commit b24ebba1f6f257a321bb5b506335bee9e839e850
Author: 00asdf <christoph@00asdf.dev>
Date:   Fri Apr 11 18:44:49 2025 +0200

    initial

diff --git a/.gitignore b/.gitignore
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+++ b/.gitignore
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+### IntelliJ IDEA ###
+out/
+!**/src/main/**/out/
+!**/src/test/**/out/
+
+### Kotlin ###
+.kotlin
+
+### Eclipse ###
+.apt_generated
+.classpath
+.factorypath
+.project
+.settings
+.springBeans
+.sts4-cache
+bin/
+!**/src/main/**/bin/
+!**/src/test/**/bin/
+
+### NetBeans ###
+/nbproject/private/
+/nbbuild/
+/dist/
+/nbdist/
+/.nb-gradle/
+
+### VS Code ###
+.vscode/
+
+### Mac OS ###
+.DS_Store
+/.idea/misc.xml
diff --git a/.idea/.gitignore b/.idea/.gitignore
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+++ b/.idea/.gitignore
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+# Default ignored files
+/shelf/
+/workspace.xml
diff --git a/.idea/codeStyles/Project.xml b/.idea/codeStyles/Project.xml
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+++ b/.idea/codeStyles/Project.xml
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+<component name="ProjectCodeStyleConfiguration">
+  <code_scheme name="Project" version="173">
+    <ScalaCodeStyleSettings>
+      <option name="MULTILINE_STRING_CLOSING_QUOTES_ON_NEW_LINE" value="true" />
+    </ScalaCodeStyleSettings>
+  </code_scheme>
+</component>
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diff --git a/.idea/codeStyles/codeStyleConfig.xml b/.idea/codeStyles/codeStyleConfig.xml
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+++ b/.idea/codeStyles/codeStyleConfig.xml
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+<component name="ProjectCodeStyleConfiguration">
+  <state>
+    <option name="PREFERRED_PROJECT_CODE_STYLE" value="Default" />
+  </state>
+</component>
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diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml
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index 0000000..df543e3
--- /dev/null
+++ b/.idea/inspectionProfiles/Project_Default.xml
@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="ReplaceUntilWithRangeUntil" enabled="true" level="WEAK WARNING" enabled_by_default="true" />
+  </profile>
+</component>
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diff --git a/.idea/kotlinc.xml b/.idea/kotlinc.xml
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+++ b/.idea/kotlinc.xml
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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Kotlin2JvmCompilerArguments">
+    <option name="jvmTarget" value="1.8" />
+  </component>
+  <component name="KotlinCommonCompilerArguments">
+    <option name="apiVersion" value="2.1" />
+    <option name="languageVersion" value="2.1" />
+  </component>
+</project>
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diff --git a/.idea/libraries/KotlinJavaRuntime.xml b/.idea/libraries/KotlinJavaRuntime.xml
new file mode 100644
index 0000000..3e6dc71
--- /dev/null
+++ b/.idea/libraries/KotlinJavaRuntime.xml
@@ -0,0 +1,17 @@
+<component name="libraryTable">
+  <library name="KotlinJavaRuntime" type="repository">
+    <properties maven-id="org.jetbrains.kotlin:kotlin-stdlib:2.1.0" />
+    <CLASSES>
+      <root url="jar://$MAVEN_REPOSITORY$/org/jetbrains/kotlin/kotlin-stdlib/2.1.0/kotlin-stdlib-2.1.0.jar!/" />
+      <root url="jar://$MAVEN_REPOSITORY$/org/jetbrains/annotations/13.0/annotations-13.0.jar!/" />
+    </CLASSES>
+    <JAVADOC>
+      <root url="jar://$MAVEN_REPOSITORY$/org/jetbrains/kotlin/kotlin-stdlib/2.1.0/kotlin-stdlib-2.1.0-javadoc.jar!/" />
+      <root url="jar://$MAVEN_REPOSITORY$/org/jetbrains/annotations/13.0/annotations-13.0-javadoc.jar!/" />
+    </JAVADOC>
+    <SOURCES>
+      <root url="jar://$MAVEN_REPOSITORY$/org/jetbrains/kotlin/kotlin-stdlib/2.1.0/kotlin-stdlib-2.1.0-sources.jar!/" />
+      <root url="jar://$MAVEN_REPOSITORY$/org/jetbrains/annotations/13.0/annotations-13.0-sources.jar!/" />
+    </SOURCES>
+  </library>
+</component>
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diff --git a/.idea/modules.xml b/.idea/modules.xml
