GrblGpio.cpp

/*
** Copyright (C) 2025 CERN
**
** This software is provided 'as-is', without any express or implied
** warranty.  In no event will the authors be held liable for any damages
** arising from the use of this software.
**
** Permission is granted to anyone to use this software for any purpose,
** including commercial applications, and to alter it and redistribute it
** freely, subject to the following restrictions:
**
** 1. The origin of this software must not be misrepresented; you must not
**    claim that you wrote the original software. If you use this software
**    in a product, an acknowledgment in the product documentation would be
**    appreciated but is not required.
** 2. Altered source versions must be plainly marked as such, and must not be
**    misrepresented as being the original software.
** 3. This notice may not be removed or altered from any source distribution.
**
** Created on: 2025-04-16T13:47:28
** Author: Sylvain Fargier <sylvain.fargier@cern.ch>
*/
 
#include "GrblGpio.hpp"
 
#include <ccut/async.hpp>
 
#include "GrblPlatform.hpp"
#include "util/grbl/GrblDeviceBase.hpp"
#include "util/grbl/GrblGenerator.hpp"
 
using namespace logger;
using namespace smc;
using namespace smc::internal;
using namespace smc::units;
 
using ImmediateCmd = GrblPlatform::ImmediateCmd;
 
GrblGpio::GrblGpio(const std::string &uid,
                   const std::shared_ptr<GrblPlatform> &grbl) :
    Gpio{uid},
    m_grbl(grbl)
{}
 
std::future<void> GrblGpio::setIoState(const units::io_port_t &state) const
{
    std::shared_ptr<GrblPlatform> grbl(m_grbl.lock());
    if (!grbl)
        return ccut::make_future_error(
            Exception(ErrorCode::Canceled, "platform stopped (deleted)"));
 
    try
    {
        uint8_t gpioPin = grbl->getGpio(uid());
        return grbl->run<void>(
            [gpioPin, state](ImmediateCmd &cmd, GrblPlatform::Context &ctx) {
                grbl::ErrorCode rc;
                if (!state)
                    rc = ctx.device->send(
                        grbl::gen::DigitalOut::off(gpioPin, true).value);
                else
                    rc = ctx.device->send(
                        grbl::gen::DigitalOut::on(gpioPin, true).value);
                ctx.checkReply(rc);
                cmd.prom->get<void>().set_value();
            });
    }
    catch (const std::exception &e)
    {
        return ccut::make_future_error(e);
    }
}
 
std::future<io_port_t> GrblGpio::getIoState() const
{
    return ccut::make_future_error<io_port_t>(
        Exception{ErrorCode::NotSupported,
                  std::string("getIoState not supported on: ") + uid()});
}