microcontroller/src/gpio_switch.cpp at main · openvmp/microcontroller · GitHub

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* OpenVMP, 2023

* Author: Roman Kuzmenko

* Created: 2023-04-09

* Licensed under Apache License, Version 2.0.

#include "remote_microcontroller/gpio_switch.hpp"

namespace remote_microcontroller {

GPIOSwitch::GPIOSwitch(rclcpp::Node *node,

remote_microcontroller::Implementation *microcontroller,

int index, const std::string &prefix)

: GPIO(node, microcontroller, index, prefix),

remote_switch::Implementation(node) {}

void GPIOSwitch::switch_handler_real_(

const std::shared_ptr<remote_switch::srv::Switch::Request> request,

std::shared_ptr<remote_switch::srv::Switch::Response> response) {

(void)response;

gpio_set(request->channel, request->on);

}

} // namespace remote_microcontroller

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