refactored GPIO to support callbacks

bsp_rpi/gpio/GPIORPi.cpp

@@ -10,7 +10,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-    GpioConfig_t config;
+    GpiodRegular config;
     /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
     will not need this */
     config.chipname = "gpiochip0";

linux/boardtest/LibgpiodTest.cpp

@@ -13,7 +13,7 @@ LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
     if (gpioInterface == nullptr) {
         sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
     }
-    gpioInterface->initialize(gpioCookie);
+    gpioInterface->addGpios(gpioCookie);
     testCase = TestCases::LOOPBACK;
 }
 

linux/gpio/GpioCookie.cpp

@@ -4,10 +4,10 @@
 GpioCookie::GpioCookie() {
 }
 
-ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioConfig_t& gpioConfig){
+ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpiodRegular& gpioConfig){
 	auto gpioMapIter = gpioMap.find(gpioId);
 	if(gpioMapIter == gpioMap.end()) {
-		auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
+		auto statusPair = gpioMap.emplace(gpioId, new GpiodRegular(gpioConfig));
 		if (statusPair.second == false) {
 #if FSFW_VERBOSE_LEVEL >= 1
 			sif::error << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<

linux/gpio/GpioCookie.h

@@ -23,7 +23,7 @@ public:
 
     virtual ~GpioCookie();
 
-    ReturnValue_t addGpio(gpioId_t gpioId, GpioConfig_t& gpioConfig);
+    ReturnValue_t addGpio(gpioId_t gpioId, GpiodRegular& gpioConfig);
     /**
      * @brief	Get map with registered GPIOs.
      */

linux/gpio/GpioIF.h

@@ -22,7 +22,7 @@ public:
 	 * @param cookie	Cookie specifying informations of the GPIOs required
 	 * 					by a object.
 	 */
-	virtual ReturnValue_t initialize(GpioCookie* cookie) = 0;
+	virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
 
 	/**
 	 * @brief	By implementing this function a child must provide the

linux/gpio/LinuxLibgpioIF.cpp

@@ -2,18 +2,20 @@
 #include "GpioCookie.h"
 
 #include <fsfw/serviceinterface/ServiceInterface.h>
+#include <linux/gpio/gpioDefinitions.h>
 
 #include <utility>
 #include <unistd.h>
 #include <gpiod.h>
 
+
 LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
 }
 
 LinuxLibgpioIF::~LinuxLibgpioIF() {
 }
 
-ReturnValue_t LinuxLibgpioIF::initialize(GpioCookie* gpioCookie){
+ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
     ReturnValue_t result;
     if(gpioCookie == nullptr) {
         sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
@@ -32,101 +34,153 @@ ReturnValue_t LinuxLibgpioIF::initialize(GpioCookie* gpioCookie){
         return RETURN_FAILED;
     }
 
-    /* Register new GPIOs in gpioMap*/
+    /* Register new GPIOs in gpioMap */
     gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
 
     return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
+    for(auto& gpioConfig: mapToAdd) {
+        switch(gpioConfig.second->gpioType) {
+        case(gpio::GpioTypes::NONE): {
+            return GPIO_INVALID_INSTANCE;
+        }
+        case(gpio::GpioTypes::GPIOD_REGULAR): {
+            GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+            configureRegularGpio(gpioConfig.first, regularGpio);
+            break;
+        }
+        case(gpio::GpioTypes::CALLBACK): {
+            auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+            if(gpioCallback->callback == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
+                    0, gpioCallback->callbackArgs);
+        }
+        }
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
     std::string chipname;
     unsigned int lineNum;
     struct gpiod_chip *chip;
     gpio::Direction direction;
     std::string consumer;
     struct gpiod_line *lineHandle;
-    int result;
+    int result = 0;
 
