IOIO: ioio methods now invoked direct from import

Author: chrisws

ioio/README.md

@@ -2,11 +2,24 @@
 
 see: https://github.com/ytai/ioio/wiki
 
+## IOIO
+
+| Name    | Description   |
+|---------|---------------|
+| void ioio.beginBatch()|Start a batch of operations. This is strictly an optimization and will not change functionality|
+| void ioio.disconnect()|Closes the connection to the board, or aborts a connection process started with waitForConnect()|
+| void ioio.endBatch()|End a batch of operations.|
+| void ioio.hardReset()|Equivalent to disconnecting and reconnecting the board power supply.|
+| void ioio.softReset()|Resets the entire state (returning to initial state), without dropping the connection.|
+| void ioio.sync()|Sends a message to the IOIO and waits for an echo.|
+| void ioio.waitForConnect()|Establishes connection with the IOIO board.|
+| void ioio.waitForDisconnect()|Blocks until IOIO has been disconnected and all connection-related resources have been freed so that a new connection can be attempted.|
+
 ## AnalogInput
 
 This interface represents AnalogInput functionality, providing methods to obtain analog input readings and buffered samples.
 
-`io = openAnalogInput(pin [, 1])`
+`io = ioio.openAnalogInput(pin)`
 
 | Name    | Description   |
 |---------|---------------|
@@ -25,7 +38,7 @@ This interface represents AnalogInput functionality, providing methods to obtain
 
 This interface represents PulseInput functionality, providing methods for pulse and frequency measurements.
 
-`io = openPulseInput(pin [, 1])`
+`io = ioio.openPulseInput(pin)`
 
 | Name    | Description   |
 |---------|---------------|
@@ -39,7 +52,7 @@ This interface represents PulseInput functionality, providing methods for pulse
 
 This interface represents DigitalInput functionality, providing methods to read digital input pin values and wait for specific logical levels.
 
-`io = openDigitalInput(pin [, 1])`
+`io = ioio.openDigitalInput(pin)`
 
 | Name    | Description   |
 |---------|---------------|
@@ -50,7 +63,7 @@ This interface represents DigitalInput functionality, providing methods to read
 
 This interface represents the CapSense functionality, allowing capacitance readings and threshold-based operations.
 
-`io = openCapSense(pin [, 1])`
+`io = ioio.openCapSense(pin)`
 
 | Name    | Description   |
 |---------|---------------|
@@ -66,7 +79,7 @@ This interface represents the CapSense functionality, allowing capacitance readi
 
 A pin used for digital output. A digital output pin can be used to generate logic-level signals. DigitalOutput instances are obtained by calling IOIO#openDigitalOutput. The value of the pin is set by calling write. The instance is alive since its creation. If the connection with the IOIO drops at any point, the instance transitions to a disconnected state, in which every attempt to use the pin (except close()) will throw a ConnectionLostException. Whenever close() is invoked the instance may no longer be used. Any resources associated with it are freed and can be reused. Typical usage:
 
-`io = openDigitalOutput(pin [, 1])`
+`io = ioio.openDigitalOutput(pin)`
 
 | Name    | Description   |
 |---------|---------------|
@@ -76,24 +89,10 @@ A pin used for digital output. A digital output pin can be used to generate logi
 
 A pin used for PWM (Pulse-Width Modulation) output. A PWM pin produces a logic-level PWM signal. These signals are typically used for simulating analog outputs for controlling the intensity of LEDs, the rotation speed of motors, etc. They are also frequently used for controlling hobby servo motors. PwmOutput instances are obtained by calling IOIO#openPwmOutput. When used for motors and LEDs, a frequency of several KHz is typically used, where there is a trade-off between switching power-loses and smoothness of operation. The pulse width is typically set by specifying the duty cycle, with the setDutyCycle method. A duty cycle of 0 is \"off\", a duty cycle of 1 is \"on\", and every intermediate value produces an intermediate intensity. Please note that any devices consuming more than 20mA of current (e.g. motors) should not by directly connected the the IOIO pins, but rather through an amplification circuit suited for the specific load. When used for hobby servos, the PWM signal is rather used for encoding of the desired angle the motor should go to. By standard, a 100Hz signal is used and the pulse width is varied between 1ms and 2ms (corresponding to both extremes of the shaft angle), using setPulseWidth. The instance is alive since its creation. If the connection with the IOIO drops at any point, the instance transitions to a disconnected state, in which every attempt to use the pin (except close()) will throw a ConnectionLostException. Whenever close() is invoked the instance may no longer be used. Any resources associated with it are freed and can be reused. Typical usage (fading LED):
 
-`io = openPwmOutput(pin [, 1])`
+`io = ioio.openPwmOutput(pin)`
 
 | Name    | Description   |
 |---------|---------------|
 |void setDutyCycle(float)|Sets the duty cycle of the PWM output. The duty cycle is defined to be the pulse width divided by the total cycle period. For absolute control of the pulse with, consider using setPulseWidth.|
 |void setPulseWidth(float)|Sets the pulse width of the PWM output. The pulse width is duration of the high-time within a single period of the signal. For relative control of the pulse with, consider using setDutyCycle.|
 
-## Optional second argument
-
-Option second argument `1` causes the following additional IOIO methods to be attached:
-
-| Name    | Description   |
-|---------|---------------|
-| void beginBatch()|Start a batch of operations. This is strictly an optimization and will not change functionality|
-| void disconnect()|Closes the connection to the board, or aborts a connection process started with waitForConnect()|
-| void endBatch()|End a batch of operations.|
-| void hardReset()|Equivalent to disconnecting and reconnecting the board power supply.|
-| void softReset()|Resets the entire state (returning to initial state), without dropping the connection.|
-| void sync()|Sends a message to the IOIO and waits for an echo.|
-| void waitForConnect()|Establishes connection with the IOIO board.|
-| void waitForDisconnect()|Blocks until IOIO has been disconnected and all connection-related resources have been freed so that a new connection can be attempted.|

ioio/main.cpp

@@ -16,8 +16,11 @@
 #include <pthread.h>
 #include "robin-hood-hashing/src/include/robin_hood.h"
 
+struct IOClass;
+
 JNIEnv *env;
 JavaVM *jvm;
+IOClass *ioioClass;
 int nextId = 1;
 
 #define CLASS_ANALOGINPUT "net/sourceforge/smallbasic/ioio/AnalogInputImpl"
@@ -26,7 +29,8 @@ int nextId = 1;
 #define CLASS_PULSEINPUT "net/sourceforge/smallbasic/ioio/PulseInputImpl"
 #define CLASS_PWMOUTPUT "net/sourceforge/smallbasic/ioio/PwmOutputImpl"
 #define CLASS_CAPSENSE "net/sourceforge/smallbasic/ioio/CapsenseImpl"
-#define CLASS_IOCLASS 1
+#define CLASS_IOIO "net/sourceforge/smallbasic/ioio/IOIOImpl"
+#define CLASS_IOCLASS_ID 1
 
 struct IOClass {
   IOClass(): _clazz(nullptr), _instance(nullptr) {}
@@ -221,6 +225,14 @@ FUNC_SIG lib_func[] = {
   {1, 2, "OPENDIGITALOUTPUT", cmd_opendigitaloutput},
   {1, 2, "OPENPULSEINPUT", cmd_openpulseinput},
   {1, 2, "OPENPWMOUTPUT", cmd_openpwmoutput},
+  {0, 0, "BEGINBATCH", cmd_beginbatch},
+  {0, 0, "DISCONNECT", cmd_disconnect},
+  {0, 0, "ENDBATCH", cmd_endbatch},
+  {0, 0, "HARDRESET", cmd_hardreset},
+  {0, 0, "SOFTRESET", cmd_softreset},
+  {0, 0, "SYNC", cmd_sync},
+  {0, 0, "WAITFORCONNECT", cmd_waitforconnect},
+  {0, 0, "WAITFORDISCONNECT", cmd_waitfordisconnect},
 };
 
 FUNC_SIG lib_proc[] = {};
@@ -250,13 +262,19 @@ int sblib_init(const char *sourceFile) {
   if (!result) {
     fprintf(stderr, "Failed to create JVM\n");
   }
+
+  ioioClass = new IOClass();
+  if (!ioioClass || !ioioClass->create(CLASS_IOIO)) {
+    fprintf(stderr, "Failed to IOIOClass\n");
+    result = 0;
+  }
   return result;
 }
 
