128 lines
4.4 KiB
C++
128 lines
4.4 KiB
C++
#include "LibgpiodTest.h"
|
|
|
|
#include <fsfw/objectmanager/ObjectManager.h>
|
|
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
|
#include <fsfw/tasks/TaskFactory.h>
|
|
|
|
#include "devices/gpioIds.h"
|
|
|
|
LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie)
|
|
: TestTask(objectId) {
|
|
gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioIfobjectId);
|
|
if (gpioInterface == nullptr) {
|
|
sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
|
|
}
|
|
gpioInterface->addGpios(gpioCookie);
|
|
testCase = TestCases::BLINK;
|
|
}
|
|
|
|
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) {
|
|
sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
|
|
return RETURN_FAILED;
|
|
} else {
|
|
sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState
|
|
<< std::endl;
|
|
}
|
|
break;
|
|
}
|
|
case (TestCases::LOOPBACK): {
|
|
break;
|
|
}
|
|
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;
|
|
}
|
|
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t LibgpiodTest::performOneShotAction() {
|
|
int gpioState;
|
|
ReturnValue_t result;
|
|
|
|
switch (testCase) {
|
|
case (TestCases::READ): {
|
|
break;
|
|
}
|
|
case (TestCases::BLINK): {
|
|
break;
|
|
}
|
|
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;
|
|
}
|