Bring back libgpiod v1

husarion · May 10, 2023 · 4ca10ea · 4ca10ea
1 parent febc8b0
commit 4ca10ea
Show file tree

Hide file tree

Showing 4 changed files with 13 additions and 46 deletions.
diff --git a/panther_lights/CMakeLists.txt b/panther_lights/CMakeLists.txt
@@ -4,23 +4,6 @@ project(panther_lights)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-find_library(LIBGPIOD libgpiod)
-
-if(NOT LIBGPIOD)
-  message(WARNING "libgpiod not found. Building from source")
-  include(ExternalProject)
-
-  ExternalProject_Add(libgpiod
-    GIT_REPOSITORY git://git.kernel.org/pub/scm/libs/libgpiod/libgpiod.git
-    GIT_TAG v2.0.1
-    PREFIX ${CATKIN_DEVEL_PREFIX}
-    CONFIGURE_COMMAND <SOURCE_DIR>/autogen.sh --prefix=<INSTALL_DIR> --enable-tools=no --enable-bindings-cxx
-    BUILD_COMMAND make -j ${N}
-    INSTALL_COMMAND make install INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX}/lib/libgpiod
-    BUILD_IN_SOURCE 1
-  )
-endif()
-
 find_package(catkin REQUIRED COMPONENTS
   image_transport
   panther_msgs
@@ -33,7 +16,6 @@ find_package(catkin REQUIRED COMPONENTS
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES libgpiod
   CATKIN_DEPENDS panther_msgs roscpp
 )
 
@@ -48,9 +30,9 @@ add_executable(driver_node
   src/apa102.cpp
 )
 
-add_dependencies(driver_node libgpiod ${catkin_EXPORTED_TARGETS})
+add_dependencies(driver_node ${catkin_EXPORTED_TARGETS})
 target_link_libraries(driver_node
-  ${CATKIN_DEVEL_PREFIX}/lib/libgpiodcxx.so
+  gpiodcxx
   ${catkin_LIBRARIES}
 )
 

diff --git a/panther_lights/include/panther_lights/driver_node.hpp b/panther_lights/include/panther_lights/driver_node.hpp
@@ -29,6 +29,7 @@ class DriverNode
   int num_led_;
   double frame_timeout_;
   bool panels_initialised_ = false;
+  gpiod::line power_pin_;
   std::string node_name_;
 
   APA102 front_panel_;
@@ -46,7 +47,6 @@ class DriverNode
   void frame_cb(
     const sensor_msgs::Image::ConstPtr & msg, const APA102 & panel, const ros::Time & last_time,
     const std::string & panel_name);
-  void set_pin_value(const gpiod::line::value value) const;
   bool set_brightness_cb(
     panther_msgs::SetLEDBrightness::Request & req, panther_msgs::SetLEDBrightness::Response & res);
 };

diff --git a/panther_lights/package.xml b/panther_lights/package.xml
@@ -16,13 +16,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>autoconf</build_depend>
-  <build_depend>autoconf-archive</build_depend>
-  <build_depend>libtool</build_depend>
-  <build_depend>m4</build_depend>
-  <build_depend>pkg-config</build_depend>
-
   <depend>image_transport</depend>
+  <depend>libgpiod-dev</depend>
   <depend>panther_msgs</depend>
   <depend>roscpp</depend>
   <depend>rospy</depend>

diff --git a/panther_lights/src/driver_node.cpp b/panther_lights/src/driver_node.cpp
@@ -31,7 +31,12 @@ DriverNode::DriverNode(
   frame_timeout_ = ph_->param<double>("frame_timeout", 0.1);
   num_led_ = ph_->param<int>("num_led", 46);
 
-  set_pin_value(gpiod::line::value::INACTIVE);
+  const gpiod::chip chip("gpiochip0");
+  power_pin_ = chip.find_line("LED_SBC_SEL");
+
+  const gpiod::line_request lr = {
+    node_name_, gpiod::line_request::DIRECTION_OUTPUT, gpiod::line_request::FLAG_ACTIVE_LOW};
+  power_pin_.request(lr, 0);
 
   front_panel_ts_ = ros::Time::now();
   rear_panel_ts_ = ros::Time::now();
@@ -71,7 +76,8 @@ DriverNode::~DriverNode()
   rear_panel_.set_panel(std::vector<std::uint8_t>(num_led_ * 4, 0));
 
   // give back control over LEDs
-  set_pin_value(gpiod::line::value::INACTIVE);
+  power_pin_.set_value(0);
+  power_pin_.release();
 }
 
 bool DriverNode::set_brightness_cb(
@@ -124,26 +130,10 @@ void DriverNode::frame_cb(
       panels_initialised_ = true;
 
       // take control over LEDs
-      set_pin_value(gpiod::line::value::ACTIVE);
+      power_pin_.set_value(1);
     }
     panel.set_panel(msg->data);
   }
 }
 
-void DriverNode::set_pin_value(const gpiod::line::value value) const
-{
-  auto chip = gpiod::chip(std::filesystem::path{"/dev/gpiochip0"});
-  auto power_pin_offset = gpiod::line::offset(chip.get_line_offset_from_name("LED_SBC_SEL"));
-
-  auto settings = gpiod::line_settings();
-  settings.set_direction(gpiod::line::direction::OUTPUT);
-  settings.set_active_low(true);
-  settings.set_output_value(value);
-
-  auto rb = chip.prepare_request();
-  rb.set_consumer(node_name_);
-  rb.add_line_settings(power_pin_offset, settings);
-  rb.do_request();
-}
-
 }  // namespace panther_lights