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feat: close GPIO port on node boot if is is already used #25

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Merged
drwnz merged 1 commit into from
May 19, 2023
Merged

feat: close GPIO port on node boot if is is already used #25

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10 changes: 10 additions & 0 deletions src/jetson_gpio.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#include <sensor_trigger/jetson_gpio.hpp>

#include <cstdio>
#include <sys/stat.h>

namespace jetson_gpio
{
Expand Down Expand Up @@ -65,6 +66,15 @@ bool JetsonGpio::export_gpio()
int file_descriptor, buffer_length;
char buffer[BUFFER_SIZE];

// Check target GPIO is available (not opened) first.
// If it is unavailable, close the port and try to open it.
std::string target_gpio = std::string(SYSFS_GPIO_DIR) + std::string("/gpio")
+ std::to_string(gpio_);
struct stat return_status;
if (stat(target_gpio.c_str(), &return_status) == 0) {
unexport_gpio();
}

file_descriptor = open(SYSFS_GPIO_DIR "/export", O_WRONLY);
if (file_descriptor < 0) {
return false;
Expand Down