 SBLIB_API void sblib_free(int cls_id, int id) {
   if (id != -1) {
     switch (cls_id) {
-    case CLASS_IOCLASS:
+    case CLASS_IOCLASS_ID:
       if (id != -1 && _classMap.find(id) != _classMap.end()) {
         _classMap.at(id).invokeVoidVoid("close", nullptr);
         _classMap.erase(id);
@@ -267,6 +285,9 @@ SBLIB_API void sblib_free(int cls_id, int id) {
 }
 
 void sblib_close(void) {
+  if (ioioClass) {
+    delete ioioClass;
+  }
   if (!_classMap.empty()) {
     fprintf(stderr, "IOClass leak detected\n");
     _classMap.clear();

ioio/mkapi.bas

@@ -78,6 +78,19 @@ sub generate_command(objName, method)
   print
 end
 
+sub generate_ioio_command(name)
+  print "static int cmd_" + lower(name)  + "(int argc, slib_par_t *arg, var_s *retval) {"
+  print "  int result = 0;"
+  print "  if (argc != 0) {"
+  print "    error(retval, \"" + name + "\", 0);"
+  print "  } else {"
+  print "    result = ioioClass->invokeVoidVoid(\"" + name + "\", retval);"
+  print "  }"
+  print "  return result;"
+  print "}"
+  print
+end
+
 sub generate_constructor(byref obj)
   print "static void create_" + lower(obj.name) + "(var_t *map) {"
   local method
@@ -88,16 +101,6 @@ sub generate_constructor(byref obj)
   print
 end
 
-sub generate_ioio_constructor()
-  print "static void create_ioio(var_t *map) {"
-  local s
-  for s in ioioApi
-    print "  v_create_callback(map, \"" + s + "\", cmd_" + lower(s) + ");"
-  next
-  print "}"
-  print
-end
-
 sub generate_open_function(byref obj)
   print "static int cmd_open" + lower(obj.name) + "(int argc, slib_par_t *params, var_t *retval) {"
   print "  int result;"
@@ -106,11 +109,8 @@ sub generate_open_function(byref obj)
   print "  IOClass &instance = _classMap[id];"
   print "  if (instance.create(CLASS_" + upper(obj.name) + ") &&"
   print "      instance.open(pin, retval)) {"
-  print "    map_init_id(retval, id, CLASS_IOCLASS);"
+  print "    map_init_id(retval, id, CLASS_IOCLASS_ID);"
   print "    create_" + lower(obj.name) + "(retval);"
-  print "    if (get_param_int(argc, params, 1, 0)) {"
-  print "      create_ioio(retval);"
-  print "    }"
   print "    result = 1;"
   print "  } else {"
   print "    _classMap.erase(id);"
@@ -129,18 +129,13 @@ for obj in api
 next
 
 for s in ioioApi
-  method.name = s
-  method.rtn = "void"
-  method.arg = "void"  
-  generate_command(0, method)
+  generate_ioio_command(s)
 next
 
 for obj in api
   generate_constructor(obj)
 next
 
-generate_ioio_constructor()
-
 for obj in api
   generate_open_function(obj)
 next

ioio/mkdoc.bas

@@ -61,12 +61,21 @@ print
 print "see: https://github.com/ytai/ioio/wiki"
 print
 
+print "## IOIO"
+print
+print "| Name    | Description   |"
+print "|---------|---------------|"
+for obj in ioioApi
+  print "| void ioio." + obj.name + "()|" + obj.comment + "|"
+next s
+print
+
 for obj in api
   print "## " + obj.name
   print
   print obj.comment
   print
-  print "`io = open" + obj.name + "(pin [, 1])`"
+  print "`io = ioio.open" + obj.name + "(pin)`"
   print ""
   print "| Name    | Description   |"
   print "|---------|---------------|"
@@ -76,14 +85,3 @@ for obj in api
   print
 next
 
-print "## Optional second argument"
-print
-print "Option second argument `1` causes the following additional IOIO methods to be attached:"
-print
-print "| Name    | Description   |"
-print "|---------|---------------|"
-for obj in ioioApi
-  print "| void " + obj.name + "()|" + obj.comment + "|"
-next s
-
-

ioio/samples/led.bas

@@ -3,7 +3,7 @@ import ioio
 out = ioio.openDigitalOutput(0, 1)
 
 print "wait for connect"
-out.waitForConnect()
+ioio.waitForConnect()
 print "ready"
 
 value = false