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_button.h>

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

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/* LOCAL DEFINITIONS                                                          */

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#define INTERRUPT_EVENT_ID            1

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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   Button test function.

 *

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

 * @param[in] test    Test object.

 *

 * @return            Test result value.

 */

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

{

  aosDbgCheck(test->data != NULL &&

      ((aos_test_buttondata_t*)test->data)->button != NULL &&

      ((aos_test_buttondata_t*)test->data)->evtsource != NULL);

  // local variables

  aos_testresult_t result;

  int32_t status;

  unsigned int count = 0;

  button_lld_state_t bstate;

  event_listener_t evtlistener;

  aos_timestamp_t tcurrent, tend;

  aosTestResultInit(&result);

  chprintf(stream, "test interrupts for ten seconds...\n");

  chEvtRegister(((aos_test_buttondata_t*)test->data)->evtsource, &evtlistener, INTERRUPT_EVENT_ID);

  status = APAL_STATUS_OK;

  aosSysGetUptime(&tend);

  tend += 10 * MICROSECONDS_PER_SECOND;

  do {

    const eventmask_t emask = chEvtWaitOneTimeout(EVENT_MASK(INTERRUPT_EVENT_ID), chTimeUS2I(MICROSECONDS_PER_SECOND));

    const eventflags_t eflags = chEvtGetAndClearFlags(&evtlistener);

    status |= button_lld_get(((aos_test_buttondata_t*)test->data)->button, &bstate);

    if (emask == EVENT_MASK(INTERRUPT_EVENT_ID) &&

        eflags == ((aos_test_buttondata_t*)test->data)->evtflags) {

      // a correct event was detected

      chprintf(stream, "\t\tinterrupt detected: %s\n", (bstate == BUTTON_LLD_STATE_PRESSED) ? "pressed" : "released");

      ++count;

    } else {

      // no button event was detected (usually timeout)

      chprintf(stream, "\t\twaiting for event...\n");

    }

    aosSysGetUptime(&tcurrent);

  } while (tcurrent < tend);

  chEvtUnregister(((aos_test_buttondata_t*)test->data)->evtsource, &evtlistener);

  if (status == APAL_STATUS_OK && count > 0) {

    aosTestPassedMsg(stream, &result, "%u events detected\n", count);

  } else {

    aosTestFailedMsg(stream, &result, "0x%08X; %u\n", status, count);

  }

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

  return result;

}

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