-    for(auto& gpioConfig: mapToAdd) {
+    chipname = regularGpio->chipname;
-        chipname = gpioConfig.second.chipname;
+    chip = gpiod_chip_open_by_name(chipname.c_str());
-        chip = gpiod_chip_open_by_name(chipname.c_str());
+    if (!chip) {
-        if (!chip) {
+        sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip "
-            sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip "
+                << chipname << ". Gpio ID: " << gpioId << std::endl;
-                    << chipname << ". Gpio ID: " << gpioConfig.first << std::endl;
-            return RETURN_FAILED;
-        }
-
-        lineNum = gpioConfig.second.lineNum;
-        lineHandle = gpiod_chip_get_line(chip, lineNum);
-        if (!lineHandle) {
-            sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line" << std::endl;
-            gpiod_chip_close(chip);
-            return RETURN_FAILED;
-        }
-
-        direction = gpioConfig.second.direction;
-        consumer = gpioConfig.second.consumer;
-        /* Configure direction and add a description to the GPIO */
-        switch (direction) {
-        case gpio::OUT:
-            result = gpiod_line_request_output(lineHandle, consumer.c_str(),
-                    gpioConfig.second.initValue);
-            if (result < 0) {
-                sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
-                        << lineNum << " from GPIO instance with ID: " << gpioConfig.first
-                        << std::endl;
-                gpiod_line_release(lineHandle);
-                return RETURN_FAILED;
-            }
-            break;
-        case gpio::IN:
-            result = gpiod_line_request_input(lineHandle, consumer.c_str());
-            if (result < 0) {
-                sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
-                        << lineNum << " from GPIO instance with ID: " << gpioConfig.first
-                        << std::endl;
-                gpiod_line_release(lineHandle);
-                return RETURN_FAILED;
-            }
-            break;
-        default:
-            sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
-            << std::endl;
-            return RETURN_FAILED;
-        }
-        /**
-         * Write line handle to GPIO configuration instance so it can later be used to set or
-         * read states of GPIOs.
-         */
-        gpioConfig.second.lineHandle = lineHandle;
-    }
-    return RETURN_OK;
-}
-
-ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId){
-    return driveGpio(gpioId, 1);
-}
-
-ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId){
-    return driveGpio(gpioId, 0);
-}
-
-ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
-        unsigned int logiclevel) {
-    int result;
-    struct gpiod_line *lineHandle;
-
-    gpioMapIter = gpioMap.find(gpioId);
-    if (gpioMapIter == gpioMap.end()){
-        sif::debug << "LinuxLibgpioIF::driveGpio: Unknown gpio id " << gpioId << std::endl;
         return RETURN_FAILED;
     }
 
-    lineHandle = gpioMapIter->second.lineHandle;
+    lineNum = regularGpio->lineNum;
-    result = gpiod_line_set_value(lineHandle, logiclevel);
+    lineHandle = gpiod_chip_get_line(chip, lineNum);
+    if (!lineHandle) {
+        sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line" << std::endl;
+        gpiod_chip_close(chip);
+        return RETURN_FAILED;
+    }
+
+    direction = regularGpio->direction;
+    consumer = regularGpio->consumer;
+    /* Configure direction and add a description to the GPIO */
+    switch (direction) {
+    case(gpio::OUT): {
+        result = gpiod_line_request_output(lineHandle, consumer.c_str(),
+                regularGpio->initValue);
+        if (result < 0) {
+            sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum <<
+                    " from GPIO instance with ID: " << gpioId << std::endl;
+            gpiod_line_release(lineHandle);
+            return RETURN_FAILED;
+        }
+        break;
+    }
+    case(gpio::IN): {
+        result = gpiod_line_request_input(lineHandle, consumer.c_str());
+        if (result < 0) {
+            sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
+                    << lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
+            gpiod_line_release(lineHandle);
+            return RETURN_FAILED;
+        }
+        break;
+    }
+    default: {
+        sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
+                << std::endl;
+        return GPIO_INVALID_INSTANCE;
+    }
+
+    }
+    /**
+     * Write line handle to GPIO configuration instance so it can later be used to set or
+     * read states of GPIOs.
+     */
+    regularGpio->lineHandle = lineHandle;
+    return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
+    gpioMapIter = gpioMap.find(gpioId);
+    if (gpioMapIter == gpioMap.end()) {
+        sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
+        return UNKNOWN_GPIO_ID;
+    }
+
+    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
+        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
+    }
+    else {
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+        if(gpioCallback->callback == nullptr) {
+            return GPIO_INVALID_INSTANCE;
+        }
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
+                1, gpioCallback->callbackArgs);
+    }
+    return GPIO_TYPE_FAILURE;
+}
+
+ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
+    gpioMapIter = gpioMap.find(gpioId);
+    if (gpioMapIter == gpioMap.end()) {
+        sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
+        return UNKNOWN_GPIO_ID;
+    }
+
+    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
+        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
+    }
+    else {
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+        if(gpioCallback->callback == nullptr) {
+            return GPIO_INVALID_INSTANCE;
+        }
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
+                0, gpioCallback->callbackArgs);
+    }
+    return GPIO_TYPE_FAILURE;
+}
+
+ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
+        GpiodRegular* regularGpio, unsigned int logicLevel) {
+    if(regularGpio == nullptr) {
+        return GPIO_TYPE_FAILURE;
+    }
+
+    int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
     if (result < 0) {
-        sif::error << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID "
+        sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
-                << gpioId << " to logic level " << logiclevel << std::endl;
+                " to logic level " << logicLevel << std::endl;
         return DRIVE_GPIO_FAILURE;
     }
 
