[New] Major refactoring
- Added GpioException which is thrown when something goes wrong - it is a checked exception - Made project create an executable Jar - fixed thread safety - added GpioBridge.writeValue() - added setup scripts for BeagleBoneBlack
This commit is contained in:
parent
5168f4e07b
commit
82b5390e09
11
README.md
11
README.md
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@ -1,2 +1,9 @@
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# ch.eitchnet.beaglebone
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ch.eitchnet.beaglebone
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# BeagleBoneBlack Java Pin Bridge
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## Setup
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## Build
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## Running
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@ -0,0 +1,23 @@
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#!/bin/bash
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SLOTS=/sys/devices/platform/bone_capemgr/slots
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PINS=/sys/kernel/debug/pinctrl/44e10800.pinmux/pins
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# http://kilobaser.com/blog/2014-07-28-beaglebone-black-devicetreeoverlay-generator
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# https://github.com/jadonk/validation-scripts/tree/master/test-capemgr
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echo "Compiling pinctrl-eitchnet..."
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dtc -O dtb -o pinctrl-eitchnet-00A0.dtbo -b 0 -@ pinctrl-eitchnet.dts
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echo
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echo "Install with:"
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echo "$ sudo cp pinctrl-eitchnet-00A0.dtbo /lib/firmware/"
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echo "$ echo pinctrl-eitchnet | sudo tee $SLOTS"
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echo
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echo "Remove with:"
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echo "$ cat $SLOTS | grep pinctrl-eitchnet"
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echo "15: P-O-L- 0 Override Board Name,00A0,Override Manuf,pinctrl-eitchnet"
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echo "$ echo -15 | sudo tee $SLOTS"
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exit 0
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@ -0,0 +1,81 @@
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#!/bin/bash
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set -e
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echo -e "Exporting Pins to userspace..."
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if [ "$(whoami)" != "root" ] ; then
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echo "Please run as root!"
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exit 1
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fi
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GPIO_DIR="/sys/class/gpio"
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USER="ubuntu"
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if [ ! -d "${GPIO_DIR}" ] ; then
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echo -e "ERROR: Missing GPIO directory ${GPIO_DIR}"
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fi
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cd "${GPIO_DIR}"
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function export_pin() {
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direction="$1"
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gpio_no="$2"
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gpio_name="gpio${gpio_no}"
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echo "Setting direction of ${gpio_name} to ${direction}..."
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if [ ! -d "${gpio_name}" ] ; then
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echo "${gpio_no}" > export
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else
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echo "GPIO ${gpio_no} was already exported, only verifying direction..."
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fi
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echo "${direction}" > "${gpio_name}/direction"
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if [ "${direction}" == "in" ] ; then
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echo "Current value of ${gpio_name} is $(cat ${gpio_name}/value)"
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else
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echo "Setting value of ${gpio_name} to 0"
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fi
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chown ${USER} "${gpio_name}/value"
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}
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##
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## IN Pins
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##
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echo
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echo "Setting input pins..."
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# P8.7
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export_pin in 66
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# P8.8
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export_pin in 67
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# P8.9
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export_pin in 69
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##
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## Out pins
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##
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echo
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echo "Setting output pins..."
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# P8.10
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export_pin out 68
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# P8.11
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export_pin out 45
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# P8.12
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export_pin out 44
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# P8.14
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export_pin out 26
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# P8.15
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export_pin out 47
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# P8.16
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export_pin out 46
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echo -e "Done."
