px4_autopilot/boards/emlid/navio2/navio_rgbled/test/test.cpp

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#include <px4_platform_common/defines.h>

#include <stdio.h>
#include <unistd.h>

#include <DevMgr.hpp>

#include <drivers/drv_rgbled.h>

#include "navio_rgbled.h"

using namespace DriverFramework;

int do_test();

int do_test()
{
	DevHandle h;
	RGBLED *g_dev = nullptr;

	if (Framework::initialize() < 0) {
		printf("Framework init failed\n");
		return -1;
	}

	g_dev = new RGBLED("navio_rgbled test");
	g_dev->start();

	DevMgr::getHandle(RGBLED0_DEVICE_PATH, h);

	if (!h.isValid()) {
		printf("No RGB LED at " RGBLED0_DEVICE_PATH);
		return -1;
	}

	printf("off\n");
	h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_OFF);
	sleep(2);

	printf("red\n");
	h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_RED);
	sleep(2);

	printf("yellow\n");
	h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_YELLOW);
	sleep(2);

	printf("purple\n");
	h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_PURPLE);
	sleep(2);

	printf("green\n");
	h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_GREEN);
	sleep(2);

	printf("blue\n");
	h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_BLUE);
	sleep(2);

	printf("blue blink slow\n");
	h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_BLINK_SLOW);
	sleep(10);

	printf("green blink normal\n");
	h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_GREEN);
	h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_BLINK_NORMAL);
	sleep(10);

	printf("red blink fast\n");
	h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_RED);
	h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_BLINK_FAST);
	sleep(10);

	printf("blue breathe (bogus)\n");
	h.ioctl(RGBLED_SET_COLOR, (unsigned long)RGBLED_COLOR_BLUE);
	h.ioctl(RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_BREATHE);
	sleep(10);

	return 0;
}