forked from Archive/PX4-Autopilot
141 lines
4.7 KiB
C++
141 lines
4.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015 Mark Charlebois. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef _uORBCommunicatorMock_hpp_
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#define _uORBCommunicatorMock_hpp_
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#include "uORB/uORBCommunicator.hpp"
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#include "uORBGtestTopics.hpp"
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#include <map>
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#include <string>
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#include <set>
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namespace uORB_test
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{
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class uORBCommunicatorMock;
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}
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class uORB_test::uORBCommunicatorMock : public uORBCommunicator::IChannel
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{
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public:
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//counters to track how many times the iterface is called from
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// uorb.
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typedef struct
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{
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int64_t _add_subscriptionCount;
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int64_t _remove_subscriptionCount;
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int64_t _send_messageCount;
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}InterfaceCounters;
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uORBCommunicatorMock();
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/**
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* @brief Interface to notify the remote entity of interest of a
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* subscription for a message.
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*
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* @param messageName
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* This represents the uORB message name; This message name should be
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* globally unique.
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* @param msgRate
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* The max rate at which the subscriber can accept the messages.
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* @return
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* 0 = success; This means the messages is successfully sent to the receiver
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* Note: This does not mean that the receiver as received it.
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* otherwise = failure.
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*/
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virtual int16_t add_subscription( const char *messageName, int32_t msgRateInHz );
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/**
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* @brief Interface to notify the remote entity of removal of a subscription
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*
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* @param messageName
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* This represents the uORB message name; This message name should be
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* globally unique.
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* @return
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* 0 = success; This means the messages is successfully sent to the receiver
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* Note: This does not necessarily mean that the receiver as received it.
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* otherwise = failure.
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*/
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virtual int16_t remove_subscription( const char * messageName );
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/**
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* Register Message Handler. This is internal for the IChannel implementer*
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*/
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virtual int16_t register_handler( uORBCommunicator::IChannelRxHandler* handler );
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/**
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* @brief Sends the data message over the communication link.
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* @param messageName
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* This represents the uORB message name; This message name should be
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* globally unique.
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* @param length
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* The length of the data buffer to be sent.
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* @param data
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* The actual data to be sent.
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* @return
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* 0 = success; This means the messages is successfully sent to the receiver
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* Note: This does not mean that the receiver as received it.
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* otherwise = failure.
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*/
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virtual int16_t send_message( const char * messageName, int32_t length, uint8_t* data);
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uORBCommunicator::IChannelRxHandler* get_rx_handler()
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{
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return _rx_handler;
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}
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bool get_remote_topicA_data( struct orb_topic_A* data );
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bool get_remote_topicB_data( struct orb_topic_B* data );
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void reset_counters();
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InterfaceCounters get_interface_counters( const char * messageName );
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private:
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uORBCommunicator::IChannelRxHandler* _rx_handler;
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int _sub_topicA_copy_fd;
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int _sub_topicB_copy_fd;
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std::map<std::string, std::string> _topic_translation_map;
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struct orb_topic_A _topicAData;
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struct orb_topic_B _topicBData;
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std::map<std::string, InterfaceCounters> _msgCounters;
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};
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#endif /* _uORBCommunicatorMock_test_hpp_ */
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