gpio_driver.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002  *
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2013, Robert Bosch LLC.
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/or other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the Robert Bosch nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  *********************************************************************/
00036 
00037 //\Author Kai Franke, Robert Bosch LLC
00038 
00039 #include "gpio_driver/gpio_driver.h"
00040 
00041 GpioDriver::GpioDriver( bosch_hardware_interface* hw, uint8_t pin ): sensor_driver( hw )
00042 {
00043   _pin = pin;  
00044 }
00045 
00046 GpioDriver::~GpioDriver()
00047 {
00048 }
00049 
00050 uint8_t GpioDriver::getDeviceAddress()
00051 {
00052   // the answer to all questions and one more
00053   return 43;
00054 }
00055 
00056 bool GpioDriver::initialize()
00057 {  
00058   // Initialize the hardware interface
00059   if( hardware_->initialize() == false )
00060   {
00061     ROS_ERROR("GpioDriver::initialize(): Could not initialize a hardware interface!");
00062     return false;
00063   }
00064   return true;
00065 }
00066 
00067 bool GpioDriver::set( bool value )
00068 {
00069   int *flags = NULL; //not needed for output
00070   int frequency = 0; // does not apply for GPIO
00071   uint8_t num_bytes = 1;
00072   uint8_t data[1] = {(bool)value};
00073   if( hardware_->write( this->getDeviceAddress(), GPIO, frequency, flags, _pin, data, num_bytes ) < 0 )
00074   {
00075     ROS_ERROR("GpioDriver::setOutput(): could not set output");
00076     return false;
00077   } 
00078   return true;
00079 }
00080 
00081 bool GpioDriver::get( gpio_input_mode mode )
00082 {
00083   int flags[1] = {mode};
00084   int frequency = 0; // does not apply for GPIO
00085   uint8_t num_bytes = 1;
00086   uint8_t data[1];
00087   
00088   if( hardware_->read( this->getDeviceAddress(), GPIO, frequency, flags, _pin, data, num_bytes ) < 0 )
00089   {
00090     ROS_ERROR("GpioDriver::readInput(): could not read input");
00091     return false;
00092   } 
00093   return (bool)data[0];
00094 }
00095 
00096 


gpio_driver
Author(s): Kai Franke
autogenerated on Sat Dec 28 2013 16:50:06