Add code (initial commit 2)

5 years ago · 9631ab771d
9 changed files with 684 additions and 0 deletions
--- a/.gitignore
+++ b/.gitignore
@ -0,0 +1,2 @@
				@@ -0,0 +1,2 @@
+/target
+/*/target
--- a/Cargo.lock
+++ b/Cargo.lock
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--- a/Cargo.toml
+++ b/Cargo.toml
@ -0,0 +1,2 @@
				@@ -0,0 +1,2 @@
+[workspace]
+members = ["mraa-sys", "mraa"]
--- a/mraa-sys/Cargo.toml
+++ b/mraa-sys/Cargo.toml
@ -0,0 +1,17 @@
				@@ -0,0 +1,17 @@
+[package]
+name = "mraa-sys"
+description = "Generated bindings for Intel's mraa library for low speed device I/O"
+authors = ["Alex Mikhalev <alexmikhalevalex@gmail.com>"]
+license = "MIT"
+homepage = ""
+version = "0.1.0"
+
+edition = "2018"
+links = "mraa"
+build = "build.rs"
+
+[build-dependencies]
+bindgen = { version = "0.52", default-features = false, features = ["logging", "runtime"] }
+pkg-config = "0.3"
+
+[dependencies]
--- a/mraa-sys/build.rs
+++ b/mraa-sys/build.rs
@ -0,0 +1,50 @@
				@@ -0,0 +1,50 @@
+extern crate bindgen;
+extern crate pkg_config;
+
+use std::env;
+use std::path::PathBuf;
+
+fn main() {
+    let pkgconfig = pkg_config::Config::new();
+    let mraa_config = pkgconfig
+        .probe("mraa")
+        .expect("pkg_config probe failed for mraa");
+
+    let _ = pkgconfig
+        .probe("json-c");
+        // .expect("pkg_config probe failed for json-c");
+
+    // Tell cargo to invalidate the built crate whenever the wrapper changes
+    println!("cargo:rerun-if-changed=src/wrapper.h");
+
+    let mut clang_args: Vec<String> = Vec::new();
+    for include_dir in &mraa_config.include_paths {
+        clang_args.push("-I".to_owned());
+        clang_args.push(include_dir.to_str().unwrap().to_owned());
+    }
+
+    // The bindgen::Builder is the main entry point
+    // to bindgen, and lets you build up options for
+    // the resulting bindings.
+    let mraa_bindings = bindgen::Builder::default()
+        .clang_args(clang_args)
+        // The input header we would like to generate
+        // bindings for.
+        .header("src/wrapper.h")
+        .whitelist_type("mraa_.*")
+        .whitelist_function("mraa_.*")
+        .whitelist_var("mraa_.*")
+        // Tell cargo to invalidate the built crate whenever any of the
+        // included header files changed.
+        .parse_callbacks(Box::new(bindgen::CargoCallbacks))
+        // Finish the builder and generate the bindings.
+        .generate()
+        // Unwrap the Result and panic on failure.
+        .expect("Unable to generate bindings");
+
+    // Write the bindings to the $OUT_DIR/bindings.rs file.
+    let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
+    mraa_bindings
+        .write_to_file(out_path.join("mraa_bindings.rs"))
+        .expect("Couldn't write bindings!");
+}
--- a/mraa-sys/src/lib.rs
+++ b/mraa-sys/src/lib.rs
@ -0,0 +1,27 @@
				@@ -0,0 +1,27 @@
+#![allow(non_upper_case_globals)]
+#![allow(non_camel_case_types)]
+#![allow(non_snake_case)]
+#![allow(dead_code)]
+
+//! A crate with bindings generated by
+//! [`bindgen`](https://github.com/rust-lang/rust-bindgen) for the Intel `mraa`
+//! library for low-speed IO communication.
+//! 
+//! # Cross compilation
+//! This package uses [pkg_config](https://docs.rs/pkg-config/0.3.17/pkg_config/)
+//! to find the location of `mraa` headers and libraries, so by setting the 
+//! appropriate environment variables, it is possible to cross compile this 
+//! library for other systems.
+//! 
