bpx handler now working

linux/boardtest/I2cTestClass.cpp

@@ -1,5 +1,100 @@
-#include <linux/boardtest/I2cTestClass.h>
+#include "I2cTestClass.h"
+#include <fsfw_hal/linux/UnixFileGuard.h>
+#include "fsfw/serviceinterface.h"
+#include "fsfw/globalfunctions/arrayprinter.h"
 
-I2cTestClass::I2cTestClass(object_id_t objectId) : TestTask(objectId) {}
+#include <sys/ioctl.h>
+#include <errno.h>
+#include <linux/i2c-dev.h>
 
-ReturnValue_t I2cTestClass::performPeriodicAction() { return HasReturnvaluesIF::RETURN_OK; }
+I2cTestClass::I2cTestClass(object_id_t objectId, std::string i2cdev)
+  : TestTask(objectId), i2cdev(i2cdev) {
+  mode = TestModes::BPX_BATTERY;
+}
+
+ReturnValue_t I2cTestClass::initialize() {
+  if(mode == TestModes::BPX_BATTERY) {
+    battInit();
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cTestClass::performPeriodicAction() {
+  if(mode == TestModes::BPX_BATTERY) {
+    battPeriodic();
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void I2cTestClass::battInit() {
+  sif::info << "I2cTestClass: BPX Initialization" << std::endl;
+  UnixFileGuard fileHelper(i2cdev, &bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Opening I2C device" << i2cdev << " failed" << std::endl;
+    return;
+  }
+  if(ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
+    sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
+  }
+  cmdBuf[0] = BpxBattery::PORT_PING;
+  cmdBuf[1] = 0x42;
+  sendLen = 2;
+  ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
+  if(result != HasReturnvaluesIF::RETURN_OK) {
+    return;
+  }
+  // Receive back port, error byte and ping reply
+  recvLen = 3;
+  result = i2cRead(bpxInfo.fd, replyBuf.data(), recvLen);
+  if(result != HasReturnvaluesIF::RETURN_OK) {
+    return;
+  }
+  sif::info << "Ping reply:" << std::endl;
+  arrayprinter::print(replyBuf.data(), recvLen);
+  if(replyBuf[2] != 0x42) {
+    sif::warning << "Received ping reply not expected value 0x42" << std::endl;
+  }
+}
+
+void I2cTestClass::battPeriodic() {
+  UnixFileGuard fileHelper(i2cdev, &bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Opening I2C device" << i2cdev << " failed" << std::endl;
+    return;
+  }
+  if(ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
+    sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
+  }
+  cmdBuf[0] = BpxBattery::PORT_GET_HK;
+  sendLen = 1;
+  ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
+  if(result != HasReturnvaluesIF::RETURN_OK) {
+    return;
+  }
+  // Receive back HK set
+  recvLen = 23;
+  result = i2cRead(bpxInfo.fd, replyBuf.data(), recvLen);
+  if(result != HasReturnvaluesIF::RETURN_OK) {
+    return;
+  }
+  sif::info << "HK reply:" << std::endl;
+  arrayprinter::print(replyBuf.data(), recvLen);
+}
+
+ReturnValue_t I2cTestClass::i2cWrite(int fd, uint8_t* data, size_t len) {
+  if (write(fd, data, len) != static_cast<ssize_t>(len)) {
+    sif::error << "Failed to write to I2C bus" << std::endl;
+    sif::error << "Error " << errno << ": " << strerror(errno) << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cTestClass::i2cRead(int fd, uint8_t* data, size_t len) {
+  if( read (fd, data, len) != static_cast<ssize_t>(len)) {
+    sif::error << "Failed to read from I2C bus" << std::endl;
+    sif::error << "Error " << errno << ": " << strerror(errno) << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}