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ev3dev.cpp
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ev3dev.cpp
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/*
* C++ API to the sensors, motors, buttons, LEDs and battery of the ev3dev
* Linux kernel for the LEGO Mindstorms EV3 hardware
*
* Copyright (c) 2014 - Franz Detro
*
* 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* Modification:
* Add new button for ev3dev Release 02.00.00 (ev3dev-jessie-2014-07-12) - Christophe Chaudelet
*
*/
#include "ev3dev.h"
#include <iostream>
#include <sstream>
#include <fstream>
#include <list>
#include <map>
#include <array>
#include <algorithm>
#include <system_error>
#include <mutex>
#include <chrono>
#include <thread>
#include <stdexcept>
#include <string.h>
#include <math.h>
#include <dirent.h>
#include <sys/mman.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdlib.h>
#include <errno.h>
#ifndef SYS_ROOT
# define SYS_ROOT "/sys/class"
#endif
#ifndef FSTREAM_CACHE_SIZE
# define FSTREAM_CACHE_SIZE 16
#endif
#ifndef NO_LINUX_HEADERS
# include <linux/fb.h>
# include <linux/input.h>
#else
# define KEY_CNT 8
#endif
static const int bits_per_long = sizeof(long) * 8;
namespace ev3dev {
namespace {
// This class implements a small LRU cache. It assumes the number of elements
// is small, and so uses a simple linear search.
template <typename K, typename V>
class lru_cache {
private:
// typedef st::pair<K, V> item;
// std::pair seems to be missing necessary move constructors :(
struct item {
K first;
V second;
item(const K &k) : first(k) {}
item(item &&m) : first(std::move(m.first)), second(std::move(m.second)) {}
};
public:
lru_cache(size_t size = 3) : _size(size) {}
V &operator[] (const K &k) {
iterator i = find(k);
if (i != _items.end()) {
// Found the key, bring the item to the front.
_items.splice(_items.begin(), _items, i);
} else {
// If the cache is full, remove oldest items to make room.
while (_items.size() + 1 > _size) {
_items.pop_back();
}
// Insert a new default constructed value for this new key.
_items.emplace_front(k);
}
// The new item is the most recently used.
return _items.front().second;
}
void clear() {
_items.clear();
}
private:
typedef typename std::list<item>::iterator iterator;
iterator find(const K &k) {
return std::find_if(_items.begin(), _items.end(),
[&](const item &i) { return i.first == k; });
}
size_t _size;
std::list<item> _items;
};
// A global cache of files.
std::ifstream& ifstream_cache(const std::string &path) {
static lru_cache<std::string, std::ifstream> cache(FSTREAM_CACHE_SIZE);
static std::mutex mx;
std::lock_guard<std::mutex> lock(mx);
return cache[path];
}
std::ofstream& ofstream_cache(const std::string &path) {
static lru_cache<std::string, std::ofstream> cache(FSTREAM_CACHE_SIZE);
static std::mutex mx;
std::lock_guard<std::mutex> lock(mx);
return cache[path];
}
//-----------------------------------------------------------------------------
std::ofstream &ofstream_open(const std::string &path) {
std::ofstream &file = ofstream_cache(path);
if (!file.is_open()) {
// Don't buffer writes to avoid latency. Also saves a bit of memory.
file.rdbuf()->pubsetbuf(NULL, 0);
file.open(path);
} else {
// Clear the error bits in case something happened.
file.clear();
}
return file;
}
std::ifstream &ifstream_open(const std::string &path) {
std::ifstream &file = ifstream_cache(path);
if (!file.is_open()) {
file.open(path);
} else {
// Clear the flags bits in case something happened (like reaching EOF).
