FazBrowse GitHub Viewer
|
Trending
|
URL:
|
Home
Tools:
[Download Repo ZIP]
[View Raw Code]
[Original HTTPS Page]
processing/java/libraries/io/src/processing/io/GPIO.java at master · johan718/processing · GitHub
johan718
processing
Repository navigation
Code
Pull requests
Actions
Projects
Wiki
Security and quality
Insights
Expand file tree
Breadcrumbs
processing
/
java
/
libraries
/
io
/
src
/
processing
/
io
/
GPIO.java
Copy path
More file actions
More file actions
Latest commit
History
History
History
484 lines (418 loc) · 13.9 KB
Breadcrumbs
processing
/
java
/
libraries
/
io
/
src
/
processing
/
io
/
GPIO.java
Copy path
File metadata and controls
484 lines (418 loc) · 13.9 KB
Raw
Copy raw file
Download raw file
Open symbols panel
Edit and raw actions
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
/* -*- mode: java; c-basic-offset: 2; indent-tabs-mode: nil -*- */
/*
Copyright (c) The Processing Foundation 2015
Hardware I/O library developed by Gottfried Haider as part of GSoC 2015
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General
Public License along with this library; if not, write to the
Free Software Foundation, Inc., 59 Temple Place, Suite 330,
Boston, MA 02111-1307 USA
*/
package
processing
.
io
;
import
processing
.
core
.*;
import
processing
.
io
.
NativeInterface
;
import
java
.
lang
.
reflect
.
Method
;
import
java
.
util
.
BitSet
;
import
java
.
util
.
HashMap
;
import
java
.
util
.
Map
;
/**
* @webref
*/
public
class
GPIO
{
// those constants are generally the same as in Arduino.h
public
static
final
int
INPUT
=
0
;
public
static
final
int
OUTPUT
=
1
;
public
static
final
int
INPUT_PULLUP
=
2
;
public
static
final
int
INPUT_PULLDOWN
=
3
;
public
static
final
int
LOW
=
0
;
public
static
final
int
HIGH
=
1
;
public
static
final
int
NONE
=
0
;
/**
* trigger when level changes
*/
public
static
final
int
CHANGE
=
1
;
/**
* trigger when level changes from high to low
*/
public
static
final
int
FALLING
=
2
;
/**
* trigger when level changes from low to high
*/
public
static
final
int
RISING
=
3
;
protected
static
Map
<
Integer
,
Thread
>
irqThreads
=
new
HashMap
<
Integer
,
Thread
>();
protected
static
boolean
serveInterrupts
=
true
;
protected
static
BitSet
values
=
new
BitSet
();
static
{
NativeInterface
.
loadLibrary
();
}
public
static
void
analogWrite
(
int
pin
,
int
value
) {
// currently this can't be done in a non-platform-specific way
// the best way forward would be implementing a generic, "soft"
// PWM in the kernel that uses high resolution timers, similiar
// to the patch Bill Gatliff posted, which unfortunately didn't
// get picked up, see
// https://dev.openwrt.org/browser/trunk/target/linux/generic/files/drivers/pwm/gpio-pwm.c?rev=35328
// additionally, there currently doesn't seem to be a way to link
// a PWM channel back to the GPIO pin it is associated with
// alternatively, this could be implemented in user-space to some
// degree
// see http://stackoverflow.com/a/13371570/3030124
// see http://raspberrypi.stackexchange.com/a/304
throw
new
RuntimeException
(
"Not yet implemented"
);
}
/**
* Calls a function when the value of an input pin changes
* @param pin GPIO pin
* @param parent typically use "this"
* @param method name of sketch method to call
* @param mode when to call: GPIO.CHANGE, GPIO.FALLING or GPIO.RISING
* @see noInterrupts
* @see interrupts
* @see releaseInterrupt
* @webref
*/
public
static
void
attachInterrupt
(
int
pin
,
PApplet
parent
,
String
method
,
int
mode
) {
if
(
irqThreads
.
containsKey
(
pin
)) {
throw
new
RuntimeException
(
"You must call releaseInterrupt before attaching another interrupt on the same pin"
);
}
enableInterrupt
(
pin
,
mode
);
final
int
irqPin
=
pin
;
final
PApplet
irqObject
=
parent
;
final
Method
irqMethod
;
try
{
irqMethod
=
parent
.
getClass
().
getMethod
(
method
,
int
.
class
);
}
catch
(
NoSuchMethodException
e
) {
throw
new
RuntimeException
(
"Method "
+
method
+
" does not exist"
);
}
// it might be worth checking how Java threads compare to pthreads in terms
// of latency
Thread
t
=
new
Thread
(
new
Runnable
() {
public
void
run
() {
boolean
gotInterrupt
=
false
;
try
{
do
{
try
{
if
(
waitForInterrupt
(
irqPin
,
100
)) {
gotInterrupt
=
true
;
}
if
(
gotInterrupt
&&
serveInterrupts
) {
irqMethod
.
invoke
(
irqObject
,
irqPin
);
gotInterrupt
=
false
;
}
// if we received an interrupt while interrupts were disabled
// we still deliver it the next time interrupts get enabled
// not sure if everyone agrees with this logic though
}
catch
(
RuntimeException
e
) {
// make sure we're not busy spinning on error
Thread
.
sleep
(
100
);
}
}
while
(!
Thread
.
currentThread
().
isInterrupted
());
}
catch
(
Exception
e
) {
// terminate the thread on any unexpected exception that might occur
System
.
err
.
println
(
"Terminating interrupt handling for pin "
+
irqPin
+
" after catching: "
+
e
.
getMessage
());
}
}
},
"GPIO"
+
pin
+
" IRQ"
);
t
.
setPriority
(
Thread
.
MAX_PRIORITY
);
t
.
start
();
irqThreads
.
put
(
pin
,
t
);
}
/**
* Checks if the GPIO pin number can be valid
*
* Board-specific classes, such as RPI, assign -1 to pins that carry power,
* ground and the like.
* @param pin GPIO pin
*/
protected
static
void
checkValidPin
(
int
pin
) {
if
(
pin
<
0
) {
throw
new
RuntimeException
(
"Operation not supported on this pin"
);
}
}
/**
* Returns the value of an input pin
* @param pin GPIO pin
* @return GPIO.HIGH (1) or GPIO.LOW (0)
* @see pinMode
* @see digitalWrite
* @webref
*/
public
static
int
digitalRead
(
int
pin
) {
checkValidPin
(
pin
);
String
fn
=
String
.
format
(
"/sys/class/gpio/gpio%d/value"
,
pin
);
byte
in
[] =
new
byte
[
2
];
int
ret
=
NativeInterface
.
readFile
(
fn
,
in
);
if
(
ret
<
0
) {
throw
new
RuntimeException
(
NativeInterface
.
getError
(
ret
));
}
else
if
(
1
<=
ret
&&
in
[
0
] ==
'0'
) {
return
LOW
;
}
else
if
(
1
<=
ret
&&
in
[
0
] ==
'1'
) {
return
HIGH
;
}
else
{
System
.
err
.
print
(
"Read "
+
ret
+
" bytes"
);
if
(
0
<
ret
) {
System
.
err
.
format
(
", first byte is 0x%02x"
+
in
[
0
]);
}
System
.
err
.
println
();
throw
new
RuntimeException
(
"Unexpected value"
);
}
}
/**
* Sets an output pin to be either high or low
* @param pin GPIO pin
* @param value GPIO.HIGH (1) or GPIO.LOW (0)
* @see pinMode
* @see digitalRead
* @webref
*/
public
static
void
digitalWrite
(
int
pin
,
int
value
) {
checkValidPin
(
pin
);
String
out
;
if
(
value
==
LOW
) {
// values are also stored in a bitmap to make it possible to set a
// default level per pin before enabling the output
values
.
clear
(
pin
);
out
=
"0"
;
}
else
if
(
value
==
HIGH
) {
values
.
set
(
pin
);
out
=
"1"
;
}
else
{
System
.
err
.
println
(
"Only GPIO.LOW and GPIO.HIGH, 0 and 1, or true and false, can be used."
);
throw
new
IllegalArgumentException
(
"Illegal value"
);
}
String
fn
=
String
.
format
(
"/sys/class/gpio/gpio%d/value"
,
pin
);
int
ret
=
NativeInterface
.
writeFile
(
fn
,
out
);
if
(
ret
<
0
) {
if
(
ret
!= -
2
) {
// ENOENT, pin might not yet be exported
throw
new
RuntimeException
(
NativeInterface
.
getError
(
ret
));
}
}
}
/**
* @param value true or false
*/
public
static
void
digitalWrite
(
int
pin
,
boolean
value
) {
if
(
value
) {
digitalWrite
(
pin
,
HIGH
);
}
else
{
digitalWrite
(
pin
,
LOW
);
}
}
/**
* Disables an interrupt for an input pin
* @param pin GPIO pin
* @see enableInterrupt
* @see waitForInterrupt
*/
protected
static
void
disableInterrupt
(
int
pin
) {
enableInterrupt
(
pin
,
NONE
);
}
/**
* Enables an interrupt for an input pin
* @param pin GPIO pin
* @param mode what to wait for: GPIO.CHANGE, GPIO.FALLING or GPIO.RISING
* @see waitForInterrupt
* @see disableInterrupt
*/
protected
static
void
enableInterrupt
(
int
pin
,
int
mode
) {
checkValidPin
(
pin
);
String
out
;
if
(
mode
==
NONE
) {
out
=
"none"
;
}
else
if
(
mode
==
CHANGE
) {
out
=
"both"
;
}
else
if
(
mode
==
FALLING
) {
out
=
"falling"
;
}
else
if
(
mode
==
RISING
) {
out
=
"rising"
;
}
else
{
throw
new
IllegalArgumentException
(
"Unknown mode"
);
}
String
fn
=
String
.
format
(
"/sys/class/gpio/gpio%d/edge"
,
pin
);
int
ret
=
NativeInterface
.
writeFile
(
fn
,
out
);
if
(
ret
<
0
) {
if
(
ret
== -
2
) {
// ENOENT
System
.
err
.
println
(
"Make sure your called pinMode on the input pin"
);
}
throw
new
RuntimeException
(
NativeInterface
.
getError
(
ret
));
}
}
/**
* Allows interrupts to happen
* @see attachInterrupt
* @see noInterrupts
* @see releaseInterrupt
* @webref
*/
public
static
void
interrupts
() {
serveInterrupts
=
true
;
}
/**
* Prevents interrupts from happpening
* @see attachInterrupt
* @see interrupts
* @see releaseInterrupt
* @webref
*/
public
static
void
noInterrupts
() {
serveInterrupts
=
false
;
}
/**
* Configures a pin to act either as input or output
* @param pin GPIO pin
* @param mode GPIO.INPUT or GPIO.OUTPUT
* @see digitalRead
* @see digitalWrite
* @see releasePin
* @webref
*/
public
static
void
pinMode
(
int
pin
,
int
mode
) {
checkValidPin
(
pin
);
// export pin through sysfs
String
fn
=
"/sys/class/gpio/export"
;
int
ret
=
NativeInterface
.
writeFile
(
fn
,
Integer
.
toString
(
pin
));
if
(
ret
<
0
) {
if
(
ret
== -
2
) {
// ENOENT
System
.
err
.
println
(
"Make sure your kernel is compiled with GPIO_SYSFS enabled"
);
}
if
(
ret
== -
22
) {
// EINVAL
System
.
err
.
println
(
"GPIO pin "
+
pin
+
" does not seem to be available on your platform"
);
}
if
(
ret
!= -
16
) {
// EBUSY, returned when the pin is already exported
throw
new
RuntimeException
(
fn
+
": "
+
NativeInterface
.
getError
(
ret
));
}
}
// delay to give udev a chance to change the file permissions behind our back
// there should really be a cleaner way for this
try
{
Thread
.
sleep
(
500
);
}
catch
(
InterruptedException
e
) {
Thread
.
currentThread
().
interrupt
();
}
// set direction and default level for outputs
fn
=
String
.
format
(
"/sys/class/gpio/gpio%d/direction"
,
pin
);
String
out
;
if
(
mode
==
INPUT
) {
out
=
"in"
;
}
else
if
(
mode
==
OUTPUT
) {
if
(
values
.
get
(
pin
)) {
out
=
"high"
;
}
else
{
out
=
"low"
;
}
}
else
if
(
mode
==
INPUT_PULLUP
||
mode
==
INPUT_PULLDOWN
) {
// currently this can't be done in a non-platform-specific way, see
// http://lists.infradead.org/pipermail/linux-rpi-kernel/2015-August/002146.html
throw
new
RuntimeException
(
"Not yet implemented"
);
}
else
{
throw
new
IllegalArgumentException
(
"Unknown mode"
);
}
ret
=
NativeInterface
.
writeFile
(
fn
,
out
);
if
(
ret
<
0
) {
throw
new
RuntimeException
(
fn
+
": "
+
NativeInterface
.
getError
(
ret
));
}
}
/**
* Stops listening for interrupts on an input pin
* @param pin GPIO pin
* @see attachInterrupt
* @see noInterrupts
* @see interrupts
* @webref
*/
public
static
void
releaseInterrupt
(
int
pin
) {
Thread
t
=
irqThreads
.
get
(
pin
);
if
(
t
==
null
) {
return
;
}
t
.
interrupt
();
try
{
t
.
join
();
}
catch
(
InterruptedException
e
) {
System
.
err
.
println
(
"Error joining thread in releaseInterrupt: "
+
e
.
getMessage
());
}
t
=
null
;
irqThreads
.
remove
(
pin
);
disableInterrupt
(
pin
);
}
/**
* Gives ownership of a pin back to the operating system
* @param pin GPIO pin
* @see pinMode
* @webref
*/
public
static
void
releasePin
(
int
pin
) {
checkValidPin
(
pin
);
String
fn
=
"/sys/class/gpio/unexport"
;
int
ret
=
NativeInterface
.
writeFile
(
fn
,
Integer
.
toString
(
pin
));
if
(
ret
<
0
) {
if
(
ret
== -
2
) {
// ENOENT
System
.
err
.
println
(
"Make sure your kernel is compiled with GPIO_SYSFS enabled"
);
}
// EINVAL is returned when trying to unexport pins that weren't exported to begin with, ignore this case
if
(
ret
!= -
22
) {
throw
new
RuntimeException
(
NativeInterface
.
getError
(
ret
));
}
}
}
/**
* Waits for the value of an input pin to change
* @param pin GPIO pin
* @param mode what to wait for: GPIO.CHANGE, GPIO.FALLING or GPIO.RISING
* @param timeout don't wait more than timeout milliseconds (-1 waits indefinitely)
* @return true if the interrupt occured, false if the timeout occured
* @webref
*/
public
static
boolean
waitForInterrupt
(
int
pin
,
int
mode
,
int
timeout
) {
enableInterrupt
(
pin
,
mode
);
return
waitForInterrupt
(
pin
,
timeout
);
}
/**
* Waits for the value of an input pin to change
*
* Make sure to setup the interrupt with enableInterrupt() before calling
* this function. A timeout value of -1 waits indefinitely.
* @param pin GPIO pin
* @param timeout don't wait more than timeout milliseconds
* @return true if the interrupt occured, false if the timeout occured
* @see enableInterrupt
* @see disableInterrupt
*/
protected
static
boolean
waitForInterrupt
(
int
pin
,
int
timeout
) {
checkValidPin
(
pin
);
String
fn
=
String
.
format
(
"/sys/class/gpio/gpio%d/value"
,
pin
);
int
ret
=
NativeInterface
.
pollDevice
(
fn
,
timeout
);
if
(
ret
<
0
) {
if
(
ret
== -
2
) {
// ENOENT
System
.
err
.
println
(
"Make sure your called pinMode on the input pin"
);
}
throw
new
RuntimeException
(
NativeInterface
.
getError
(
ret
));
}
else
if
(
ret
==
0
) {
// timeout
return
false
;
}
else
{
// interrupt
return
true
;
}
}
/**
* Waits for the value of an input pin to change
*
* Make sure to setup the interrupt with enableInterrupt() before calling
* this function. This function will wait indefinitely for an interrupt
* to occur.
* @parm pin GPIO pin
* @see enableInterrupt
* @see disableInterrupt
*/
protected
static
void
waitForInterrupt
(
int
pin
) {
waitForInterrupt
(
pin
, -
1
);
}
}
Back
|
FazBrowse Home
|
New Git URL