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