file.clear();
file.seekg(0, std::ios::beg);
}
return file;
}
} // namespace
//-----------------------------------------------------------------------------
bool device::connect(
const std::string &dir,
const std::string &pattern,
const std::map<std::string, std::set<std::string>> &match
) noexcept
{
using namespace std;
const size_t pattern_length = pattern.length();
struct dirent *dp;
DIR *dfd;
if ((dfd = opendir(dir.c_str())) != nullptr) {
while ((dp = readdir(dfd)) != nullptr) {
if (strncmp(dp->d_name, pattern.c_str(), pattern_length)==0) {
try {
_path = dir + dp->d_name + '/';
bool bMatch = true;
for (auto &m : match) {
const auto &attribute = m.first;
const auto &matches = m.second;
const auto strValue = get_attr_string(attribute);
if (!matches.empty() && !matches.begin()->empty() &&
(matches.find(strValue) == matches.end()))
{
bMatch = false;
break;
}
}
if (bMatch) {
closedir(dfd);
return true;
}
} catch (...) { }
_path.clear();
}
}
closedir(dfd);
}
return false;
}
//-----------------------------------------------------------------------------
int device::device_index() const {
using namespace std;
if (_path.empty())
throw system_error(make_error_code(errc::function_not_supported), "no device connected");
if (_device_index < 0) {
unsigned f = 1;
_device_index = 0;
for (auto it=_path.rbegin(); it!=_path.rend(); ++it) {
if(*it =='/')
continue;
if ((*it < '0') || (*it > '9'))
break;
_device_index += (*it -'0') * f;
f *= 10;
}
}
return _device_index;
}
//-----------------------------------------------------------------------------
int device::get_attr_int(const std::string &name) const {
using namespace std;
if (_path.empty())
throw system_error(make_error_code(errc::function_not_supported), "no device connected");
for(int attempt = 0; attempt < 2; ++attempt) {
ifstream &is = ifstream_open(_path + name);
if (is.is_open()) {
int result = 0;
try {
is >> result;
return result;
} catch(...) {
// This could mean the sysfs attribute was recreated and the
// corresponding file handle got stale. Lets close the file and try
// again (once):
if (attempt != 0) throw;
is.close();
is.clear();
}
} else break;
}
throw system_error(make_error_code(errc::no_such_device), _path+name);
}
//-----------------------------------------------------------------------------
void device::set_attr_int(const std::string &name, int value) {
using namespace std;
if (_path.empty())
throw system_error(make_error_code(errc::function_not_supported), "no device connected");
for(int attempt = 0; attempt < 2; ++attempt) {
ofstream &os = ofstream_open(_path + name);
if (os.is_open()) {
if (os << value) return;
// An error could mean that sysfs attribute was recreated and the cached
// file handle is stale. Lets close the file and try again (once):
if (attempt == 0 && errno == ENODEV) {
os.close();
os.clear();
} else {
throw system_error(std::error_code(errno, std::system_category()));
}
} else {
throw system_error(make_error_code(errc::no_such_device), _path + name);
}
}
}
//-----------------------------------------------------------------------------
std::string device::get_attr_string(const std::string &name) const {
using namespace std;
if (_path.empty())
throw system_error(make_error_code(errc::function_not_supported), "no device connected");
ifstream &is = ifstream_open(_path + name);
if (is.is_open()) {
string result;
is >> result;
return result;
}
throw system_error(make_error_code(errc::no_such_device), _path+name);
}
//-----------------------------------------------------------------------------
void device::set_attr_string(const std::string &name, const std::string &value) {
using namespace std;
if (_path.empty())
throw system_error(make_error_code(errc::function_not_supported), "no device connected");
ofstream &os = ofstream_open(_path + name);
if (os.is_open()) {
if (!(os << value)) throw system_error(std::error_code(errno, std::system_category()));
return;
}
throw system_error(make_error_code(errc::no_such_device), _path+name);
}
