Roboter/Code/libraries/RF24-1.3.3/utility/SPIDEV/gpio.cpp

/*
 * https://github.com/mrshu/GPIOlib
 * Copyright (c) 2011, Copyright (c) 2011 mr.Shu
 * All rights reserved.
 *
 * Modified on 24 June 2012, 11:06 AM
 * File:   gpio.cpp
 * Author: purinda (purinda@gmail.com)
 *
 *  Patched for filedescriptor catching and error control by L Diaz 2018
 */

#include "gpio.h"
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/types.h>
#include <sys/stat.h>

std::map<int,GPIOfdCache_t> GPIO::cache;

GPIO::GPIO() {
}

GPIO::~GPIO() {
}

void GPIO::open(int port, int DDR)
{
	FILE *f;
	f = fopen("/sys/class/gpio/export", "w");
	if(f==NULL) throw GPIOException("can't export GPIO pin .check access rights");
	fprintf(f, "%d\n", port);
	fclose(f);

  int counter = 0;
	char file[128];
	sprintf(file, "/sys/class/gpio/gpio%d/direction", port);

    while( ( f = fopen(file,"w")) == NULL ){ //Wait 10 seconds for the file to be accessible if not open on first attempt
        sleep(1);
        counter++;
        if(counter > 10){
					throw GPIOException("can't access /sys/class/gpio/gpio%d/direction GPIO pin. check access rights");
          /*perror("Could not open /sys/class/gpio/gpio%d/direction");
          exit(0); */
        }
    }
	int l=(DDR==0) ? fprintf(f, "in\n") : fprintf(f, "out\n");
	if(!(l==3 || l==4)) {
		fclose(f);
		throw GPIOException("can't set direction on GPIO pin. check access rights");
	}
	/*
	if (DDR == 0)
          fprintf(f, "in\n");
	else  printf(f, "out\n");
  */
  fclose(f);

	// Caches the GPIO descriptor;
	sprintf(file, "/sys/class/gpio/gpio%d/value", port);
	int flags= (DDR==0) ? O_RDONLY : O_WRONLY;
	int fd=::open(file,flags);
	if(fd<0) {
		throw GPIOException("Can't open the GPIO");
	} else {
		cache[port]=fd;  // cache the fd;
		lseek(fd,SEEK_SET,0);
	}

}

void GPIO::close(int port)
{
  std::map<int,GPIOfdCache_t>::iterator i;
	i=cache.find(port);
	if(i!=cache.end()){
		close(i->second); // close the cached fd
		cache.erase(i); // Delete cache entry
	}
	// Do unexport
	FILE *f;
	f = fopen("/sys/class/gpio/unexport", "w");
	if(f!=NULL) {
		fprintf(f, "%d\n", port);
	  fclose(f);
	}
}

int GPIO::read(int port)
{
  std::map<int,GPIOfdCache_t>::iterator i;
  int fd;
	i=cache.find(port);
	if(i==cache.end()){ // Fallback to open the gpio
		GPIO::open(port,GPIO::DIRECTION_IN);
		i=cache.find(port);
		if(i==cache.end()) throw GPIOException("can't access to GPIO");
		else fd=i->second;
	} else fd=i->second;

	char c;
	if(lseek(fd,0,SEEK_SET)==0 && ::read(fd,&c,1)==1){
		return (c=='0') ? 0 : 1;
	} else throw GPIOException("can't access to GPIO");

	/*FILE *f;

	char file[128];
	sprintf(file, "/sys/class/gpio/gpio%d/value", port);
	f = fopen(file, "r");

	int i;
	fscanf(f, "%d", &i);
	fclose(f);
	return i;
*/
}
void GPIO::write(int port, int value){
	std::map<int,GPIOfdCache_t>::iterator i;
  int fd;
	i=cache.find(port);
	if(i==cache.end()){ // Fallback to open the gpio
		GPIO::open(port,GPIO::DIRECTION_OUT);
		i=cache.find(port);
		if(i==cache.end()) throw GPIOException("can't access to GPIO");
		else fd=i->second;
	} else fd=i->second;

	if(lseek(fd,0,SEEK_SET)!=0) throw GPIOException("can't access to GPIO");
	int l=(value==0) ? ::write(fd,"0\n",2) : ::write(fd,"1\n",2);
	if(l!=2) throw GPIOException("can't access to GPIO");

	/*FILE *f;

	char file[128];
	sprintf(file, "/sys/class/gpio/gpio%d/value", port);
	f = fopen(file, "w");

	if (value == 0)	fprintf(f, "0\n");
	else		fprintf(f, "1\n");

	fclose(f);*/
}