Added example gpio drivers

pad_server/Makefile

@@ -5,6 +5,8 @@ OUT = pad
 SRCDIR = $(abspath ./src)
 SRCS = $(wildcard $(SRCDIR)/*.c)
 SRCS += $(wildcard ../packets/*.c)
+EXCLUDE_SRCS = $(SRCDIR)/gpio_actuator.c 
+SRCS := $(filter-out $(EXCLUDE_SRCS), $(SRCS))
 
 OBJS = $(patsubst %.c,%.o,$(SRCS))
 

pad_server/src/gpio_actuator.c

@@ -0,0 +1,56 @@
+// BEWARE, this file is expluded from Linux compilation
+// because the of the missing nuttx header file
+
+#include "gpio_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);
+    if (fd < 0) {
+        fprintf(stderr, "Failed to open gpio with err %d\n", errno);
+        return -1;
+    }
+
+    int err = ioctl(fd, GPIOC_WRITE, true);
+    if (err < 0) {
+        fprintf(stderr, "Failed to communicate via ioctl with err %d\n", errno);
+        return -1;
+    }
+
+    if (close(fd) == -1) {
+        fprintf(stderr, "Failed to close gpio with err %d\n", errno);
+        return -1;
+    }
+
+    fprintf(stdout, "Actuator #%d turned on\n", act->id);
+    return 0;
+}
+
+int gpio_actuator_off(actuator_t *act) {
+    // TODO: change the device to be actuator specific
+    int fd = open("/dev/gpio12", O_RDWR);
+    if (fd < 0) {
+        fprintf(stderr, "Failed to open gpio with err %d\n", errno);
+        return -1;
+    }
+
+    int err = ioctl(fd, GPIOC_WRITE, false);
+    if (err < 0) {
+        fprintf(stderr, "Failed to communicate via ioctl with err %d\n", errno);
+        return -1;
+    }
+
+    if (close(fd) == -1) {
+        fprintf(stderr, "Failed to close gpio with err %d\n", errno);
+        return -1;
+    }
+
+    fprintf(stdout, "Actuator #%d turned off\n", act->id);
+    return 0;
+}

pad_server/src/gpio_actuator.h

@@ -0,0 +1,4 @@
+#include "actuator.h"
+
+int gpio_actuator_on(actuator_t *act);
+int gpio_actuator_off(actuator_t *act);

pad_server/src/gpio_dummy_actuator.c

@@ -0,0 +1,11 @@
+#include "gpio_actuator.h"
+#include "stdio.h"
+
+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) {
+    printf("Dummy actuator #%d turned off\n", act->id);
+    return 0;
+}

pad_server/src/state.c

@@ -7,24 +7,16 @@
 #include <stdio.h>
 
 #include "actuator.h"
+#include "gpio_actuator.h"
 #include "state.h"
 
-static int dummy_on(actuator_t *act) {
-    printf("Actuator #%d turned on\n", act->id);
-    return 0;
-}
-static int dummy_off(actuator_t *act) {
-    printf("Actuator #%d turned off\n", act->id);
-    return 0;
-}
-
 /* TODO: docs */
 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?
     state->arm_level = ARMED_PAD;
     for (unsigned int i = 0; i < NUM_ACTUATORS; i++) {
-        actuator_init(&state->actuators[i], i, dummy_on, dummy_off, NULL);
+        actuator_init(&state->actuators[i], i, gpio_actuator_on, gpio_actuator_off, NULL);
     }
 }