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index 0000000..365aa6d
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/VFHeatControl.iml" filepath="$PROJECT_DIR$/VFHeatControl.iml" />
+    </modules>
+  </component>
+</project>
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diff --git a/.idea/vcs.xml b/.idea/vcs.xml
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index 0000000..94a25f7
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>
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diff --git a/VFHeatControl.iml b/VFHeatControl.iml
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--- /dev/null
+++ b/VFHeatControl.iml
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+<?xml version="1.0" encoding="UTF-8"?>
+<module type="JAVA_MODULE" version="4">
+  <component name="NewModuleRootManager" inherit-compiler-output="true">
+    <exclude-output />
+    <content url="file://$MODULE_DIR$">
+      <sourceFolder url="file://$MODULE_DIR$/src/main/kotlin" isTestSource="false" />
+      <sourceFolder url="file://$MODULE_DIR$/src/main/resources" type="java-resource" />
+      <sourceFolder url="file://$MODULE_DIR$/src/test/kotlin" isTestSource="true" />
+      <sourceFolder url="file://$MODULE_DIR$/src/test/resources" type="java-test-resource" />
+    </content>
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+    <orderEntry type="library" name="KotlinJavaRuntime" level="project" />
+  </component>
+</module>
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diff --git a/src/main/kotlin/dev/asdf00/visionfive/hc/Gpio.kt b/src/main/kotlin/dev/asdf00/visionfive/hc/Gpio.kt
new file mode 100644
index 0000000..b9d3bff
--- /dev/null
+++ b/src/main/kotlin/dev/asdf00/visionfive/hc/Gpio.kt
@@ -0,0 +1,90 @@
+package dev.asdf00.visionfive.hc
+
+import java.nio.file.Files
+import java.nio.file.Path
+
+class GpioPin(val num: Int, val isInput: Boolean) : AutoCloseable {
+    var state: Boolean = false
+        get() {
+            if (isInput)
+                field = Files.readString(valuePath) == "1\n"
+            return field
+        }
+        set(newVal) {
+            if (isInput)
+                throw IllegalStateException("can not write state of input")
+            if (field == newVal)
+                return
+            if (!isInput)
+                Files.writeString(valuePath, if (newVal) "1" else "0")
+            field = newVal
+        }
+
+    private val basePath get() = Path.of("/sys/class/gpio")
+    private val pinPath get() = basePath.resolve("gpio$num")
+    private val valuePath get() = pinPath.resolve("value")
+
+    init {
+        if (num !in ALLOWED_PINS)
+            throw IllegalArgumentException("GPIO$num does not exist!")
+        println("initializing with 'echo $num > ${basePath.resolve("export")}'")
+        Files.writeString(basePath.resolve("export"), "$num")
+        Files.writeString(basePath.resolve("gpio$num").resolve("direction"), if (isInput) "in" else "out")
+    }
+
+    override fun close() {
+        if (!isInput)
+            state = false
+        Files.writeString(basePath.resolve("unexport"), "$num")
+    }
+
+    companion object {
+        private val ALLOWED_PINS = setOf(58, 57, 55, 5, 6, 42, 38, 43, 47, 54, 51, 52, 53, 50, 48, 49, 56, 45, 40, 37, 39, 46, 59, 63, 36, 60, 61, 44)
+    }
+}
+
+class PinGroup(vararg val pins: GpioPin) {
+    var state: BooleanArray
+        get() = BooleanArray(pins.size) { pins[it].state }
+        set(nuStates) {
+            if (nuStates.size != pins.size)
+                throw IllegalArgumentException("state count mismatch, expected ${pins.size}, got ${nuStates.size}")
+            for (i in nuStates.indices)
+                pins[i].state = nuStates[i]
+        }
+
+    var intState: Long
+        get() {
+            if (pins.size > 64)
+                throw UnsupportedOperationException("can not use intState for PinGroup with more than 64 pins")
+            var l = 0L
+            for (i in pins.indices.reversed()) {
+                l = l shl 1
+                l = l or if (pins[i].state) 1 else 0
+            }
+            return l
+        }
+        set(value) {
+            var l = value
