct moberg_channel_digital_in *, int *value);
+};
-enum moberg_status moberg_digital_out(
- int value,
- struct moberg *moberg,
- int channel);
+struct moberg_digital_out {
+ struct moberg_channel_digital_out *context;
+ int (*write)(struct moberg_channel_digital_out *, int value);
+};
-enum moberg_status moberg_encoder_in(
- long *value,
- struct moberg *moberg,
- int channel);
+struct moberg_encoder_in {
+ struct moberg_channel_encoder_in *context;
+ int (*read)(struct moberg_channel_encoder_in *, long *value);
+};
+
+int moberg_analog_in_open(struct moberg *moberg,
+ int index,
+ struct moberg_analog_in *analog_in);
+
+int moberg_analog_in_close(struct moberg *moberg,
+ int index,
+ struct moberg_analog_in analog_in);
-/* Install functionality */
+/* System init functionality (systemd/init/...) */
-enum moberg_status moberg_start(
+int moberg_start(
struct moberg *moberg,
FILE *f);
-enum moberg_status moberg_stop(
+int moberg_stop(
struct moberg *moberg,
FILE *f);
diff --git a/moberg_channel.h b/moberg_channel.h
index 2045b21..dab6355 100644
--- a/moberg_channel.h
+++ b/moberg_channel.h
@@ -25,26 +25,11 @@ struct moberg_channel {
/* I/O operations */
enum moberg_channel_kind kind;
union moberg_channel_action {
- struct {
- struct moberg_channel_analog_in *context;
- int (*read)(struct moberg_channel_analog_in *, double *value);
- } analog_in;
- struct {
- struct moberg_channel_analog_out *context;
- int (*write)(struct moberg_channel_context *, double value);
- } analog_out;
- struct {
- struct moberg_channel_digital_in *context;
- int (*read)(struct moberg_channel_context *, int *value);
- } digital_in;
- struct {
- struct moberg_channel_digital_out *context;
- int (*write)(struct moberg_channel_context *, int value);
- } digital_out;
- struct {
- struct moberg_channel_encoder_in *context;
- int (*read)(struct moberg_channel_context *, long *value);
- } encoder_in;
+ struct moberg_analog_in analog_in;
+ struct moberg_analog_out analog_out;
+ struct moberg_digital_in digital_in;
+ struct moberg_digital_out digital_out;
+ struct moberg_encoder_in encoder_in;
} action;
};
diff --git a/moberg_device.c b/moberg_device.c
index 638179b..e4f339b 100644
--- a/moberg_device.c
+++ b/moberg_device.c
@@ -30,7 +30,8 @@ struct moberg_device {
} *range;
};
-struct moberg_device *moberg_device_new(const char *driver)
+struct moberg_device *moberg_device_new(struct moberg *moberg,
+ const char *driver)
{
struct moberg_device *result = NULL;
@@ -54,7 +55,7 @@ struct moberg_device *moberg_device_new(const char *driver)
goto dlclose_driver;
}
result->driver = *device_driver;
- result->device_context = result->driver.new(dlclose, handle);
+ result->device_context = result->driver.new(moberg, dlclose, handle);
if (result->device_context) {
result->driver.up(result->device_context);
} else {
diff --git a/moberg_device.h b/moberg_device.h
index 0acafb2..449e243 100644
--- a/moberg_device.h
+++ b/moberg_device.h
@@ -13,7 +13,8 @@ struct moberg_parser_context;
struct moberg_device_driver {
/* Create new device context */
- struct moberg_device_context *(*new)(int (*dlclose)(void *dlhandle),
+ struct moberg_device_context *(*new)(struct moberg *moberg,
+ int (*dlclose)(void *dlhandle),
void *dlhandle);
/* Use-count of device, when it reaches zero, device will be free'd */
