px4_autopilot/unittests/uorb_unittests/uORBCommunicatorMock.cpp

//=============================================================================
// File: uORB_test.cpp
//
//  @@-COPYRIGHT-START-@@
//
// Copyright 2014 Qualcomm Technologies, Inc. All rights reserved.
// Confidential & Proprietary - Qualcomm Technologies, Inc. ("QTI")
//
// The party receiving this software directly from QTI (the "Recipient")
// may use this software as reasonably necessary solely for the purposes
// set forth in the agreement between the Recipient and QTI (the
// "Agreement"). The software may be used in source code form solely by
// the Recipient's employees (if any) authorized by the Agreement. Unless
// expressly authorized in the Agreement, the Recipient may not sublicense,
// assign, transfer or otherwise provide the source code to any third
// party. Qualcomm Technologies, Inc. retains all ownership rights in and
// to the software
//
// This notice supersedes any other QTI notices contained within the software
// except copyright notices indicating different years of publication for
// different portions of the software. This notice does not supersede the
// application of any third party copyright notice to that third party's
// code.
//
//  @@-COPYRIGHT-END-@@
//
//=============================================================================

#include "uORBCommunicatorMock.hpp"
#include "uORB/uORB.h"
#include "uORBGtestTopics.hpp"
#include "px4_log.h"
#include <string.h>
#include "uORBManager.hpp"

#define LOG_TAG "uORBCommunicatorMock.cpp"

uORB_test::uORBCommunicatorMock::uORBCommunicatorMock()
: _rx_handler( nullptr )
{
/*
  _sub_topicA_copy_fd = orb_subscribe( ORB_ID( topicA_copy ), (void*)&_sub_semaphore );
  _sub_topicB_copy_fd = orb_subscribe( ORB_ID( topicB_copy), nullptr );
*/
  _topic_translation_map[ "topicA" ] = "topicA_copy";
  _topic_translation_map[ "topicB" ] = "topicB_copy";
  _topic_translation_map[ "topicA_copy" ] = "topicA";
  _topic_translation_map[ "topicB_copy" ] = "topicB";
}

int16_t uORB_test::uORBCommunicatorMock::add_subscription
(
    const char * messageName,
    int32_t msgRateInHz
)
{

  int16_t rc = 0;
  PX4_INFO( "got add_subscription for msg[%s] rate[%d]", messageName, msgRateInHz );
  _msgCounters[messageName]._add_subscriptionCount++;

  /*
  int16_t rc = -1;
  if( _rx_handler )
  {
    if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
    {
       rc = _rx_handler->process_add_subscription
           (
              _topic_translation_map[messageName],
              msgRateInHz
           );
    }
  }
  */
  return rc;
}

int16_t uORB_test::uORBCommunicatorMock::remove_subscription
(
    const char * messageName
)
{
  int16_t rc = 0;
  PX4_INFO( "got remove_subscription for msg[%s]", messageName );
  _msgCounters[messageName]._remove_subscriptionCount++;
/*
  int16_t rc = -1;
  if( _rx_handler )
  {
    if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
    {
       rc = _rx_handler->process_remove_subscription
           (
              _topic_translation_map[messageName]
           );
    }
  }
*/
  return rc;
}

int16_t uORB_test::uORBCommunicatorMock::register_handler
(
    uORBCommunicator::IChannelRxHandler* handler
)
{
  int16_t rc = 0;
  _rx_handler = handler;
  return rc;
}


int16_t uORB_test::uORBCommunicatorMock::send_message
(
    const char * messageName,
    int32_t length,
    uint8_t* data
)
{
  int16_t rc = 0;
  PX4_INFO( "send_message for msg[%s] datalen[%d]", messageName, length );
  if( uORB::Manager::get_instance()->is_remote_subscriber_present( messageName ) )
  {
    _msgCounters[messageName]._send_messageCount++;
    if( strcmp(messageName, "topicA") == 0 )
    {
      memcpy( &_topicAData, (void*)data, length );
    }
    else if( strcmp(messageName, "topicB") == 0 )
    {
      memcpy( &_topicBData, (void*)data, length );
    }
    else
    {
      //EPRINTF( "error messageName[%s] is not supported", messageName );
    }
  }
/*
  int16_t rc = -1;
  if( _rx_handler )
  {
    if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
    {
      rc = _rx_handler->process_received_message
          ( _topic_translation_map[messageName], length, data );
    }
  }
*/
  return rc;
}


bool uORB_test::uORBCommunicatorMock::get_remote_topicA_data
(
    struct orb_topic_A* data
)
{
  bool rc = false;
  memcpy( data, &_topicAData, sizeof(_topicAData) );
  rc = true;
/*
  if( orb_copy(ORB_ID(topicA_copy), _sub_topicA_copy_fd, data) == OK )
  {
    rc = true;
  }
*/
  return rc;
}

bool uORB_test::uORBCommunicatorMock::get_remote_topicB_data
(
    struct orb_topic_B* data
)
{
  bool rc = false;
  memcpy( data, &_topicBData, sizeof(_topicBData) );
  rc = true;
/*

  if( orb_copy(ORB_ID(topicB_copy), _sub_topicB_copy_fd, data) == OK )
  {
    rc = true;
  }
*/
  return rc;
}

void uORB_test::uORBCommunicatorMock::reset_counters()
{
  InterfaceCounters resetCounter;
  resetCounter._add_subscriptionCount = 0;
  resetCounter._remove_subscriptionCount = 0;
  resetCounter._send_messageCount = 0;

  std::map<std::string, InterfaceCounters>::iterator it;
  for( it = _msgCounters.begin(); it != _msgCounters.end(); ++it )
  {
    it->second = resetCounter;
  }
}

uORB_test::uORBCommunicatorMock::InterfaceCounters uORB_test::uORBCommunicatorMock::get_interface_counters(const char * messageName )
{
  return _msgCounters[ messageName ];
}