public HighLow Input(int pin)
{
var pinObj = pins[pin];
var value = PosixUtils.Cat(pinObj.ValueReader);
return(value == "1" ? HighLow.High : HighLow.Low);
}
public void Setup(int pin, Direction direction, PullUpDown pullUpDown)
{
Pin pinObj;
if (pins.ContainsKey(pin))
{
pinObj = pins[pin];
}
else
{
pinObj = new Pin();
// export pin
Export(pin);
// create direction streams
pinObj.DirectionStream = new FileStream(string.Format(GpioPinDirectionPath, pin), FileMode.Open,
FileAccess.ReadWrite, FileShare.ReadWrite);
pinObj.DirectionWriter = new StreamWriter(pinObj.DirectionStream, Encoding.ASCII);
pinObj.DirectionReader = new StreamReader(pinObj.DirectionStream, Encoding.ASCII);
// create value streams
pinObj.ValueStream = new FileStream(string.Format(GpioPinValuePath, pin), FileMode.Open,
FileAccess.ReadWrite, FileShare.ReadWrite);
pinObj.ValueWriter = new StreamWriter(pinObj.ValueStream, Encoding.ASCII);
pinObj.ValueReader = new StreamReader(pinObj.ValueStream, Encoding.ASCII);
pins.Add(pin, pinObj);
}
// set pin direction
PosixUtils.Echo(pinObj.DirectionWriter, direction == Direction.Input ? "in" : "out");
// TODO : and pull up down ?
}
private void Unexport(int pin)
{
if (!IsExported(pin))
{
return;
}
PosixUtils.Echo(unexportWriter, pin.ToString());
}
private void OutputGpio(Pin pin, HighLow value, long duration = -1)
{
PosixUtils.Echo(pin.ValueWriter, value == HighLow.High ? "1" : "0");
if (duration != -1)
{
operatingSystemService.NanoSleep(duration);
}
}
public void Start()
{
var process =
PosixUtils.CreateBashCommandProcess(
"raspivid -t 0 -w 480 -h 260 -fps 23 -b 800000 -p 0,0,640,480 -o - | gst-launch -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.0.3 port=5000");
process.Start();
process.Close();
started = true;
}
private Stream GetJpegsInputStream()
{
// stdout from pipe
// sample command line :
// raspistill -n -e jpg -w 640 -h 480 -q 75 -x none -tl 0 -t 10000 -o - | mono RobotSharp.ImageCapture.exe
//return Console.OpenStandardInput();
PosixUtils.ExecuteKillAll("raspistill");
// start a process and get his stdout's
imageGeneratorProcess = PosixUtils.CreateBashCommandProcess("raspistill -n -e jpg -w 640 -h 480 -q 75 -x none -tl 0 -o -");
imageGeneratorProcess.Start();
return(imageGeneratorProcess.StandardOutput.BaseStream);
}
public void Stop()
{
PosixUtils.ExecuteKillAll("raspivid");
started = false;
}
