fsfw/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h

#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
#define LINUX_GPIO_LINUXLIBGPIOIF_H_

#include "fsfw/returnvalues/FwClassIds.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw/objectmanager/SystemObject.h"

class GpioCookie;
class GpiodRegularIF;

/**
 * @brief	This class implements the GpioIF for a linux based system.
 * @details
 * This implementation is based on the libgpiod lib which requires Linux 4.8 or higher.
 * @note
 * The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
 */
class LinuxLibgpioIF : public GpioIF, public SystemObject {
public:

    static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;

    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);
    static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);

	LinuxLibgpioIF(object_id_t objectId);
	virtual ~LinuxLibgpioIF();

	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;

private:

	static const size_t MAX_CHIPNAME_LENGTH = 11;
	static const int LINE_NOT_EXISTS = 0;
	static const int LINE_ERROR = -1;
	static const int LINE_FOUND = 1;

	// Holds the information and configuration of all used GPIOs
	GpioUnorderedMap gpioMap;
	GpioUnorderedMapIter gpioMapIter;

	/**
	 * @brief	This functions drives line of a GPIO specified by the GPIO ID.
	 *
	 * @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, GpiodRegularBase& regularGpio,
	        gpio::Levels logicLevel);

	ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
	ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
    ReturnValue_t configureGpioByLineName(gpioId_t gpioId,
            GpiodRegularByLineName &gpioByLineName);
    ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
            GpiodRegularBase& regularGpio, std::string failOutput);

	/**
	 * @brief	This function checks if GPIOs are already registered and whether
	 * 			there exists a conflict in the GPIO configuration. E.g. the
	 * 			direction.
	 *
	 * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
	 *
	 * @return	RETURN_OK if successful, otherwise RETURN_FAILED
	 */
	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);

	ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
	        GpioMap& mapToAdd);

	/**
	 * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
	 */
	ReturnValue_t configureGpios(GpioMap& mapToAdd);

	void parseFindeLineResult(int result, std::string& lineName);
};

#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */