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//Chris Xiong 2018
//3-Clause BSD License
#include <cstdio>
#include <cstring>
#include <variant>
#include <thread>
#include <sys/types.h>
#include <poll.h>
#include <fcntl.h>
#include <unistd.h>
#include "utils.hpp"
#include "sensors.hpp"
void SensorBase::parse_type_string(std::string type,scan_t* ti)
{
char endian[4],sign;
if(type.find('X')!=type.npos)
sscanf(type.c_str(),"%2s:%c%hhu/%hhuX%hhu>>%hhu",
endian,&sign,&ti->bits,&ti->storagebits,&ti->repeat,&ti->shift
);
else
{
ti->repeat=0;
sscanf(type.c_str(),"%2s:%c%hhu/%hhu>>%hhu",
endian,&sign,&ti->bits,&ti->storagebits,&ti->shift
);
}
ti->is_le=std::string(endian)=="le";
ti->is_signed=sign=='s';
}
void SensorBase::readbuffer()
{
pollfd p[2];
p[0]=pollfd{devfd,POLLIN,0};
p[1]=pollfd{qpipe[0],POLLIN,0};
if(poll(p,2,-1)<=0)return;
char* buf=new char[readsize];
if(p[1].revents&POLLIN)
{
ignore_result(read(qpipe[0],buf,readsize));
delete[] buf;
return;
}
ssize_t sz=read(devfd,buf,readsize);
if(sz==readsize&&!paused)
{
char *p=buf;
for(int i=0;p-buf<readsize;++i)
{
scan_t ti=std::get<scan_t>(enabled_scan_elem[i]);
std::string es=std::get<std::string>(enabled_scan_elem[i])+"_value";
std::vector<char> pp(p,p+ti.storagebits/8);
if(ti.is_le^PLATFORM_IS_LITTLEENDIAN)
std::reverse(pp.begin(),pp.end());
auto readint=[&](auto t){
memcpy(&t,pp.data(),ti.storagebits/8);
t>>=ti.shift;dict[es]=t;
};
switch(ti.storagebits)
{
case 8:
if(ti.is_signed)readint(int8_t(0));
else readint(uint8_t(0));
break;
case 16:
if(ti.is_signed)readint(int16_t(0));
else readint(uint16_t(0));
break;
case 32:
if(ti.is_signed)readint(int32_t(0));
else readint(uint32_t(0));
break;
case 64:
if(ti.is_signed)readint(int64_t(0));
else readint(uint64_t(0));
break;
}
p+=ti.storagebits/8;
}
}
delete[] buf;
}
void SensorBase::enable_buffer()
{
using filesystem::path;
path buffer_enable_path=sysfspath/"buffer"/"enable";
writeint(buffer_enable_path.c_str(),1);
}
void SensorBase::enable_scan_element(std::string elem)
{
using filesystem::path;
std::string elem_base=sensor_basename+(elem.length()?"_"+elem:"");
path elem_type_path=sysfspath/"scan_elements"/(elem_base+"_type");
std::string ts;dict[elem_base+"_type"]=ts=readstr(elem_type_path.c_str());
scan_t st;parse_type_string(ts,&st);
readsize+=st.storagebits/8;//assume this is aligned to byte
path elem_en_path=sysfspath/"scan_elements"/(elem_base+"_en");
writeint(elem_en_path.c_str(),1);
path elem_idx_path=sysfspath/"scan_elements"/(elem_base+"_index");
int idx;dict[elem_base+"_index"]=idx=readint(elem_idx_path.c_str());
path raw_val_path=sysfspath/(elem_base+"_raw");//initial value
dict[elem_base+"_value"]=readint(raw_val_path.c_str());
enabled_scan_elem.insert(
std::upper_bound(enabled_scan_elem.begin(),enabled_scan_elem.end(),
std::make_tuple(idx,elem_base,st),
[](const auto&a,const auto&b){return std::get<0>(a)<std::get<0>(b);}
),std::make_tuple(idx,elem_base,st)
);
}
bool SensorBase::init(int id,std::string _sensor_basename)
{
sysfspath=IIODEV_SYSFS_PATH_BASE+std::to_string(id);
devbufpath=DEV_PATH+std::to_string(id);
sensor_basename=_sensor_basename;
using filesystem::path;
path name_path=sysfspath/"name";
type=readstr(name_path.c_str());
path scale_path=sysfspath/(sensor_basename+"_scale");
dict[sensor_basename+"_scale"]=readfloat(scale_path.c_str());
path offset_path=sysfspath/(sensor_basename+"_offset");
dict[sensor_basename+"_offset"]=readfloat(offset_path.c_str());
reset();
ignore_result(pipe(qpipe));
enabled_scan_elem.clear();
enable_scan_elements();
update_values();
enable_buffer();
devfd=open(devbufpath.c_str(),O_RDONLY);
if(!~devfd)
return LOG('E',"failed to open the iio buffer device: %s",devbufpath.c_str()),1;
return 0;
}
void SensorBase::deinit()
{
if(~devfd)close(devfd);
devfd=-1;
}
void SensorBase::reset()
{
deinit();
using filesystem::path;
path buffer_enable_path=sysfspath/"buffer"/"enable";
writeint(buffer_enable_path.c_str(),0);
for(auto& ent:filesystem::directory_iterator(sysfspath/"scan_elements"))
if(ent.path().string().substr(ent.path().string().length()-3)=="_en")
writeint(ent.path().c_str(),0);
readsize=0;
}
void SensorBase::worker()
{
for(workerquit=0;!workerquit;)
{
read_m.lock();
readbuffer();
read_m.unlock();
update_values();
if(readercb!=nullptr)readercb(this);
}
deinit();
}
void SensorBase::quit_worker()
{
workerquit=1;
ignore_result(write(qpipe[1],"q",1));
close(qpipe[1]);
}
void SensorBase::pause_worker()
{
if(~devfd)
{
paused=1;
while(!read_m.try_lock())//just spin lock, I don't care
{
ignore_result(write(qpipe[1],"p",1));
std::this_thread::yield();
}
reset();
}
}
void SensorBase::resume_worker()
{
enabled_scan_elem.clear();
enable_scan_elements();
update_values();
enable_buffer();
devfd=open(devbufpath.c_str(),O_RDONLY);
if(!~devfd)
return (void)LOG('E',"failed to open the iio buffer device: %s",devbufpath.c_str());
paused=0;
read_m.unlock();
}
void SensorBase::set_reader_callback(std::function<void(SensorBase*)> cb)
{readercb=cb;}
std::string SensorBase::get_type(int id)
{
using filesystem::path;
path sysfspath=path(IIODEV_SYSFS_PATH_BASE+std::to_string(id));
path name_path=sysfspath/"name";
return readstr(name_path.c_str());
}
int SensorBase::detect_sensor(std::string type)
{
using filesystem::path;
path sysfsbasepath=path(IIODEV_SYSFS_PATH_BASE).remove_filename();
for(auto& ent:filesystem::directory_iterator(sysfsbasepath))
{
path name_path=ent.path()/"name";
if(trim(readstr(name_path.c_str()))==type)
{
std::string es=ent.path().filename().string();
size_t i;
for(i=0;i<es.length()&&(es[i]<'0'||es[i]>'9');++i);
if(i<es.length())return atoi(es.c_str()+i);
return -1;
}
}
return -1;
}
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