Fixed the gpio chip and line numbering change in a few places that were missed...

Fixed the gpio chip and line numbering change in a few places that were missed in the previous commit

catkin_ws/src/asclinic_pkg/launch/encoder.launch

@@ -20,19 +20,19 @@
 			/>
 			<param
 				name   = "line_number_for_motor_left_channel_a"
-				value  = "133"
+				value  = "105"
 			/>
 			<param
 				name   = "line_number_for_motor_left_channel_b"
-				value  = "134"
+				value  = "106"
 			/>
 			<param
 				name   = "line_number_for_motor_right_channel_a"
-				value  = "105"
+				value  = "84"
 			/>
 			<param
 				name   = "line_number_for_motor_right_channel_b"
-				value  = "160"
+				value  = "130"
 			/>
 			<param
 				name   = "delta_t_for_publishing_counts"

catkin_ws/src/asclinic_pkg/src/drivers/src/gpio_encoder_listener/gpio_encoder_listener.cpp

@@ -4,7 +4,7 @@
 GPIO_Encoder_Listener::GPIO_Encoder_Listener()
 {
 	struct gpiod_line *line;
-	strcpy(this->gpio_chip_name, "/dev/gpiochip0");
+	strcpy(this->gpio_chip_name, "/dev/gpiochip1");
 	this->gpio_chip = gpiod_chip_open(this->gpio_chip_name);
 	gpiod_line_bulk_init(&(this->bulk));
 	for (int i = 0; i < 4; i++)

catkin_ws/src/asclinic_pkg/src/drivers/src/gpio_encoder_listener/gpio_encoder_listener.h

@@ -17,9 +17,9 @@ private:
 	// private variables
 	static const int GPIO_CHIP_NAME_LENGTH_MAX = 20;
 	static const int LINE_NUMBER_MOTOR_R_CH_A = 105;
-	static const int LINE_NUMBER_MOTOR_R_CH_B = 160;
-	static const int LINE_NUMBER_MOTOR_L_CH_A = 133;
-	static const int LINE_NUMBER_MOTOR_L_CH_B = 134;
+	static const int LINE_NUMBER_MOTOR_R_CH_B = 106;
+	static const int LINE_NUMBER_MOTOR_L_CH_A =  84;
+	static const int LINE_NUMBER_MOTOR_L_CH_B = 130;
 	const int line_numbers[4] = {
 		LINE_NUMBER_MOTOR_R_CH_A,
 		LINE_NUMBER_MOTOR_R_CH_B,

catkin_ws/src/asclinic_pkg/src/drivers/test/test_gpio_pololu_motor_encoder.cpp

@@ -9,7 +9,7 @@ int main()
 	// Choose the I2C device.
 	//const char * i2c_device_name = "/dev/i2c-1";
 
-//	::gpiod::chip chip("gpiochip0");
+//	::gpiod::chip chip("gpiochip1");
 //	auto lines = chip.get_lines({ 161 });
 //	lines.request({ "foobar", ::gpiod::line_request::EVENT_BOTH_EDGES, 0});
 //
@@ -26,9 +26,9 @@ int main()
 //	}
 
 	// int line_number = 148;
-	int line_number = 134;
-	// int line_number = 105;
-	const char * gpio_chip_name = "/dev/gpiochip0";
+	int line_number = 105;
+	// int line_number = 130;
+	const char * gpio_chip_name = "/dev/gpiochip1";
 
 	int num_events_to_display = 20;
 
@@ -44,7 +44,7 @@ int main()
 
 	printf("event variable initialised as: %d timestamp: [%8ld.%09ld]\n", event.event_type, event.ts.tv_sec, event.ts.tv_nsec);
 
-	value = gpiod_ctxless_get_value("/dev/gpiochip0", line_number, false, "foobar");
+	value = gpiod_ctxless_get_value("/dev/gpiochip1", line_number, false, "foobar");
 
 	printf("value = %d\n", value);
 

catkin_ws/src/asclinic_pkg/src/drivers/test/test_pololu_smc_listen_on_gpio_multiple_lines.cpp

@@ -168,14 +168,14 @@ void get_gpiod_line_and_add_to_bulk(struct gpiod_chip *chip, int *line_numbers,
 void setup_gpio_listener(struct gpiod_chip **chip,
 	struct gpiod_line_bulk *line_bulk, struct gpiod_line_event *event)
 {
-	const int line_number_motor_l_ch_a = 133;
-	const int line_number_motor_l_ch_b = 134;
-	const int line_number_motor_r_ch_a = 105;
-	const int line_number_motor_r_ch_b = 160;
+	const int line_number_motor_l_ch_a = 105;
+	const int line_number_motor_l_ch_b = 106;
+	const int line_number_motor_r_ch_a =  84;
+	const int line_number_motor_r_ch_b = 130;
 	int line_numbers[4] = {line_number_motor_l_ch_a, line_number_motor_l_ch_b,
 		line_number_motor_r_ch_a, line_number_motor_r_ch_b};
 
-	const char *gpio_chip_name = "/dev/gpiochip0";
+	const char *gpio_chip_name = "/dev/gpiochip1";
 
 	struct gpiod_line *lines[4];
 
