Merge pull request #225 from uorocketry/digitalSafe

feat: add safe state to digital pins

Author: ajayyy

libraries/protobuf-definitions

@@ -23,7 +23,7 @@ class Interface
 
 #if USE_GPIO == 1
 
-    virtual void createNewGpioOutput(std::string name, int pinNbr) = 0;
+    virtual void createNewGpioOutput(std::string name, int pinNbr, int safeState = 0) = 0;
 
     virtual void createNewGpioPwmOutput(std::string name, int pinNbr, int safePosition, bool softpwm) = 0;
 

src/IO/Interface.h

@@ -161,9 +161,9 @@ bool InterfaceImpl::updateOutputs(std::shared_ptr<StateData> data)
 }
 
 #if USE_GPIO == 1
-void InterfaceImpl::createNewGpioOutput(std::string name, int pinNbr)
+void InterfaceImpl::createNewGpioOutput(std::string name, int pinNbr, int safeState)
 {
-    gpio.createNewGpioOutput(name, pinNbr);
+    gpio.createNewGpioOutput(name, pinNbr, safeState);
 }
 
 void InterfaceImpl::createNewGpioPwmOutput(std::string name, int pinNbr, int safePosition, bool softpwm)

src/IO/InterfaceImpl.cpp

@@ -36,7 +36,7 @@ class InterfaceImpl : public Interface
     bool updateOutputs(std::shared_ptr<StateData> data) override;
 
 #if USE_GPIO == 1
-    void createNewGpioOutput(std::string name, int pinNbr) override;
+    void createNewGpioOutput(std::string name, int pinNbr, int safeState = 0) override;
     void createNewGpioPwmOutput(std::string name, int pinNbr, int safePosition, bool softpwm) override;
     void createNewGpioDCMotorOutput(std::string name, int pinForward, int pinReverse, int motorPower,
                                     int limitSwitchMinPin, int limitSwitchMaxPin, int potentiometerPin) override;

src/IO/InterfaceImpl.h

@@ -9,7 +9,8 @@
 #include <wiringPi.h>
 #endif
 
-DigitalOutput::DigitalOutput(const std::string &name, const int pin) : name(name), pinNbr(pin)
+DigitalOutput::DigitalOutput(const std::string &name, const int pin, const int safeState)
+    : name(name), pinNbr(pin), safeState(safeState)
 {
     logger = spdlog::default_logger();
 
@@ -20,6 +21,7 @@ DigitalOutput::DigitalOutput(const std::string &name, const int pin) : name(name
 
     RocketryProto::ArduinoIn arduinoIn;
     arduinoIn.mutable_digitalinit()->set_pin(pin);
+    arduinoIn.mutable_digitalinit()->set_safestate(safeState);
     arduinoProxy->send(arduinoIn);
 #elif USE_WIRING_Pi == 1
     pinMode(pinNbr, OUTPUT);

src/IO/gpio/DigitalOutput.cpp

@@ -14,7 +14,7 @@
 class DigitalOutput : public Output
 {
   public:
-    DigitalOutput(const std::string &name, const int pin);
+    DigitalOutput(const std::string &name, const int pin, const int safeState);
 
     bool setValue(int value);
 
@@ -24,6 +24,7 @@ class DigitalOutput : public Output
     std::shared_ptr<spdlog::logger> logger;
     std::string name;
     const int pinNbr;
+    const int safeState;
 
 #if USE_ARDUINO_PROXY == 1
     ArduinoProxy *arduinoProxy;

src/IO/gpio/DigitalOutput.h

@@ -58,9 +58,9 @@ GpioData Gpio::setOutputs(const GpioData &data)
     return result;
 }
 
-void Gpio::createNewGpioOutput(const std::string &name, int pinNbr)
+void Gpio::createNewGpioOutput(const std::string &name, int pinNbr, int safeState)
 {
-    digitalOutputsMap.insert({name, DigitalOutput(name, pinNbr)});
+    digitalOutputsMap.insert({name, DigitalOutput(name, pinNbr, safeState)});
 }
 
 void Gpio::createNewGpioPwmOutput(const std::string &name, int pinNbr, int safePosition, bool softPWM)

src/IO/gpio/Gpio.cpp

@@ -28,7 +28,7 @@ class Gpio : public IO
 
     bool isInitialized() override;
 
-    void createNewGpioOutput(const std::string &name, int pinNbr);
+    void createNewGpioOutput(const std::string &name, int pinNbr, int safeState);
     void createNewGpioPwmOutput(const std::string &name, int pinNbr, int safePosition, bool softPWM = false);
     void createNewGpioDCMotorOutput(const std::string &name, int pinForward, int pinReverse, int motorPower,
                                     int limitSwitchMinPin, int limitSwitchMaxPin, int potentiometerPin);

src/IO/gpio/Gpio.h

@@ -198,7 +198,7 @@ STATE_DEFINE(HotFireStateMachine, Init, UOSMData)
 #endif
 
 #if USE_IGNITER
-    interface->createNewGpioOutput(IGNITER_NAME, IGNITER_PIN);
+    interface->createNewGpioOutput(IGNITER_NAME, IGNITER_PIN, IGNITER_OFF);
 #endif
 
 #if USE_PWM_MAIN