+//! Example for cross compiling to BeagleBone:
+//! ```bash
+//! SYSROOT=/path/to/sysroot
+//! export PKG_CONFIG_SYSROOT_DIR="$SYSROOT"
+//! export PKG_CONFIG_LIBDIR="$SYSROOT/usr/lib/arm-linux-gnueabihf/pkgconfig"
+//! export PKG_CONFIG_ALLOW_CROSS=1
+//! export PKG_CONFIG_ALLOW_SYSTEM_LIBS=1
+//! export PKG_CONFIG_ALLOW_SYSTEM_CFLAGS=1
+//! cargo build --target=armv7-unknown-linux-gnueabihf
+//! ```
+
+include!(concat!(env!("OUT_DIR"), "/mraa_bindings.rs"));
--- a/mraa-sys/src/wrapper.h
+++ b/mraa-sys/src/wrapper.h
@ -0,0 +1 @@
				@@ -0,0 +1 @@
+#include <mraa.h>
--- a/mraa/Cargo.toml
+++ b/mraa/Cargo.toml
@ -0,0 +1,11 @@
				@@ -0,0 +1,11 @@
+[package]
+name = "mraa"
+version = "0.1.0"
+authors = ["Alex Mikhalev <alexmikhalevalex@gmail.com>"]
+edition = "2018"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+mraa-sys = { path = "../mraa-sys" }
+libc = "0.2.66"
--- a/mraa/src/lib.rs
+++ b/mraa/src/lib.rs
@ -0,0 +1,249 @@
				@@ -0,0 +1,249 @@
+extern crate libc;
+extern crate mraa_sys;
+
+use std::fmt;
+
+const MRAA_RESULT_CHECK_SYSLOG: mraa_sys::mraa_result_t = 10000;
+
+#[derive(Debug)]
+pub struct Error {
+    inner: mraa_sys::mraa_result_t,
+    operation: &'static str,
+}
+
+impl Error {
+    fn new_check_syslog(operation: &'static str) -> Self {
+        Self {
+            inner: MRAA_RESULT_CHECK_SYSLOG,
+            operation,
+        }
+    }
+
+    pub fn raw_code(&self) -> mraa_sys::mraa_result_t {
+        self.inner
+    }
+
+    pub fn operation(&self) -> &'static str {
+        self.operation
+    }
+}
+
+impl fmt::Display for Error {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        write!(f, "MRAA error on {}: ", self.operation)?;
+        match self.inner {
+            mraa_sys::mraa_result_t_MRAA_SUCCESS => write!(f, "Success"),
+            mraa_sys::mraa_result_t_MRAA_ERROR_FEATURE_NOT_IMPLEMENTED => {
+                write!(f, "Feature not implemented")
+            }
+            mraa_sys::mraa_result_t_MRAA_ERROR_FEATURE_NOT_SUPPORTED => {
+                write!(f, "Feature not supported by HW")
+            }
+            mraa_sys::mraa_result_t_MRAA_ERROR_INVALID_PARAMETER => write!(f, "Parameter invalid"),
+            mraa_sys::mraa_result_t_MRAA_ERROR_INVALID_RESOURCE => write!(f, "Resource invalid"),
+            MRAA_RESULT_CHECK_SYSLOG => write!(f, "Unknown error, check syslog for error message"),
+            unk => write!(f, "Unknown MRAA error: {}", unk),
+        }
+    }
+}
+
+impl std::error::Error for Error {}
+
+pub type Result<T> = std::result::Result<T, self::Error>;
+
+fn handle_result(inner: mraa_sys::mraa_result_t, operation: &'static str) -> self::Result<()> {
+    if inner == mraa_sys::mraa_result_t_MRAA_SUCCESS {
+        Ok(())
+    } else {
+        Err(Error { inner, operation })
+    }
+}
+
+pub fn init() -> self::Result<()> {
+    handle_result(unsafe { mraa_sys::mraa_init() }, "init")
+}
+
+// TODO: this crashes sometimes for some reason
+pub unsafe fn deinit() {
+    // unsafe { mraa_sys::mraa_deinit() };
+    mraa_sys::mraa_deinit();
+}
+
+pub enum LogLevel {
+    Emergency = 0,
+    Alert = 1,
+    Critical = 2,
+    Error = 3,
+    Warning = 4,
+    Notice = 5,
+    Info = 6,
+    Debug = 7,
+}
+
+pub fn set_log_level(log_level: LogLevel) -> self::Result<()> {
+    handle_result(
+        unsafe { mraa_sys::mraa_set_log_level(log_level as i32) },
+        "set_log_level",
+    )
+}
+
+#[derive(Copy, Clone, PartialEq, Eq, Debug)]
+pub enum GpioDirection {
+    Out,
+    In,
+    OutHigh,
+    OutLow,
+}
+
+impl GpioDirection {
+    fn into_raw(self) -> mraa_sys::mraa_gpio_dir_t {
+        use GpioDirection::*;
+        match self {
+            Out => mraa_sys::mraa_gpio_dir_t_MRAA_GPIO_OUT,
+            In => mraa_sys::mraa_gpio_dir_t_MRAA_GPIO_IN,
+            OutHigh => mraa_sys::mraa_gpio_dir_t_MRAA_GPIO_OUT_HIGH,