//-----------------------------------------------------------------------------
std::string device::get_attr_line(const std::string &name) const {
using namespace std;
if (_path.empty())
throw system_error(make_error_code(errc::function_not_supported), "no device connected");
ifstream &is = ifstream_open(_path + name);
if (is.is_open()) {
string result;
getline(is, result);
return result;
}
throw system_error(make_error_code(errc::no_such_device), _path+name);
}
//-----------------------------------------------------------------------------
mode_set device::get_attr_set(
const std::string &name, std::string *pCur) const
{
using namespace std;
string s = get_attr_line(name);
mode_set result;
size_t pos, last_pos = 0;
string t;
do {
pos = s.find(' ', last_pos);
if (pos != string::npos) {
t = s.substr(last_pos, pos-last_pos);
last_pos = pos+1;
} else {
t = s.substr(last_pos);
}
if (!t.empty()) {
if (*t.begin()=='[') {
t = t.substr(1, t.length()-2);
if (pCur)
*pCur = t;
}
result.insert(t);
}
} while (pos!=string::npos);
return result;
}
//-----------------------------------------------------------------------------
std::string device::get_attr_from_set(const std::string &name) const {
using namespace std;
string s = get_attr_line(name);
size_t pos, last_pos = 0;
string t;
do {
pos = s.find(' ', last_pos);
if (pos != string::npos) {
t = s.substr(last_pos, pos-last_pos);
last_pos = pos+1;
} else {
t = s.substr(last_pos);
}
if (!t.empty()) {
if (*t.begin()=='[') {
return t.substr(1, t.length()-2);
}
}
} while (pos!=string::npos);
return { "none" };
}
//-----------------------------------------------------------------------------
constexpr char sensor::ev3_touch[];
constexpr char sensor::ev3_color[];
constexpr char sensor::ev3_ultrasonic[];
constexpr char sensor::ev3_gyro[];
constexpr char sensor::ev3_infrared[];
constexpr char sensor::nxt_touch[];
constexpr char sensor::nxt_light[];
constexpr char sensor::nxt_sound[];
constexpr char sensor::nxt_ultrasonic[];
constexpr char sensor::nxt_i2c_sensor[];
constexpr char sensor::nxt_analog[];
//-----------------------------------------------------------------------------
sensor::sensor(address_type address) {
connect({{ "address", { address }}});
}
//-----------------------------------------------------------------------------
sensor::sensor(address_type address, const std::set<sensor_type> &types) {
connect({{ "address", { address }}, { "driver_name", types }});
}
//-----------------------------------------------------------------------------
bool sensor::connect(const std::map<std::string, std::set<std::string>> &match) noexcept
{
static const std::string _strClassDir { SYS_ROOT "/lego-sensor/" };
static const std::string _strPattern { "sensor" };
try {
if (device::connect(_strClassDir, _strPattern, match)) {
return true;
}
} catch (...) { }
_path.clear();
return false;
}
//-----------------------------------------------------------------------------
std::string sensor::type_name() const {
auto type = driver_name();
if (type.empty()) {
static const std::string s("<none>");
return s;
}
static const std::map<sensor_type, const std::string> lookup_table {
{ ev3_touch, "EV3 touch" },
{ ev3_color, "EV3 color" },
{ ev3_ultrasonic, "EV3 ultrasonic" },
{ ev3_gyro, "EV3 gyro" },
{ ev3_infrared, "EV3 infrared" },
{ nxt_touch, "NXT touch" },
{ nxt_light, "NXT light" },
{ nxt_sound, "NXT sound" },
{ nxt_ultrasonic, "NXT ultrasonic" },
{ nxt_i2c_sensor, "I2C sensor" }
};
auto s = lookup_table.find(type);
if (s != lookup_table.end())
return s->second;
return type;
}
//-----------------------------------------------------------------------------
int sensor::value(unsigned index) const {
if (static_cast<int>(index) >= num_values())
throw std::invalid_argument("index");
char svalue[7] = "value0";
svalue[5] += index;
return get_attr_int(svalue);
}
//-----------------------------------------------------------------------------
float sensor::float_value(unsigned index) const {
return value(index) * powf(10, -decimals());
}
//-----------------------------------------------------------------------------
const std::vector<char>& sensor::bin_data() const {
using namespace std;
if (_path.empty())
throw system_error(make_error_code(errc::function_not_supported), "no device connected");
if (_bin_data.empty()) {
static const map<string, int> lookup_table {
{"u8", 1},
{"s8", 1},
{"u16", 2},
{"s16", 2},
{"s16_be", 2},
{"s32", 4},
{"float", 4}
};
int value_size = 1;
auto s = lookup_table.find(bin_data_format());
if (s != lookup_table.end())
value_size = s->second;
_bin_data.resize(num_values() * value_size);
}
const string fname = _path + "bin_data";
ifstream &is = ifstream_open(fname);
if (is.is_open()) {
is.read(_bin_data.data(), _bin_data.size());
return _bin_data;
}
throw system_error(make_error_code(errc::no_such_device), fname);
}
//-----------------------------------------------------------------------------
i2c_sensor::i2c_sensor(address_type address, const std::set<sensor_type> &types)
: sensor(address, types)
{ }
//-----------------------------------------------------------------------------
constexpr char touch_sensor::mode_touch[];
touch_sensor::touch_sensor(address_type address)
: sensor(address, { ev3_touch, nxt_touch })
{ }
//-----------------------------------------------------------------------------
constexpr char color_sensor::mode_col_reflect[];
constexpr char color_sensor::mode_col_ambient[];
constexpr char color_sensor::mode_col_color[];
constexpr char color_sensor::mode_ref_raw[];
constexpr char color_sensor::mode_rgb_raw[];
constexpr char color_sensor::color_nocolor[];
constexpr char color_sensor::color_black[];
constexpr char color_sensor::color_blue[];
constexpr char color_sensor::color_green[];
constexpr char color_sensor::color_yellow[];
constexpr char color_sensor::color_red[];
constexpr char color_sensor::color_white[];
constexpr char color_sensor::color_brown[];
color_sensor::color_sensor(address_type address)
: sensor(address, { ev3_color })
{ }
//-----------------------------------------------------------------------------
constexpr char ultrasonic_sensor::mode_us_dist_cm[];
constexpr char ultrasonic_sensor::mode_us_dist_in[];
constexpr char ultrasonic_sensor::mode_us_listen[];
constexpr char ultrasonic_sensor::mode_us_si_cm[];
constexpr char ultrasonic_sensor::mode_us_si_in[];
ultrasonic_sensor::ultrasonic_sensor(address_type address)
: sensor(address, { ev3_ultrasonic, nxt_ultrasonic })
{ }
ultrasonic_sensor::ultrasonic_sensor(address_type address, const std::set<sensor_type>& sensorTypes)
: sensor(address, sensorTypes)
{ }
//-----------------------------------------------------------------------------
char gyro_sensor::mode_gyro_ang[] = "GYRO-ANG";
char gyro_sensor::mode_gyro_rate[] = "GYRO-RATE";
char gyro_sensor::mode_gyro_fas[] = "GYRO-FAS";
char gyro_sensor::mode_gyro_g_a[] = "GYRO-G&A";
char gyro_sensor::mode_gyro_cal[] = "GYRO-CAL";
char gyro_sensor::mode_tilt_rate[] = "TILT-RATE";
char gyro_sensor::mode_tilt_ang[] = "TILT-ANG";
gyro_sensor::gyro_sensor(address_type address)
: sensor(address, { ev3_gyro })
{ }
//-----------------------------------------------------------------------------
char infrared_sensor::mode_ir_prox[] = "IR-PROX";
char infrared_sensor::mode_ir_seek[] = "IR-SEEK";
char infrared_sensor::mode_ir_remote[] = "IR-REMOTE";
char infrared_sensor::mode_ir_rem_a[] = "IR-REM-A";
char infrared_sensor::mode_ir_cal[] = "IR-CAL";
infrared_sensor::infrared_sensor(address_type address)
: sensor(address, { ev3_infrared })
{ }
//-----------------------------------------------------------------------------
char sound_sensor::mode_db[] = "DB";
char sound_sensor::mode_dba[] = "DBA";
sound_sensor::sound_sensor(address_type address)
: sensor(address, { nxt_sound, nxt_analog })
{
if (connected() && driver_name() == nxt_analog) {
lego_port port(address);
if (port.connected()) {
port.set_set_device(nxt_sound);
if (port.status() != nxt_sound) {
// Failed to load lego-nxt-sound friver. Wrong port?