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exit 0
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@ -0,0 +1,45 @@
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/dts-v1/;
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/plugin/;
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/{
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compatible = "ti,beaglebone", "ti,beaglebone-black";
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/* identification */
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part-number = "pinctrl-eitchnet";
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/* https://github.com/derekmolloy/boneDeviceTree/blob/master/docs/BeagleboneBlackP9HeaderTable.pdf */
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fragment@0 {
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target = <&am33xx_pinmux>;
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__overlay__ {
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pinctrl_eitchnet: pinmux_pinctrl_eitchnet {
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pinctrl-single,pins = <
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/* 0x27 INPUT */
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0x090 0x2f /* P8_07 66 INPUT MODE7 none */
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0x094 0x2f /* P8_08 67 INPUT MODE7 none */
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0x09c 0x2f /* P8_09 69 INPUT MODE7 none */
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/* 0x07 OUTPUT */
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0x098 0x0f /* P8_10 68 OUTPUT MODE7 none */
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0x034 0x0f /* P8_11 45 OUTPUT MODE7 none */
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0x030 0x0f /* P8_12 44 OUTPUT MODE7 none */
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0x028 0x0f /* P8_14 26 OUTPUT MODE7 none */
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0x03c 0x0f /* P8_15 47 OUTPUT MODE7 none */
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0x038 0x0f /* P8_16 46 OUTPUT MODE7 none */
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>;
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};
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};
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};
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fragment@1 {
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target = <&ocp>;
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__overlay__ {
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pinctrl_eitchnet_pinmux {
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compatible = "bone-pinmux-helper";
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pinctrl-names = "default";
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pinctrl-0 = <&pinctrl_eitchnet>;
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status = "okay";
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};
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};
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};
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};
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@ -0,0 +1,33 @@
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/dts-v1/;
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/plugin/;
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/{
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compatible = "ti,beaglebone", "ti,beaglebone-black";
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/* identification */
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part-number = "pinctrl-test-0";
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/* https://github.com/derekmolloy/boneDeviceTree/blob/master/docs/BeagleboneBlackP9HeaderTable.pdf */
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fragment@0 {
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target = <&am33xx_pinmux>;
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__overlay__ {
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pinctrl_test: pinctrl_test_0_pins {
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pinctrl-single,pins = <
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0x164 0x00 /* P9_42 muxRegOffset, OUTPUT | MODE0 */
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>;
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};
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};
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};
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fragment@1 {
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target = <&ocp>;
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__overlay__ {
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test_helper: helper {
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compatible = "bone-pinmux-helper";
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pinctrl-names = "default";
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pinctrl-0 = <&pinctrl_test>;
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status = "okay";
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};
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};
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};
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};
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80
pom.xml
80
pom.xml
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<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
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<modelVersion>4.0.0</modelVersion>
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xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
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<modelVersion>4.0.0</modelVersion>
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<groupId>ch.eitchnet</groupId>
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<artifactId>ch.eitchnet.beaglebone</artifactId>
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<version>0.1.0-SNAPSHOT</version>
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<packaging>jar</packaging>
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<groupId>ch.eitchnet</groupId>
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<artifactId>ch.eitchnet.beaglebone</artifactId>
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<version>0.1.0-SNAPSHOT</version>
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<packaging>jar</packaging>
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<name>ch.eitchnet.beaglebone</name>
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<url>http://maven.apache.org</url>
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<name>ch.eitchnet.beaglebone</name>
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<url>http://maven.apache.org</url>
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<properties>
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<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
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<maven.compiler.source>1.8</maven.compiler.source>
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<maven.compiler.target>1.8</maven.compiler.target>
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</properties>
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<dependencies>
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<dependency>
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<groupId>junit</groupId>
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<artifactId>junit</artifactId>
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<version>4.12</version>
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<scope>test</scope>
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</dependency>
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</dependencies>
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<properties>
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<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
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<maven.compiler.source>1.8</maven.compiler.source>
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<maven.compiler.target>1.8</maven.compiler.target>
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</properties>
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<dependencies>
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<dependency>
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<groupId>junit</groupId>
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<artifactId>junit</artifactId>
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<version>4.12</version>
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<scope>test</scope>
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</dependency>
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</dependencies>
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<build>
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<finalName>BeagleBone</finalName>
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<plugins>
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<plugin>
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<groupId>org.apache.maven.plugins</groupId>
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<artifactId>maven-jar-plugin</artifactId>
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<version>2.6</version>
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<configuration>
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<archive>
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<manifest>
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<addClasspath>true</addClasspath>
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<!-- <classpathPrefix>lib/</classpathPrefix> -->
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<mainClass>ch.eitchnet.beaglebone.GpioBridgeTest</mainClass>
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</manifest>
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</archive>
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</configuration>
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</plugin>
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<!-- <plugin> -->
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<!-- <artifactId>maven-dependency-plugin</artifactId> -->
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<!-- <executions> -->
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<!-- <execution> -->
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<!-- <phase>package</phase> -->
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<!-- <goals> -->
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<!-- <goal>copy-dependencies</goal> -->
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<!-- </goals> -->
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<!-- <configuration> -->
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<!-- <includeScope>compile</includeScope> -->
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<!-- <outputDirectory>${project.build.directory}/lib</outputDirectory> -->
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<!-- </configuration> -->
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<!-- </execution> -->
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<!-- </executions> -->
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<!-- </plugin> -->
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</plugins>
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</build>
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</project>
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#!/bin/bash
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set -e
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GPIO_DIR="/sys/class/gpio"
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if [ ! -d "${GPIO_DIR}" ] ; then
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echo -e "ERROR: Missing GPIO directory ${GPIO_DIR}"
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fi
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cd "${GPIO_DIR}"
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if [ "$#" != 2 ] ; then
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echo "Usage: $0 <gpio_no> <value>"
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exit 1
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fi
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gpio_no="$1"
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gpio_name="gpio${gpio_no}"
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value="$2"
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direction="$(cat ${gpio_name}/direction)"
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if [ "${direction}" != "out" ] ; then
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echo "Current direction is not in, can't set output pin!"
