feat: extend gpio interrupt interface to enable immediate interrupt h…

…andlers (#721)
philips-software · Oct 4, 2024 · 95ddf85 · 95ddf85
1 parent 7821a57
commit 95ddf85
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Showing 7 changed files with 45 additions and 27 deletions.
diff --git a/hal/interfaces/Gpio.cpp b/hal/interfaces/Gpio.cpp
@@ -1,4 +1,5 @@
 #include "hal/interfaces/Gpio.hpp"
+#include "infra/util/Function.hpp"
 
 namespace hal
 {
@@ -20,9 +21,9 @@ namespace hal
         return pin.Get();
     }
 
-    void InputPin::EnableInterrupt(const infra::Function<void()>& action, InterruptTrigger trigger)
+    void InputPin::EnableInterrupt(const infra::Function<void()>& action, InterruptTrigger trigger, InterruptType type)
     {
-        pin.EnableInterrupt(action, trigger);
+        pin.EnableInterrupt(action, trigger, type);
     }
 
     void InputPin::DisableInterrupt()
@@ -133,7 +134,7 @@ namespace hal
     void DummyPin::ResetConfig()
     {}
 
-    void DummyPin::EnableInterrupt(const infra::Function<void()>& actionOnInterrupt, InterruptTrigger trigger)
+    void DummyPin::EnableInterrupt(const infra::Function<void()>& actionOnInterrupt, InterruptTrigger trigger, InterruptType type)
     {}
 
     void DummyPin::DisableInterrupt()

diff --git a/hal/interfaces/Gpio.hpp b/hal/interfaces/Gpio.hpp
@@ -2,6 +2,7 @@
 #define HAL_GPIO_HPP
 
 #include "infra/util/Function.hpp"
+#include <cstdint>
 
 namespace hal
 {
@@ -12,6 +13,12 @@ namespace hal
         bothEdges
     };
 
+    enum class InterruptType : uint8_t
+    {
+        dispatched,
+        immediate
+    };
+
     enum class PinConfigType : uint8_t
     {
         input,
@@ -40,7 +47,7 @@ namespace hal
         virtual void Config(PinConfigType config, bool startOutputState) = 0;
         virtual void ResetConfig() = 0;
 
-        virtual void EnableInterrupt(const infra::Function<void()>& action, InterruptTrigger trigger) = 0;
+        virtual void EnableInterrupt(const infra::Function<void()>& action, InterruptTrigger trigger, InterruptType type = InterruptType::dispatched) = 0;
         virtual void DisableInterrupt() = 0;
     };
 
@@ -54,7 +61,7 @@ namespace hal
 
         bool Get() const;
 
-        void EnableInterrupt(const infra::Function<void()>& action, InterruptTrigger trigger);
+        void EnableInterrupt(const infra::Function<void()>& action, InterruptTrigger trigger, InterruptType type = InterruptType::dispatched);
         void DisableInterrupt();
 
     private:
@@ -110,7 +117,7 @@ namespace hal
         void Config(PinConfigType config) override;
         void Config(PinConfigType config, bool startOutputState) override;
         void ResetConfig() override;
-        void EnableInterrupt(const infra::Function<void()>& action, InterruptTrigger trigger) override;
+        void EnableInterrupt(const infra::Function<void()>& action, InterruptTrigger trigger, InterruptType type = InterruptType::dispatched) override;
         void DisableInterrupt() override;
     };
 

diff --git a/hal/interfaces/test_doubles/GpioMock.hpp b/hal/interfaces/test_doubles/GpioMock.hpp
@@ -2,6 +2,7 @@
 #define HAL_GPIO_MOCK_HPP
 
 #include "hal/interfaces/Gpio.hpp"
+#include "infra/util/Function.hpp"
 #include "gmock/gmock.h"
 
 namespace hal
@@ -10,16 +11,16 @@ namespace hal
         : public GpioPin
     {
     public:
-        MOCK_CONST_METHOD0(Get, bool());
-        MOCK_METHOD1(Set, void(bool value));
-        MOCK_CONST_METHOD0(GetOutputLatch, bool());
-        MOCK_METHOD0(SetAsInput, void());
-        MOCK_CONST_METHOD0(IsInput, bool());
-        MOCK_METHOD1(Config, void(PinConfigType config));
-        MOCK_METHOD2(Config, void(PinConfigType config, bool startOutputState));
-        MOCK_METHOD0(ResetConfig, void());
-        MOCK_METHOD2(EnableInterrupt, void(const infra::Function<void()>& action, InterruptTrigger trigger));
-        MOCK_METHOD0(DisableInterrupt, void());
+        MOCK_METHOD(bool, Get, (), (const override));
+        MOCK_METHOD(void, Set, (bool value), (override));
+        MOCK_METHOD(bool, GetOutputLatch, (), (const override));
+        MOCK_METHOD(void, SetAsInput, (), (override));
+        MOCK_METHOD(bool, IsInput, (), (const override));
+        MOCK_METHOD(void, Config, (PinConfigType config), (override));
+        MOCK_METHOD(void, Config, (PinConfigType config, bool startOutputState), (override));
+        MOCK_METHOD(void, ResetConfig, (), (override));
+        MOCK_METHOD(void, EnableInterrupt, (const infra::Function<void()>& action, InterruptTrigger trigger, InterruptType type), (override));
+        MOCK_METHOD(void, DisableInterrupt, (), (override));
     };
 }
 

diff --git a/hal/interfaces/test_doubles/GpioStub.cpp b/hal/interfaces/test_doubles/GpioStub.cpp
@@ -1,5 +1,11 @@
 #include "hal/interfaces/test_doubles/GpioStub.hpp"
+#include "hal/interfaces/Gpio.hpp"
+#include "infra/timer/Timer.hpp"
 #include "infra/util/CompareMembers.hpp"
+#include "infra/util/Function.hpp"
+#include "infra/util/Optional.hpp"
+#include <utility>
+#include <vector>
 
 namespace hal
 {
@@ -50,7 +56,7 @@ namespace hal
     void GpioPinStub::ResetConfig()
     {}
 
-    void GpioPinStub::EnableInterrupt(const infra::Function<void()>& actionOnInterrupt, InterruptTrigger trigger)
+    void GpioPinStub::EnableInterrupt(const infra::Function<void()>& actionOnInterrupt, InterruptTrigger trigger, InterruptType type)
     {
         triggerOnChange = std::make_pair(actionOnInterrupt, trigger);
     }

diff --git a/hal/interfaces/test_doubles/GpioStub.hpp b/hal/interfaces/test_doubles/GpioStub.hpp
@@ -2,12 +2,10 @@
 #define HAL_GPIO_STUB_HPP
 
 #include "hal/interfaces/Gpio.hpp"
-#include "infra/timer/TimerService.hpp"
+#include "infra/timer/Timer.hpp"
+#include "infra/util/Function.hpp"
 #include "infra/util/Optional.hpp"
-#include "infra/util/VariantDetail.hpp"
-#include <array>
-#include <functional>
-#include <map>
+#include <utility>
 #include <vector>
 
 namespace hal
@@ -26,7 +24,7 @@ namespace hal
         void Config(PinConfigType config) override;
         void Config(PinConfigType config, bool startOutputState) override;
         void ResetConfig() override;
-        void EnableInterrupt(const infra::Function<void()>& action, InterruptTrigger trigger) override;
+        void EnableInterrupt(const infra::Function<void()>& action, InterruptTrigger trigger, InterruptType type) override;
         void DisableInterrupt() override;
 
         void SetStubState(bool value);

diff --git a/services/util/GpioPinInverted.cpp b/services/util/GpioPinInverted.cpp
@@ -1,4 +1,9 @@
 #include "services/util/GpioPinInverted.hpp"
+#include "hal/interfaces/Gpio.hpp"
+#include "infra/util/Function.hpp"
+#include <array>
+#include <cassert>
+#include <cstdint>
 
 namespace services
 {
@@ -46,12 +51,12 @@ namespace services
         pin.ResetConfig();
     }
 
-    void GpioPinInverted::EnableInterrupt(const infra::Function<void()>& action, hal::InterruptTrigger trigger)
+    void GpioPinInverted::EnableInterrupt(const infra::Function<void()>& action, hal::InterruptTrigger trigger, hal::InterruptType type)
     {
         static const std::array<hal::InterruptTrigger, 3> inverse = { hal::InterruptTrigger::fallingEdge, hal::InterruptTrigger::risingEdge,
             hal::InterruptTrigger::bothEdges };
         assert(static_cast<uint8_t>(trigger) < inverse.size());
-        pin.EnableInterrupt(action, inverse[static_cast<uint8_t>(trigger)]);
+        pin.EnableInterrupt(action, inverse[static_cast<uint8_t>(trigger)], type);
     }
 
     void GpioPinInverted::DisableInterrupt()

diff --git a/services/util/GpioPinInverted.hpp b/services/util/GpioPinInverted.hpp
@@ -2,7 +2,7 @@
 #define SERVICES_GPIO_PIN_INVERTED_HPP
 
 #include "hal/interfaces/Gpio.hpp"
-#include "infra/timer/Timer.hpp"
+#include "infra/util/Function.hpp"
 
 namespace services
 {
@@ -20,7 +20,7 @@ namespace services
         void Config(hal::PinConfigType config) override;
         void Config(hal::PinConfigType config, bool startOutputState) override;
         void ResetConfig() override;
-        void EnableInterrupt(const infra::Function<void()>& action, hal::InterruptTrigger trigger) override;
+        void EnableInterrupt(const infra::Function<void()>& action, hal::InterruptTrigger trigger, hal::InterruptType type) override;
         void DisableInterrupt() override;
 
     private: