From 9914b4a9c7b0f71aa5c5f84c9bdd7b7561888d88 Mon Sep 17 00:00:00 2001
From: Chi Huu Huynh <73843190+Chi-EEE@users.noreply.github.com>
Date: Sat, 23 Dec 2023 17:05:50 +0000
Subject: [PATCH] Simple code of using libgpiod

---
 .vscode/c_cpp_properties.json                 |  2 +-
 .vscode/settings.json                         | 12 ++++++-
 .../repository/packages/t/tb6612/xmake.lua    |  2 +-
 .../tests/tb6612/test_rear_wheels.cpp         | 35 +++++++++++++++++++
 app/raspberry_pi/xmake.lua                    | 15 +++++++-
 5 files changed, 62 insertions(+), 4 deletions(-)
 create mode 100644 app/raspberry_pi/tests/tb6612/test_rear_wheels.cpp

diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 225d807c..68935dd0 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -10,7 +10,7 @@
             "cStandard": "c17",
             "cppStandard": "gnu++17",
             "intelliSenseMode": "linux-gcc-x64",
-            "compileCommands": "legacy/compile_commands.json"
+            "compileCommands": "app/raspberry_pi/compile_commands.json"
         }
     ],
     "version": 4
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 55e6a62d..8defa8bf 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -75,6 +75,16 @@
         "xutility": "cpp",
         "unordered_set": "cpp",
         "set": "cpp",
-        "variant": "cpp"
+        "variant": "cpp",
+        "*.tcc": "cpp",
+        "codecvt": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "random": "cpp",
+        "string_view": "cpp",
+        "numbers": "cpp",
+        "semaphore": "cpp"
     }
 }
\ No newline at end of file
diff --git a/app/raspberry_pi/repository/packages/t/tb6612/xmake.lua b/app/raspberry_pi/repository/packages/t/tb6612/xmake.lua
index b7f0a0fe..f9c96e49 100644
--- a/app/raspberry_pi/repository/packages/t/tb6612/xmake.lua
+++ b/app/raspberry_pi/repository/packages/t/tb6612/xmake.lua
@@ -1,5 +1,5 @@
 package("tb6612")
-    add_deps("cppgpio")
+    add_deps("cppgpiod")
     set_sourcedir(path.join(os.scriptdir(), "tb6612"))
     on_install(function (package)
         local configs = {}
diff --git a/app/raspberry_pi/tests/tb6612/test_rear_wheels.cpp b/app/raspberry_pi/tests/tb6612/test_rear_wheels.cpp
new file mode 100644
index 00000000..b1be5a53
--- /dev/null
+++ b/app/raspberry_pi/tests/tb6612/test_rear_wheels.cpp
@@ -0,0 +1,35 @@
+#include <thread>
+
+#include "gpiod.hpp"
+
+int main()
+{
+
+    return 0;
+}
+
+void setupGPIOMotor()
+{
+    int directionChannel;
+    // Setup GPIO for direction channel
+    gpiod::chip chip("/dev/gpiochip0");
+    int direction_channel = 17;
+    chip.prepare_request()
+        .add_line_settings(
+            gpiod::line::offset(direction_channel), gpiod::line_settings()
+                                         .set_direction(gpiod::line::direction::OUTPUT) // Setup the GPIO
+                                         .set_debounce_period(std::chrono::microseconds(100)) // 100 Speed
+                                         .set_output_value(gpiod::line::value::ACTIVE) // Move wheel
+            )
+        .do_request();
+
+    std::this_thread::sleep_for(std::chrono::seconds(5));
+
+    chip.prepare_request()
+        .add_line_settings(
+            gpiod::line::offset(direction_channel), gpiod::line_settings()
+                                         .set_direction(gpiod::line::direction::OUTPUT) // Setup the GPIO
+                                         .set_output_value(gpiod::line::value::INACTIVE) // Stop wheel
+            )
+        .do_request();
+}
\ No newline at end of file
diff --git a/app/raspberry_pi/xmake.lua b/app/raspberry_pi/xmake.lua
index 1fe426f6..f5a61f98 100644
--- a/app/raspberry_pi/xmake.lua
+++ b/app/raspberry_pi/xmake.lua
@@ -19,6 +19,7 @@ add_requires("imath")
 if is_plat("linux", "macosx") then
     -- For the SunFounder Car
     add_requires("pca9685")
+    add_requires("tb6612")
 end
 
 -- For Functional Programming?
@@ -46,6 +47,7 @@ target("raspberry_pi")
     -- For the SunFounder Car
     add_packages("rplidar")
     add_packages("pca9685")
+    add_packages("tb6612")
 
     add_headerfiles("include/**.h")
 
@@ -62,7 +64,6 @@ target("raspberry_pi")
     add_configfiles("settings/config.jsonc", {onlycopy = true, prefixdir = "settings"})
     
 -- From xmake sample code:
-
 if is_plat("linux") then
     for _, file in ipairs(os.files("tests/pca9685/test_*.cpp")) do
         local name = path.basename(file)
@@ -76,4 +77,16 @@ if is_plat("linux") then
             add_files("tests/pca9685/" .. name .. ".cpp")
         target_end()
     end
+    for _, file in ipairs(os.files("tests/tb6612/test_*.cpp")) do
+        local name = path.basename(file)
+        target(name)
+            set_kind("binary")
+            set_default(false)
+            set_license("LGPL-2.1")
+            
+            add_packages("tb6612")
+
+            add_files("tests/tb6612/" .. name .. ".cpp")
+        target_end()
+    end
 end
\ No newline at end of file