eive-obsw/linux/boardtest/LibgpiodTest.cpp

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#include "LibgpiodTest.h"
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#include "devices/gpioIds.h"
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw/tasks/TaskFactory.h>
LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
GpioCookie* gpioCookie):
TestTask(objectId) {
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gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioIfobjectId);
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if (gpioInterface == nullptr) {
sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
}
gpioInterface->addGpios(gpioCookie);
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testCase = TestCases::BLINK;
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}
LibgpiodTest::~LibgpiodTest() {
}
ReturnValue_t LibgpiodTest::performPeriodicAction() {
int gpioState;
ReturnValue_t result;
switch(testCase) {
case(TestCases::READ): {
result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
if (result != RETURN_OK) {
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sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
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<< std::endl;
return RETURN_FAILED;
}
else {
sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState
<< std::endl;
}
break;
}
case(TestCases::LOOPBACK): {
break;
}
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case(TestCases::BLINK): {
result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
<< std::endl;
return RETURN_FAILED;
}
if (gpioState == 1) {
result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO low!"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
else if (gpioState == 0) {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO high!"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
else {
sif::warning << "LibgpiodTest::performPeriodicAction: Invalid GPIO state" << std::endl;
}
break;
}
default:
sif::debug << "LibgpiodTest::performPeriodicAction: Invalid test case" << std::endl;
break;
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}
return RETURN_OK;
}
ReturnValue_t LibgpiodTest::performOneShotAction() {
int gpioState;
ReturnValue_t result;
switch(testCase) {
case(TestCases::READ): {
break;
}
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case(TestCases::BLINK): {
break;
}
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case(TestCases::LOOPBACK): {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO pulled high successfully for loopback test" << std::endl;
}
else {
sif::warning << "LibgpiodTest::performOneShotAction: Could not pull GPIO high!"
<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
if(result == HasReturnvaluesIF::RETURN_OK and gpioState == 1) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO state read successfully and is high" << std::endl;
}
else {
sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not high!"
<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
if(result == HasReturnvaluesIF::RETURN_OK) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO pulled low successfully for loopback test" << std::endl;
}
result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
if(result == HasReturnvaluesIF::RETURN_OK and gpioState == 0) {
sif::info << "LibgpiodTest::performOneShotAction: "
"GPIO state read successfully and is low" << std::endl;
}
else {
sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not low!"
<< std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}