Russell Gilbert
2125e936dc
Moves GPIO pin and chip definitions to a central constants file for easier management and consistency. Refactors the heart component to utilize these centralized constants, enhancing code maintainability and readability.
58 lines
1.8 KiB
C++
58 lines
1.8 KiB
C++
#include "../constants.h"
|
|
#include "heart.h"
|
|
#include <gpiod.hpp>
|
|
|
|
#include "../dixon_node_state.h"
|
|
|
|
namespace cardio
|
|
{
|
|
Heart::Heart()
|
|
: _lastBeat(std::chrono::steady_clock::now()),
|
|
chip_(std::string("/dev/") + dixon::GPIO_CHIP_NAME),
|
|
isOn_(false),
|
|
request_(get_line_request(chip_, dixon::GPIO_HEART_PIN)),
|
|
logger_("Heart")
|
|
{
|
|
}
|
|
|
|
void Heart::beat()
|
|
{
|
|
if (const auto nodeStatus = DixonNodeState::instance().getNodeStatus();
|
|
nodeStatus == NodeStatus::Stopped || nodeStatus == NodeStatus::Stopping)
|
|
return;
|
|
|
|
const auto now = std::chrono::steady_clock::now();
|
|
if (const auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>
|
|
(now - _lastBeat); elapsed.count() >= 500)
|
|
{
|
|
isOn_ = !isOn_;
|
|
const auto val = isOn_ ? gpiod::line::value::ACTIVE : gpiod::line::value::INACTIVE;
|
|
request_.set_value(dixon::GPIO_HEART_PIN, val);
|
|
_lastBeat = now;
|
|
|
|
if (isOn_) {
|
|
logger_.debug("Heart::beat()");
|
|
}
|
|
}
|
|
}
|
|
|
|
void Heart::stop()
|
|
{
|
|
logger_.info("Stopping heart.");
|
|
isOn_ = false;
|
|
request_.set_value(dixon::GPIO_HEART_PIN, gpiod::line::value::INACTIVE);
|
|
logger_.info("Stopped heart.");
|
|
}
|
|
|
|
gpiod::line_request Heart::get_line_request(gpiod::chip& chip, const unsigned int lineOffset)
|
|
{
|
|
const auto settings = gpiod::line_settings() // Force it to a known state immediately on acquisition
|
|
.set_output_value(gpiod::line::value::INACTIVE)
|
|
.set_direction(gpiod::line::direction::OUTPUT);
|
|
|
|
return chip.prepare_request()
|
|
.set_consumer("dixon-robot")
|
|
.add_line_settings(lineOffset, settings)
|
|
.do_request();
|
|
}
|
|
}
|