int (*up)(struct moberg_device_context *context);
@@ -41,7 +42,8 @@ struct moberg_device_driver {
struct moberg_device;
-struct moberg_device *moberg_device_new(const char *driver);
+struct moberg_device *moberg_device_new(struct moberg *moberg,
+ const char *driver);
void moberg_device_free(struct moberg_device *device);
diff --git a/moberg_module.h b/moberg_module.h
index 434f2c3..e3bf1b1 100644
--- a/moberg_module.h
+++ b/moberg_module.h
@@ -55,6 +55,7 @@ void moberg_parser_failed(
FILE *f);
void moberg_deferred_action(
+ struct moberg *moberg,
int (*action)(void *param),
void *param);
diff --git a/moberg_parser.c b/moberg_parser.c
index ac7bdbd..9ce96cc 100644
--- a/moberg_parser.c
+++ b/moberg_parser.c
@@ -361,7 +361,8 @@ err:
return 0;
}
-static int parse(context_t *c)
+static int parse(struct moberg *moberg,
+ context_t *c)
{
for (;;) {
if (acceptsym(c, tok_EOF, NULL)) {
@@ -381,18 +382,20 @@ static int parse(context_t *c)
t.u.idstr.length, t.u.idstr.value);
goto err;
}
- device = moberg_device_new(name);
+ device = moberg_device_new(moberg, name);
free(name);
if (! device) { goto err; }
if (! parse_device(c, device)) {
- moberg_device_free(device);
- goto err;
+ goto device_free;
}
if (! moberg_config_add_device(c->config, device)) {
- moberg_device_free(device);
- goto err;
+ goto device_free;
}
+ continue;
+ device_free:
+ moberg_device_free(device);
+ goto err;
}
}
return 1;
@@ -403,7 +406,8 @@ err:
return 0;
}
-struct moberg_config *moberg_parse(const char *buf)
+struct moberg_config *moberg_parse(struct moberg *moberg,
+ const char *buf)
{
context_t context;
@@ -413,7 +417,7 @@ struct moberg_config *moberg_parse(const char *buf)
context.buf = buf;
context.p = context.buf;
nextsym(&context);
- if (! parse(&context)) {
+ if (! parse(moberg, &context)) {
moberg_config_free(context.config);
context.config = NULL;
}
diff --git a/moberg_parser.h b/moberg_parser.h
index 6bfcebe..575f845 100644
--- a/moberg_parser.h
+++ b/moberg_parser.h
@@ -1,10 +1,12 @@
#ifndef __MOBERG_PARSER_H__
#define __MOBERG_PARSER_H__
+#include <moberg.h>
#include <moberg_config.h>
struct moberg_parser_context;
-struct moberg_config *moberg_parse(const char *buf);
+struct moberg_config *moberg_parse(struct moberg* moberg,
+ const char *buf);
#endif
diff --git a/modules/comedi/Makefile b/modules/comedi/Makefile
index ca1e0e2..543d534 100644
--- a/modules/comedi/Makefile
+++ b/modules/comedi/Makefile
@@ -1,11 +1,10 @@
LIBRARIES=libmoberg_comedi.so
CCFLAGS+=-Wall -Werror -I../.. -g
-LDFLAGS+=-Lbuild/ -lmoberg
MODULES=$(wildcard modules/*)
all: $(LIBRARIES:%=../../build/%)
../../build/libmoberg_comedi.so: comedi.c Makefile
- $(CC) -o $@ $(CCFLAGS) -shared -fPIC $<
+ $(CC) -o $@ $(CCFLAGS) -shared -fPIC -lcomedi $<
../../build/libmoberg_comedi.so: ../../moberg_module.h
diff --git a/modules/comedi/comedi.c b/modules/comedi/comedi.c
index d0ddead..32853eb 100644
--- a/modules/comedi/comedi.c
+++ b/modules/comedi/comedi.c
@@ -5,6 +5,7 @@
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
+#include <comedilib.h>
typedef enum moberg_parser_token_kind kind_t;
typedef struct moberg_parser_token token_t;
@@ -12,10 +13,15 @@ typedef struct moberg_parser_ident ident_t;
typedef struct moberg_parser_context context_t;
struct moberg_device_context {
+ struct moberg *moberg;
int (*dlclose)(void *dlhandle);
