private void configurePin() {
Pin pin = (Pin) findPin(config.pinNumber().getVal());
unprovision(pin);
switch (config.pinType()) { // Get request sets the input pin
case input:
GpioPinDigitalInput digitalIn = this.gpioContoller.provisionDigitalInputPin(pin);
switch (config.pinLevel()) {
case high:
digitalIn.setPullResistance(PinPullResistance.PULL_UP);
break;
case low:
digitalIn.setPullResistance(PinPullResistance.PULL_DOWN);
break;
}
break;
// Post request sets the output pin
case output:
GpioPinDigitalOutput digitalOut = this.gpioContoller.provisionDigitalOutputPin(pin);
switch (config.pinLevel()) {
case high:
digitalOut.setState(true);
break;
case low:
digitalOut.setState(false);
break;
}
break;
}
}
@RequestMapping("/left.html")
public String left() throws InterruptedException {
leftFrontMotor.toggle();
rightFrontMotor.toggle();
return "Moving left...";
}
@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...";
}
@Override
public GpioPinDigitalOutput provisionDigitalOutputPin(
GpioProvider provider, Pin pin, String name, PinState defaultState) {
// create new GPIO pin instance
GpioPinDigitalOutput gpioPin = provisionDigitalOutputPin(provider, pin, name);
// apply default state
if (defaultState != null) {
gpioPin.setState(defaultState);
}
// return new new pin instance
return gpioPin;
}
@Override
public void pulse(long milliseconds, GpioPinDigitalOutput... pin) {
if (pin == null || pin.length == 0) {
throw new IllegalArgumentException("Missing pin argument.");
}
for (GpioPinDigitalOutput p : pin) {
// ensure the requested pin has been provisioned
if (!pins.contains(p)) {
throw new GpioPinNotProvisionedException(p.getPin());
}
// toggle pin state
p.pulse(milliseconds);
}
}
@Override
public void setState(PinState state, GpioPinDigitalOutput... pin) {
if (pin == null || pin.length == 0) {
throw new IllegalArgumentException("Missing pin argument.");
}
for (GpioPinDigitalOutput p : pin) {
// ensure the requested pin has been provisioned
if (!pins.contains(p)) {
throw new GpioPinNotProvisionedException(p.getPin());
}
// set pin state
p.setState(state);
}
}
private void sendActivePulse() {
try {
trigPin.low();
Thread.sleep(300);
trigPin.high();
Thread.sleep(10);
trigPin.low();
} catch (InterruptedException e) {
System.out.println("Interrupted exception");
}
}
@RequestMapping("/shutdown.html")
public String shutdown() {
gpio.shutdown();
leftBackMotor.low();
leftFrontMotor.low();
rightBackMotor.low();
rightFrontMotor.low();
gpio.unprovisionPin(leftBackMotor);
gpio.unprovisionPin(rightBackMotor);
gpio.unprovisionPin(rightFrontMotor);
gpio.unprovisionPin(leftFrontMotor);
return "Program was shutdown correctly";
}
@Test
public void testTriggerLow() throws InterruptedException {
provider.setMockState(MockPin.DIGITAL_INPUT_PIN, PinState.HIGH);
provider.setMockState(MockPin.DIGITAL_INPUT_PIN, PinState.LOW);
// wait before continuing test
Thread.sleep(50);
// verify that the output pin state is low
assertEquals(PinState.LOW, outputPin.getState());
}
public static void main(String[] args) {
System.out.println("<--Pi4J--> GPIO Frequency Example ... started.");
// create gpio controller
final GpioController gpio = GpioFactory.getInstance();
// provision gpio pin #01 as an output pin and turn on
final GpioPinDigitalOutput pin = gpio.provisionDigitalOutputPin(RaspiPin.GPIO_01, PinState.LOW);
// continuous loop
while (true) {
pin.setState(true);
pin.setState(false);
}
// 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
}
public static void main(String[] args) throws InterruptedException {
System.out.println("works");
GpioController gpio = GpioFactory.getInstance();
GpioPinDigitalOutput pin1 =
gpio.provisionDigitalOutputPin(RaspiPin.GPIO_01, "MyLed", PinState.HIGH);
pin1.setShutdownOptions(true, PinState.LOW);
Thread.sleep(5000);
System.out.println("pin low");
pin1.low();
Thread.sleep(5000);
System.out.println("pin toggle");
pin1.toggle();
Thread.sleep(5000);
System.out.println("pin pulse");
pin1.pulse(1000, true);
Thread.sleep(2000);
System.out.println("pin blink");
pin1.blink(500, 5000);
Thread.sleep(2000);
System.out.println("koniec");
gpio.shutdown();
}
public void addBit(boolean bit) throws InterruptedException {
clear.setState(true);
clock.setState(false);
if (bit) {
dataIn.setState(true);
} else dataIn.setState(false);
clock.setState(true); // clock in bit
clock.setState(false); // turn off clock until next opersation
dataIn.setState(false);
}
/**
* This method can be called to forcefully shutdown all GPIO controller monitoring, listening, and
* task threads/executors.
*/
@Override
public synchronized void shutdown() {
// prevent reentrant invocation
if (isShutdown()) return;
// shutdown all executor services
//
// NOTE: we are not permitted to access the shutdown() method of the individual
// executor services, we must perform the shutdown with the factory
GpioFactory.getExecutorServiceFactory().shutdown();
// shutdown explicit configured GPIO pins
for (GpioPin pin : pins) {
// perform a shutdown on the GPIO provider for this pin
if (!pin.getProvider().isShutdown()) {
pin.getProvider().shutdown();
}
// perform the shutdown options if configured for the pin
GpioPinShutdown shutdownOptions = pin.getShutdownOptions();
if (shutdownOptions != null) {
// get shutdown option configuration
PinState state = shutdownOptions.getState();
PinMode mode = shutdownOptions.getMode();
PinPullResistance resistance = shutdownOptions.getPullResistor();
Boolean unexport = shutdownOptions.getUnexport();
// perform shutdown actions
if ((state != null) && (pin instanceof GpioPinDigitalOutput)) {
((GpioPinDigitalOutput) pin).setState(state);
}
if (resistance != null) {
pin.setPullResistance(resistance);
}
if (mode != null) {
pin.setMode(mode);
}
if (unexport != null && unexport == Boolean.TRUE) {
pin.unexport();
}
}
}
// set is shutdown tracking variable
isshutdown = true;
}
private void output(Exchange exchange, Object value) {
//
PinMode mode = pin.getMode();
log.debug("Mode > " + mode + " for " + pin);
// Check mode
switch (mode) {
case DIGITAL_OUTPUT:
Boolean outputBoolean =
exchange.getContext().getTypeConverter().convertTo(Boolean.class, value);
((GpioPinDigitalOutput) pin).setState(outputBoolean);
break;
case ANALOG_OUTPUT:
Double outputDouble =
exchange.getContext().getTypeConverter().convertTo(Double.class, value);
((GpioPinAnalogOutput) pin).setValue(outputDouble);
break;
case PWM_OUTPUT:
Integer outputInt =
exchange.getContext().getTypeConverter().convertTo(Integer.class, value);
((GpioPinPwmOutput) pin).setPwm(outputInt);
break;
case ANALOG_INPUT:
case DIGITAL_INPUT:
log.error("Cannot output with INPUT PinMode");
break;
default:
log.error("Any PinMode found");
break;
}
}
public void clear() throws InterruptedException {
clear.setState(false);
clear.setState(true);
push();
}
@Override
public void invoke(GpioPin pin, PinState state) {
if (targetPin != null) {
targetPin.setState(targetPinState);
}
}
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 turnLightOff() {
lightPin.low();
System.out.println(String.format("Light was turned off"));
}
private void turnLightOn() {
lightPin.high();
System.out.println(String.format("Light was turned on"));
}
/**
* [ARGUMENT/OPTION "--pin (#)" | "-p (#)" ] This example program accepts an optional argument for
* specifying the GPIO pin (by number) to use with this GPIO listener example. If no argument is
* provided, then GPIO #1 will be used. -- EXAMPLE: "--pin 4" or "-p 0".