+            if (pins.size > 64)
+                throw UnsupportedOperationException("can not use intState for PinGroup with more than 64 pins")
+            for (i in pins.indices) {
+                pins[i].state = l and 1 == 1L
+                l = l ushr 1
+            }
+        }
+}
+
+fun usingPins(vararg pins: Pair<Int, Boolean>, body: (Array<GpioPin>) -> Unit) {
+    fun recUsingPins(i: Int, pins: Array<GpioPin?>, pinIds: Array<out Pair<Int, Boolean>>, body: (Array<GpioPin>) -> Unit) {
+        if (i < pins.size) {
+            GpioPin(pinIds[i].first, pinIds[i].second).use {
+                pins[i] = it
+                recUsingPins(i + 1, pins, pinIds, body)
+            }
+        } else {
+            body(Array(pins.size) { pins[it]!! })
+        }
+    }
+    recUsingPins(0, arrayOfNulls(pins.size), pins, body)
+}
diff --git a/src/main/kotlin/dev/asdf00/visionfive/hc/MotorControl.kt b/src/main/kotlin/dev/asdf00/visionfive/hc/MotorControl.kt
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index 0000000..ece77e0
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+++ b/src/main/kotlin/dev/asdf00/visionfive/hc/MotorControl.kt
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+package dev.asdf00.visionfive.hc
+
+class Controller(private val senseBot: GpioPin, private val senseTop: GpioPin, private val motor: PinGroup) {
+    constructor(senseBot: GpioPin, senseTop: GpioPin, m0: GpioPin, m1: GpioPin, m2: GpioPin, m3: GpioPin) : this(
+        senseBot,
+        senseTop,
+        PinGroup(m0, m1, m2, m3)
+    )
+
+    init {
+        motor.intState = initialStep
+    }
+
+    private var internalState = -1
+    private var maxStep = -1
+
+    var state: Double
+        get() = if (internalState < 0) Double.NaN else internalState.toDouble() / maxStep.toDouble()
+        set(target) {
+            if (internalState < 0)
+                throw IllegalStateException("call Controller#runInitSequence before using it")
+            TODO()
+        }
+
+    fun runInitSequence() {
+        val prevState = runToBot()
+        val range = runToTop()
+        stepClock(range - prevState)
+        internalState = prevState
+        maxStep = range
+    }
+
+    private fun stepClock(cnt: Int = 1): Int {
+        var actual = cnt
+        for (i in 0..<cnt) {
+            if (!senseBot.state) {
+                doStep(clockStep)
+            } else {
+                actual = i
+                break
+            }
+        }
+        return actual
+    }
+
+    private fun stepAnti(cnt: Int = 1): Int {
+        var actual = cnt
+        for (i in 0..<cnt) {
+            if (!senseTop.state) {
+                doStep(antiStep)
+            } else {
+                actual = i
+                break
+            }
+        }
+        return actual
+    }
+
+    private fun runToBot(): Int {
+        var i = 0
+        while (true) {
+            if (senseBot.state)
+                return i
+            doStep(clockStep)
+            i++
+        }
+    }
+
+    private fun runToTop(): Int {
+        var i = 0
+        while (true) {
+            if (senseTop.state)
+                return i
+            doStep(antiStep)
+            i++
+        }
+    }
+
+    private fun doStep(step: LongArray) {
+        assert(motor.intState == initialStep, { "step must ALWAYS start on initial step state" })
+        for (l in step) {
+            motor.intState = l
+            Thread.sleep(stepDelay)
+        }
+        assert(motor.intState == initialStep, { "step must ALWAYS end on initial step state" })
+    }
+
+    companion object {
+        private val stepDelay = 10L
+
+        private val initialStep = 0b1001L
+
+        private val clockStep = longArrayOf(
+            0b0001,
+            0b0011,
+            0b0010,
+            0b0110,
+            0b0100,
+            0b1100,
+            0b1000,
+            0b1001,
+        )
+
+        private val antiStep = longArrayOf(
+            0b1000,
+            0b1100,
+            0b0100,
+            0b0110,
+            0b0010,
+            0b0011,
+            0b0001,
+            0b1001,
+        )
+    }
+}
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