Revision: 8254
http://playerstage.svn.sourceforge.net/playerstage/?rev=8254&view=rev
Author: gbiggs
Date: 2009-09-08 02:03:53 +0000 (Tue, 08 Sep 2009)
Log Message:
-----------
Applied patch #2851088: New dio interface driver
Modified Paths:
--------------
code/player/trunk/server/drivers/dio/CMakeLists.txt
Added Paths:
-----------
code/player/trunk/server/drivers/dio/portio/
code/player/trunk/server/drivers/dio/portio/CMakeLists.txt
code/player/trunk/server/drivers/dio/portio/portio.cc
Modified: code/player/trunk/server/drivers/dio/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/dio/CMakeLists.txt 2009-09-08 01:59:32 UTC
(rev 8253)
+++ code/player/trunk/server/drivers/dio/CMakeLists.txt 2009-09-08 02:03:53 UTC
(rev 8254)
@@ -1,2 +1,3 @@
ADD_SUBDIRECTORY (bitlogic)
+ADD_SUBDIRECTORY (portio)
ADD_SUBDIRECTORY (serio)
Added: code/player/trunk/server/drivers/dio/portio/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/dio/portio/CMakeLists.txt
(rev 0)
+++ code/player/trunk/server/drivers/dio/portio/CMakeLists.txt 2009-09-08
02:03:53 UTC (rev 8254)
@@ -0,0 +1,8 @@
+PLAYERDRIVER_OPTION (portio build_portio ON)
+PLAYERDRIVER_REJECT_OS (portio build_portio PLAYER_OS_WIN)
+IF (PLAYER_OS_QNX)
+ PLAYERDRIVER_REQUIRE_HEADER (portio build_portio hw/inout.h)
+ELSE (PLAYER_OS_QNX)
+ PLAYERDRIVER_REQUIRE_HEADER (portio build_portio sys/io.h)
+ENDIF (PLAYER_OS_QNX)
+PLAYERDRIVER_ADD_DRIVER (portio build_portio SOURCES portio.cc)
Added: code/player/trunk/server/drivers/dio/portio/portio.cc
===================================================================
--- code/player/trunk/server/drivers/dio/portio/portio.cc
(rev 0)
+++ code/player/trunk/server/drivers/dio/portio/portio.cc 2009-09-08
02:03:53 UTC (rev 8254)
@@ -0,0 +1,253 @@
+/*
+ * Player - One Hell of a Robot Server
+ * Copyright (C) 2000 Brian Gerkey et al.
+ *
+ * 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., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/////////////////////////////////////////////////////////////////////////////
+//
+// Desc: Low-level access to the hardware I/O ports
+// Author: Paul Osmialowski
+// Date: 04 Sep 2009
+//
+/////////////////////////////////////////////////////////////////////////////
+
+/** @ingroup drivers */
+/** @{ */
+/** @defgroup driver_portio portio
+ * @brief low-level access to the hardware I/O ports
+
+The portio driver provides low-level access to the hardware I/O ports.
+
+The digout bitfield of dio interface command structure needs lowest eight bits
+to be filled.
+
+This driver provides data by filling lowest eight bit of dio interface
bitfield.
+
+...@par Compile-time dependencies
+
+- sys/io.h or hw/inout.h
+- System Administrator rights
+
+...@par Provides
+
+- @ref interface_dio
+
+...@par Requires
+
+- none
+
+...@par Configuration requests
+
+- none
+
+...@par Configuration file options
+
+- port (integer)
+ - Default: 888 (=378h - LPT1: 8-bit data output)
+
+- sleep_nsec (integer)
+ - Default: 10000000 (=10ms which gives max 100 main loop turns per second)
+ - timespec value for nanosleep()
+
+...@par Example
+
+...@verbatim
+driver
+(
+ name "portio"
+ provides ["dio:0"]
+ port 890
+)
+...@endverbatim
+
+...@author Paul Osmialowski
+
+*/
+/** @} */
+
+#include <stddef.h> // for NULL
+#include <time.h> // for nanosleep(), struct timespec
+#include <string.h> // for memset()
+#include <assert.h>
+#include <pthread.h>
+#ifdef __QNXNTO__
+#include <hw/inout.h>
+#include <sys/mman.h>
+#include <sys/neutrino.h>
+#include <stdint.h>
+#else
+#include <sys/io.h>
+#endif
+#include <libplayercore/playercore.h>
+