*
* @param args
* @throws InterruptedException
* @throws PlatformAlreadyAssignedException
*/
public static void main(String[] args)
throws InterruptedException, PlatformAlreadyAssignedException {
// ####################################################################
//
// since we are not using the default Raspberry Pi platform, we should
// explicitly assign the platform as the BananaPi platform.
//
// ####################################################################
PlatformManager.setPlatform(Platform.BANANAPI);
// create Pi4J console wrapper/helper
// (This is a utility class to abstract some of the boilerplate code)
final Console console = new Console();
// print program title/header
console.title("<-- The Pi4J Project -->", "GPIO Output Example");
// allow for user to exit program using CTRL-C
console.promptForExit();
// create gpio controller
final GpioController gpio = GpioFactory.getInstance();
// ####################################################################
//
// When provisioning a pin, use the BananaPiPin class.
//
// ####################################################################
// by default we will use gpio pin #01; however, if an argument
// has been provided, then lookup the pin by address
Pin pin =
CommandArgumentParser.getPin(
BananaPiPin.class, // pin provider class to obtain pin instance from
BananaPiPin.GPIO_01, // default pin if no pin argument found
args); // argument array to search in
// provision gpio pin as an output pin and turn on
final GpioPinDigitalOutput output =
gpio.provisionDigitalOutputPin(pin, "My Output", PinState.HIGH);
// set shutdown state for this pin: keep as output pin, set to low state
output.setShutdownOptions(false, PinState.LOW);
// create a pin listener to print out changes to the output gpio pin state
output.addListener(
new GpioPinListenerDigital() {
@Override
public void handleGpioPinDigitalStateChangeEvent(GpioPinDigitalStateChangeEvent event) {
// display pin state on console
console.println(
" --> GPIO PIN STATE CHANGE: "
+ event.getPin()
+ " = "
+ ConsoleColor.conditional(
event.getState().isHigh(), // conditional expression
ConsoleColor.GREEN, // positive conditional color
ConsoleColor.RED, // negative conditional color
event.getState())); // text to display
}
});
// prompt user that we are ready
console.println(" ... Successfully provisioned output pin: " + output.toString());
console.emptyLine();
console.box("The GPIO output pin states will cycle HIGH and LOW states now.");
console.emptyLine();
// notify user of current pin state
console.println(
"--> ["
+ output.toString()
+ "] state was provisioned with state = "
+ ConsoleColor.conditional(
output.getState().isHigh(), // conditional expression
ConsoleColor.GREEN, // positive conditional color
ConsoleColor.RED, // negative conditional color
output.getState())); // text to display
// wait
Thread.sleep(500);
// --------------------------------------------------------------------------
// tset gpio pin state to LOW
console.emptyLine();
console.println("Setting output pin state is set to LOW.");
output.low(); // or ... output.setState(PinState.LOW);
// wait
Thread.sleep(500);
// --------------------------------------------------------------------------
// tset gpio pin state to HIGH
console.emptyLine();
console.println("Setting output pin state from LOW to HIGH.");
output.setState(PinState.HIGH); // or ... output.high();
// wait
Thread.sleep(500);
// --------------------------------------------------------------------------
// toggle the current state of gpio pin (from HIGH to LOW)
console.emptyLine();
console.println("Toggling output pin state from HIGH to LOW.");
output.toggle();
// wait
Thread.sleep(500);
// --------------------------------------------------------------------------
// pulse gpio pin state for 1 second HIGH and then return to LOW
console.emptyLine();
console.println("Pulsing output pin state HIGH for 1 second.");
output.pulse(1000, true); // set second argument to 'true' use a blocking call
Thread.sleep(50);
// --------------------------------------------------------------------------
// blink gpio pin state for 1 second between HIGH and LOW states
console.emptyLine();
console.println(
"Blinking output pin state between HIGH and LOW for 3 seconds with a blink rate of 250ms.");
Future future = output.blink(250, 3000);
// --------------------------------------------------------------------------
// wait for blinking to finish; we are notified in a future object
while (!future.isDone()) {
Thread.sleep(50);
}
// 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();
}
public void push() throws InterruptedException {
latch.setState(false);
latch.setState(true);
latch.setState(false);
}
