Pigpio Testing

.github/workflows/build_linux.yml

@@ -87,7 +87,22 @@ jobs:
           git clone https://github.com/WiringPi/WiringPi
           cd WiringPi
           ./build
-
+
+      - name: provide pigpio
+        if: ${{ matrix.config-options != '--driver=MRAA' }}
+        run: |
+          git clone https://github.com/joan2937/pigpio.git
+          cd pigpio
+          git fetch --tags
+          latestTag=$(git describe --tags `git rev-list --tags --max-count=1`)
+          git checkout $latestTag
+          mkdir build
+          cd build
+          cmake .. -D CMAKE_INSTALL_PREFIX=/usr/arm-linux-gnueabihf \
+          -D CMAKE_TOOLCHAIN_FILE=${{ github.workspace }}/cmake/toolchains/armhf.cmake
+          make
+          sudo make install
+
       - name: provide MRAA
         if: ${{ matrix.config-options == '--driver=MRAA' }}
         env:
@@ -140,8 +155,8 @@ jobs:
           #   usr_dir: "x86_64-linux-gnux32"
           # - compiler: "i686"
           #   usr_dir: "i686-linux-gnu"
-          - compiler: "default" # github runner is hosted on a "amd64"
-            usr_dir: "local" # using this toolchain to test python wrapper
+          # - compiler: "default" # github runner is hosted on a "amd64"
+          #   usr_dir: "local" # using this toolchain to test python wrapper
         driver:
           - "RPi"
           - "SPIDEV"
@@ -217,6 +232,21 @@ jobs:
       #     cd WiringPi
       #     ./build
 
+      - name: provide pigpio
+        if: ${{ matrix.driver == 'RPi' || matrix.driver == 'SPIDEV' }}
+        run: |
+          git clone https://github.com/joan2937/pigpio.git
+          cd pigpio
+          git fetch --tags
+          latestTag=$(git describe --tags `git rev-list --tags --max-count=1`)
+          git checkout $latestTag
+          mkdir build
+          cd build
+          cmake .. -D CMAKE_INSTALL_PREFIX=/usr/${{ matrix.toolchain.usr_dir }} \
+          -D CMAKE_TOOLCHAIN_FILE=${{ github.workspace }}/cmake/toolchains/${{ matrix.toolchain.compiler }}.cmake
+          make
+          sudo make install
+
       - name: create CMake build environment
         run: cmake -E make_directory ${{ github.workspace }}/build
 

Makefile

@@ -26,6 +26,8 @@ else ifeq ($(DRIVER), SPIDEV)
 OBJECTS+=spi.o gpio.o compatibility.o interrupt.o
 else ifeq ($(DRIVER), wiringPi)
 OBJECTS+=spi.o
+else ifeq ($(DRIVER), pigpio)
+OBJECTS+=spi.o gpio.o interrupt.o compatibility.o
 endif
 
 # make all

cmake/AutoConfig_RF24_DRIVER.cmake

@@ -17,6 +17,7 @@ set(RF24_DRIVER "UNKNOWN" CACHE STRING "override automatic configuration of RF24
 find_library(LibMRAA mraa)
 find_library(LibWiringPi wiringPi)
 find_library(LibLittleWire littlewire-spi)
+find_library(PIGPIO pigpio)
 if(EXISTS /dev/spidev0.0)
     set(SPIDEV_EXISTS TRUE)
 else()

configure

@@ -398,21 +398,24 @@ fi
 
 case ${DRIVER} in
 wiringPi)
-    SHARED_LINKER_LIBS+=" -pthread -lwiringPi"
+    SHARED_LINKER_LIBS+=" -lpigpio -lwiringPi"
     CFLAGS+=" -lwiringPi"
     ;;
 SPIDEV)
-    SHARED_LINKER_LIBS+=" -pthread"
+    SHARED_LINKER_LIBS+=" -lpigpio"
     ;;
 RPi)
-    SHARED_LINKER_LIBS+=" -pthread"
+    SHARED_LINKER_LIBS+=" -lpigpio"
     ;;
 MRAA)
     SHARED_LINKER_LIBS+=" -lmraa"
     ;;
 LittleWire)
     SHARED_LINKER_LIBS+=" -llittlewire-spi"
     ;;
+pigpio)
+    SHARED_LINKER_LIBS+=" -lpigpio"
+    ;;
 *)
     die "Unsupported DRIVER: ${DRIVER}." 2
     ;;

examples_linux/CMakeLists.txt

@@ -23,6 +23,9 @@ include(../cmake/AutoConfig_RF24_DRIVER.cmake)
 find_library(RF24 rf24 REQUIRED)
 message(STATUS "using RF24 library: ${RF24}")
 
+# pigpio lib is linked for IRQ feature
+find_library(PIGPIO pigpio)
+
 # conditionally append "interruptConfigure" to the EXAMPLES_LIST
 if("${RF24_DRIVER}" STREQUAL "MRAA" OR "${RF24_DRIVER}" STREQUAL "wiringPi")
     message(STATUS "Skipping interruptConfigure.cpp example as it is incompatible with selected driver library")
@@ -41,6 +44,6 @@ foreach(example ${EXAMPLES_LIST})
         # wiringPi additionally needs to link to crypt and shm_open libraries
         target_link_libraries(${example} PUBLIC ${RF24} pthread ${LibWiringPi} crypt rt)
     else() # not using MRAA or wiringPi drivers
-        target_link_libraries(${example} PUBLIC ${RF24} pthread)
+        target_link_libraries(${example} PUBLIC ${RF24} pthread ${PIGPIO})
     endif()
 endforeach()

utility/CMakeLists.txt

@@ -17,6 +17,7 @@ if ("${RF24_DRIVER}" STREQUAL  "wiringPi") # Use wiringPi
         DESTINATION include/RF24/utility/${RF24_DRIVER}
     )
 elseif("${RF24_DRIVER}" STREQUAL "RPi") # use RPi
+    set(RF24_LINKED_DRIVER ${PIGPIO} PARENT_SCOPE)
     set(RF24_DRIVER_SOURCES
         ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/includes.h
         ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/bcm2835.c
@@ -39,6 +40,7 @@ elseif("${RF24_DRIVER}" STREQUAL "SPIDEV") # use SPIDEV
     if(NOT SPIDEV_EXISTS)
         message(WARNING "Detecting /dev/spidev0.0 failed - continuing anyway. Please make sure SPI is enabled.")
     endif()
+    set(RF24_LINKED_DRIVER ${PIGPIO} PARENT_SCOPE)
     set(RF24_DRIVER_SOURCES
         ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/includes.h
         ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/gpio.cpp

utility/RPi/interrupt.cpp

@@ -1,221 +1,29 @@
 /*
-Interrupts functions extruded from wiringPi library by Oitzu.
-
-wiringPi Copyright (c) 2012 Gordon Henderson
-https://projects.drogon.net/raspberry-pi/wiringpi
-wiringPi is free software: GNU Lesser General Public License
-see <http://www.gnu.org/licenses/>
+Interrupt functions
 */
 
-#include <stdio.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <stdlib.h>
-#include <stdint.h>
-#include <string.h>
-#include <sys/wait.h>
-#include <sys/ioctl.h>
-#include <poll.h>
-#include <sys/stat.h>
 #include "interrupt.h"
-#include <pthread.h>
-
-#define delay(x) bcm2835_delay(x)
-
-static pthread_mutex_t pinMutex = PTHREAD_MUTEX_INITIALIZER;
-static volatile int pinPass = -1;
-
-pthread_t threadId[64];
-
-// sysFds:
-//      Map a file descriptor from the /sys/class/gpio/gpioX/value
-static int sysFds[64] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
-                         -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
-                         -1, -1, -1, -1, -1, -1,};
-
-// ISR Data
-static void (* isrFunctions[64])(void);
-
-int waitForInterrupt(int pin, int mS)
-{
-    int fd, x;
-    uint8_t c;
-    struct pollfd polls;
-
-    if ((fd = sysFds[pin]) == -1) {
-        return -2;
-    }
-
-    // Setup poll structure
-
-    polls.fd = fd;
-    polls.events = POLLPRI;      // Urgent data!
-
-    // Wait for it ...
-    x = poll(&polls, 1, mS);
-
-    // Do a dummy read to clear the interrupt
-    //      A one character read appars to be enough.
-    //      Followed by a seek to reset it.
-
-    (void) (read(fd, &c, 1) + 1);
-    lseek(fd, 0, SEEK_SET);
-
-    return x;
-}
-
-int piHiPri(const int pri)
-{
-    struct sched_param sched;
-
-    memset(&sched, 0, sizeof(sched));
-
-    if (pri > sched_get_priority_max(SCHED_RR)) {
-        sched.sched_priority = sched_get_priority_max(SCHED_RR);
-    } else {
-        sched.sched_priority = pri;
-    }
-
-    return sched_setscheduler(0, SCHED_RR, &sched);
-}
-
-void* interruptHandler(void* arg)
-{
-    int myPin;
-
-    (void) piHiPri(55);  // Only effective if we run as root
-
-    myPin = pinPass;
-    pinPass = -1;
+#include <pigpio.h>
 
-    for (;;) {
-        if (waitForInterrupt(myPin, -1) > 0) {
-            pthread_mutex_lock(&pinMutex);
-            isrFunctions[myPin]();
-            pthread_mutex_unlock(&pinMutex);
-            pthread_testcancel(); //Cancel at this point if we have an cancellation request.
-        }
-    }
-
-    return NULL;
-}
 
 int attachInterrupt(int pin, int mode, void (* function)(void))
 {
-    const char* modeS;
-    char fName[64];
-    char pinS[8];
-    pid_t pid;
-    int count, i;
-    char c;
-    int bcmGpioPin;
-
-    bcmGpioPin = pin;
-
-    if (mode != INT_EDGE_SETUP) {
-        /**/ if (mode == INT_EDGE_FALLING) {
-            modeS = "falling";
-        } else if (mode == INT_EDGE_RISING) {
-            modeS = "rising";
-        } else {
-            modeS = "both";
-        }
-
-        sprintf(pinS, "%d", bcmGpioPin);
-
-        if ((pid = fork()) < 0) {    // Fail
-            return printf("wiringPiISR: fork failed: %s\n", strerror(errno));
-        }
-
-        if (pid == 0)       // Child, exec
-        {
-            /**/ if (access("/usr/local/bin/gpio", X_OK) == 0) {
-                execl("/usr/local/bin/gpio", "gpio", "edge", pinS, modeS, (char*) NULL);
-                return printf("wiringPiISR: execl failed: %s\n", strerror(errno));
-            } else if (access("/usr/bin/gpio", X_OK) == 0) {
-                execl("/usr/bin/gpio", "gpio", "edge", pinS, modeS, (char*) NULL);
-                return printf("wiringPiISR: execl failed: %s\n", strerror(errno));
-            } else {
-                return printf("wiringPiISR: Can't find gpio program\n");
-            }
-        } else {                // Parent, wait
-            wait(NULL);
-        }
-    }
-
-    if (sysFds[bcmGpioPin] == -1) {
-        sprintf(fName, "/sys/class/gpio/gpio%d/value", bcmGpioPin);
-        if ((sysFds[bcmGpioPin] = open(fName, O_RDWR)) < 0) {
-            return printf("wiringPiISR: unable to open %s: %s\n", fName, strerror(errno));
-        }
-    }
-
-    ioctl(sysFds[bcmGpioPin], FIONREAD, &count);
-    for (i = 0; i < count; ++i) {
-        (void) (read(sysFds[bcmGpioPin], &c, 1) + 1);
-    }
-
-    isrFunctions[pin] = function;
-
-    pthread_mutex_lock(&pinMutex);
-    pinPass = pin;
-    pthread_create(&threadId[bcmGpioPin], NULL, interruptHandler, NULL);
-    while (pinPass != -1)
-        delay (1);
-    pthread_mutex_unlock(&pinMutex);
-
-    return 0;
+    gpioInitialise();
+    return gpioSetISRFunc(pin,mode,0,(gpioISRFunc_t)function);
+
 }
 
 int detachInterrupt(int pin)
 {
-    char pinS[8];
-    const char* modeS = "none";
-    pid_t pid;
-
-    if (pthread_cancel(threadId[pin]) != 0) //Cancel the thread
-    {
-        return 0;
-    }
-
-    if (close(sysFds[pin]) != 0) //Close filehandle
-    {
-        return 0;
-    }
-
-    /* Set wiringPi to 'none' interrupt mode */
-
-    sprintf(pinS, "%d", pin);
-
-    if ((pid = fork()) < 0) {    // Fail
-        return printf("wiringPiISR: fork failed: %s\n", strerror(errno));
-    }
-
-    if (pid == 0)       // Child, exec
-    {
-        /**/ if (access("/usr/local/bin/gpio", X_OK) == 0) {
-            execl("/usr/local/bin/gpio", "gpio", "edge", pinS, modeS, (char*) NULL);
-            return printf("wiringPiISR: execl failed: %s\n", strerror(errno));
-        } else if (access("/usr/bin/gpio", X_OK) == 0) {
-            execl("/usr/bin/gpio", "gpio", "edge", pinS, modeS, (char*) NULL);
-            return printf("wiringPiISR: execl failed: %s\n", strerror(errno));
-        } else {
-            return printf("wiringPiISR: Can't find gpio program\n");
-        }
-    } else {                // Parent, wait
-        wait(NULL);
-    }
-
-    return 1;
+    return gpioSetISRFunc(pin,0,0,NULL);
 }
 
 void rfNoInterrupts()
 {
-    pthread_mutex_lock(&pinMutex);
+
 }
 
 void rfInterrupts()
 {
-    pthread_mutex_unlock(&pinMutex);
-}
+
+}