gpio_driver.cpp

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//\Author Kai Franke, Robert Bosch LLC

#include "gpio_driver/gpio_driver.h"

GpioDriver::GpioDriver( bosch_hardware_interface* hw, uint8_t pin ): sensor_driver( hw )
{
  _pin = pin;  
}

GpioDriver::~GpioDriver()
{
}

uint8_t GpioDriver::getDeviceAddress()
{
  // the answer to all questions and one more
  return 43;
}

bool GpioDriver::initialize()
{  
  // Initialize the hardware interface
  if( hardware_->initialize() == false )
  {
    ROS_ERROR("GpioDriver::initialize(): Could not initialize a hardware interface!");
    return false;
  }
  return true;
}

bool GpioDriver::set( bool value )
{
  int *flags = NULL; //not needed for output
  int frequency = 0; // does not apply for GPIO
  uint8_t num_bytes = 1;
  uint8_t data[1] = {(bool)value};
  if( hardware_->write( this->getDeviceAddress(), GPIO, frequency, flags, _pin, data, num_bytes ) < 0 )
  {
    ROS_ERROR("GpioDriver::setOutput(): could not set output");
    return false;
  } 
  return true;
}

bool GpioDriver::get( gpio_input_mode mode )
{
  int flags[1] = {mode};
  int frequency = 0; // does not apply for GPIO
  uint8_t num_bytes = 1;
  uint8_t data[1];
  
  if( hardware_->read( this->getDeviceAddress(), GPIO, frequency, flags, _pin, data, num_bytes ) < 0 )
  {
    ROS_ERROR("GpioDriver::readInput(): could not read input");
    return false;
  } 
  return (bool)data[0];
}