@@ -226,7 +226,7 @@ void listen_on_gpio(struct gpiod_line_bulk *line_bulk,
 	gpio_line_event_status_init(event_statuses, 4);
 
 	std::map<int, int> line_number_to_index = {
-		{133, 0}, {134, 1}, {105, 2}, {160, 3}};
+		{105, 0}, {106, 1}, {84, 2}, {130, 3}};
 	int line_index;
 
 	event_summaries_init(event_summaries);
@@ -300,7 +300,7 @@ void listen_on_gpio(struct gpiod_line_bulk *line_bulk,
 
 void write_json_test_report(test_config_t *test_config, gpio_line_event_summary_t *event_summaries, gpio_line_event_bulk_log_t **all_events)
 {
-	int line_numbers[4] = {133, 134, 105, 160};
+	int line_numbers[4] = {105, 106, 84, 130};
 	std::ofstream logfile;
 	logfile.open("log/logfile.json");
 	logfile << "{ ";
@@ -342,7 +342,7 @@ void write_json_test_report(test_config_t *test_config, gpio_line_event_summary_
 void print_test_report(gpio_line_event_summary_t *event_summaries,
 	gpio_line_event_bulk_log_t **all_events)
 {
-	int line_numbers[4] = {133, 134, 105, 160};
+	int line_numbers[4] = {105, 106, 84, 130};
 	for (int i = 0; i < 4; i++)
 	{
 		printf(

catkin_ws/src/asclinic_pkg/src/drivers/test/test_pololu_smc_listen_on_one_line.cpp

@@ -151,8 +151,8 @@ void drive_wheels(
 
 void setup_gpio_listener(struct gpiod_chip **chip, struct gpiod_line **line, struct gpiod_line_event *event)
 {
-	const int line_number = 133;
-	const char * gpio_chip_name = "/dev/gpiochip0";
+	const int line_number = 105;
+	const char * gpio_chip_name = "/dev/gpiochip1";
 
 	// struct gpiod_line_event event;
 	// struct gpiod_chip *chip;
@@ -165,7 +165,7 @@ void setup_gpio_listener(struct gpiod_chip **chip, struct gpiod_line **line, str
 			event->ts.tv_nsec);
 
 	// TODO: substitute ctxless with something else (ctxless is deprecated)
-	value = gpiod_ctxless_get_value("/dev/gpiochip0", line_number, false, "foobar");
+	value = gpiod_ctxless_get_value("/dev/gpiochip1", line_number, false, "foobar");
 	printf("[motor encoder]: value = %d\n", value);
 	*chip = gpiod_chip_open(gpio_chip_name);
 	*line = gpiod_chip_get_line(*chip,line_number);

catkin_ws/src/asclinic_pkg/src/nodes/encoder_read_multi_threaded.cpp

@@ -65,10 +65,10 @@ std::mutex m_counting_mutex;
 int m_gpiochip_number = 1;
 
 // > The line numbers to read
-int m_line_number_for_motor_left_channel_a = 133;
-int m_line_number_for_motor_left_channel_b = 134;
-int m_line_number_for_motor_right_channel_a = 105;
-int m_line_number_for_motor_right_channel_b = 160;
+int m_line_number_for_motor_left_channel_a  = 105;
+int m_line_number_for_motor_left_channel_b  = 106;
+int m_line_number_for_motor_right_channel_a =  84;
+int m_line_number_for_motor_right_channel_b = 130;
 
 // > Boolean flag for when to stop counting
 bool encoder_thread_should_count = true;
@@ -169,7 +169,7 @@ void encoderCountingThreadMain()
 {
 	// Specify the chip name of the GPIO interface
 	// > Note: for the 40-pin header of the Jetson SBCs, this
-	//   is "/dev/gpiochip0"
+	//   is "/dev/gpiochip1"
 	std::stringstream temp_string_stream;
 	temp_string_stream << "/dev/gpiochip" << m_gpiochip_number;
 	const char * gpio_chip_name = temp_string_stream.str().c_str();
@@ -325,7 +325,7 @@ int main(int argc, char* argv[])
 	//   the "launch" folder, you see the following lines of code:
 	//       <param
 	//           name   = "line_number_for_motor_left_channel_a"
-	//           value  = 133
+	//           value  = 105
 	//       />
 	// > These lines of code add a parameter named to this node
 	//   with the parameter name: "line_number_for_motor_left_channel_a"

catkin_ws/src/asclinic_pkg/src/nodes/template_gpio_event_triggered.cpp

@@ -56,8 +56,8 @@ int main(int argc, char* argv[])
 
 	// Specify the chip name of the GPIO interface
 	// > Note: for the 40-pin header of the Jetson SBCs, this
-	//   is "/dev/gpiochip0"
-	const char * gpio_chip_name = "/dev/gpiochip0";
+	//   is "/dev/gpiochip1"
+	const char * gpio_chip_name = "/dev/gpiochip1";
 
 	// Get the GPIO line number to monitor
 	// Notes:

catkin_ws/src/asclinic_pkg/src/nodes/template_gpio_polling.cpp

@@ -65,8 +65,8 @@ int main(int argc, char* argv[])
 
 	// Specify the chip name of the GPIO interface
 	// > Note: for the 40-pin header of the Jetson SBCs, this
-	//   is "/dev/gpiochip0"
-	const char * gpio_chip_name = "/dev/gpiochip0";
+	//   is "/dev/gpiochip1"
+	const char * gpio_chip_name = "/dev/gpiochip1";
 
 	// Get the GPIO line number to monitor
 	// Notes: