AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <amiroos.h>

#include <aos_test_MIC9404x.h>

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

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/* LOCAL DEFINITIONS                                                          */

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/* EXPORTED VARIABLES                                                         */

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/* LOCAL TYPES                                                                */

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/* LOCAL VARIABLES                                                            */

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/* LOCAL FUNCTIONS                                                            */

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/* EXPORTED FUNCTIONS                                                         */

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/**

 * @brief   MIC9404x test function.

 *

 * @param[in] stream  Stream for input/output.

 * @param[in] test    Test object.

 *

 * @return            Test result value.

 */

aos_testresult_t aosTestMic9404xFunc(BaseSequentialStream* stream, const aos_test_t* test)

{

  aosDbgCheck(test->data != NULL && ((aos_test_mic9404data_t*)test->data)->driver != NULL);

  // local variables

  mic9404x_lld_state_t state_orig;

  mic9404x_lld_state_t state;

  aos_testresult_t result;

  int32_t status;

  aosTestResultInit(&result);

  chprintf(stream, "reading current status...\n");

  status = mic9404x_lld_get(((aos_test_mic9404data_t*)test->data)->driver, &state_orig);

  if (status == APAL_STATUS_OK) {

    aosTestPassedMsg(stream, &result, "power %s\n", (state_orig == MIC9404x_LLD_STATE_ON) ? "enabled" : "disabled");

  } else {

    aosTestFailed(stream, &result);

  }

  state = state_orig;

  for (uint8_t i = 0; i < 2; ++i) {

    if (state == MIC9404x_LLD_STATE_ON) {

      chprintf(stream, "disabling for five seconds...\n");

      status = mic9404x_lld_set(((aos_test_mic9404data_t*)test->data)->driver, MIC9404x_LLD_STATE_OFF);

      status |= mic9404x_lld_get(((aos_test_mic9404data_t*)test->data)->driver, &state);

      if (state == MIC9404x_LLD_STATE_OFF) {

        aosThdSSleep(5);

        status |= mic9404x_lld_get(((aos_test_mic9404data_t*)test->data)->driver, &state);

      }

      if ((status == APAL_STATUS_OK) && (state == MIC9404x_LLD_STATE_OFF)) {

        aosTestPassed(stream, &result);

      } else {

        aosTestFailed(stream, &result);

        break;

      }

    } else {

      chprintf(stream, "enabling for five seconds...\n");

      status = mic9404x_lld_set(((aos_test_mic9404data_t*)test->data)->driver, MIC9404x_LLD_STATE_ON);

      status |= mic9404x_lld_get(((aos_test_mic9404data_t*)test->data)->driver, &state);

      if (state == MIC9404x_LLD_STATE_ON) {

        aosThdSSleep(5);

        status |= mic9404x_lld_get(((aos_test_mic9404data_t*)test->data)->driver, &state);

      }

      if ((status == APAL_STATUS_OK) && (state == MIC9404x_LLD_STATE_ON)) {

        aosTestPassed(stream, &result);

      } else {

        aosTestFailed(stream, &result);

        break;

      }

    }

  }

  // restore original state

  if (state != state_orig) {

    status = mic9404x_lld_set(((aos_test_mic9404data_t*)test->data)->driver, state);

    if (status != APAL_STATUS_OK) {

      chprintf(stream, "\t\tWARNING: failed to restore original status!\n");

    }

  }

  aosTestInfoMsg(stream,"driver object memory footprint: %u bytes\n", sizeof(MIC9404xDriver));

  return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */