Re: Sensors and the input layer (was Re: [RFC] [PATCH V2 1/2] input:CMA3000 Accelerometer driver)

[Jonathan Cameron]

linux-iio cc'd for comments on the code dump at end of email..

On 08/31/10 17:59, Alan Cox wrote:
>>> If non-input uses later need non-input interfaces they can switch to that
>>> with an input bridge when there is one and when it happens, which
>>> probably won't.
>>
>> Would there even be an argument which subsystem to use if IIO->input
>> bridge existed today? Because if the answer is "no" then push into input
>> is driven by convenience and not because it is the right solution. 
> 
> Probably because most of these devices have nothing to do with industrial
> I/O at all.
Hmm.. The 'industrial' bit is somewhat misleading. Ultimately it was the
best name anyone came up with a while ago.  Happy to change it if someone
gives me a better suggestion! 
> 
>> If application does take something as an input it does not make it
>> necessarily a human interface device. By this reasoning cameras should
>> be represented as an input devices (why, some applications take input
> 
> That's not what I asked. 
> 
>> I really believe that input should represent purely human interface
>> devices, not arbitrary data acquisition devices.
> 
> That tends to make little sense where the API is the same and
> applications benefit enormously from consistency. I'd rather have an
> input->IIO bridge because that is the real world today !
Really basic proof of concept at bottom of this email...
It's nasty and not remotely general.  General version will be a bit
longer.  This is just a hack combining the lis3l02dqbuffersimple.c example
and a uinput example googling gave me...  I have no idea if I got the uinput
stuff right, but it's spitting out data that looks about right...

> 
> The question is what does the API make *sense* for. Not what can you use
> the API for. Unix (and Linux) are enormously powerful because of the use
> of common interfaces and APIs.
> 
> So a voltmeter really makes no sense. It's not a set of keys and it
> doesn't give X/Y/Z style readings. Nor does a camera. But a lot of things
> do fit this to varying degrees.
> 
> I'm actually more dubious than Linus about ALS - because ALS tends not
> produce 'events' but to be sampled, and there are significant power
> implications to unnecessary polling.
It covered the drivers we had at the time.  Sadly most ALS sensors don't
produce trivial, 'the light level has changed'.  Actually the only one I think
did was the ACPI interface.  They do provide interrupts, just one has to reset
suitable thresholds about the current light level.  A game that isn't trivial
to get right in a driver.  Not sure anyone has taken this on as yet....
> 
> See it as a curse of success - because you got the API right and made it
> flexible people want to use it. And the more it's used the less special
> code is needed in user or kernel space for PDAs and phones - instead they
> just work.
> 
>>> In a game
>>> context can I suggest the Zombies game is an example ?
>>
>> I am not familiar with this game, sorry.
> 
> It uses GPS and networking to stage an 'in real world' zombie dodging
> game.
> 

Anyhow, here is a code dump of a very nasty proof of concept for an IIO
to input bridge in userspace.  If I'd known it would be this easy I'd
have done this ages ago.  I'm away for next couple of days, so a more
general version won't occur until next week unless someone else picks it
up.

---

/* IIO to uinput userspace bridge example for specific device.
 *
 * Copyright (c) 2010 Jonathan Cameron
 * Sometime in the past Luke Casson (or at least it is on his website)
 *
 * This program is free software; you can redistribute it and/or modify it
 * under the terms of the GNU General Public License version 2 as published by
 * the Free Software Foundation.
 *
 * This program is to illustrate how an IIO to input bridge would more or less
 * work.
 * Some comments in line to say where there have been short cuts taken. Denote S:
 */

#include <dirent.h>
#include <fcntl.h>
#include <stdio.h>
#include <errno.h>
#include <sys/stat.h>
#include <sys/dir.h>
#include <linux/types.h>
#include "iio_utils.h"
#include <linux/input.h>
#include <linux/uinput.h>

int send_event(int fd, __u16 type, __u16 code, __s32 value)
{
    struct input_event event;

    memset(&event, 0, sizeof(event));
    event.type = type;
    event.code = code;
    event.value = value;

    if (write(fd, &event, sizeof(event)) != sizeof(event)) {
        fprintf(stderr, "Error on send_event");
        return -1;
    }

    return 0;
}

/* S: these would need to provided as configuration so
 * that the bridge would know which devices to bridge to input
 */
const char *device_name = "lis3l02dq";
const char *trigger_name_base = "lis3l02dq-dev";
/*
 * S: obtain these from combination of configuration file for
 * bridge and buffer description in sysfs for the IIO device
 */
const int num_vals = 3;
/* S: not actually using the timestamp as I couldn't be bothered
 * to check what format uinput needed
 */
const int scan_ts = 1;
/* S: this is way to long as it means you only get data a couple
 * of times a second.
 */
const int buf_len = 128;
/*
 * Obviously this would be infinite
 */
const int num_loops = 40;

