add support for tinkerforge

Former-commit-id: 8dbd3d915f70ace8d1b27602f0d76a2a546ac043

CMakeLists.txt

@@ -16,6 +16,9 @@ message(STATUS "ENABLE_SPIDEV = " ${ENABLE_SPIDEV})
 option(ENABLE_V4L2 "Enable the V4L2 grabber" ON)
 message(STATUS "ENABLE_V4L2 = " ${ENABLE_V4L2})
 
+option(ENABLE_TINKERFORGE "Enable the TINKERFORGE device" OFF)
+message(STATUS "ENABLE_TINKERFORGE = " ${ENABLE_TINKERFORGE})
+
 # Createt the configuration file
 # configure a header file to pass some of the CMake settings
 # to the source code
@@ -62,6 +65,10 @@ set(CMAKE_FIND_LIBRARY_SUFFIXES_OLD)
 find_package(libusb-1.0 REQUIRED)
 find_package(Threads REQUIRED)
 
+if (ENABLE_TINKERFORGE)
+	find_package(libtinkerforge-1.0 REQUIRED)
+endif (ENABLE_TINKERFORGE)
+
 include(${QT_USE_FILE})
 add_definitions(${QT_DEFINITIONS})
 # TODO[TvdZ]: This linking directory should only be added if we are cross compiling

HyperionConfig.h.in

@@ -8,3 +8,6 @@
 
 // Define to enable the spi-device
 #cmakedefine ENABLE_SPIDEV
+
+// Define to enable the spi-device
+#cmakedefine ENABLE_TINKERFORGE

libsrc/leddevice/CMakeLists.txt

@@ -6,11 +6,21 @@ SET(CURRENT_SOURCE_DIR ${CMAKE_SOURCE_DIR}/libsrc/leddevice)
 #add libusb and pthreads (required for the Lighpack usb device)
 find_package(libusb-1.0 REQUIRED)
 find_package(Threads REQUIRED)
+if(ENABLE_TINKERFORGE)
+	find_package(libtinkerforge-1.0 REQUIRED)
+endif(ENABLE_TINKERFORGE)
+
 
 include_directories(
 		../../include/hidapi
 		${LIBUSB_1_INCLUDE_DIRS}) # for Lightpack device
 
+
+if(ENABLE_TINKERFORGE)
+	include_directories(
+		${LIBTINKERFORGE_1_INCLUDE_DIRS}) # for Tinkerforge device
+endif(ENABLE_TINKERFORGE)
+
 # Group the headers that go through the MOC compiler
 SET(Leddevice_QT_HEADERS
 		${CURRENT_SOURCE_DIR}/LedDeviceAdalight.h
@@ -67,6 +77,17 @@ if(ENABLE_SPIDEV)
 	)
 endif(ENABLE_SPIDEV)
 
+if(ENABLE_TINKERFORGE)
+	SET(Leddevice_HEADERS
+			${Leddevice_HEADERS}
+			${CURRENT_SOURCE_DIR}/LedDeviceTinkerforge.h
+	)
+	SET(Leddevice_SOURCES
+			${Leddevice_SOURCES}
+			${CURRENT_SOURCE_DIR}/LedDeviceTinkerforge.cpp
+	)
+endif(ENABLE_TINKERFORGE)
+
 
 QT4_WRAP_CPP(Leddevice_HEADERS_MOC ${Leddevice_QT_HEADERS})
 
@@ -84,6 +105,13 @@ target_link_libraries(leddevice
 	${CMAKE_THREAD_LIBS_INIT}
 	${QT_LIBRARIES}
 )
+
+if(ENABLE_TINKERFORGE)
+	target_link_libraries(leddevice
+		${LIBTINKERFORGE_1_LIBRARIES}
+	)
+endif()
+
 if(APPLE)
 	target_link_libraries(leddevice hidapi-mac)
 else()

libsrc/leddevice/LedDeviceFactory.cpp

@@ -16,6 +16,10 @@
 	#include "LedDeviceWs2801.h"
 #endif
 
+#ifdef ENABLE_TINKERFORGE
+	#include "LedDeviceTinkerforge.h"
+#endif
+
 #include "LedDeviceAdalight.h"
 #include "LedDeviceLightpack.h"
 #include "LedDeviceMultiLightpack.h"
@@ -87,6 +91,22 @@ LedDevice * LedDeviceFactory::construct(const Json::Value & deviceConfig)
 		device = deviceWs2801;
 	}
 #endif
+
+#ifdef ENABLE_TINKERFORGE
+	else if (type=="tinkerforge") 
+	{
+		const std::string host 	= deviceConfig.get("output", "127.0.0.1").asString();
+		const uint16_t port 		= deviceConfig.get("port", 4223).asInt();
+		const std::string  uid		= deviceConfig["uid"].asString();
+		const unsigned rate 	= deviceConfig["rate"].asInt();
+
+		LedDeviceTinkerforge* deviceTinkerforge = new LedDeviceTinkerforge(host, port, uid, rate);
+		deviceTinkerforge->open();
+
+		device = deviceTinkerforge;
+	}
+#endif
+
 //      else if (type == "ws2811")
 //      {
 //              const std::string output       = deviceConfig["output"].asString();

libsrc/leddevice/LedDeviceTinkerforge.cpp

@@ -0,0 +1,141 @@
+
+// STL includes
+#include <cerrno>
+#include <cstring>
+
+// Local LedDevice includes
+#include "LedDeviceTinkerforge.h"
+
+static const unsigned MAX_NUM_LEDS = 320;
+static const unsigned MAX_NUM_LEDS_SETTABLE = 16;
+
+LedDeviceTinkerforge::LedDeviceTinkerforge(const std::string &host, uint16_t port, const std::string &uid, const unsigned interval) :
+	LedDevice(),
+	_host(host),
+	_port(port),
+	_uid(uid),	
+	_interval(interval),
+	_ipConnection(nullptr),
+	_ledStrip(nullptr),
+	_colorChannelSize(0)
+{
+	// empty
+}
+
+LedDeviceTinkerforge::~LedDeviceTinkerforge()
+{
+	// Close the device (if it is opened)
+	if (_ipConnection != nullptr && _ledStrip != nullptr)
+	{
+		switchOff();
+	}
+	if (_ipConnection != nullptr) 
+		delete _ipConnection;
+	if (_ledStrip != nullptr)
+		delete _ledStrip;
+}
+
+int LedDeviceTinkerforge::open()
+{
+	_ipConnection = new IPConnection;
+	ipcon_create(_ipConnection);
+
+	int connectionStatus = ipcon_connect(_ipConnection, _host.c_str(), _port);
+	if (connectionStatus < 0) 
+	{
+		std::cerr << "Attempt to connect to master brick (" << _host << ":" << _port << ") failed with status " << connectionStatus << std::endl;
+		return -1;
+	}
+
+	_ledStrip = new LEDStrip;
+	led_strip_create(_ledStrip, _uid.c_str(), _ipConnection);
+
+	int frameStatus = led_strip_set_frame_duration(_ledStrip, _interval);
+	if (frameStatus < 0) 
+	{
+		std::cerr << "Attempt to connect to led strip bricklet (led_strip_set_frame_duration()) failed with status " << frameStatus << std::endl;
+		return -1;
+	}
+
+	return 0;
+}
+
+int LedDeviceTinkerforge::write(const std::vector<ColorRgb> &ledValues)
+{
+	std::cerr << "Write" << std::endl;
+
+	unsigned nrLedValues = ledValues.size();
+
+	if (nrLedValues > MAX_NUM_LEDS) 
+	{
+		std::cerr << "Invalid attempt to write led values. Not more than " << MAX_NUM_LEDS << " leds are allowed." << std::endl;
+		return -1;
+	}
+
+	if (_colorChannelSize < nrLedValues)
+	{
+		_redChannel.resize(nrLedValues, uint8_t(0));
+		_greenChannel.resize(nrLedValues, uint8_t(0));
+		_blueChannel.resize(nrLedValues, uint8_t(0));
+	}
+	_colorChannelSize = nrLedValues;
+
+	auto redIt = _redChannel.begin();
+	auto greenIt = _greenChannel.begin();
+	auto blueIt = _blueChannel.begin();
+
+	for (const ColorRgb &ledValue : ledValues)
+	{
+		*redIt = ledValue.red;
+		redIt++;
+		*greenIt = ledValue.green;
+		greenIt++;
+		*blueIt = ledValue.blue;
+		blueIt++; 
+	}
+
+	return transferLedData(_ledStrip, 0, _colorChannelSize, &_redChannel[0], &_greenChannel[0], &_blueChannel[0]);
+}
+
+int LedDeviceTinkerforge::switchOff()
+{
+	std::cerr << "Switchoff" << std::endl;
+	std::fill(_redChannel.begin(), _redChannel.end(), 0);
+	std::fill(_greenChannel.begin(), _greenChannel.end(), 0);
+	std::fill(_blueChannel.begin(), _blueChannel.end(), 0);
+
+	return transferLedData(_ledStrip, 0, _colorChannelSize, &_redChannel[0], &_greenChannel[0], &_blueChannel[0]);
+}
+
+int LedDeviceTinkerforge::transferLedData(LEDStrip *ledStrip, unsigned index, unsigned length, uint8_t *redChannel, uint8_t *greenChannel, uint8_t *blueChannel) 
+{
+	// we need that array size no matter how many leds will really be set
+	uint8_t _reds[MAX_NUM_LEDS_SETTABLE];
+	uint8_t _greens[MAX_NUM_LEDS_SETTABLE];
+	uint8_t _blues[MAX_NUM_LEDS_SETTABLE];
+
+	int status = E_INVALID_PARAMETER;
+	unsigned i;
+	unsigned int copyLength;
+
+	if (index >= 0 && length > 0 && index < length && length <= MAX_NUM_LEDS) 
+	{
+		for (i = index; i < length; i += MAX_NUM_LEDS_SETTABLE)
+		{
+			copyLength = (i + MAX_NUM_LEDS_SETTABLE > length) ? length - i : MAX_NUM_LEDS_SETTABLE;
+
+			memcpy(_reds, redChannel + i, copyLength * sizeof(uint8_t));
+			memcpy(_greens, greenChannel + i, copyLength * sizeof(uint8_t));
+			memcpy(_blues, blueChannel + i, copyLength * sizeof(uint8_t));
+
+			status = led_strip_set_rgb_values(ledStrip, i, copyLength, _reds, _greens, _blues);
+
+			if (status != E_OK) 
+			{
+				std::cerr << "Setting led values failed with status " << status << std::endl;
+				break;
+			}
+		}
+	}
+	return status;
+}

