rocket-code-2020/src/IO/TestingInterface.cpp at 31e9426f6f039f99679f63f901d17f6ec5727a21 · uorocketry/rocket-code-2020 · GitHub

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#include "config.h"
#include <spdlog/spdlog.h>
#if TESTING == 1

#include "TestingInterface.h"

TestingInterface::TestingInterface()
{
    logger = spdlog::default_logger();
}

TestingInterface::~TestingInterface() = default;

void TestingInterface::initialize()
{
    SPDLOG_LOGGER_INFO(logger, "Initializing TESTING...");
    testingSensors.initialize();

    initializeOutputs();
}

void TestingInterface::initializeOutputs()
{
#if USE_LOGGER == 1
    SPDLOG_LOGGER_INFO(logger, "Initializing LOGGER...");
    sensorLogger.initialize();
#endif
#if USE_RADIO == 1
    SPDLOG_LOGGER_INFO(logger, "Initializing RADIO...");
    radio.initialize();
#endif
}

bool TestingInterface::updateInputs()
{
    latestState = std::make_shared<StateData>(testingSensors.getLatest());

    return true;
}

bool TestingInterface::updateOutputs(std::shared_ptr<StateData> data)
{
#if USE_LOGGER == 1
    if (latestState->outOfData)
    {
        if (!sensorLogger.queueEmpty())
        {
            // Wait for logger to finish
            return false;
        }

        exit(EXIT_SUCCESS);
    }

    sensorLogger.enqueueSensorData(*data);
#endif

#if USE_RADIO == 1
    radio.enqueueSensorData(*data);
#endif

    return true;
}

#if USE_GPIO == 1
void TestingInterface::createNewGpioOutput(std::string name, int pinNbr)
{
    return; // don't do anything for now
}
void TestingInterface::createNewGpioPwmOutput(std::string name, int pinNbr, int safePosition, bool softpwm)
{
    return; // don't do anything for now
}
void TestingInterface::createNewGpioDCMotorOutput(std::string name, int pinForward, int pinReverse, int motorPower,
                                                  int limitSwitchMinPin, int limitSwitchMaxPin, int potentiometerPin)
{
    return; // don't do anything for now
}
#endif

void TestingInterface::calibrateTelemetry()
{
}

std::shared_ptr<StateData> TestingInterface::getLatest()
{
    return latestState;
}

time_point TestingInterface::getCurrentTime()
{
    if (latestState != nullptr)
    {
        return time_point(std::chrono::duration_cast<time_point::duration>(duration_ns(latestState->timeStamp)));
    }
    else
    {
        return time_point(std::chrono::duration_cast<time_point::duration>(duration_ns(0)));
    }
}

#if USE_LOGGER == 1
void TestingInterface::restartLogger()
{
    return; // don't do anything for now
}
#endif

#endif