GpioDio.h

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#ifndef CARMA_CANBUS_GPIODIO_H
#define CARMA_CANBUS_GPIODIO_H

#include "carma/canbus/Dio.h"

#include <boost/thread.hpp>
#include <vector>

namespace carma {
namespace canbus {

    class GpioDio : public Dio {
    public:

        GpioDio( );

        GpioDio( std::vector< int > basePins, bool resetOnStart );

        ~GpioDio( );

        void powerOn();

        void powerOff();

        void resetHi();

        void resetLo();

        void reservedHi();

        void reservedLo();

        void clear();
        
    protected:

    private:
        
        void set( unsigned char bits );
        void unset( unsigned char bits );
        void writeHoldingLock( );

        struct GpioInfo {
            std::vector< int > fds; // File descriptors for all 8 pins
            int basePin;            // Base pin
        };
        
        unsigned char state_;
        std::vector< GpioInfo > gpioDevs_;
        boost::mutex mutex_;             // Coarse lock
        const bool emulate_;

    }; // class GpioDio

}} // namespace carma::canbus
#endif // #ifndef CARMA_CANBUS_GPIODIO_H