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fi
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echo "Setting output pin ${gpio_name} to value ${value}"
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echo ${value} | sudo tee "${GPIO_DIR}/${gpio_name}/value"
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exit 0
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@ -3,7 +3,7 @@ package ch.eitchnet.beaglebone;
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public class Gpio {
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private final Pin pin;
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private final String name;
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private final String kernelName;
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private final Direction direction;
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private String label;
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private Signal signal;
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@ -11,8 +11,8 @@ public class Gpio {
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public Gpio(Pin pin, Direction direction) {
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this.pin = pin;
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this.direction = direction;
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this.name = "gpio" + pin.getGpioNr();
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this.label = name;
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this.kernelName = "gpio" + pin.getGpioNr();
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this.label = kernelName;
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this.signal = Signal.LOW;
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}
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@ -20,8 +20,8 @@ public class Gpio {
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return this.pin;
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}
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public String getName() {
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return this.name;
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public String getKernelName() {
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return this.kernelName;
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}
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public Gpio setLabel(String label) {
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@ -45,4 +45,9 @@ public class Gpio {
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this.signal = signal;
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return this;
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}
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@Override
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public String toString() {
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return this.pin.toString();
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}
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}
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@ -2,6 +2,7 @@ package ch.eitchnet.beaglebone;
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import java.io.BufferedReader;
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import java.io.File;
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import java.io.FileNotFoundException;
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import java.io.FileOutputStream;
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import java.io.FileReader;
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import java.io.IOException;
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@ -23,12 +24,20 @@ public class GpioBridge {
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this.listeners = Collections.synchronizedMap(new HashMap<>());
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}
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public void writeValue(Gpio gpio, Signal signal) {
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private File getGpioValuePath(Gpio gpio) {
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return new File(GpioBridgeTest.GPIO_PATH, gpio.getKernelName() + "/value");
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}
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private File getGpioDirectionPath(Gpio gpio) {
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return new File(GpioBridgeTest.GPIO_PATH, gpio.getKernelName() + "/direction");
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}
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public void writeValue(Gpio gpio, Signal signal) throws GpioException {
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if (gpio.getDirection() != Direction.OUT)
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throw new IllegalArgumentException("For writing the direction must be " + Direction.OUT);
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File file = new File(GpioBridgeTest.GPIO_PATH, gpio.getName() + "/value");
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File file = getGpioValuePath(gpio);
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try (FileOutputStream out = new FileOutputStream(file)) {
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out.write(signal.getValueS().getBytes());
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@ -37,12 +46,35 @@ public class GpioBridge {
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gpio.setSignal(signal);
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} catch (Exception e) {
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e.printStackTrace();
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throw new GpioException("Failed to write GPIO " + gpio + " with signal " + signal, e);
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}
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System.out.println("Set GPIO " + gpio.getPin() + " signal to " + gpio.getSignal());
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}
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public Signal readValue(Gpio gpio) throws GpioException {
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synchronized (gpio) {
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if (gpio.getDirection() != Direction.IN)
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throw new IllegalArgumentException("For reading the direction must be " + Direction.IN);
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File file = getGpioValuePath(gpio);
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try (BufferedReader fin = new BufferedReader(new FileReader(file))) {
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String valueS = fin.readLine();
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Signal signal = Signal.getSignal(valueS);
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if (!gpio.getSignal().equals(signal))
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gpio.setSignal(signal);
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return signal;
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} catch (Exception e) {
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throw new GpioException("Failed to read GPIO " + gpio, e);
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}
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}
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}
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public void start() {
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this.run = true;
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@ -52,8 +84,10 @@ public class GpioBridge {
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synchronized (this) {
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try {
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wait(1000l);
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} catch (Exception e) {
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e.printStackTrace();
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} catch (InterruptedException e) {
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System.out.println("Was interrupted. Stopping thread.");
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this.run = false;
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break;
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}
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}
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} else {
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@ -62,19 +96,18 @@ public class GpioBridge {
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synchronized (this.listeners) {
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for (Gpio gpio : this.listeners.keySet()) {
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File file = new File(GpioBridgeTest.GPIO_PATH, gpio.getName() + "/value");
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try (BufferedReader fin = new BufferedReader(new FileReader(file))) {
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String valueS = fin.readLine();
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Signal signal = Signal.getSignal(valueS);
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if (!gpio.getSignal().equals(signal)) {
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gpio.setSignal(signal);
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changes.add(gpio);
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try {
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synchronized (gpio) {
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Signal currentSignal = gpio.getSignal();
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Signal newSignal = readValue(gpio);
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if (currentSignal != newSignal)
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changes.add(gpio);
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}
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} catch (Exception e) {
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System.out.println("Failed to read GPIO " + gpio + " due to:");
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e.printStackTrace();
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this.run = false;
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break;
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}
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}
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}
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@ -89,20 +122,28 @@ public class GpioBridge {
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+ ". Notifying " + listeners.size() + " listeners.");
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for (GpioSignalListener listener : listeners) {
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listener.notify(gpio);
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try {
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listener.notify(gpio);
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} catch (Exception e) {
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System.out.println("Failed to update listener " + listener + " due to:");
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e.printStackTrace();
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}
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}
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}
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}
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try {
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Thread.sleep(200l);
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} catch (Exception e) {
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e.printStackTrace();
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} catch (InterruptedException e) {
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System.out.println("Was interrupted. Stopping thread.");
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this.run = false;
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break;
