linux_gpios.orogen

# frozen_string_literal: true

name "linux_gpios"

using_library "base-logging", typekit: false

import_types_from "std"
import_types_from "raw_io"
import_types_from "linux_gpiosTypes.hpp"

# Task that reads and/or writes GPIOs
task_context "Task" do
    # This is the default from now on, and should not be removed. Rock will
    # transition to a setup where all components use a configuration step.
    needs_configuration

    # Root of GPIOs in sysfs. Exclusively for testing
    property "sysfs_gpio_path", "/std/string", "/sys/class/gpio"

    # Whether the output should be written only when change
    #
    # It is false to keep backward compatibility. We recommend setting to true
    property "edge_triggered_output", "/bool", false

    # The set of GPIOs that should be written, as a list of GPIO IDs
    property "w_configuration", "/linux_gpios/WriteConfiguration"

    # The port on which the 'output' GPIOs can be commanded, in the same order
    # than the 'inputs' property
    input_port "w_commands", "/linux_gpios/GPIOState"

    # The set of GPIOs that should be read, as a list of GPIO IDs
    property "r_configuration", "/linux_gpios/ReadConfiguration"

    # The port on which the state of the GPIOs that are read is exported
    #
    # If edge_triggered_output is set to false, this port will periodically
    # publish the GPIO state. If edge_triggered_output is set, the component
    # will publish the state when it changes and when the w_states port is
    # written. This latter condition allows to wait for a GPIO state to change,
    # regardless of the curent state of the GPIO
    #
    # - create reader and writer
    # - write state until it is reported as being the expected new state
    output_port "r_states", "/linux_gpios/GPIOState"

    periodic 0.01

    exception_states :IO_ERROR, :UNEXPECTED_COMMAND_SIZE
end

task_context "TimerGPIOTask" do
    needs_configuration

    # The "ON" state to be sent to the GPIO
    property "set_state", "/bool", true

    # How long the GPIO should be maintained in the "set_state" state
    property "duration", "/base/Time"

    # How oft should report when the command will finish
    property "deadline_report", "/base/Time"

    # How long the task will accept not receiving a feedback from the GPIO
    # during its execution
    #
    # Will cause the task to stop in an exception state, trying to turn the GPIO off
    property "feedback_timeout", "/base/Time"

    # How long the task will wait for a state transition to be confirmed
    #
    # This applies on start and stop transitions
    property "switch_timeout", "/base/Time"

    # GPIO feedback input
    input_port "feedback", "/linux_gpios/GPIOState"

    # Controlled GPIO output
    output_port "gpio_state", "/linux_gpios/GPIOState"

    # Deadline to complete the command
    output_port "deadline", "base/Time"

    periodic 0.01
end