Pigpio Testing

.github/workflows/build_linux.yml

@@ -87,7 +87,13 @@ jobs:
           git clone https://github.com/WiringPi/WiringPi
           cd WiringPi
           ./build
-
+
+      - name: provide pigpio
+        if: ${{ matrix.config-options == '--driver=RPi' || '--driver=SPIDEV' }}
+        run: |
+          sudo apt-get update
+          sudo apt-get install pigpio
+
       - name: provide MRAA
         if: ${{ matrix.config-options == '--driver=MRAA' }}
         env:
@@ -217,6 +223,12 @@ jobs:
       #     cd WiringPi
       #     ./build
 
+      - name: provide pigpio
+        if: ${{ matrix.driver == 'RPi' || 'SPIDEV' }}
+          run |
+            sudo apt-get update
+            sudo apt-get install pigpio
+
       - name: create CMake build environment
         run: cmake -E make_directory ${{ github.workspace }}/build
 

configure

@@ -398,14 +398,14 @@ fi
 
 case ${DRIVER} in
 wiringPi)
-    SHARED_LINKER_LIBS+=" -pthread -lwiringPi"
+    SHARED_LINKER_LIBS+=" -lpigpio -lwiringPi"
     CFLAGS+=" -lwiringPi"
     ;;
 SPIDEV)
-    SHARED_LINKER_LIBS+=" -pthread"
+    SHARED_LINKER_LIBS+=" -lpigpio"
     ;;
 RPi)
-    SHARED_LINKER_LIBS+=" -pthread"
+    SHARED_LINKER_LIBS+=" -lpigpio"
     ;;
 MRAA)
     SHARED_LINKER_LIBS+=" -lmraa"
@@ -451,7 +451,7 @@ if [ "${LIB_DEPRECATE_NAME}" ]; then
     fi
 fi
 DRIVER_DIR=${DRIVER_DIR:-${ARCH_DIR}/${DRIVER}}
-CFLAGS="$CPUFLAGS -Ofast -Wall -pthread $CFLAGS"
+CFLAGS="$CPUFLAGS -Ofast -Wall $CFLAGS"
 
 echo "[SECTION] Preparing configuration."
 cp ${DRIVER_DIR}/includes.h ${ARCH_DIR}/includes.h

utility/RPi/interrupt.cpp

@@ -7,215 +7,28 @@ wiringPi is free software: GNU Lesser General Public License
 see <http://www.gnu.org/licenses/>
 */
 
-#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>
+#include <pigpio.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;
-
-    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);
-}
+
+}

utility/RPi/interrupt.h

@@ -6,45 +6,22 @@ wiringPi Copyright (c) 2012 Gordon Henderson
 wiringPi is free software: GNU Lesser General Public License
 see <http://www.gnu.org/licenses/>
 */
+#ifndef __RF24_INTERRUPT_H__
+#define __RF24_INTERRUPT_H__
 
 #include "RF24_arch_config.h"
+#include <pigpio.h>
 
 #define INT_EDGE_SETUP          0
-#define INT_EDGE_FALLING        1
-#define INT_EDGE_RISING         2
-#define INT_EDGE_BOTH           3
+#define INT_EDGE_FALLING        FALLING_EDGE
+#define INT_EDGE_RISING         RISING_EDGE
+#define INT_EDGE_BOTH           EITHER_EDGE
 
-/*
- * interruptHandler:
- *      This is a thread and gets started to wait for the interrupt we're
- *      hoping to catch. It will call the user-function when the interrupt
- *      fires.
- *********************************************************************************
- */
-void* interruptHandler(void* arg);
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-/*
- * waitForInterrupt:
- *      Pi Specific.
- *      Wait for Interrupt on a GPIO pin.
- *      This is actually done via the /sys/class/gpio interface regardless of
- *      the wiringPi access mode in-use. Maybe sometime it might get a better
- *      way for a bit more efficiency.
- *********************************************************************************
- */
-extern int waitForInterrupt(int pin, int mS);
-
-/*
- * piHiPri:
- *      Attempt to set a high priority schedulling for the running program
- *********************************************************************************
- */
-extern int piHiPri(const int pri);
-
 /*
  * attachInterrupt (Original: wiringPiISR):
  *      Pi Specific.
@@ -63,10 +40,15 @@ extern int attachInterrupt(int pin, int mode, void (* function)(void));
  */
 extern int detachInterrupt(int pin);
 
+/* Deprecated, no longer functional
+*/
 extern void rfNoInterrupts();
 
+/* Deprecated, no longer functional
+*/
 extern void rfInterrupts();
 
 #ifdef __cplusplus
 }
+#endif
 #endif