@@ -134,38 +188,76 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
 }
 
 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
-    struct gpiod_line *lineHandle;
-
     gpioMapIter = gpioMap.find(gpioId);
     if (gpioMapIter == gpioMap.end()){
-        sif::debug << "LinuxLibgpioIF::readGpio: Unknown gpio id " << gpioId << std::endl;
+        sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
-        return RETURN_FAILED;
+        return UNKNOWN_GPIO_ID;
+    }
+
+    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
+        GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
+    }
+    else {
+
     }
 
-    lineHandle = gpioMapIter->second.lineHandle;
-    *gpioState = gpiod_line_get_value(lineHandle);
 
     return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
-    gpioId_t gpioId;
+    ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     for(auto& gpioConfig: mapToAdd) {
-        gpioId = gpioConfig.first;
+        switch(gpioConfig.second->gpioType) {
-        /* Cross check with private map */
+        case(gpio::GpioTypes::GPIOD_REGULAR): {
-        gpioMapIter = gpioMap.find(gpioId);
+            auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
-        if(gpioMapIter != mapToAdd.end()) {
+            if(regularGpio == nullptr)  {
-            /* An entry for this GPIO already exists. Check if configuration
+                return GPIO_TYPE_FAILURE;
-             * of direction is equivalent */
-            if (gpioConfig.second.direction != gpioMapIter->second.direction){
-                sif::error << "LinuxLibgpioIF::checkForConflicts: Detected conflict for GPIO " <<
-                        gpioConfig.first << std::endl;
-                return RETURN_FAILED;
             }
-            /* Remove element from map to add because a entry for this GPIO
+            result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio);
-             * already exists */
+            if(result != HasReturnvaluesIF::RETURN_OK) {
-            mapToAdd.erase(gpioConfig.first);
+                status = result;
+            }
+            break;
+        }
+        default: {
+
+        }
         }
     }
-    return RETURN_OK;
+    return status;
+}
+
+
+ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
+        GpiodRegular* gpioToCheck) {
+    /* Cross check with private map */
+    gpioMapIter = gpioMap.find(gpioIdToCheck);
+    if(gpioMapIter != gpioMap.end()) {
+        if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
+            auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+            if(ownRegularGpio == nullptr) {
+                return GPIO_TYPE_FAILURE;
+            }
+            /* An entry for this GPIO already exists. Check if configuration
+             * of direction is equivalent */
+            if (gpioToCheck->direction != ownRegularGpio->direction){
+                sif::error << "LinuxLibgpioIF::checkForConflicts: Detected conflict for GPIO " <<
+                        gpioIdToCheck << std::endl;
+                return RETURN_FAILED;
+
+            }
+        }
+
+        /* Remove element from map to add because a entry for this GPIO
+         * already exists */
+        gpioMap.erase(gpioIdToCheck);
+
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }

linux/gpio/LinuxLibgpioIF.h

@@ -17,14 +17,21 @@ class GpioCookie;
 class LinuxLibgpioIF : public GpioIF, public SystemObject {
 public:
 
-    static const uint8_t INTERFACE_ID = CLASS_ID::LINUX_LIBGPIO_IF;
+    static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF;
 
-	static const ReturnValue_t DRIVE_GPIO_FAILURE = MAKE_RETURN_CODE(0x2);
+    static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
+    static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
+    static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
+    static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
 
 	LinuxLibgpioIF(object_id_t objectId);
 	virtual ~LinuxLibgpioIF();
 
-	ReturnValue_t initialize(GpioCookie* gpioCookie) override;
+	ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
 	ReturnValue_t pullHigh(gpioId_t gpioId) override;
 	ReturnValue_t pullLow(gpioId_t gpioId) override;
 	ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
@@ -40,7 +47,9 @@ private:
 	 * @param gpioId	The GPIO ID of the GPIO to drive.
 	 * @param logiclevel	The logic level to set. O or 1.
 	 */
-	ReturnValue_t driveGpio(gpioId_t gpioId, unsigned int logiclevel);
+	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
+
+	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
 
 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether
@@ -53,6 +62,8 @@ private:
 	 */
 	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
+	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio);
+
 	/**
 	 * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
 	 */

linux/gpio/gpioDefinitions.h

@@ -12,6 +12,17 @@ enum Direction {
     OUT = 1
 };
 
+enum GpioOperation {
+    READ,
+    WRITE
+};
+
+enum GpioTypes {
+    NONE,
+    GPIOD_REGULAR,
+    CALLBACK
+};
+
 static constexpr gpioId_t NO_GPIO = -1;
 }
 
@@ -29,23 +40,52 @@ static constexpr gpioId_t NO_GPIO = -1;
  * @param lineHandle    The handle returned by gpiod_chip_get_line will be later written to this
  *                      pointer.
  */
-typedef struct GpioConfig {
+class GpioBase {
-    GpioConfig(): chipname(), lineNum(0), consumer(), direction(gpio::Direction::OUT),
+public:
-            initValue(0) {};
 
-    GpioConfig(std::string chipname_, int lineNum_, std::string consumer_,
+    GpioBase() = default;
-            gpio::Direction direction_, int initValue_):
+
-            chipname(chipname_), lineNum(lineNum_), consumer(consumer_),
+    GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            direction(direction_), initValue(initValue_) {}
+            int initValue):
-    std::string chipname;
+            gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
-    int lineNum;
+
+    virtual~ GpioBase() {};
+
+    /* Can be used to cast GpioBase to a concrete child implementation */
+    gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
     std::string consumer;
-    gpio::Direction direction;
+    gpio::Direction direction = gpio::Direction::IN;
-    int initValue;
+    int initValue = 0;
-    struct gpiod_line* lineHandle = nullptr;
+};
-} GpioConfig_t;
 
-using GpioMap = std::unordered_map<gpioId_t, GpioConfig_t>;
+class GpiodRegular: public GpioBase {
+public:
+    GpiodRegular(): GpioBase() {};
+
+    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
+            gpio::Direction direction_, int initValue_):
+            GpioBase(gpio::GpioTypes::GPIOD_REGULAR, consumer_, direction_, initValue_),
+            chipname(chipname_), lineNum(lineNum_) {}
+    std::string chipname;
+    int lineNum = 0;
+    struct gpiod_line* lineHandle = nullptr;
+};
+
+class GpioCallback: public GpioBase {
+public:
+    GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
+            void (* callback) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args),
+            void* callbackArgs):
+            GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
+            callback(callback), callbackArgs(callbackArgs) {}
+
+    void (* callback) (gpioId_t gpioId, gpio::GpioOperation gpioOp,
+            int value, void* args) = nullptr;
+    void* callbackArgs = nullptr;
+};
+
+
+using GpioMap = std::unordered_map<gpioId_t, GpioBase*>;
 using GpioMapIter = GpioMap::iterator;
 
 #endif /* LINUX_GPIO_GPIODEFINITIONS_H_ */

mission/devices/SolarArrayDeploymentHandler.cpp

@@ -39,7 +39,7 @@ ReturnValue_t SolarArrayDeploymentHandler::initialize() {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }
 
-    result = gpioInterface->initialize(dynamic_cast<GpioCookie*>(gpioCookie));
+    result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
     if (result != RETURN_OK) {
         sif::error << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface"
                 << std::endl;