void *dlhandle;
int use_count;
char *name;
+ struct {
+ int count;
+ comedi_t *handle;
+ } comedi;
struct idstr {
struct idstr *next;
struct idstr *prev;
@@ -28,6 +34,15 @@ 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;
+ struct channel_descriptor {
+ int subdevice;
+ int subchannel;
+ int route;
+ lsampl_t maxdata;
+ double min;
+ double max;
+ double delta;
+ } descriptor;
};
struct moberg_channel_analog_in {
@@ -55,13 +70,29 @@ struct moberg_channel_encoder_in {
struct moberg_channel_context channel_context;
};
-static struct moberg_device_context *new_context(
- int (*dlclose)(void *dlhandle),
- void *dlhandle)
+static int analog_in_read(struct moberg_channel_analog_in *analog_in,
+ double *value)
+{
+ struct channel_descriptor descriptor = analog_in->channel_context.descriptor;
+ lsampl_t data;
+ comedi_data_read(analog_in->channel_context.device->comedi.handle,
+ descriptor.subdevice,
+ descriptor.subchannel,
+ 0, 0, &data);
+
+ *value = descriptor.min + data * descriptor.delta;
+ fprintf(stderr, "Data: %d %f\n", data, *value);
+ return 1;
+}
+
+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;
result->modprobe_list.next = &result->modprobe_list;
@@ -72,41 +103,67 @@ static struct moberg_device_context *new_context(
return result;
}
-static int device_up(struct moberg_device_context *context)
+static int device_up(struct moberg_device_context *device)
{
- context->use_count++;
- return context->use_count;
+ device->use_count++;
+ return device->use_count;
}
-static int device_down(struct moberg_device_context *context)
+static int device_down(struct moberg_device_context *device)
{
- context->use_count--;
- int result = context->use_count;
- if (context->use_count <= 0) {
- moberg_deferred_action(context->dlclose, context->dlhandle);
- free(context->name);
+ device->use_count--;
+ int result = device->use_count;
+ if (device->use_count <= 0) {
+ moberg_deferred_action(device->moberg,
+ device->dlclose, device->dlhandle);
+ free(device->name);
struct idstr *e;
- e = context->modprobe_list.next;
- while (e != &context->modprobe_list) {
+ e = device->modprobe_list.next;
+ while (e != &device->modprobe_list) {
struct idstr *next = e->next;
free(e->value);
free(e);
e = next;
}
- e = context->config_list.next;
- while (e != &context->config_list) {
+ e = device->config_list.next;
+ while (e != &device->config_list) {
struct idstr *next = e->next;
free(e->value);
free(e);
e = next;
}
- free(context);
+ free(device);
return 0;
}
return result;
}
+static int device_open(struct moberg_device_context *device)
+{
+ if (device->comedi.count == 0) {
+ device->comedi.handle = comedi_open(device->name);
+ if (device->comedi.handle == NULL) {
+ goto err;
+ }
+ }
+ device->comedi.count++;
+ return 1;
+err:
+ fprintf(stderr, "Failed to open %s\n", device->name);
+ return 0;
+}
+
+static int device_close(struct moberg_device_context *device)
+{
+ device->comedi.count--;
+ if (device->comedi.count == 0) {
+ comedi_close(device->comedi.handle);
+ }
+
+ return 1;
+}
+
static int channel_up(struct moberg_channel *channel)
{
device_up(channel->context->device);
@@ -125,22 +182,73 @@ static int channel_down(struct moberg_channel *channel)
return channel->context->use_count;
}
+static int channel_open(struct moberg_channel *channel)
+{
+ channel_up(channel);
+ if (! device_open(channel->context->device)) { goto err; }
+ fprintf(stderr, "Open %s[%d][%d]\n",
+ channel->context->device->name,
+ channel->context->descriptor.subdevice,
+ channel->context->descriptor.subchannel);
+ lsampl_t maxdata;
+ comedi_range *range;
+
+ maxdata = comedi_get_maxdata(channel->context->device->comedi.handle,
+ channel->context->descriptor.subdevice,
+ channel->context->descriptor.subchannel);
+ range = comedi_get_range(channel->context->device->comedi.handle,
+ channel->context->descriptor.subdevice,
+ channel->context->descriptor.subchannel,
+ 0);
+
+ if (! maxdata) {
+ fprintf(stderr, "Failed to get maxdata for %s[%d][%d]\n",
+ channel->context->device->name,
+ channel->context->descriptor.subdevice,
+ channel->context->descriptor.subchannel);
+ goto err;
+ }
+ if (! range) {
+ fprintf(stderr, "Failed to get range for %s[%d][%d]\n",
+ channel->context->device->name,
+ channel->context->descriptor.subdevice,
+ channel->context->descriptor.subchannel);
+ goto err;
+ }
+ channel->context->descriptor.maxdata = maxdata;
+ channel->context->descriptor.min = range->min;
+ channel->context->descriptor.max = range->max;
+ channel->context->descriptor.delta = (range->max - range->min) / maxdata;
+ return 1;
+err:
+ return 0;
+}
+
+static int channel_close(struct moberg_channel *channel)
+{
+ device_close(channel->context->device);
+ channel_down(channel);
+ return 1;
+}
+
static void init_channel(struct moberg_channel *channel,
void *to_free,
struct moberg_channel_context *context,
struct moberg_device_context *device,
+ struct channel_descriptor descriptor,
enum moberg_channel_kind kind,
union moberg_channel_action action)
{
context->to_free = to_free;
context->device = device;
context->use_count = 0;
+ context->descriptor = descriptor;
channel->context = context;
channel->up = channel_up;
channel->down = channel_down;
- channel->open = NULL;
- channel->close = NULL;
+ channel->open = channel_open;
+ channel->close = channel_close;
channel->kind = kind;
channel->action = action;
};
@@ -252,7 +360,7 @@ static int parse_map(struct moberg_device_context *device,
enum moberg_channel_kind kind,
struct moberg_channel_map *map)
{
- token_t min, max;
+ token_t min, max, route={ .u.integer.value=0 };
if (! acceptsym(c, tok_LBRACE, NULL)) { goto err; }
for (;;) {
@@ -262,7 +370,6 @@ static int parse_map(struct moberg_device_context *device,
if (! acceptsym(c, tok_INTEGER, &subdevice)) { goto err; }
if (! acceptsym(c, tok_RBRACKET, NULL)) { goto err; }
if (acceptkeyword(c, "route")) {
- token_t route;
if (! acceptsym(c, tok_INTEGER, &route)) { goto err; }
}
if (! acceptsym(c, tok_LBRACKET, NULL)) { goto err; }
@@ -273,6 +380,14 @@ static int parse_map(struct moberg_device_context *device,
max = min;
}
for (int i = min.u.integer.value ; i <= max.u.integer.value ; i++) {
+ struct channel_descriptor descriptor = {
+ .subdevice=subdevice.u.integer.value,
+ .subchannel=i,
+ .route=route.u.integer.value,
+ .maxdata=0,
+ .min=0.0,
+ .max=0.0
+ };
switch (kind) {
case chan_ANALOGIN: {
struct moberg_channel_analog_in *channel =
@@ -283,10 +398,11 @@ static int parse_map(struct moberg_device_context *device,
channel,
&channel->channel_context,
device,
+ descriptor,
kind,
(union moberg_channel_action) {
.analog_in.context=channel,
- .analog_in.read=NULL });
+ .analog_in.read=analog_in_read });
