// ucoolib - Microcontroller object oriented library. {{{ // // Copyright (C) 2013 Nicolas Schodet // // APBTeam: // Web: http://apbteam.org/ // Email: team AT apbteam DOT org // // This program is free software; you can redistribute it and/or modify // it under the terms of the GNU General Public License as published by // the Free Software Foundation; either version 2 of the License, or // (at your option) any later version. // // This program 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 General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. // // }}} #include "gpio.host.hh" #include namespace ucoo { /// Shared context between instances. class GpioShared { public: /// Constructor, connect to mex node. GpioShared (Host &host); /// Register a new GPIO. void register_instance (Host &host, Gpio &instance); /// Set output state. void set (Gpio &instance, bool state); /// Set direction. void output (Gpio &instance, bool output); private: /// Send state change message. void send (Gpio &instance); /// Handle input value from Mex. void handle_gpio_input (mex::Msg &msg); private: Host &host_; mex::Node &node_; mex::mtype_t gpio_output_mtype_, gpio_input_mtype_; typedef std::map Instances; Instances instances_; }; GpioShared::GpioShared (Host &host) : host_ (host), node_ (host.get_node ()) { std::string instance = host_.get_instance (); gpio_output_mtype_ = node_.reserve (instance + ":gpio_out"); gpio_input_mtype_ = node_.reserve (instance + ":gpio_in"); node_.handler_register (gpio_input_mtype_, *this, &GpioShared::handle_gpio_input); } void GpioShared::register_instance (Host &host, Gpio &instance) { assert (&host == &host_); std::pair r = instances_.insert (Instances::value_type (instance.name_, &instance)); assert (r.second); } void GpioShared::set (Gpio &instance, bool state) { if (state != instance.output_) { instance.output_ = state; send (instance); } } void GpioShared::output (Gpio &instance, bool output) { if (output != instance.direction_output_) { instance.direction_output_ = output; send (instance); } } void GpioShared::send (Gpio &instance) { mex::Msg msg (gpio_output_mtype_); msg.push ("BB") << instance.direction_output_ << instance.output_; msg.push (instance.name_, std::strlen (instance.name_)); node_.send (msg); } void GpioShared::handle_gpio_input (mex::Msg &msg) { int input, namelen; msg.pop ("B") >> input; namelen = msg.len (); std::string name (msg.pop (namelen), namelen); Instances::iterator i = instances_.find (name); assert (i != instances_.end ()); i->second->input_ = input; } GpioShared *Gpio::shared_; Gpio::Gpio (Host &host, const char *name) : name_ (name), input_ (false), output_ (false), direction_output_ (false) { if (!shared_) { static GpioShared shared (host); shared_ = &shared; } shared_->register_instance (host, *this); } void Gpio::set () { shared_->set (*this, true); } void Gpio::reset () { shared_->set (*this, false); } void Gpio::set (bool state) { shared_->set (*this, state); } void Gpio::toggle () { shared_->set (*this, !output_); } bool Gpio::get () const { return input_; } void Gpio::input () { shared_->output (*this, false); } void Gpio::output () { shared_->output (*this, true); } } // namespace ucoo