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beaglebone: protect against pin map races 

Signed-off-by: deadprogram <ron@hybridgroup.com>
This commit is contained in:
deadprogram 2017-05-06 15:10:59 +02:00
parent 97893cd873
commit 7e651d2268
1 changed files with 18 additions and 0 deletions
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18
platforms/beaglebone/beaglebone_adaptor.go
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@ -7,6 +7,7 @@ import (
"os"
"strconv"
"strings"
"sync"
multierror "github.com/hashicorp/go-multierror"
"gobot.io/x/gobot"
@ -25,6 +26,7 @@ type Adaptor struct {
usrLed string
analogPath string
slots string
mutex *sync.Mutex
}
// NewAdaptor returns a new Beaglebone Adaptor
@ -34,6 +36,7 @@ func NewAdaptor() *Adaptor {
digitalPins: make([]*sysfs.DigitalPin, 120),
pwmPins: make(map[string]*sysfs.PWMPin),
i2cBuses: make(map[int]sysfs.I2cDevice),
mutex: &sync.Mutex{},
}
b.setSlots()
@ -54,6 +57,9 @@ func (b *Adaptor) SetName(n string) { b.name = n }
// Connect initializes the pwm and analog dts.
func (b *Adaptor) Connect() error {
b.mutex.Lock()
defer b.mutex.Unlock()
if err := ensureSlot(b.slots, "BB-ADC"); err != nil {
return err
}
@ -63,6 +69,9 @@ func (b *Adaptor) Connect() error {
// Finalize releases all i2c devices and exported analog, digital, pwm pins.
func (b *Adaptor) Finalize() (err error) {
b.mutex.Lock()
defer b.mutex.Unlock()
for _, pin := range b.digitalPins {
if pin != nil {
if e := pin.Unexport(); e != nil {
@ -145,6 +154,9 @@ func (b *Adaptor) DigitalWrite(pin string, val byte) (err error) {
// DigitalPin retrieves digital pin value by name
func (b *Adaptor) DigitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPinner, err error) {
b.mutex.Lock()
defer b.mutex.Unlock()
i, err := b.translatePin(pin)
if err != nil {
return
@ -164,6 +176,9 @@ func (b *Adaptor) DigitalPin(pin string, dir string) (sysfsPin sysfs.DigitalPinn
// PWMPin returns matched pwmPin for specified pin number
func (b *Adaptor) PWMPin(pin string) (sysfsPin sysfs.PWMPinner, err error) {
b.mutex.Lock()
defer b.mutex.Unlock()
pinInfo, err := b.translatePwmPin(pin)
if err != nil {
return nil, err
@ -222,6 +237,9 @@ func (b *Adaptor) AnalogRead(pin string) (val int, err error) {
// GetConnection returns a connection to a device on a specified bus.
// Valid bus number is either 0 or 2 which corresponds to /dev/i2c-0 or /dev/i2c-2.
func (b *Adaptor) GetConnection(address int, bus int) (connection i2c.Connection, err error) {
b.mutex.Lock()
defer b.mutex.Unlock()
if (bus != 0) && (bus != 2) {
return nil, fmt.Errorf("Bus number %d out of range", bus)
}