libsrc/leddevice/LedDeviceTinkerforge.h

@@ -0,0 +1,82 @@
+
+#pragma once
+
+// STL includes
+#include <cstdio>
+
+// Hyperion-Leddevice includes
+#include <leddevice/LedDevice.h>
+
+
+extern "C" {
+	#include <tinkerforge/ip_connection.h>
+	#include <tinkerforge/bricklet_led_strip.h>
+}
+
+class LedDeviceTinkerforge : public LedDevice
+{
+public:
+	
+	LedDeviceTinkerforge(const std::string &host, uint16_t port, const std::string &uid, const unsigned interval);
+
+	virtual ~LedDeviceTinkerforge();
+
+	///
+	/// Attempts to open a connection to the master bricklet and the led strip bricklet.
+	///
+	/// @return Zero on succes else negative
+	///
+	int open();
+
+	///
+	/// Writes the colors to the led strip bricklet
+	///
+	/// @param ledValues The color value for each led
+	///
+	/// @return Zero on success else negative
+	///
+	virtual int write(const std::vector<ColorRgb> &ledValues);
+
+	///
+	/// Switches off the leds
+	///
+	/// @return Zero on success else negative
+	///
+	virtual int switchOff();
+
+private:
+	///
+	/// Writes the data to the led strip blicklet 
+	int transferLedData(LEDStrip *ledstrip, unsigned int index, unsigned int length, uint8_t *redChannel, uint8_t *greenChannel, uint8_t *blueChannel);
+
+	/// The host of the master brick
+	const std::string _host;
+
+	/// The port of the master brick
+	const uint16_t _port;
+
+	/// The uid of the led strip bricklet
+	const std::string _uid;
+
+	/// The interval/rate
+	const unsigned _interval;
+
+	/// ip connection handle 
+	IPConnection *_ipConnection;
+
+	/// led strip handle
+	LEDStrip *_ledStrip;
+
+	/// buffer for red channel led data
+	std::vector<uint8_t> _redChannel;
+
+	/// buffer for red channel led data
+	std::vector<uint8_t> _greenChannel;
+
+	/// buffer for red channel led data
+	std::vector<uint8_t> _blueChannel;
+
+	/// buffer size of the color channels
+	unsigned int _colorChannelSize;
+
+};