+            OutLow => mraa_sys::mraa_gpio_dir_t_MRAA_GPIO_OUT_LOW,
+        }
+    }
+}
+
+#[derive(Copy, Clone, PartialEq, Eq, Debug)]
+pub enum GpioEdge {
+    NoEdge,
+    Both,
+    Rising,
+    Falling,
+}
+
+impl GpioEdge {
+    fn into_raw(self) -> mraa_sys::mraa_gpio_edge_t {
+        use GpioEdge::*;
+        match self {
+            NoEdge => mraa_sys::mraa_gpio_edge_t_MRAA_GPIO_EDGE_NONE,
+            Both => mraa_sys::mraa_gpio_edge_t_MRAA_GPIO_EDGE_BOTH,
+            Rising => mraa_sys::mraa_gpio_edge_t_MRAA_GPIO_EDGE_RISING,
+            Falling => mraa_sys::mraa_gpio_edge_t_MRAA_GPIO_EDGE_FALLING,
+        }
+    }
+}
+
+pub struct Gpio {
+    inner: mraa_sys::mraa_gpio_context,
+    isr_callback: Option<Box<dyn FnMut()>>,
+}
+
+impl Gpio {
+    pub fn new(pin: i32) -> Result<Self> {
+        let inner = unsafe { mraa_sys::mraa_gpio_init(pin) };
+        if inner.is_null() {
+            Err(Error::new_check_syslog("Gpio::new"))
+        } else {
+            Ok(Self {
+                inner,
+                isr_callback: None,
+            })
+        }
+    }
+
+    pub fn set_dir(&mut self, dir: GpioDirection) -> Result<()> {
+        handle_result(
+            unsafe { mraa_sys::mraa_gpio_dir(self.inner, dir.into_raw()) },
+            "Gpio::set_dir",
+        )
+    }
+
+    pub fn read(&mut self) -> Result<bool> {
+        match unsafe { mraa_sys::mraa_gpio_read(self.inner) } {
+            0 => Ok(false),
+            1 => Ok(true),
+            _ => Err(Error::new_check_syslog("Gpio::read")),
+        }
+    }
+
+    pub fn set_isr<F>(&mut self, edge: GpioEdge, callback: F) -> Result<()>
+    where
+        F: FnMut() + 'static + Send + Sync,
+    {
+        if self.isr_callback.is_some() {
+            let _ = self.remove_isr();
+        }
+        self.isr_callback = Some(Box::new(callback));
+
+        let data = self.isr_callback.as_mut().unwrap().as_mut() as *mut _;
+        let result = unsafe {
+            mraa_sys::mraa_gpio_isr(
+                self.inner,
+                edge.into_raw(),
+                Some(call_closure::<F>),
+                data as *mut _,
+            )
+        };
+        handle_result(result, "Gpio::set_isr")
+    }
+
+    pub fn remove_isr(&mut self) -> Result<()> {
+        let result = unsafe { mraa_sys::mraa_gpio_isr_exit(self.inner) };
+        self.isr_callback = None;
+        handle_result(result, "Gpio::remove_isr")
+    }
+}
+
+unsafe extern "C" fn call_closure<F>(data: *mut libc::c_void)
+where
+    F: FnMut(),
+{
+    let callback_ptr = data as *mut F;
+    let callback = &mut *callback_ptr;
+    callback();
+}
+
+impl Drop for Gpio {
+    fn drop(&mut self) {
+        unsafe { mraa_sys::mraa_gpio_close(self.inner) };
+    }
+}
+
+pub struct Aio {
+    inner: mraa_sys::mraa_aio_context,
+}
+
+impl Aio {
+    pub fn new(pin: u32) -> Result<Self> {
+        let inner = unsafe { mraa_sys::mraa_aio_init(pin) };
+        if inner.is_null() {
+            Err(Error::new_check_syslog("Aio::new"))
+        } else {
+            Ok(Self { inner })
+        }
+    }
+
+    pub fn read(&mut self) -> Result<i32> {
+        match unsafe { mraa_sys::mraa_aio_read(self.inner) } {
+            -1 => Err(Error::new_check_syslog("Aio::read")),
+            value => Ok(value),
+        }
+    }
+
+    pub fn read_float(&mut self) -> Result<f32> {
+        let value = unsafe { mraa_sys::mraa_aio_read_float(self.inner) };
+        if value < 0.0 {
+            Err(Error::new_check_syslog("Aio::read_float"))
+        } else {
+            Ok(value)
+        }
+    }
+}
+
+impl Drop for Aio {
+    fn drop(&mut self) {
+        unsafe { mraa_sys::mraa_aio_close(self.inner) };
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    #[test]
+    fn it_works() {
+        assert_eq!(2 + 2, 4);
+    }
+}