Test apa102

panther_lights/include/panther_lights/apa102.hpp

@@ -15,6 +15,11 @@
 #ifndef PANTHER_LIGHTS_APA102_HPP_
 #define PANTHER_LIGHTS_APA102_HPP_
 
+#include <fcntl.h>
+#include <linux/spi/spidev.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
 #include <cstdint>
 #include <memory>
 #include <string>
@@ -23,6 +28,50 @@
 namespace panther_lights
 {
 
+class SPIDeviceInterface
+{
+public:
+  virtual ~SPIDeviceInterface() = default;
+
+  /**
+   * @brief Open SPI device
+   *
+   * @param device Name of the device
+   */
+  virtual int Open(const std::string & device) = 0;
+
+  /**
+   * @brief Perform an I/O control operation on the device
+   *
+   * @param fd File descriptor
+   * @param request Request code
+   * @param arg Argument
+   */
+  virtual int IOControl(int fd, unsigned long request, const void * arg) = 0;
+
+  /**
+   * @brief Close the device
+   *
+   * @param fd File descriptor
+   */
+  virtual int Close(int fd) = 0;
+
+  using SharedPtr = std::shared_ptr<SPIDeviceInterface>;
+};
+
+class SPIDevice : public SPIDeviceInterface
+{
+public:
+  int Open(const std::string & device) override { return ::open(device.c_str(), O_WRONLY); }
+
+  int IOControl(int fd, unsigned long request, const void * arg) override
+  {
+    return ::ioctl(fd, request, arg);
+  }
+
+  int Close(int fd) override { return ::close(fd); }
+};
+
 class APA102Interface
 {
 public:
@@ -40,12 +89,18 @@ class APA102Interface
  *
  * This class provides methods to control the APA102 LED panel, including setting the global
  * brightness, setting the LED panel based on a given frame.
+ *
+ * @param spi_device SPI Device object
+ * @param device_name name of the device
+ * @param speed Speed of the SPI communication
+ * @param cs_high Chip select high flag
  */
 class APA102 : public APA102Interface
 {
 public:
   APA102(
-    const std::string & device, const std::uint32_t speed = 800000, const bool cs_high = false);
+    SPIDeviceInterface::SharedPtr spi_device, const std::string & device_name,
+    const std::uint32_t speed = 800000, const bool cs_high = false);
   ~APA102();
 
   /**
@@ -104,9 +159,10 @@ class APA102 : public APA102Interface
   static constexpr std::uint16_t kCorrGreen = 200;
   static constexpr std::uint16_t kCorrBlue = 62;
 
-  const int fd_;
-  const std::string device_;
+  SPIDeviceInterface::SharedPtr spi_device_;
+  const std::string device_name_;
   const std::uint32_t speed_;
+  const int file_descriptor_;
 };
 
 }  // namespace panther_lights

panther_lights/src/apa102.cpp

@@ -14,11 +14,6 @@
 
 #include "panther_lights/apa102.hpp"
 
-#include <fcntl.h>
-#include <linux/spi/spidev.h>
-#include <sys/ioctl.h>
-#include <unistd.h>
-
 #include <cmath>
 #include <cstdint>
 #include <cstring>
@@ -30,44 +25,49 @@
 namespace panther_lights
 {
 
-APA102::APA102(const std::string & device, const std::uint32_t speed, const bool cs_high)
-: fd_(open(device.c_str(), O_WRONLY)), device_(device), speed_(speed)
+APA102::APA102(
+  SPIDeviceInterface::SharedPtr spi_device, const std::string & device_name,
+  const std::uint32_t speed, const bool cs_high)
+: spi_device_(spi_device),
+  device_name_(device_name),
+  speed_(speed),
+  file_descriptor_(spi_device->Open(device_name))
 {
-  if (fd_ < 0) {
-    throw std::ios_base::failure("Failed to open " + device_ + ".");
+  if (file_descriptor_ < 0) {
+    throw std::ios_base::failure("Failed to open " + device_name_ + ".");
   }
 
   static std::uint8_t mode = cs_high ? SPI_MODE_3 : SPI_MODE_3 | SPI_CS_HIGH;
-  if (ioctl(fd_, SPI_IOC_WR_MODE32, &mode) == -1) {
-    close(fd_);
-    throw std::ios_base::failure("Failed to set mode for " + device_ + ".");
+  if (spi_device_->IOControl(file_descriptor_, SPI_IOC_WR_MODE32, &mode) == -1) {
+    spi_device_->Close(file_descriptor_);
+    throw std::ios_base::failure("Failed to set mode for " + device_name_ + ".");
   }
 
-  if (ioctl(fd_, SPI_IOC_WR_BITS_PER_WORD, &kBits) == -1) {
-    close(fd_);
-    throw std::ios_base::failure("Can't set bits per word for " + device_ + ".");
+  if (spi_device_->IOControl(file_descriptor_, SPI_IOC_WR_BITS_PER_WORD, &kBits) == -1) {
+    spi_device_->Close(file_descriptor_);
+    throw std::ios_base::failure("Can't set bits per word for " + device_name_ + ".");
   }
 
-  if (ioctl(fd_, SPI_IOC_WR_MAX_SPEED_HZ, &speed_) == -1) {
-    close(fd_);
-    throw std::ios_base::failure("Can't set speed for " + device_ + ".");
+  if (spi_device_->IOControl(file_descriptor_, SPI_IOC_WR_MAX_SPEED_HZ, &speed_) == -1) {
+    spi_device_->Close(file_descriptor_);
+    throw std::ios_base::failure("Can't set speed for " + device_name_ + ".");
   }
 }
 
-APA102::~APA102() { close(fd_); }
+APA102::~APA102() { spi_device_->Close(file_descriptor_); }
 
 void APA102::SetGlobalBrightness(const float brightness)
 {
   if (brightness < 0.0f || brightness > 1.0f) {
-    throw std::out_of_range("Brightness out of range <0.0,1.0>.");
+    throw std::out_of_range("Brightness out of range [0.0, 1.0].");
   }
   SetGlobalBrightness(std::uint8_t(ceil(brightness * 31.0f)));
 }
 
 void APA102::SetGlobalBrightness(const std::uint8_t brightness)
 {
   if (brightness > 31) {
-    throw std::out_of_range("Brightness out of range <0,31>.");
+    throw std::out_of_range("Brightness out of range [0, 31].");
   }
   global_brightness_ = std::uint16_t(brightness);
 }
@@ -119,10 +119,10 @@ void APA102::SPISendBuffer(const std::vector<std::uint8_t> & buffer) const
   tr.delay_usecs = 0;
   tr.bits_per_word = kBits;
 
-  const int ret = ioctl(fd_, SPI_IOC_MESSAGE(1), &tr);
+  const int ret = spi_device_->IOControl(file_descriptor_, SPI_IOC_MESSAGE(1), &tr);
 
   if (ret < 1) {
-    throw std::ios_base::failure("Failed to send data over SPI " + device_ + ".");
+    throw std::ios_base::failure("Failed to send data over SPI " + device_name_ + ".");
   }
 }
 

panther_lights/src/lights_driver_node.cpp

@@ -44,8 +44,8 @@ LightsDriverNode::LightsDriverNode(const rclcpp::NodeOptions & options)
   led_control_granted_(false),
   led_control_pending_(false),
   initialization_attempt_(0),
-  channel_1_(std::make_shared<APA102>("/dev/spiled-channel1")),
-  channel_2_(std::make_shared<APA102>("/dev/spiled-channel2")),
+  channel_1_(std::make_shared<APA102>(std::make_shared<SPIDevice>(), "/dev/spiled-channel1")),
+  channel_2_(std::make_shared<APA102>(std::make_shared<SPIDevice>(), "/dev/spiled-channel2")),
   diagnostic_updater_(this)
 {
   RCLCPP_INFO(this->get_logger(), "Constructing node.");