/* S: Calculate this form sysfs params */
int size_from_scanmode(int num_vals, int timestamp)
{
	if (num_vals && timestamp)
		return 16;
	else if (timestamp)
		return 8;
	else
		return num_vals*2;
}

int main(int argc, char **argv)
{
	
	int ret;
	int i, j, k, toread;
	FILE *fp_ev;
	int fp;

	char *trigger_name, *dev_dir_name, *buf_dir_name;
	char *data;
	size_t read_size;
	struct iio_event_data dat;
	int dev_num, trig_num;

	char *buffer_access, *buffer_event;
	const char *iio_dir = "/sys/bus/iio/devices/";
	int scan_size;
	float gain = 1;

	/* New uinput stuff */
	int fd;
	struct uinput_user_dev device;
	memset(&device, 0, sizeof device);
	fd=open("/dev/input/uinput", O_WRONLY);
	strcpy(device.name, "lis3l02dq accelerometer");

	/* No idea what sort of bus I should use... */
	device.id.bustype = BUS_VIRTUAL;
	device.id.vendor = 1;
	device.id.product = 1;
	device.id.version = 1;
	for (i=0; i < ABS_MAX; i++) {
		device.absmax[i] = -1;
		device.absmin[i] = -1;
		device.absfuzz[i] = -1;
		device.absflat[i] = -1;
	}
	/* S: These can all be derived from sysfs attributes,
	 * though we need the format spec Manuel suggested the
	 * other day. Typically IIO never cares about range,
	 * just format.
	 */
	device.absmin[ABS_X] = -2048;
	device.absmax[ABS_X] = 2047;
	device.absfuzz[ABS_X] = 0;
	device.absflat[ABS_X] = 0;
	device.absmin[ABS_Y] = -2048;
	device.absmax[ABS_Y] = 2047;
	device.absfuzz[ABS_Y] = 0;
	device.absflat[ABS_Y] = 0;
	device.absmin[ABS_Z] = -2048;
	device.absmax[ABS_Z] = 2047;
	device.absfuzz[ABS_Z] = 0;
	device.absflat[ABS_Z] = 0;

	if (write(fd, &device, sizeof(device)) != sizeof(device)) {
		fprintf(stderr, "error setup\n");
		return -1;
	}

	if (ioctl(fd, UI_SET_EVBIT, EV_ABS) < 0) {
		fprintf(stderr, "error evbit abs\n");
		return -1;
	}
	
	for(i = REL_X; i <= REL_Z; i++)
		if (ioctl(fd, UI_SET_ABSBIT, i) < 0) {
			fprintf(stderr, "error setrelbit %d\n", i);
			return -1;
		}
	
	if (ioctl(fd, UI_DEV_CREATE) < 0) {
		fprintf(stderr, "error create\n");
		return -1;
	}
	
	/* Find out which iio device is the accelerometer. */
	dev_num = find_type_by_name(device_name, "device");
	if (dev_num < 0) {
		printf("Failed to find the %s\n", device_name);
		ret = -ENODEV;
		goto error_ret;
	}
	printf("iio device number being used is %d\n", dev_num);
	asprintf(&dev_dir_name, "%sdevice%d", iio_dir, dev_num);

	/*
	 * Build the trigger name.
	 * In this case we want the lis3l02dq's data ready trigger
	 * for this lis3l02dq. The naming is lis3l02dq_dev[n], where
	 * n matches the device number found above.
	 */
	ret = asprintf(&trigger_name, "%s%d", trigger_name_base, dev_num);
	if (ret < 0) {
		ret = -ENOMEM;
		goto error_free_dev_dir_name;
	}

	/*
	 * Find the trigger by name.
	 * This is techically unecessary here as we only need to
	 * refer to the trigger by name and that name is already
	 * known.
	 */
	trig_num = find_type_by_name(trigger_name, "trigger");
	if (trig_num < 0) {
		printf("Failed to find the %s\n", trigger_name);
		ret = -ENODEV;
		goto error_free_triggername;
	}
	printf("iio trigger number being used is %d\n", trig_num);

	/*
	 * Read in the scale value - in a more generic case, first
	 * check for accel_scale, then the indivual channel scales
	 */
	ret = read_sysfs_float("accel_scale", dev_dir_name, &gain);
	if (ret)
		goto error_free_triggername;;

	/*
	 * Construct the directory name for the associated buffer.
	 * As we know that the lis3l02dq has only one buffer this may
	 * be built rather than found.
	 */
	ret = asprintf(&buf_dir_name, "%sdevice%d:buffer0", iio_dir, dev_num);
	if (ret < 0) {
		ret = -ENOMEM;
		goto error_free_triggername;
	}
	/* Set the device trigger to be the data rdy trigger found above */
	ret = write_sysfs_string_and_verify("trigger/current_trigger",
					dev_dir_name,
					trigger_name);
	if (ret < 0) {
		printf("Failed to write current_trigger file\n");
		goto error_free_buf_dir_name;
	}

	/* Setup ring buffer parameters */
	ret = write_sysfs_int("length", buf_dir_name, buf_len);
	if (ret < 0)
		goto error_free_buf_dir_name;

	/* Enable the buffer */
	ret = write_sysfs_int("enable", buf_dir_name, 1);
	if (ret < 0)
		goto error_free_buf_dir_name;

	data = malloc(size_from_scanmode(num_vals, scan_ts)*buf_len);
	if (!data) {
		ret = -ENOMEM;
		goto error_free_buf_dir_name;
	}

	ret = asprintf(&buffer_access,
		       "/dev/device%d:buffer0:access0",
		       dev_num);
	if (ret < 0) {
		ret = -ENOMEM;
		goto error_free_data;
	}

	ret = asprintf(&buffer_event, "/dev/device%d:buffer0:event0", dev_num);
	if (ret < 0) {
		ret = -ENOMEM;
		goto error_free_data;
	}
	/* Attempt to open non blocking the access dev */
	fp = open(buffer_access, O_RDONLY | O_NONBLOCK);
	if (fp == -1) { /*If it isn't there make the node */
		printf("Failed to open %s\n", buffer_access);
		ret = -errno;
		goto error_free_buffer_event;
	}
	/* Attempt to open the event access dev (blocking this time) */
	fp_ev = fopen(buffer_event, "rb");
	if (fp_ev == NULL) {
		printf("Failed to open %s\n", buffer_event);
		ret = -errno;
		goto error_close_buffer_access;
	}

	/* Wait for events 10 times */
	for (j = 0; j < num_loops; j++) {
		read_size = fread(&dat, 1, sizeof(struct iio_event_data),
				  fp_ev);
		switch (dat.id) {
		case IIO_EVENT_CODE_RING_100_FULL:
			toread = buf_len;
			break;
		case IIO_EVENT_CODE_RING_75_FULL:
			toread = buf_len*3/4;
			break;
		case IIO_EVENT_CODE_RING_50_FULL:
			toread = buf_len/2;
			break;
		default:
			printf("Unexpecteded event code\n");
			continue;
		}
		read_size = read(fp,
				 data,
				 toread*size_from_scanmode(num_vals, scan_ts));
		if (read_size == -EAGAIN) {
			printf("nothing available\n");
			continue;
		}
		scan_size = size_from_scanmode(num_vals, scan_ts);
		for (i = 0; i < read_size/scan_size; i++) {
			
			/* This is the only bit I changed (rather than
			 * added) from the original demo code.
			 */
			__s16 val = *(__s16 *)(&data[i*scan_size + (0)*2]);
			send_event(fd, EV_ABS, ABS_X, val);
			val = *(__s16 *)(&data[i*scan_size + (1)*2]);
			send_event(fd, EV_ABS, ABS_Y, val);
			val = *(__s16 *)(&data[i*scan_size + (1)*2]);
			send_event(fd, EV_ABS, ABS_Z, val);

			/* S: I'm not actually sure what this does? */
			send_event(fd, EV_SYN, SYN_REPORT, 0);
		}
	}

	/* Stop the ring buffer */
	ret = write_sysfs_int("enable", buf_dir_name, 0);
	if (ret < 0)
		goto error_close_buffer_event;

	/* Disconnect from the trigger - just write a dummy name.*/
	write_sysfs_string("trigger/current_trigger",
			dev_dir_name, "NULL");

error_close_buffer_event:
	fclose(fp_ev);
error_close_buffer_access:
	close(fp);
error_free_data:
	free(data);
error_free_buffer_access:
	free(buffer_access);
error_free_buffer_event:
	free(buffer_event);
error_free_buf_dir_name:
	free(buf_dir_name);
error_free_triggername:
	free(trigger_name);
error_free_dev_dir_name:
	free(dev_dir_name);
error_ret:

/* S: didn't clean up properly for the uinput stuff */
	close(fd);
	return ret;
}



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