_path.clear();
}
} else {
_path.clear();
}
}
}
//-----------------------------------------------------------------------------
char light_sensor::mode_reflect[] = "REFLECT";
char light_sensor::mode_ambient[] = "AMBIENT";
light_sensor::light_sensor(address_type address)
: sensor(address, { nxt_light })
{ }
//-----------------------------------------------------------------------------
char motor::motor_large[] = "lego-ev3-l-motor";
char motor::motor_medium[] = "lego-ev3-m-motor";
char motor::motor_nxt[] = "lego-nxt-motor";
char motor::command_run_forever[] = "run-forever";
char motor::command_run_to_abs_pos[] = "run-to-abs-pos";
char motor::command_run_to_rel_pos[] = "run-to-rel-pos";
char motor::command_run_timed[] = "run-timed";
char motor::command_run_direct[] = "run-direct";
char motor::command_stop[] = "stop";
char motor::command_reset[] = "reset";
char motor::encoder_polarity_normal[] = "normal";
char motor::encoder_polarity_inversed[] = "inversed";
char motor::polarity_normal[] = "normal";
char motor::polarity_inversed[] = "inversed";
char motor::state_running[] = "running";
char motor::state_ramping[] = "ramping";
char motor::state_holding[] = "holding";
char motor::state_overloaded[] = "overloaded";
char motor::state_stalled[] = "stalled";
char motor::stop_action_coast[] = "coast";
char motor::stop_action_brake[] = "brake";
char motor::stop_action_hold[] = "hold";
//-----------------------------------------------------------------------------
motor::motor(address_type address) {
connect({{ "address", { address } }});
}
//-----------------------------------------------------------------------------
motor::motor(address_type address, const motor_type &t) {
connect({{ "address", { address } }, { "driver_name", { t }}});
}
//-----------------------------------------------------------------------------
bool motor::connect(const std::map<std::string, std::set<std::string>> &match) noexcept
{
static const std::string _strClassDir { SYS_ROOT "/tacho-motor/" };
static const std::string _strPattern { "motor" };
try {
return device::connect(_strClassDir, _strPattern, match);
} catch (...) { }
_path.clear();
return false;
}
//-----------------------------------------------------------------------------
medium_motor::medium_motor(address_type address)
: motor(address, motor_medium)
{ }
//-----------------------------------------------------------------------------
large_motor::large_motor(address_type address)
: motor(address, motor_large)
{ }
//-----------------------------------------------------------------------------
nxt_motor::nxt_motor(address_type address)
: motor(address, motor_nxt)
{ }
//-----------------------------------------------------------------------------
dc_motor::dc_motor(address_type address) {
static const std::string _strClassDir { SYS_ROOT "/dc-motor/" };
static const std::string _strPattern { "motor" };
connect(_strClassDir, _strPattern, {{ "address", { address }}});
}
char dc_motor::command_run_forever[] = "run-forever";
char dc_motor::command_run_timed[] = "run-timed";
char dc_motor::command_run_direct[] = "run-direct";
char dc_motor::command_stop[] = "stop";
char dc_motor::polarity_normal[] = "normal";
char dc_motor::polarity_inversed[] = "inversed";
char dc_motor::stop_action_coast[] = "coast";
char dc_motor::stop_action_brake[] = "brake";
//-----------------------------------------------------------------------------
servo_motor::servo_motor(address_type address) {
static const std::string _strClassDir { SYS_ROOT "/servo-motor/" };
static const std::string _strPattern { "motor" };
connect(_strClassDir, _strPattern, {{ "address", { address }}});
}
char servo_motor::command_run[] = "run";
char servo_motor::command_float[] = "float";
char servo_motor::polarity_normal[] = "normal";
char servo_motor::polarity_inversed[] = "inversed";
//-----------------------------------------------------------------------------
led::led(std::string name) {
static const std::string _strClassDir { SYS_ROOT "/leds/" };
connect(_strClassDir, name, std::map<std::string, std::set<std::string>>());
}
//-----------------------------------------------------------------------------
void led::flash(unsigned on_ms, unsigned off_ms) {
static const mode_type timer("timer");
set_trigger(timer);
if (on_ms) {
// A workaround for ev3dev/ev3dev#225.
// It takes some time for delay_{on,off} sysfs attributes to appear after
// led trigger has been set to "timer".
for (int i = 0; ; ++i) {
std::this_thread::sleep_for(std::chrono::milliseconds(100));
try {
set_delay_on (on_ms );
set_delay_off(off_ms);
break;
} catch(...) {
if (i >= 5) throw;
}
}
}
}
//-----------------------------------------------------------------------------
#if defined(EV3DEV_PLATFORM_BRICKPI)
led led::blue_led1{"brickpi:led1:blue:ev3dev"};
led led::blue_led2{"brickpi:led2:blue:ev3dev"};
std::vector<led*> led::led1{ &led::blue_led1 };
std::vector<led*> led::led2{ &led::blue_led2 };
std::vector<float> led::black{ static_cast<float>(0) };
std::vector<float> led::blue{ static_cast<float>(1) };
//-----------------------------------------------------------------------------
void led::all_off() {
blue_led1.off();
blue_led2.off();
}
#elif defined(EV3DEV_PLATFORM_BRICKPI3)
led led::amber_led1{"brickpi3:amber:ev3dev"};
std::vector<led*> led::led1{ &led::amber_led1 };
std::vector<float> led::black{ static_cast<float>(0) };
std::vector<float> led::blue{ static_cast<float>(1) };
//-----------------------------------------------------------------------------
void led::all_off() {
amber_led1.off();
}
#elif defined(EV3DEV_PLATFORM_PISTORMS)
led led::red_left{"pistorms:BB:red:ev3dev"};
led led::red_right{"pistorms:BA:red:ev3dev"};
led led::green_left{"pistorms:BB:green:ev3dev"};
led led::green_right{"pistorms:BA:green:ev3dev"};
led led::blue_left{"pistorms:BB:blue:ev3dev"};
led led::blue_right{"pistorms:BA:blue:ev3dev"};
std::vector<led*> led::left{ &led::red_left, &led::green_left, &led::blue_left };
std::vector<led*> led::right{ &led::red_right, &led::green_right, &led::blue_right };
std::vector<float> led::black{ static_cast<float>(0), static_cast<float>(0), static_cast<float>(0) };
std::vector<float> led::red{ static_cast<float>(1), static_cast<float>(0), static_cast<float>(0) };
std::vector<float> led::green{ static_cast<float>(0), static_cast<float>(1), static_cast<float>(0) };
std::vector<float> led::blue{ static_cast<float>(0), static_cast<float>(0), static_cast<float>(1) };
std::vector<float> led::yellow{ static_cast<float>(1), static_cast<float>(1), static_cast<float>(0) };
std::vector<float> led::purple{ static_cast<float>(1), static_cast<float>(0), static_cast<float>(1) };
std::vector<float> led::cyan{ static_cast<float>(0), static_cast<float>(1), static_cast<float>(1) };
std::vector<float> led::white{ static_cast<float>(1), static_cast<float>(1), static_cast<float>(1) };
std::vector<float> led::orange{ static_cast<float>(1), static_cast<float>(0.5), static_cast<float>(0) };
//-----------------------------------------------------------------------------
void led::all_off() {
red_left.off();
red_right.off();
green_left.off();
green_right.off();
blue_left.off();
blue_right.off();
}
#else
led led::red_left{"led0:red:brick-status"};
led led::red_right{"led1:red:brick-status"};
led led::green_left{"led0:green:brick-status"};
led led::green_right{"led1:green:brick-status"};
std::vector<led*> led::left{ &led::red_left, &led::green_left };
std::vector<led*> led::right{ &led::red_right, &led::green_right };
std::vector<float> led::black{ static_cast<float>(0), static_cast<float>(0) };
std::vector<float> led::red{ static_cast<float>(1), static_cast<float>(0) };
std::vector<float> led::green{ static_cast<float>(0), static_cast<float>(1) };
std::vector<float> led::amber{ static_cast<float>(1), static_cast<float>(1) };
std::vector<float> led::orange{ static_cast<float>(1), static_cast<float>(0.5) };
std::vector<float> led::yellow{ static_cast<float>(0.1), static_cast<float>(1) };
//-----------------------------------------------------------------------------
void led::all_off() {
red_left.off();
red_right.off();
green_left.off();
green_right.off();
}
#endif
//-----------------------------------------------------------------------------
void led::set_color(const std::vector<led*> &group, const std::vector<float> &color) {
const size_t n = std::min(group.size(), color.size());
for(size_t i = 0; i < n; ++i)
group[i]->set_brightness_pct(color[i]);
}
//-----------------------------------------------------------------------------
power_supply power_supply::battery { "" };
//-----------------------------------------------------------------------------
power_supply::power_supply(std::string name) {
static const std::string _strClassDir { SYS_ROOT "/power_supply/" };
if (name.empty())
name = "lego-ev3-battery";
connect(_strClassDir, name, std::map<std::string, std::set<std::string>>());
}
//-----------------------------------------------------------------------------
button::file_descriptor::file_descriptor(const char *path, int flags)
: _fd(open(path, flags))
{ }
button::file_descriptor::~file_descriptor() {
if (_fd != -1) close(_fd);
}
//-----------------------------------------------------------------------------
button::button(int bit)
: _bit(bit),
_buf((KEY_CNT + bits_per_long - 1) / bits_per_long),
_fd( new file_descriptor("/dev/input/by-path/platform-gpio_keys-event", O_RDONLY) )
{ }
//-----------------------------------------------------------------------------
bool button::pressed() const {
#ifndef NO_LINUX_HEADERS
if (ioctl(*_fd, EVIOCGKEY(_buf.size()), _buf.data()) < 0) {
// handle error
}
#endif
return (_buf[_bit / bits_per_long] & 1 << (_bit % bits_per_long));
}
//-----------------------------------------------------------------------------
bool button::process() {
bool new_state = pressed();
if (new_state != _state) {
_state = new_state;
if (onclick) onclick(new_state);
return true;
}
return false;
}
//-----------------------------------------------------------------------------
#ifndef NO_LINUX_HEADERS
button button::back (KEY_BACKSPACE);
button button::left (KEY_LEFT);
button button::right(KEY_RIGHT);
button button::up (KEY_UP);
button button::down (KEY_DOWN);
button button::enter(KEY_ENTER);
#endif
//-----------------------------------------------------------------------------
bool button::process_all() {
std::array<bool, 6> changed{{
back. process(),
left. process(),
right.process(),
up. process(),
down. process(),
enter.process()
}};
return std::any_of(changed.begin(), changed.end(), [](bool c){ return c; });
}
//-----------------------------------------------------------------------------
void sound::beep(const std::string &args, bool bSynchronous) {
std::ostringstream cmd;
cmd << "/usr/bin/beep " << args;
if (!bSynchronous) cmd << " &";
std::system(cmd.str().c_str());
}
//-----------------------------------------------------------------------------
void sound::tone(
const std::vector< std::vector<float> > &sequence,
bool bSynchronous
)
{
std::ostringstream args;
bool first = true;
for(auto v : sequence) {
if (first) {
first = false;
} else {
args << " -n";
}
if (v.size() > 0) {
args << " -f " << v[0];
} else {
continue;
}
if (v.size() > 1) {
args << " -l " << v[1];
} else {
continue;
}
if (v.size() > 2) {
args << " -D " << v[2];
} else {
continue;
}
}
beep(args.str(), bSynchronous);
}
//-----------------------------------------------------------------------------
void sound::tone(float frequency, float ms, bool bSynchronous) {
tone({{frequency, ms, 0.0f}}, bSynchronous);
}
//-----------------------------------------------------------------------------
void sound::play(const std::string &soundfile, bool bSynchronous) {
std::ostringstream cmd;
cmd << "/usr/bin/aplay -q " << soundfile;
if (!bSynchronous) cmd << " &";
std::system(cmd.str().c_str());
}
//-----------------------------------------------------------------------------
void sound::speak(const std::string &text, bool bSynchronous) {
std::ostringstream cmd;
cmd << "/usr/bin/espeak -a 200 --stdout \"" << text << "\""
<< " | /usr/bin/aplay -q";
if (!bSynchronous) cmd << " &";
std::system(cmd.str().c_str());
}
//-----------------------------------------------------------------------------