ROS 2 - Add GPIO driver package #211
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pkowalsk1
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Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
Co-authored-by: Dawid Kmak <73443304+KmakD@users.noreply.github.com>
panther_gpiod/src/gpio_driver.cpp
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| auto gpio_chip = gpiod::chip(gpio_chip_path_); | ||
| line_request_ = create_line_request(gpio_chip); | ||
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| gpio_monitor_on(); |
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Thing to discuss. Do we always assume that we want gpio monitor at the start and if this functionality is not needed then client code should turn it off. Or do we assume that this is disabled by default and client code is responsible for turning gpio monitor on?
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It seems to me that this might be inconvenient for the user. When monitoring is turned off, the 'is_pin_active' method will not provide accurate information. Do we want to add a check in it to see if the thread is enabled? If so, what should it return then?
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If is_pin_active cant work correctly without monitor it should check if it is running. Optionally it could turn it on if it is not enabled. Don't know if it is a good idea but you wouldn't need to turn it on in constructor.
| /** | ||
| * @brief Constructs the GPIODriver object with information about GPIO pin configurations. | ||
| * This information is necessary for initializing the GPIO functionality. | ||
| * | ||
| * @param gpio_info_storage Vector containing information about GPIO pin configurations. | ||
| * | ||
| * @throws std::runtime_error if the provided `gpio_info_storage` vector is empty. | ||
| * | ||
| * @par Example | ||
| * An example of constructing the GPIODriver object by providing GPIO pin information: | ||
| * @code{.cpp} | ||
| * std::vector<GPIOInfo> gpio_configurations = { | ||
| * GPIOInfo{GPIOPin::CHRG_SENSE, gpiod::line::direction::INPUT}, | ||
| * GPIOInfo{GPIOPin::AUX_PW_EN, gpiod::line::direction::OUTPUT}, | ||
| * GPIOInfo{GPIOPin::LED_SBC_SEL, gpiod::line::direction::OUTPUT, true, | ||
| * gpiod::line::value::ACTIVE} | ||
| * // ... additional GPIO pin configurations | ||
| * }; | ||
| * GPIODriver gpio_driver(gpio_configurations); | ||
| * @endcode | ||
| */ | ||
| GPIODriver(std::vector<GPIOInfo> gpio_info_storage); |
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I would also add info that to enable reading pin values it is required to enable gpio monitoring, see GPIOMonitorEnable method for more info.
Co-authored-by: Maciej Stępień <maciek1284@outlook.com>
Co-authored-by: Maciej Stępień <maciek1284@outlook.com>
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