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}
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}
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}
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} , "gpio_reader");
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this.thread.start();
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System.out.println("Started GPIO bridge.");
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}
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public void stop() {
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|
|
@ -111,38 +152,66 @@ public class GpioBridge {
|
|||
try {
|
||||
this.thread.join(5000l);
|
||||
} catch (InterruptedException e) {
|
||||
e.printStackTrace();
|
||||
System.out.println("Was interrupted while waiting for thread to stop?!");
|
||||
}
|
||||
}
|
||||
|
||||
public Gpio getGpio(Pin pin, Direction direction) {
|
||||
public synchronized Gpio getGpio(Pin pin, Direction direction) throws GpioException {
|
||||
Gpio gpio = this.cache.get(pin);
|
||||
if (gpio == null) {
|
||||
|
||||
gpio = new Gpio(pin, direction);
|
||||
|
||||
File file = new File(GpioBridgeTest.GPIO_PATH, gpio.getName() + "/direction");
|
||||
try (BufferedReader fin = new BufferedReader(new FileReader(file))) {
|
||||
// validate direction
|
||||
validateDirection(pin, direction, gpio);
|
||||
|
||||
String directionS = fin.readLine();
|
||||
Direction dir = Direction.getDirection(directionS);
|
||||
if (dir != direction)
|
||||
throw new IllegalArgumentException(
|
||||
"Actual direction of GPIO " + gpio.getPin() + " is " + dir + " not " + directionS);
|
||||
|
||||
} catch (IOException e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
// validate file permissions
|
||||
validateFilePermissions(direction, gpio);
|
||||
|
||||
this.cache.put(pin, gpio);
|
||||
System.out.println("Initialized pin " + pin + " with direction " + direction + ".");
|
||||
}
|
||||
|
||||
return gpio;
|
||||
}
|
||||
|
||||
public void register(Gpio gpio, GpioSignalListener listener) {
|
||||
private void validateDirection(Pin pin, Direction direction, Gpio gpio) throws GpioException {
|
||||
File file = getGpioDirectionPath(gpio);
|
||||
try (BufferedReader fin = new BufferedReader(new FileReader(file))) {
|
||||
|
||||
String directionS = fin.readLine();
|
||||
Direction dir = Direction.getDirection(directionS);
|
||||
if (dir != direction)
|
||||
throw new GpioException(
|
||||
"Actual direction of GPIO " + gpio.getPin() + " is " + dir + " not " + directionS);
|
||||
|
||||
} catch (FileNotFoundException e) {
|
||||
throw new GpioException("GPIO " + pin + " does not exist, was the pin exported to user space?", e);
|
||||
} catch (IOException e) {
|
||||
throw new GpioException("Failed to open GPIO " + pin, e);
|
||||
}
|
||||
}
|
||||
|
||||
private void validateFilePermissions(Direction direction, Gpio gpio) throws GpioException {
|
||||
File gpioValuePath = getGpioValuePath(gpio);
|
||||
if (direction == Direction.IN) {
|
||||
if (!gpioValuePath.canRead())
|
||||
throw new GpioException("GPIO " + gpio + " has direction " + direction
|
||||
+ " and is not readable. Are the file permissions ok?");
|
||||
|
||||
} else if (direction == Direction.OUT) {
|
||||
if (!gpioValuePath.canWrite())
|
||||
throw new GpioException("GPIO " + gpio + " has direction " + direction
|
||||
+ " and is not writable. Are the file permissions ok?");
|
||||
} else {
|
||||
throw new RuntimeException("Unhandled Direction " + direction);
|
||||
}
|
||||
}
|
||||
|
||||
public void register(Gpio gpio, GpioSignalListener listener) throws GpioException {
|
||||
|
||||
if (gpio.getDirection() != Direction.IN)
|
||||
throw new IllegalArgumentException("For reading the direction must be " + Direction.IN);
|
||||
throw new GpioException("For reading the direction must be " + Direction.IN);
|
||||
|
||||
synchronized (this.listeners) {
|
||||
List<GpioSignalListener> listeners = this.listeners.get(gpio);
|
||||
|
|
|
|||
|
|
@ -0,0 +1,14 @@
|
|||
package ch.eitchnet.beaglebone;
|
||||
|
||||
public class GpioException extends Exception {
|
||||
|
||||
private static final long serialVersionUID = 1L;
|
||||
|
||||
public GpioException(String message, Throwable cause) {
|
||||
super(message, cause);
|
||||
}
|
||||
|
||||
public GpioException(String message) {
|
||||
super(message);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,5 +1,5 @@
|
|||
package ch.eitchnet.beaglebone;
|
||||
|
||||
public interface GpioSignalListener {
|
||||
public void notify(Gpio gpio);
|
||||
public void notify(Gpio gpio) throws Exception;
|
||||
}
|
||||
|
|
@ -2,13 +2,13 @@ package ch.eitchnet.beaglebone;
|
|||
|
||||
public enum Pin {
|
||||
|
||||
P8_3("P8.3", 1, 6),
|
||||
P8_4("P8.4", 1, 7),
|
||||
P8_5("P8.5", 1, 2),
|
||||
P8_6("P8.6", 1, 3),
|
||||
P8_7("P8.7", 2, 2),
|
||||
P8_8("P8.8", 2, 3),
|
||||
P8_9("P8.9", 2, 2),
|
||||
P8_03("P8.03", 1, 6),
|
||||
P8_04("P8.04", 1, 7),
|
||||
P8_05("P8.05", 1, 2),
|
||||
P8_06("P8.06", 1, 3),
|
||||
P8_07("P8.07", 2, 2),
|
||||
P8_08("P8.08", 2, 3),
|
||||
P8_09("P8.09", 2, 5),
|
||||
P8_10("P8.10", 2, 4),
|
||||
P8_11("P8.11", 1, 13),
|
||||
P8_12("P8.12", 1, 12),
|
||||
|
|
@ -68,8 +68,10 @@ public enum Pin {
|
|||
P9_29("P9.29", 3, 15),
|
||||
P9_30("P9.30", 3, 16),
|
||||
P9_31("P9.31", 3, 14),
|
||||
P9_41("P9.41", 0, 20),
|
||||
P9_42("P9.42", 0, 7);
|
||||
P9_41A("P9.41A", 0, 20),
|
||||
P9_41B("P9.41B", 3, 20),
|
||||
P9_42A("P9.42A", 0, 7),
|
||||
P9_42B("P9.42B", 3, 18);
|
||||
|
||||
private String label;
|
||||
private int chip;
|
||||
|
|
@ -96,4 +98,9 @@ public enum Pin {
|
|||
public int getGpioNr() {
|
||||
return this.chip * 32 + this.pin;
|
||||
}
|
||||
|
||||
@Override
|
||||
public String toString() {
|
||||
return this.label;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -52,4 +52,9 @@ public enum Signal {
|
|||
return HIGH;
|
||||
throw new IllegalArgumentException("No signal for value " + valueS);
|
||||
}
|
||||
|
||||
@Override
|
||||
public String toString() {
|
||||
return name();
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue