gpio: Updated GPIO actuator API to only expose init function (on/off

handled by lower-half actuator API). GPIO now take a device path to
allow control over multiple different GPIO. Real GPIO can be actuated in
NuttX.

Author: linguini1

pad_server/Makefile

@@ -18,7 +18,7 @@ MAINSRC = src/pad_server_main.c
 
 CSRCS += $(wildcard src/*.c)
 CSRCS += ../packets/packet.c
-CSRCS := $(filter-out src/gpio_actuator.c, $(CSRCS))
+CSRCS := $(filter-out src/gpio_dummy_actuator.c, $(CSRCS))
 
 include $(APPDIR)/Application.mk
 

pad_server/src/gpio_actuator.c

@@ -1,19 +1,23 @@
-// BEWARE, this file is expluded from Linux compilation
-// because the of the missing nuttx header file
+/* WARNING: This file is expluded from Linux compilation because the of the missing NuttX header file */
 
 #include "gpio_actuator.h"
+#include "actuator.h"
 #include "stdio.h"
 #include <errno.h>
 #include <fcntl.h>
 #include <nuttx/ioexpander/gpio.h>
 #include <sys/ioctl.h>
 #include <unistd.h>
 
-int gpio_actuator_on(actuator_t *act) {
-    // TODO: change the device to be actuator specific
-    int fd = open("/dev/gpio12", O_RDWR);
+/*
+ * Turn on a GPIO actuator.
+ * @param act The actuator to turn on.
+ * @return 0 on success, an error code on failure.
+ */
+static int gpio_actuator_on(actuator_t *act) {
+    int fd = open((char *)act->priv, O_RDWR);
     if (fd < 0) {
-        fprintf(stderr, "Failed to open gpio with err %d\n", errno);
+        fprintf(stderr, "Failed to open gpio '%s' with err %d\n", (char *)act->priv, errno);
         return -1;
     }
 
@@ -32,11 +36,16 @@ int gpio_actuator_on(actuator_t *act) {
     return 0;
 }
 
-int gpio_actuator_off(actuator_t *act) {
-    // TODO: change the device to be actuator specific
-    int fd = open("/dev/gpio12", O_RDWR);
+/*
+ * Turn off a GPIO actuator.
+ * @param act The actuator to turn off.
+ * @return 0 on success, an error code on failure.
+ */
+static int gpio_actuator_off(actuator_t *act) {
+
+    int fd = open((char *)act->priv, O_RDWR);
     if (fd < 0) {
-        fprintf(stderr, "Failed to open gpio with err %d\n", errno);
+        fprintf(stderr, "Failed to open gpio '%s' with err %d\n", (char *)act->priv, errno);
         return -1;
     }
 
@@ -54,3 +63,13 @@ int gpio_actuator_off(actuator_t *act) {
     fprintf(stdout, "Actuator #%d turned off\n", act->id);
     return 0;
 }
+
+/*
+ * Initialize a GPIO actuator.
+ * @param act The actuator structure to initialize.
+ * @param id The actuator ID
+ * @param dev The path to the GPIO character device
+ */
+void gpio_actuator_init(actuator_t *act, uint8_t id, const char *dev) {
+    actuator_init(act, id, gpio_actuator_on, gpio_actuator_off, (char *)dev);
+}

pad_server/src/gpio_actuator.h

@@ -1,4 +1,9 @@
 #include "actuator.h"
 
-int gpio_actuator_on(actuator_t *act);
-int gpio_actuator_off(actuator_t *act);
+/*
+ * Initialize a GPIO actuator.
+ * @param act The actuator structure to initialize.
+ * @param id The actuator ID
+ * @param dev The path to the GPIO character device
+ */
+void gpio_actuator_init(actuator_t *act, uint8_t id, const char *dev);

pad_server/src/gpio_dummy_actuator.c

@@ -1,11 +1,33 @@
 #include "gpio_actuator.h"
 #include "stdio.h"
 
-int gpio_actuator_on(actuator_t *act) {
+/*
+ * Turn on a GPIO actuator.
+ * @param act The actuator to turn on.
+ * @return 0 on success, an error code on failure.
+ */
+static int gpio_actuator_on(actuator_t *act) {
     printf("Dummy actuator #%d turned on\n", act->id);
     return 0;
 }
-int gpio_actuator_off(actuator_t *act) {
+
+/*
+ * Turn off a GPIO actuator.
+ * @param act The actuator to turn off.
+ * @return 0 on success, an error code on failure.
+ */
+static int gpio_actuator_off(actuator_t *act) {
     printf("Dummy actuator #%d turned off\n", act->id);
     return 0;
 }
+
+/*
+ * Initialize a GPIO actuator.
+ * @param act The actuator structure to initialize.
+ * @param id The actuator ID
+ * @param dev The path to the GPIO character device (unused)
+ */
+void gpio_actuator_init(actuator_t *act, uint8_t id, const char *dev) {
+    (void)(dev);
+    actuator_init(act, id, gpio_actuator_on, gpio_actuator_off, NULL);
+}

pad_server/src/state.c

@@ -12,25 +12,42 @@
 #include "state.h"
 #include <sys/ioctl.h>
 
-// defined in include/nuttx/ioexpander/gpio.h
-#define GPIOC_WRITE 8961
+static const char *ACTUATOR_GPIO[NUM_ACTUATORS] = {
+    [ID_FIRE_VALVE] = "/dev/gpio27", [ID_XV1] = "/dev/gpio2",
+    [ID_XV2] = "/dev/gpio3",         [ID_XV3] = "/dev/gpio4",
+    [ID_XV4] = "/dev/gpio5",         [ID_XV5] = "/dev/gpio6",
+    [ID_XV6] = "/dev/gpio7",         [ID_XV7] = "/dev/gpio8",
+    [ID_XV8] = "/dev/gpio9",         [ID_XV9] = "/dev/gpio10",
+    [ID_XV10] = "/dev/gpio11",       [ID_XV11] = "/dev/gpio12",
+    [ID_XV12] = "/dev/gpio12",       [ID_QUICK_DISCONNECT] = "/dev/gpio26",
+    [ID_IGNITER] = "/dev/gpio28", // TODO double check?
+};
 
-/* TODO: docs */
+/*
+ * Initialize the shared pad state. This includes initializing the synchronization objects (rwlock), pad arming state
+ * and actuators.
+ * @param state The state to initialize.
+ */
 void padstate_init(padstate_t *state) {
     pthread_rwlock_init(&state->rw_lock, NULL);
+
     // TODO: Is this right? Can we assume if the program is running then the pad is armed?
+    // TODO: make GPIO device path change
+
     state->arm_level = ARMED_PAD;
     for (unsigned int i = 0; i < NUM_ACTUATORS; i++) {
-        actuator_init(&state->actuators[i], i, gpio_actuator_on, gpio_actuator_off, NULL);
+        gpio_actuator_init(&state->actuators[i], i, ACTUATOR_GPIO[i]);
     }
 
     pthread_mutex_init(&state->update_mut, NULL);
     pthread_cond_init(&state->update_cond, NULL);
     state->update_recorded = false;
 }
 
-/* TODO: docs
- *
+/*
+ * Gets the current arming level of the pad.
+ * @param state The pad state
+ * @return The current arming level
  */
 arm_lvl_e padstate_get_level(padstate_t *state) {
     /* Something has gone terribly wrong if reading a variable doesn't work, so no errors are returned from here */