feat: Migrate from wiringpi to gpiod

.drone.yml

@@ -8,7 +8,7 @@ pipeline:
     commands:
       - curl https://apt.matrix.one/doc/apt-key.gpg | apt-key add -
       - apt-get update
-      - apt-get install --yes libfftw3-dev wiringpi libgflags-dev
+      - apt-get install --yes libfftw3-dev libgpiod-dev libgflags-dev
       - debuild -us -uc -b
       - mv ../*.deb .
 

README.md

@@ -37,7 +37,7 @@ sudo apt-get update
 sudo apt-get upgrade
 
 # Install MATRIX HAL Packages and Build Prerequisites
-sudo apt-get install cmake g++ git libfftw3-dev wiringpi libgflags-dev matrixio-creator-init
+sudo apt-get install cmake g++ git libfftw3-dev libgpiod-dev libgflags-dev matrixio-creator-init
 
 # Reboot your Pi
 sudo reboot

cpp/driver/CMakeLists.txt

@@ -4,11 +4,12 @@ cmake_minimum_required(VERSION 2.8)
 set(CMAKE_BUILD_TYPE Release)
 
 find_library (FFTW_LIBRARIES NAMES fftw3f )
-FIND_LIBRARY(WIRINGPI_LIB NAMES wiringPi)
-FIND_LIBRARY(WIRINGPI_DEV_LIB NAMES wiringPiDev)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(GPIODCXX REQUIRED gpiodcxx)
 FIND_LIBRARY(CRYPT_LIB NAMES crypt)
 
-add_compile_options(-std=c++11)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # Enable extra warnings. Not needed.
 include (../../cmake/FatalWarnings.cmake)
@@ -18,6 +19,7 @@ find_package(Threads)
 
 include_directories(
   ../..
+  ${GPIODCXX_INCLUDE_DIRS}
 )
 
 set(matrix_creator_hal_src
@@ -43,10 +45,10 @@ set(matrix_creator_hal_src
 )
 
 add_library(matrix_creator_hal SHARED ${matrix_creator_hal_src})
-  set_property(TARGET matrix_creator_hal PROPERTY CXX_STANDARD 11)
+  set_property(TARGET matrix_creator_hal PROPERTY CXX_STANDARD 17)
   target_link_libraries(matrix_creator_hal ${CMAKE_THREAD_LIBS_INIT} ${CMAKE_THREAD_LIBS_INIT})
   target_link_libraries(matrix_creator_hal ${FFTW_LIBRARIES})
-  target_link_libraries(matrix_creator_hal ${WIRINGPI_LIB} ${WIRINGPI_DEV_LIB} ${CRYPT_LIB})
+  target_link_libraries(matrix_creator_hal ${GPIODCXX_LIBRARIES} ${CRYPT_LIB})
 
 set (matrix_creator_hal_headers
   circular_queue.h

cpp/driver/microphone_array.cpp

@@ -15,30 +15,24 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <wiringPi.h>
 #include <cmath>
-#include <condition_variable>
 #include <cstdint>
 #include <cstdlib>
 #include <fstream>
 #include <iostream>
 #include <map>
 #include <string>
 #include <valarray>
+#include <chrono>
 
 #include "cpp/driver/creator_memory_map.h"
 #include "cpp/driver/microphone_array.h"
 #include "cpp/driver/microphone_array_location.h"
 
-static std::mutex irq_m;
-static std::condition_variable irq_cv;
-
-void irq_callback(void) { irq_cv.notify_all(); }
-
 namespace matrix_hal {
 
 MicrophoneArray::MicrophoneArray(bool enable_beamforming)
-    : lock_(irq_m), gain_(3), sampling_frequency_(16000), enable_beamforming_(enable_beamforming) {
+    : gain_(3), sampling_frequency_(16000), enable_beamforming_(enable_beamforming) {
   raw_data_.resize(kMicarrayBufferSize);
 
   if (enable_beamforming_)
@@ -58,20 +52,41 @@ MicrophoneArray::~MicrophoneArray() {}
 void MicrophoneArray::Setup(MatrixIOBus *bus) {
   MatrixDriver::Setup(bus);
 
-  wiringPiSetup();
+  const char *chip_name = "gpiochip0";
+  gpiod::chip chip(chip_name);
+  gpiod::line line = chip.get_line(kMicrophoneArrayIRQ);
+
+  gpiod::request_config req_cfg;
+  req_cfg.consumer = "matrix-hal-micarray";
+
+  gpiod::line_settings settings;
+  settings.set_direction(gpiod::line::direction::INPUT);
+  settings.set_edge_detection(gpiod::line::edge::BOTH);
+
+  gpiod::line_config line_cfg;
+  line_cfg.add_line_settings(line, settings);
 
-  pinMode(kMicrophoneArrayIRQ, INPUT);
-  wiringPiISR(kMicrophoneArrayIRQ, INT_EDGE_BOTH, &irq_callback);
+  line_request_ = std::make_unique<gpiod::line_request>(chip.request_lines(req_cfg, line_cfg));
 
   ReadConfValues();
 }
 
 //  Read audio from the FPGA and calculate beam using delay & sum method
 bool MicrophoneArray::Read() {
   // TODO([email protected]): avoid double buffer
-  if (!bus_) return false;
+  if (!bus_ || !line_request_) return false;
 
-  irq_cv.wait(lock_);
+  try {
+    if (line_request_->wait_edge_events(std::chrono::seconds(1))) {
+      gpiod::edge_event_buffer events;
+      line_request_->read_edge_events(events);
+    } else {
+      return false;
+    }
+  } catch (const std::exception &e) {
+    std::cerr << "Error waiting for microphone interrupt: " << e.what() << std::endl;
+    return false;
+  }
 
   if (!bus_->Read(kMicrophoneArrayBaseAddress,
                   reinterpret_cast<unsigned char *>(&raw_data_[0]),

cpp/driver/microphone_array.h

@@ -18,9 +18,10 @@
 #ifndef CPP_DRIVER_MICROPHONE_ARRAY_H_
 #define CPP_DRIVER_MICROPHONE_ARRAY_H_
 
-#include <mutex>
 #include <string>
 #include <valarray>
+#include <memory>
+#include <gpiod.hpp>
 
 #include "./circular_queue.h"
 #include "./matrix_driver.h"
@@ -34,7 +35,7 @@ static const uint32_t MIC_sampling_frequencies[][3] = {
     {96000, 30, 10}, {0, 0, 0}};
 
 const uint16_t kMicarrayBufferSize = 4096;
-const uint16_t kMicrophoneArrayIRQ = 22;  // GPIO06 - WiringPi:22
+const uint16_t kMicrophoneArrayIRQ = 6;  // GPIO06
 const uint16_t kMicrophoneChannels = 8;
 
 class MicrophoneArray : public MatrixDriver {
@@ -76,7 +77,6 @@ class MicrophoneArray : public MatrixDriver {
                        float sound_speed_mmseg = 320 * 1000.0);
 
  private:
-  std::unique_lock<std::mutex> lock_;
   //  delay and sum beamforming result
   std::valarray<int16_t> beamformed_;
   std::valarray<int16_t> raw_data_;
@@ -88,6 +88,7 @@ class MicrophoneArray : public MatrixDriver {
 
   // beamforming delay and sum support
   std::valarray<CircularQueue<int16_t>> fifos_;
+  std::unique_ptr<gpiod::line_request> line_request_;
 };
 };      // namespace matrix_hal
 #endif  // CPP_DRIVER_MICROPHONE_ARRAY_H_

cpp/driver/uart_control.cpp

@@ -15,9 +15,9 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <wiringPi.h>
 #include <iostream>
 #include <string>
+#include <chrono>
 
 #include "cpp/driver/creator_memory_map.h"
 #include "cpp/driver/uart_control.h"
@@ -28,12 +28,20 @@ const uint16_t kUartIRQ = 5;
 const uint16_t UART_BUSY = 0x0010;
 
 uint16_t UartControl::GetUartValue() {
-  if (!bus_) return false;
+  if (!bus_ || !line_request_) return false;
   uint16_t value;
-  if (waitForInterrupt(kUartIRQ, -1) > 0) {
-    bus_->Read(kUartBaseAddress + 1, &value);
-    return value;
+
+  try {
+    if (line_request_->wait_edge_events(std::chrono::seconds(1))) {
+      gpiod::edge_event_buffer events;
+      line_request_->read_edge_events(events);
+      bus_->Read(kUartBaseAddress + 1, &value);
+      return value;
+    }
+  } catch (const std::exception &e) {
+    std::cerr << "Error waiting for UART interrupt: " << e.what() << std::endl;
   }
+
   return false;
 }
 
@@ -58,11 +66,21 @@ UartControl::UartControl() : ucr_(0x0) {}
 
 void UartControl::Setup(MatrixIOBus *bus) {
   MatrixDriver::Setup(bus);
-  // TODO([email protected]): avoid systems calls
-  std::system("gpio edge 5 rising");
 
-  wiringPiSetupSys();
+  const char *chip_name = "gpiochip0";
+  gpiod::chip chip(chip_name);
+  gpiod::line line = chip.get_line(kUartIRQ);
+
+  gpiod::request_config req_cfg;
+  req_cfg.consumer = "matrix-hal-uart";
+
+  gpiod::line_settings settings;
+  settings.set_direction(gpiod::line::direction::INPUT);
+  settings.set_edge_detection(gpiod::line::edge::RISING);
+
+  gpiod::line_config line_cfg;
+  line_cfg.add_line_settings(line, settings);
 
-  pinMode(kUartIRQ, INPUT);
+  line_request_ = std::make_unique<gpiod::line_request>(chip.request_lines(req_cfg, line_cfg));
 }
 }  // namespace matrix_hal

cpp/driver/uart_control.h

@@ -19,6 +19,8 @@
 #define CPP_DRIVER_UART_CONTROL_H_
 #include <cstdint>
 #include <vector>
+#include <memory>
+#include <gpiod.hpp>
 #include "./matrix_driver.h"
 
 namespace matrix_hal {
@@ -31,6 +33,8 @@ class UartControl : public MatrixDriver {
   bool GetUartUCR();
   bool SetUartValue(uint16_t data);
   uint16_t ucr_;
+ private:
+  std::unique_ptr<gpiod::line_request> line_request_;
 };
 
 };      // namespace matrix_hal

debian/control

@@ -2,7 +2,7 @@ Source: libmatrixio-creator-hal
 Section: libs
 Priority: optional
 Maintainer: MATRIX Labs <[email protected]>
-Build-Depends: debhelper (>= 9)
+Build-Depends: debhelper (>= 9), libgpiod-dev
 Standards-Version: 3.9.5
 Homepage: https://github.com/matrix-io/matrix-creator-hal
 
@@ -12,7 +12,7 @@ Replaces: libmatrix-creator-hal
 Architecture: any
 Multi-Arch: same
 Pre-Depends: ${misc:Pre-Depends}
-Depends: ${shlibs:Depends}, ${misc:Depends}, wiringpi, libfftw3-dev, libgflags-dev
+Depends: ${shlibs:Depends}, ${misc:Depends}, libgpiod2, libfftw3-dev, libgflags-dev
 Description: Hardware Abstraction Layer for MATRIX.
 
 Package: libmatrixio-creator-hal-dev