LinuxGpioDriver.hpp

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// ======================================================================
// \title  LinuxGpioDriver.hpp
// \author lestarch
// \brief  hpp file for LinuxGpioDriver component implementation class
//
// \copyright
// Copyright 2009-2015, by the California Institute of Technology.
// ALL RIGHTS RESERVED.  United States Government Sponsorship
// acknowledged.
//
// ======================================================================

#ifndef DRV_LINUX_GPIO_DRIVER_HPP
#define DRV_LINUX_GPIO_DRIVER_HPP

#include <Os/File.hpp>
#include <Os/Mutex.hpp>
#include <Os/Task.hpp>
#include "Drv/LinuxGpioDriver/LinuxGpioDriverComponentAc.hpp"

namespace Drv {

class LinuxGpioDriver final : public LinuxGpioDriverComponentBase {
  public:
    static constexpr FwSizeType GPIO_POLL_TIMEOUT = 500;  // Timeout looking for interrupts to check for shutdown
    // ----------------------------------------------------------------------
    // Construction, initialization, and destruction
    // ----------------------------------------------------------------------

    LinuxGpioDriver(const char* const compName 
    );

    ~LinuxGpioDriver();

    enum GpioConfiguration {
        GPIO_OUTPUT,                                   
        GPIO_INPUT,                                    
        GPIO_INTERRUPT_RISING_EDGE,                    
        GPIO_INTERRUPT_FALLING_EDGE,                   
        GPIO_INTERRUPT_BOTH_RISING_AND_FALLING_EDGES,  
        MAX_GPIO_CONFIGURATION
    };

    enum ApiVersion {
        API_V2,             
        API_V1,             
        API_VERSION_UNSET,  
    };

    Os::File::Status open(const char* device,
                          const U32 gpio,
                          const GpioConfiguration& configuration,
                          const Fw::Logic& default_state = Fw::Logic::LOW);

    Drv::GpioStatus start(const FwTaskPriorityType priority = Os::Task::TASK_PRIORITY_DEFAULT,
                          const FwSizeType stackSize = Os::Task::TASK_DEFAULT,
                          const FwSizeType cpuAffinity = Os::Task::TASK_DEFAULT,
                          const FwTaskIdType identifier = static_cast<FwTaskIdType>(Os::Task::TASK_DEFAULT));

    void stop();

    void join();

  private:
    Os::File::Status setupLineRequestV2(const int chip_descriptor,
                                        const U32 gpio,
                                        const GpioConfiguration& configuration,
                                        const Fw::Logic& default_state,
                                        int& fd);

    Os::File::Status setupLineHandle(const int chip_descriptor,
                                     const U32 gpio,
                                     const GpioConfiguration& configuration,
                                     const Fw::Logic& default_state,
                                     int& fd);

    Os::File::Status setupLineEvent(const int chip_descriptor,
                                    const U32 gpio,
                                    const GpioConfiguration& configuration,
                                    int& fd);

    void pollLoop();

    bool getRunning();

    static void interruptFunction(void* self);

    // ----------------------------------------------------------------------
    // Handler implementations for user-defined typed input ports
    // ----------------------------------------------------------------------

    Drv::GpioStatus gpioRead_handler(const FwIndexType portNum, 
                                     Fw::Logic& state);

    Drv::GpioStatus gpioWrite_handler(const FwIndexType portNum, 
                                      const Fw::Logic& state);
    Os::Task m_poller;

    Os::Mutex m_lock;

    GpioConfiguration m_configuration = GpioConfiguration::MAX_GPIO_CONFIGURATION;

    ApiVersion m_apiVersion = ApiVersion::API_VERSION_UNSET;

    int m_fd = -1;

    bool m_running = false;
};

}  // end namespace Drv

#endif  // DRV_LINUX_GPIO_DRIVER_HPP