ROVER - RoverGpio API added

Signed-off-by: Mustafa Ozcelikors <mozcelikors@gmail.com>

2 files changed, 282 insertions, 0 deletions

diff --git a/rover/include/roverapi/rover_gpio.hpp b/rover/include/roverapi/rover_gpio.hpp
new file mode 100644
index 0000000..cb19701
--- /dev/null
+++ b/rover/include/roverapi/rover_gpio.hpp
@@ -0,0 +1,187 @@
+/*
+ * Copyright (c) 2017 FH Dortmund and others
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Description:
+ *    Rover Gpio API - Interfaces for Rover general purpose I/O application development - Header file
+ *
+ * Contributors:
+ *    M.Ozcelikors <mozcelikors@gmail.com>, created API 17.11.2017
+ *
+ */
+
+#ifndef API_ROVER_GPIO_HPP_
+#define API_ROVER_GPIO_HPP_
+
+namespace rover
+{
+	/**
+	 * @brief RoverGpio class provides the member functions related to embedded buzzer, user button, and shutdown button on the rover.
+	 */
+	class RoverGpio
+	{
+		private:
+			/* Pins */
+			/**
+			 * @brief Buzzer pin in wiringPi format
+			 */
+			static const int BUZZER_PIN = 28;			//BCM-20, wiringpi 28
+
+			/**
+			 * @brief Shutdown button pin in wiringPi format
+			 */
+			static const int SHUTDOWN_BUTTON_PIN = 29;	//BCM-21, wiringpi 29
+
+			/**
+			 * @brief User button pin in wiringPi format
+			 */
+			static const int USER_BUTTON_PIN = 27;		//BCM-16, wiringpi 27
+
+			/* Variable members */
+			/**
+			 * @brief Default buzzer frequency used by setBuzzerOn function.
+			 */
+			int BUZZER_FREQUENCY;
+
+		public:
+
+			/* Pin Modes */
+			/**
+			 * @brief Static definition for INPUT pin mode for wPiPinMode function
+			 */
+			static const int INPUT_ = 0;
+
+			/**
+			 * @brief Static definition for OUTPUT pin mode for wPiPinMode function
+			 */
+			static const int OUTPUT_ = 1;
+
+			/**
+			 * @brief Static definition for PWM_OUTPUT pin mode for wPiPinMode function
+			 */
+			static const int PWM_OUTPUT_ = 2;
+
+			/**
+			 * @brief Static definition for GPIO_CLOCK pin mode for wPiPinMode function
+			 */
+			static const int GPIO_CLOCK_ = 3;
+
+			/**
+			 * @brief Static definition for SOFT_PWM_OUTPUT pin mode for wPiPinMode function
+			 */
+			static const int SOFT_PWM_OUTPUT_ = 4;
+
+			/**
+			 * @brief Static definition for SOFT_TONE_OUTPUT pin mode for wPiPinMode function
+			 */
+			static const int SOFT_TONE_OUTPUT_ = 5;
+
+			/**
+			 * @brief Static definition for PWM_TONE_OUTPUT pin mode for wPiPinMode function
+			 */
+			static const int PWM_TONE_OUTPUT_ = 6;
+
+			/* Voltage levels */
+			/**
+			 * @brief Static definition for digital voltage level : LOW
+			 */
+			static const int LO = 0;
+
+			/**
+			 * @brief Static definition for digital voltage level : HIGH
+			 */
+			static const int HI = 1;
+
+			/**
+			 * @brief Constructor function for the RoverGpio class
+			 * @return void
+			 */
+			RoverGpio();
+
+			/**
+			 * @brief Initializes the RoverGpio functionality: Buzzer and Buttons
+			 * @return void
+			 */
+			void initialize (void);
+
+			/**
+			 * @brief Sets the default buzzer frequency in Hz. Values between 0-1000 Hz are conventionally used for the buzzer frequency.
+			 * @param buzzer_freq Buzzer frequency to be set in Hz
+			 * @return void
+			 */
+			void setBuzzerFrequency (int buzzer_freq);
+
+			/**
+			 * @brief Retrieves the default buzzer frequency in Hz.
+			 * @return buzzer_freq Default buzzer frequency in Hz.
+			 */
+			int getBuzzerFrequency (void);
+
+			/**
+			 * @brief Plays the buzzer with the default frequency.
+			 * @return void
+			 */
+			void setBuzzerOn (void);
+
+			/**
+			 * @brief Turns off the buzzer.
+			 * @return void
+			 */
+			void setBuzzerOff (void);
+
+			/**
+			 * @brief Plays the buzzer with custom buzzer frequency.
+			 * @param buzzer_freq Buzzer frequency to be set in Hz
+			 * @return void
+			 */
+			void setBuzzerTone (int buzzer_freq);
+
+			/**
+			 * @brief Plays the shutdown tone.
+			 * @return void
+			 */
+			void shutdownTone (void);
+
+			/**
+			 * @brief Reads the digital value of the user button (USER_BUTTON).
+			 * @return user_button_val RoverGpio::LO (low) or RoverGpio::HI (high). Default is LOW and when pressed, user_button_val gives HIGH.
+			 */
+			int readUserButton (void);
+
+			/**
+			 * @brief Reads the digital value of the shutdown button (SHUTDOWN_BUTTON).
+			 * @return shutdown_button_val RoverGpio::LO (low) or RoverGpio::HI (high). Default is LOW and when pressed, shutdown_button_val gives HIGH.
+			 */
+			int readShutdownButton (void);
+
+			/**
+			 * @brief Wrapper function to wiringPi's digitalWrite function
+			 * @param pin Pin number (int) using wiringPi pin descriptions.
+			 * @param value Digital value to be given as output to the pin. LOW -> 0 HIGH -> 1
+			 * @return void
+			 */
+			void wPiDigitalWrite (int pin, int value);
+
+			/**
+			 * @brief Wrapper function to wiringPi's digitalRead function.
+			 * @param pin Pin number (int) to be read from using wiringPi pin descriptions.
+			 * @return value Digital value read from the pin. LOW -> 0 HIGH -> 1
+			 */
+			int wPiDigitalRead (int pin);
+
+			/**
+			 * @brief Wrapper function to wiringPi's pinMode function.
+			 * @param pin Pin number (int) to be set
+			 * @param set_val Pin Mode to be set for the GPIO pin: RoverGpio::INPUT_, RoverGpio::OUTPUT_, RoverGpio::PWM_OUTPUT_, RoverGpio::GPIO_CLOCK_, RoverGpio::SOFT_PWM_OUTPUT_, RoverGpio::SOFT_TONE_OUTPUT_, RoverGpio::PWM_TONE_OUTPUT_
+			 * @return void
+			 */
+			void wPiPinMode (int pin, int set_val);
+	};
+}
+
+
+
+#endif /* API_ROVER_GPIO_HPP_ */
diff --git a/rover/src/roverapi/rover_gpio.cpp b/rover/src/roverapi/rover_gpio.cpp
new file mode 100644
index 0000000..28e277e
--- /dev/null
+++ b/rover/src/roverapi/rover_gpio.cpp
@@ -0,0 +1,95 @@
+/*
+ * Copyright (c) 2017 FH Dortmund and others
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Description:
+ *    Rover Gpio API - Interfaces for Rover general purpose I/O application development
+ *
+ * Contributors:
+ *    M.Ozcelikors <mozcelikors@gmail.com>, created API 17.11.2017
+ *
+ */
+
+#include <roverapi/rover_gpio.hpp>
+#include <wiringPi.h>
+#include <softTone.h>
+
+void rover::RoverGpio::initialize (void)
+{
+	//wiringPiSetup();
+	/* Setup buzzer */
+	pinMode (this->BUZZER_PIN, SOFT_TONE_OUTPUT);
+	softToneCreate (this->BUZZER_PIN);
+
+	/* Setup shutdown button */
+	pinMode (this->SHUTDOWN_BUTTON_PIN, INPUT);
+
+	/* Setup user button */
+	pinMode (this->USER_BUTTON_PIN, INPUT);
+}
+
+rover::RoverGpio::RoverGpio()
+{
+	/* Initialize default buzzer frequency */
+	this->BUZZER_FREQUENCY = 200;
+}
+
+void rover::RoverGpio::setBuzzerFrequency (int buzzer_freq)
+{
+	this->BUZZER_FREQUENCY = buzzer_freq;
+}
+
+int rover::RoverGpio::getBuzzerFrequency (void)
+{
+	return this->BUZZER_FREQUENCY;
+}
+
+void rover::RoverGpio::setBuzzerOn (void)
+{
+	softToneWrite (this->BUZZER_PIN, this->BUZZER_FREQUENCY);
+}
+
+void rover::RoverGpio::setBuzzerOff (void)
+{
+	softToneWrite (this->BUZZER_PIN, 0);
+}
+
+void rover::RoverGpio::shutdownTone (void)
+{
+	softToneWrite (this->BUZZER_PIN, 300);
+	delay(2000);
+	softToneWrite (BUZZER_PIN, 0);
+}
+
+void rover::RoverGpio::setBuzzerTone (int buzzer_freq)
+{
+	softToneWrite (this->BUZZER_PIN, buzzer_freq);
+}
+
+int rover::RoverGpio::readUserButton (void)
+{
+	return digitalRead (this->USER_BUTTON_PIN);
+}
+
+int rover::RoverGpio::readShutdownButton (void)
+{
+	return digitalRead (this->SHUTDOWN_BUTTON_PIN);
+}
+
+void rover::RoverGpio::wPiDigitalWrite (int pin, int value)
+{
+	digitalWrite (pin, value);
+}
+
+int rover::RoverGpio::wPiDigitalRead (int pin)
+{
+	return digitalRead (pin);
+}
+
+void rover::RoverGpio::wPiPinMode (int pin, int set_val)
+{
+	pinMode (pin, set_val);
+}