px4_autopilot/unittests/uorb_unittests/uORBCommunicatorMockLoopback.hpp

/****************************************************************************
 *
 * Copyright (c) 2015 Mark Charlebois. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
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 * 2. Redistributions in binary form must reproduce the above copyright
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 *    distribution.
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 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef _uORBCommunicatorMockLoopback_hpp_
#define _uORBCommunicatorMockLoopback_hpp_

#include "uORB/uORBCommunicator.hpp"
#include "uORBGtestTopics.hpp"
#include <map>
#include <string>
#include <set>

namespace uORB_test
{
   class uORBCommunicatorMockLoopback;
}

class uORB_test::uORBCommunicatorMockLoopback : public uORBCommunicator::IChannel
{
 public:

  uORBCommunicatorMockLoopback();

  /**
   * @brief Interface to notify the remote entity of interest of a
   * subscription for a message.
   *
   * @param messageName
   *  This represents the uORB message name; This message name should be
   *  globally unique.
   * @param msgRate
   *  The max rate at which the subscriber can accept the messages.
   * @return
   *  0 = success; This means the messages is successfully sent to the receiver
   *    Note: This does not mean that the receiver as received it.
   *  otherwise = failure.
   */
  virtual int16_t add_subscription( const char * messageName, int32_t msgRateInHz );


  /**
   * @brief Interface to notify the remote entity of removal of a subscription
   *
   * @param messageName
   *  This represents the uORB message name; This message name should be
   *  globally unique.
   * @return
   *  0 = success; This means the messages is successfully sent to the receiver
   *    Note: This does not necessarily mean that the receiver as received it.
   *  otherwise = failure.
   */
  virtual int16_t remove_subscription( const char * messageName );

  /**
   * Register Message Handler.  This is internal for the IChannel implementer*
   */
  virtual int16_t register_handler( uORBCommunicator::IChannelRxHandler* handler );


  /**
   * @brief Sends the data message over the communication link.
   * @param messageName
   *  This represents the uORB message name; This message name should be
   *  globally unique.
   * @param length
   *  The length of the data buffer to be sent.
   * @param data
   *  The actual data to be sent.
   * @return
   *  0 = success; This means the messages is successfully sent to the receiver
   *    Note: This does not mean that the receiver as received it.
   *  otherwise = failure.
   */
  virtual int16_t send_message( const char * messageName, int32_t length, uint8_t* data);

  uORBCommunicator::IChannelRxHandler* get_rx_handler()
  {
    return _rx_handler;
  }

/*
  bool get_remote_topicA_data( struct orb_topic_A* data );
  bool get_remote_topicB_data( struct orb_topic_B* data );
*/


 private:
  uORBCommunicator::IChannelRxHandler* _rx_handler;
/*
  int _sub_topicA_clone_fd;
  int _sub_topicB_clone_fd;
  pal::Semaphore _sub_semaphore;
*/

  std::map<std::string, std::string> _topic_translation_map;

/*
  struct orb_topic_A _topicAData;
  struct orb_topic_B _topicBData;
*/
};

#endif /* _uORBCommunicatorMockLoopback_hpp_ */