@RequestMapping("/back.html")
public String back() throws InterruptedException {
leftBackMotor.high();
rightBackMotor.high();
return "Moving backwards...";
}
@RequestMapping("/forward.htmlc")
public String forward() throws InterruptedException {
leftFrontMotor.high();
rightFrontMotor.high();
return "Moving forward...";
}
private void sendActivePulse() {
try {
trigPin.low();
Thread.sleep(300);
trigPin.high();
Thread.sleep(10);
trigPin.low();
} catch (InterruptedException e) {
System.out.println("Interrupted exception");
}
}
@Override
public void high(GpioPinDigitalOutput... pin) {
if (pin == null || pin.length == 0) {
throw new IllegalArgumentException("Missing pin argument.");
}
// ensure the requested pin has been provisioned
for (GpioPinDigitalOutput p : pin) {
if (!pins.contains(pin)) {
throw new GpioPinNotProvisionedException(p.getPin());
}
// set pin state high
p.high();
}
}
public static void main(String[] args) throws InterruptedException {
// START SNIPPET: usage-create-controller-snippet
// create gpio controller instance
final GpioController gpio = GpioFactory.getInstance();
// END SNIPPET: usage-create-controller-snippet
// START SNIPPET: usage-provision-input-pin-snippet
// provision gpio pin #02 as an input pin with its internal pull down resistor enabled
// (configure pin edge to both rising and falling to get notified for HIGH and LOW state
// changes)
GpioPinDigitalInput myButton =
gpio.provisionDigitalInputPin(
RaspiPin.GPIO_02, // PIN NUMBER
"MyButton", // PIN FRIENDLY NAME (optional)
PinPullResistance.PULL_DOWN); // PIN RESISTANCE (optional)
// END SNIPPET: usage-provision-input-pin-snippet
// START SNIPPET: usage-provision-output-pin-snippet
// provision gpio pins #04 as an output pin and make sure is is set to LOW at startup
GpioPinDigitalOutput myLed =
gpio.provisionDigitalOutputPin(
RaspiPin.GPIO_04, // PIN NUMBER
"My LED", // PIN FRIENDLY NAME (optional)
PinState.LOW); // PIN STARTUP STATE (optional)
// END SNIPPET: usage-provision-output-pin-snippet
// START SNIPPET: usage-shutdown-pin-snippet
// configure the pin shutdown behavior; these settings will be
// automatically applied to the pin when the application is terminated
// ensure that the LED is turned OFF when the application is shutdown
myLed.setShutdownOptions(true, PinState.LOW, PinPullResistance.OFF);
// END SNIPPET: usage-shutdown-pin-snippet
// START SNIPPET: usage-control-pin-snippet
// explicitly set a state on the pin object
myLed.setState(PinState.HIGH);
// use convenience wrapper method to set state on the pin object
myLed.low();
myLed.high();
// use toggle method to apply inverse state on the pin object
myLed.toggle();
// use pulse method to set the pin to the HIGH state for
// an explicit length of time in milliseconds
myLed.pulse(1000);
// END SNIPPET: usage-control-pin-snippet
// START SNIPPET: usage-read-pin-snippet
// get explicit state enumeration for the GPIO pin associated with the button
PinState myButtonState = myButton.getState();
// use convenience wrapper method to interrogate the button state
boolean buttonPressed = myButton.isHigh();
// END SNIPPET: usage-read-pin-snippet
// START SNIPPET: usage-register-listener-snippet
// create and register gpio pin listener
myButton.addListener(new GpioUsageExampleListener());
// END SNIPPET: usage-register-listener-snippet
// START SNIPPET: usage-trigger-snippet
// create a gpio synchronization trigger on the input pin
// when the input state changes, also set LED controlling gpio pin to same state
myButton.addTrigger(new GpioSyncStateTrigger(myLed));
// END SNIPPET: usage-trigger-snippet
// keep program running until user aborts (CTRL-C)
while (true) {
Thread.sleep(500);
}
// stop all GPIO activity/threads by shutting down the GPIO controller
// (this method will forcefully shutdown all GPIO monitoring threads and scheduled tasks)
// gpio.shutdown(); <--- implement this method call if you wish to terminate the Pi4J GPIO
// controller
}
/** Process the message */
@Override
public void process(Exchange exchange) throws Exception {
if (log.isTraceEnabled()) {
log.trace(exchange.toString());
}
GPIOAction messageAction =
exchange.getIn().getHeader(Pi4jConstants.CAMEL_RBPI_PIN_ACTION, action, GPIOAction.class);
if (messageAction == null) {
log.trace("No action pick up body");
this.output(exchange, exchange.getIn().getBody());
} else {
log.trace("action= {} ", action);
switch (messageAction) {
case TOGGLE:
if (pin.getMode() == PinMode.DIGITAL_OUTPUT) {
((GpioPinDigitalOutput) pin).toggle();
}
break;
case LOW:
if (pin.getMode() == PinMode.DIGITAL_OUTPUT) {
((GpioPinDigitalOutput) pin).low();
}
break;
case HIGH:
if (pin.getMode() == PinMode.DIGITAL_OUTPUT) {
((GpioPinDigitalOutput) pin).high();
}
break;
case BLINK:
if (pin.getMode() == PinMode.DIGITAL_OUTPUT) {
pool.submit(
new Runnable() {
@Override
public void run() {
try {
Thread.sleep(getEndpoint().getDelay());
((GpioPinDigitalOutput) pin).toggle();
Thread.sleep(getEndpoint().getDuration());
((GpioPinDigitalOutput) pin).toggle();
} catch (InterruptedException e) {
log.error("Thread interruption into BLINK sequence", e);
}
}
});
}
break;
default:
log.error("Any action set found");
break;
}
}
}
private void turnLightOn() {
lightPin.high();
System.out.println(String.format("Light was turned on"));
}