package sysfs import ( "errors" "fmt" "os" "strconv" "syscall" "time" ) const ( // IN gpio direction IN = "in" // OUT gpio direction OUT = "out" // HIGH gpio level HIGH = 1 // LOW gpio level LOW = 0 // GPIOPATH default linux gpio path GPIOPATH = "/sys/class/gpio" ) var errNotExported = errors.New("pin has not been exported") // DigitalPinner is the interface for sysfs gpio interactions type DigitalPinner interface { // Export exports the pin for use by the operating system Export() error // Unexport unexports the pin and releases the pin from the operating system Unexport() error // Direction sets the direction for the pin Direction(string) error // Read reads the current value of the pin Read() (int, error) // Write writes to the pin Write(int) error } // DigitalPinnerProvider is the interface that an Adaptor should implement to allow // clients to obtain access to any DigitalPin's available on that board. type DigitalPinnerProvider interface { DigitalPin(string, string) (DigitalPinner, error) } type DigitalPin struct { pin string label string value File direction File } // NewDigitalPin returns a DigitalPin given the pin number and an optional sysfs pin label. // If no label is supplied the default label will prepend "gpio" to the pin number, // eg. a pin number of 10 will have a label of "gpio10" func NewDigitalPin(pin int, v ...string) *DigitalPin { d := &DigitalPin{pin: strconv.Itoa(pin)} if len(v) > 0 { d.label = v[0] } else { d.label = "gpio" + d.pin } return d } func (d *DigitalPin) Direction(dir string) error { _, err := writeFile(d.direction, []byte(dir)) return err } func (d *DigitalPin) Write(b int) error { _, err := writeFile(d.value, []byte(strconv.Itoa(b))) return err } func (d *DigitalPin) Read() (n int, err error) { buf, err := readFile(d.value) if err != nil { return 0, err } return strconv.Atoi(string(buf[0])) } func (d *DigitalPin) Export() error { export, err := fs.OpenFile(GPIOPATH+"/export", os.O_WRONLY, 0644) if err != nil { return err } defer export.Close() _, err = writeFile(export, []byte(d.pin)) if err != nil { // If EBUSY then the pin has already been exported e, ok := err.(*os.PathError) if !ok || e.Err != syscall.EBUSY { return err } } if d.direction != nil { d.direction.Close() } attempt := 0 for { attempt++ d.direction, err = fs.OpenFile(fmt.Sprintf("%v/%v/direction", GPIOPATH, d.label), os.O_RDWR, 0644) if err == nil { break } if attempt > 10 { return err } time.Sleep(10 * time.Millisecond) } if d.value != nil { d.value.Close() } if err == nil { d.value, err = fs.OpenFile(fmt.Sprintf("%v/%v/value", GPIOPATH, d.label), os.O_RDWR, 0644) } if err != nil { // Should we unexport here? // If we don't unexport we should make sure to close d.direction and d.value here d.Unexport() } return err } func (d *DigitalPin) Unexport() error { unexport, err := fs.OpenFile(GPIOPATH+"/unexport", os.O_WRONLY, 0644) if err != nil { return err } defer unexport.Close() if d.direction != nil { d.direction.Close() d.direction = nil } if d.value != nil { d.value.Close() d.value = nil } _, err = writeFile(unexport, []byte(d.pin)) if err != nil { // If EINVAL then the pin is reserved in the system and can't be unexported e, ok := err.(*os.PathError) if !ok || e.Err != syscall.EINVAL { return err } } return nil } // Linux sysfs / GPIO specific sysfs docs. // https://www.kernel.org/doc/Documentation/filesystems/sysfs.txt // https://www.kernel.org/doc/Documentation/gpio/sysfs.txt var writeFile = func(f File, data []byte) (i int, err error) { if f == nil { return 0, errNotExported } // sysfs docs say: // > When writing sysfs files, userspace processes should first read the // > entire file, modify the values it wishes to change, then write the // > entire buffer back. // however, this seems outdated/inaccurate (docs are from back in the Kernel BitKeeper days). i, err = f.Write(data) return i, err } var readFile = func(f File) ([]byte, error) { if f == nil { return nil, errNotExported } // sysfs docs say: // > If userspace seeks back to zero or does a pread(2) with an offset of '0' the [..] method will // > be called again, rearmed, to fill the buffer. // TODO: Examine if seek is needed if full buffer is read from sysfs file. buf := make([]byte, 2) _, err := f.Seek(0, os.SEEK_SET) if err == nil { _, err = f.Read(buf) } return buf, err }