map->map(map->device, &channel->channel);
}
} break;
@@ -299,6 +415,7 @@ static int parse_map(struct moberg_device_context *device,
channel,
&channel->channel_context,
device,
+ descriptor,
kind,
(union moberg_channel_action) {
.analog_out.context=channel,
@@ -315,6 +432,7 @@ static int parse_map(struct moberg_device_context *device,
channel,
&channel->channel_context,
device,
+ descriptor,
kind,
(union moberg_channel_action) {
.digital_in.context=channel,
@@ -331,6 +449,7 @@ static int parse_map(struct moberg_device_context *device,
channel,
&channel->channel_context,
device,
+ descriptor,
kind,
(union moberg_channel_action) {
.digital_out.context=channel,
@@ -347,6 +466,7 @@ static int parse_map(struct moberg_device_context *device,
channel,
&channel->channel_context,
device,
+ descriptor,
kind,
(union moberg_channel_action) {
.encoder_in.context=channel,
diff --git a/modules/serial2002/serial2002.c b/modules/serial2002/serial2002.c
index 8b9404e..5674770 100644
--- a/modules/serial2002/serial2002.c
+++ b/modules/serial2002/serial2002.c
@@ -11,6 +11,7 @@ typedef struct moberg_parser_token token_t;
typedef struct moberg_parser_context context_t;
struct moberg_device_context {
+ struct moberg *moberg;
int (*dlclose)(void *dlhandle);
void *dlhandle;
int use_count;
@@ -49,13 +50,14 @@ struct moberg_channel_encoder_in {
struct moberg_channel_context channel_context;
};
-static struct moberg_device_context *new_context(
- int (*dlclose)(void *dlhandle),
- void *dlhandle)
+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;
}
@@ -72,7 +74,8 @@ static int device_down(struct moberg_device_context *context)
{
context->use_count--;
if (context->use_count <= 0) {
- moberg_deferred_action(context->dlclose, context->dlhandle);
+ moberg_deferred_action(context->moberg,
+ context->dlclose, context->dlhandle);
free(context->name);
free(context);
return 0;
diff --git a/test/.config/moberg.d/moberg.conf b/test/.config/moberg.d/moberg.conf
index 8db1afc..9332da8 100644
--- a/test/.config/moberg.d/moberg.conf
+++ b/test/.config/moberg.d/moberg.conf
@@ -23,6 +23,17 @@ driver(comedi) {
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 */
diff --git a/test/Makefile b/test/Makefile
index c23d259..1515606 100644
--- a/test/Makefile
+++ b/test/Makefile
@@ -1,15 +1,23 @@
-TEST = test_start_stop
+TEST = test_start_stop test_io
+
+ENV_TEST = LD_LIBRARY_PATH=../build HOME=.
-ENV_test_start_stop = LD_LIBRARY_PATH=../build HOME=.
all:
.PHONY: test
test: $(TEST:%=run_%)
- echo Testing
- exit 1
+ echo Tests run
+
+run_%: build/%
+ $(ENV_TEST) valgrind --leak-check=full ./build/$*
-run_%: %
- $(ENV_$*) valgrind --leak-check=full ./$*
+.PRECIOUS: build/%
-%: %.c
+build/%: %.c | build
$(CC) $(CCFLAGS) $(LDFLAGS) -o $@ $<
+
+build:
+ mkdir build
+
+clean:
+ rm -f vgcore.* *~
diff --git a/test/test_io.c b/test/test_io.c
new file mode 100644
index 0000000..4e0def3
--- /dev/null
+++ b/test/test_io.c
@@ -0,0 +1,14 @@
+#include <stdio.h>
+#include <moberg.h>
+
+int main(int argc, char *argv[])
+{
+ struct moberg *moberg = moberg_new(NULL);
+ struct moberg_analog_in ai0;
+ double ai0_value;
+ moberg_analog_in_open(moberg, 0, &ai0);
+ ai0.read(ai0.context, &ai0_value);
+ fprintf(stderr, "READ ai0: %f\n", ai0_value);
+ moberg_analog_in_close(moberg, 0, ai0);
+ moberg_free(moberg);
+}
--
GitLab