+class PortIO : public ThreadedDriver
+{
+ public: PortIO(ConfigFile * cf, int section);
+ public: virtual ~PortIO();
+ public: virtual void MainQuit();
+
+ // This method will be invoked on each incoming message
+ public: virtual int ProcessMessage(QueuePointer & resp_queue,
+ player_msghdr * hdr,
+ void * data);
+
+ private: virtual void Main();
+
+ private: player_devaddr_t dio_provided_addr;
+ private: unsigned short port;
+ private: int sleep_nsec;
+ private: unsigned char init_val;
+#ifdef __QNXNTO__
+ private: uintptr_t portptr;
+#endif
+};
+
+Driver * PortIO_Init(ConfigFile * cf, int section)
+{
+ return reinterpret_cast<Driver *>(new PortIO(cf, section));
+}
+
+void portio_Register(DriverTable * table)
+{
+ table->AddDriver("portio", PortIO_Init);
+}
+
+PortIO::PortIO(ConfigFile * cf, int section)
+ : ThreadedDriver(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN)
+{
+ memset(&(this->dio_provided_addr), 0, sizeof(player_devaddr_t));
+ if (cf->ReadDeviceAddr(&(this->dio_provided_addr), section, "provides",
+ PLAYER_DIO_CODE, -1, NULL))
+ {
+ this->SetError(-1);
+ return;
+ }
+ if (this->AddInterface(this->dio_provided_addr))
+ {
+ this->SetError(-1);
+ return;
+ }
+ this->port = static_cast<unsigned short>(cf->ReadInt(section, "port", 888));
+ this->sleep_nsec = cf->ReadInt(section, "sleep_nsec", 10000000);
+#ifdef __QNXNTO__
+ if (ThreadCtl(_NTO_TCTL_IO, NULL) == -1)
+ {
+ PLAYER_ERROR("Only root can do that");
+ this->SetError(-1);
+ return;
+ }
+ this->portptr = mmap_device_io(1, this->port);
+ if ((this->portptr) == reinterpret_cast<uintptr_t>(MAP_FAILED))
+ {
+ PLAYER_ERROR("mmap_device_io() failed");
+ this->SetError(-1);
+ return;
+ }
+#else
+ if (iopl(3) == -1)
+ {
+ PLAYER_ERROR("Only root can do that");
+ this->SetError(-1);
+ return;
+ }
+#endif
+}
+
+PortIO::~PortIO()
+{
+#ifdef __QNXNTO__
+ munmap_device_io(this->portptr, 1);
+#endif
+}
+
+void PortIO::MainQuit()
+{
+#ifdef __QNXNTO__
+ out8(this->portptr, this->init_val);
+#else
+ outb_p(this->init_val, this->port);
+#endif
+}
+
+void PortIO::Main()
+{
+ struct timespec tspec;
+ player_dio_data_t data;
+
+#ifdef __QNXNTO__
+ this->init_val = in8(this->portptr);
+#else
+ this->init_val = inb_p(this->port);
+#endif
+ for (;;)
+ {
+ pthread_testcancel();
+ tspec.tv_sec = 0;
+ tspec.tv_nsec = this->sleep_nsec;
+ nanosleep(&tspec, NULL);
+
+ pthread_testcancel();
+ this->ProcessMessages();
+ pthread_testcancel();
+
+ data.count = 8;
+#ifdef __QNXNTO__
+ data.bits = in8(this->portptr);
+#else
+ data.bits = inb_p(this->port);
+#endif
+ this->Publish(this->dio_provided_addr, PLAYER_MSGTYPE_DATA,
PLAYER_DIO_DATA_VALUES, reinterpret_cast<void *>(&data), 0, NULL);
+ }
+}
+
+int PortIO::ProcessMessage(QueuePointer & resp_queue, player_msghdr * hdr,
void * data)
+{
+ player_dio_cmd_t cmd;
+ unsigned char u, v;
+ const unsigned char masks[] = { 0x01, 0x03, 0x07, 0x0f, 0x1f, 0x3f, 0x7f,
0xff };
+ size_t digits;
+
+ assert(hdr);
+ if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD, PLAYER_DIO_CMD_VALUES,
this->dio_provided_addr))
+ {
+ assert(data);
+ cmd = *(reinterpret_cast<player_dio_cmd_t *>(data));
+ digits = cmd.count;
+ if (digits > 8) digits = 8;
+ if (digits < 1)
+ {
+ PLAYER_WARN("Invalid command received");
+ return -1;
+ }
+#ifdef __QNXNTO__
+ u = in8(this->portptr);
+#else
+ u = inb_p(this->port);
+#endif
+ v = (u & (~(masks[digits - 1]))) | (cmd.digout & (masks[digits - 1]));
+ if (u != v)
+ {
+#ifdef __QNXNTO__
+ out8(this->portptr, v);
+#else
+ outb_p(v, this->port);
+#endif
+ }
+ return 0;
+ }
+ return -1;
+}
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