Added GPIO

lib/control/src/pneumatics.rs

@@ -1,4 +1,5 @@
 use hyped_core::types::DigitalSignal;
+use hyped_io::gpio::GpioOutputPin;
 
 /// A solenoid is either on or off
 #[derive(Debug, PartialEq)]
@@ -153,29 +154,37 @@ enum LateralSuspensionState {
 struct Pneumatics {
     brakes: BrakeState,
     lateral_suspension: LateralSuspensionState,
+    brake_pin: GpioOutputPinStruct, //TODOLater Replace with GpioOutputPinStruct with an impl of GpioOutputPin
+    lateral_suspension_pin: GpioOutputPinStruct
 }
 
 impl Pneumatics {
     fn new() -> Self {
         Pneumatics {
             brakes: BrakeState::Engaged,
             lateral_suspension: LateralSuspensionState::Retracted,
+            brake_pin: 1,   // TODOLater replace with initial values once implemented
+            lateral_suspension_pin: 0
         }
     }
 
     fn engage_brakes(&mut self) {
         self.brakes = BrakeState::Engaged;
+        self.brake_pin.set_high();
     }
 
     fn disengage_brakes(&mut self) {
         self.brakes = BrakeState::Disengaged;
+        self.brake_pin.set_low();
     }
 
     fn deploy_lateral_suspension(&mut self) {
         self.lateral_suspension = LateralSuspensionState::Deployed;
+        self.lateral_suspension_pin.set_high();
     }
 
     fn retract_lateral_suspension(&mut self) {
         self.lateral_suspension = LateralSuspensionState::Retracted;
+        self.lateral_suspension_pin.set_low();
     }
 }

lib/io/src/gpio.rs

@@ -1,8 +1,13 @@
 /// Abstraction for a GPIO pin so that sensors can be tested with a mock GPIO pin
-pub trait GpioPin {
+pub trait GpioInputPin {
     fn is_high(&mut self) -> bool;
 }
 
+pub trait GpioOutputPin {
+  fn set_high(&mut self);
+  fn set_low(&mut self);
+}
+
 pub mod mock_gpio {
     use heapless::Vec;
 
@@ -12,7 +17,7 @@ pub mod mock_gpio {
         next_values: Vec<bool, 10>,
     }
 
-    impl crate::gpio::GpioPin for MockGpio {
+    impl crate::gpio::GpioInputPin for MockGpio {
         fn is_high(&mut self) -> bool {
             let next_value = self.next_values.pop().unwrap_or(self.current_value);
             self.current_value = next_value;