Merge branch 'minji1404-main-patch-46849' into 'main'

LED, BUZZER code

See merge request !5

Actuator/source.c

+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <fcntl.h>
+#include <time.h>
+#include <pthread.h>
+
+#define BUFFER_MAX 3
+
+#define IN 0
+#define OUT 1
+#define PWM 0
+
+#define LOW 0
+#define HIGH 1
+#define VALUE_MAX 256
+
+#define LED_R 16
+#define LED_G 20
+#define LED_B 21
+#define BUZZER 0 //PWM
+
+#define MAX_BUFFER_SIZE 1024
+
+static int
+PWMExport(int pwmnum)
+{
+#define BUFFER_MAX 3
+    char buffer[BUFFER_MAX];
+    int bytes_written;
+    int fd;
+
+    fd = open("/sys/class/pwm/pwmchip0/unexport", O_WRONLY);
+    if(-1 == fd){
+        fprintf(stderr, "Failed to open in unexport!\n");
+        return(-1);
+    }
+
+    bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
+    write(fd, buffer, bytes_written);
+    close(fd);
+
+    sleep(1);
+    fd = open("/sys/class/pwm/pwmchip0/export", O_WRONLY);
+    if(-1 == fd) {
+        fprintf(stderr, "Failed to open in export!\n");
+        return(-1);
+    }
+    bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
+    write(fd, buffer, bytes_written);
+    close(fd);
+    sleep(1);
+    return(0);
+}
+
+static int
+PWMEnable(int pwmnum)
+{
+    static const char s_unenable_str[] = "0";
+    static const char s_enable_str[] = "1";
+
+    #define PWM_DIRECTION_MAX 45
+
+    char path[PWM_DIRECTION_MAX];
+    int fd;
+
+    snprintf(path, PWM_DIRECTION_MAX, "/sys/class/pwm/pwmchip0/pwm%d/enable", pwmnum);
+    fd = open(path, O_WRONLY);
+    if(-1 == fd){
+        fprintf(stderr, "Failed to open in enable!\n");
+        return -1;
+    }
+
+    write(fd, s_unenable_str, strlen(s_unenable_str));
+    close(fd);
+
+    fd = open(path, O_WRONLY);
+    if(-1 == fd) {
+        fprintf(stderr, "Failed to open in enable!\n");
+        return -1;
+    }
+
+    write(fd, s_enable_str, strlen(s_enable_str));
+    close(fd);
+    return 0;
+}
+
+static int
+PWMWritePeriod(int pwmnum, int value)
+{
+    char s_values_str[VALUE_MAX];
+    char path[VALUE_MAX];
+    int fd, byte;
+
+    snprintf(path, VALUE_MAX,  "/sys/class/pwm/pwmchip0/pwm%d/period", pwmnum);
+    fd = open(path, O_WRONLY);
+    if(-1 == fd){
+        fprintf(stderr, "Failed to open in period!\n");
+        return -1;
+    }
+
+    byte = snprintf(s_values_str, 10, "%d", value);
+
+     if(-1 == write(fd, s_values_str, byte)) {
+        fprintf(stderr, "Failed to write value in period!\n");
+        close(fd);
+        return -1;
+    }
+
+    close(fd);
+    return 0;
+}
+
+static int
+PWMWriteDutyCycle(int pwmnum, int value)
+{
+    char path[VALUE_MAX];
+    char s_values_str[VALUE_MAX];
+    int fd, byte;
+
+    snprintf(path, VALUE_MAX,  "/sys/class/pwm/pwmchip0/pwm%d/duty_cycle", pwmnum);
+    fd = open(path, O_WRONLY);
+    if(-1 == fd){
+        fprintf(stderr, "Failed to open in duty_cycle!\n");
+        return -1;
+    }
+
+    byte = snprintf(s_values_str, 10, "%d", value);
+
+    if(-1 == write(fd, s_values_str, byte)) {
+        fprintf(stderr, "Failed to write value in duty_cycle!\n");
+        close(fd);
+        return -1;
+    }
+
+    close(fd);
+    return 0;
+}
+
+static int GPIOExport(int pin)
+{
+#define BUFFER_MAX 3
+    char buffer[BUFFER_MAX];
+    ssize_t bytes_written;
+    int fd;
+
+    fd = open("/sys/class/gpio/export", O_WRONLY);
+    if (-1 == fd) {
+        fprintf(stderr, "Failed to open export for writing!\n");
+        return(-1);
+    }
+
+    bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
+    write(fd, buffer, bytes_written);
+    close(fd);
+    return(0);
+}
+
+static int GPIOUnexport(int pin)
+{
+    char buffer[BUFFER_MAX];
+    ssize_t bytes_written;
+    int fd;
+
+    fd = open("/sys/class/gpio/unexport", O_WRONLY);
+    if (-1 == fd) {
+        fprintf(stderr, "Failed to open unexport for writing!\n");
+        return(-1);
+    }
+
+    bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
+    write(fd, buffer, bytes_written);
+    close(fd);
+    return(0);
+}
+
+static int GPIODirection(int pin, int dir)
+{
+    static const char s_directions_str[] = "in\0out";
+
+    #define GPIO_DIRECTION_MAX 35
+    char path[GPIO_DIRECTION_MAX] = "/sys/class/gpio/gpio%d/direction";
+    int fd;
+
+    snprintf(path, GPIO_DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction", pin);
+    fd = open(path, O_WRONLY);
+    if (-1 == fd) {
+        fprintf(stderr, "Failed to open gpio direction for writing!\n");
+        return(-1);
+    }
+
+    if (-1 == write(fd, &s_directions_str[IN == dir ? 0 : 3], IN == dir ? 2 : 3)) {
+        fprintf(stderr, "Failed to set direction!\n");
+        return(-1);
+    }
+
+    close(fd);
+    return(0);
+}
+
+static int
+GPIORead(int pin)
+{
+    char path[VALUE_MAX];
+    char value_str[3];
+    int fd;
+
+    snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
+    fd = open(path, O_RDONLY);
+    if (-1 == fd) {
+        fprintf(stderr, "Failed to open gpio value for reading!\n");
+        return(-1);
+    }
+
+    if (-1 == read(fd, value_str, 3)) {
+        fprintf(stderr, "Failed to read value!\n");
+        return(-1);
+    }
+
+    close(fd);
+
+    return(atoi(value_str));
+}
+
+static int
+GPIOWrite(int pin, int value)
+{
+    static const char s_values_str[] = "01";
+
+    char path[VALUE_MAX];
+    int fd;
+
+    snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
+    fd = open(path, O_WRONLY);
+    if (-1 == fd) {
+        fprintf(stderr, "Failed to open gpio value for writing!\n");
+        return(-1);
+    }
+
+    if (1 != write(fd, &s_values_str[LOW == value ? 0 : 1], 1)) {
+        fprintf(stderr, "Failed to write value!\n");
+        return(-1);
+    }
+
+    close(fd);
+    return(0);
+}
+
+void error_handling(char *message) {
+    fputs(message, stderr);
+    fputc('\n', stderr);
+    exit(1);
+}
+
+void LED_clear(){
+    GPIOWrite(LED_R, 0);
+    GPIOWrite(LED_G, 0);
+    GPIOWrite(LED_B, 0);
+}
+
+int main(int argc, char *argv[]) {
+    int state = 1;
+    int prev_state = 1;
+    int light = 0;
+    char buf[2];
+    int str_len;
+
+    int serv_sock,clnt_sock=-1;
+    struct sockaddr_in serv_addr,clnt_addr;
+    socklen_t clnt_addr_size;
+
+    if (-1 == GPIOExport(LED_R) || -1 == GPIOExport(LED_G) || -1 == GPIOExport(LED_B) || -1 == PWMExport(0))
+        return(1);
+
+    if (-1 == GPIODirection(LED_R, OUT) || -1 == GPIODirection(LED_G, OUT) || -1 == GPIODirection(LED_B, OUT))
+        return(2);
+    
+    if(argc!=2){
+        printf("Usage : %s <port>\n",argv[0]);
+    }
+
+    serv_sock = socket(PF_INET, SOCK_STREAM, 0);
+    if(serv_sock == -1)
+        error_handling("socket() error");
+        
+    memset(&serv_addr, 0 , sizeof(serv_addr));
+    serv_addr.sin_family = AF_INET;
+    serv_addr.sin_addr.s_addr = htonl(INADDR_ANY);
+    serv_addr.sin_port = htons(atoi(argv[1]));
+    
+    if(bind(serv_sock, (struct sockaddr*) &serv_addr, sizeof(serv_addr))==-1)
+        error_handling("bind() error");
+
+    if(listen(serv_sock,5) == -1)
+            error_handling("listen() error");
+
+    if(clnt_sock<0){           
+            clnt_addr_size = sizeof(clnt_addr);
+            clnt_sock = accept(serv_sock, (struct sockaddr*)&clnt_addr,    &clnt_addr_size);
+            if(clnt_sock == -1)
+                error_handling("accept() error");   
+        }
+while(1)
+    {
+
+        str_len = read(clnt_sock, buf, sizeof(buf));
+        if(str_len == -1)
+            error_handling("read() error");
+            
+        printf("Receive message from client : %s\n",buf);
+        if(strncmp("0",buf,1)==0){
+            LED_clear();
+            GPIOWrite(LED_G, HIGH);
+
+        }
+        else if(strncmp("1", buf, 1) == 0){
+            LED_clear();
+            GPIOWrite(LED_R, HIGH);
+        }
+        else  if(strncmp("2", buf, 1) == 0){
+            LED_clear();
+            GPIOWrite(LED_R, HIGH);
+            
+            PWMWritePeriod(0, 1000000);  // 1초 동안의 주기 설정 (단위: 마이크로초)
+            PWMWriteDutyCycle(0, 500000);  // 50%의 듀티 사이클 설정 (단위: 마이크로초)
+            PWMEnable(0);
+            sleep(1);  // 1초 대기
+            PWMWriteDutyCycle(0, 0);  // 듀티 사이클을 0으로 설정하여 스피커 소리 중지
+            sleep(1);  // 추가적으로 1초 대기
+
+        }
+
+    }
+
+    close(clnt_sock);
+    close(serv_sock);
+    
+    if (-1 == GPIOUnexport(LED_R) || -1 == GPIOUnexport(LED_G) ||-1 == GPIOUnexport(LED_B))
+        return(4);
+
+    return 0;
+}
+
+