mock_end_effector_driver.hpp

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/*
mock_end_effector_driver.hpp
Copyright (C) 2020 Niryo
All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program.  If not, see <http:// www.gnu.org/licenses/>.
*/
 
#ifndef MOCK_END_EFFECTOR_DRIVER_HPP
#define MOCK_END_EFFECTOR_DRIVER_HPP
 
#include <cstdint>
#include <memory>
#include <vector>
#include <string>
#include <iostream>
#include <sstream>
#include <cassert>
 
#include "abstract_end_effector_driver.hpp"
#include "fake_ttl_data.hpp"
 
#include "common/model/action_type_enum.hpp"
#include "end_effector_reg.hpp"
#include "common/model/end_effector_command_type_enum.hpp"
#include "common/model/end_effector_state.hpp"
 
namespace ttl_driver
{
 
class MockEndEffectorDriver : public AbstractEndEffectorDriver
{
public:
  MockEndEffectorDriver(std::shared_ptr<FakeTtlData> data);
 
public:
  // AbstractTtlDriver interface : we cannot define them globally in AbstractTtlDriver
  // as it is needed here for polymorphism (AbstractTtlDriver cannot be a template class and does not
  // have access to reg_type). So it seems like a duplicate of StepperDriver
  std::string str() const override;
 
  int checkModelNumber(uint8_t id, uint16_t &model_number) override;
  int readFirmwareVersion(uint8_t id, std::string &version) override;
 
  int readTemperature(uint8_t id, uint8_t &temperature) override;
  int readVoltage(uint8_t id, double &_voltage) override;
  int readHwErrorStatus(uint8_t id, uint8_t &hardware_error_status) override;
 
  int syncReadFirmwareVersion(const std::vector<uint8_t> &id_list, std::vector<std::string> &firmware_list) override;
  int syncReadTemperature(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &temperature_list) override;
  int syncReadVoltage(const std::vector<uint8_t> &id_list, std::vector<double> &voltage_list) override;
  int syncReadRawVoltage(const std::vector<uint8_t> &id_list, std::vector<double> &voltage_list) override;
  int syncReadHwStatus(const std::vector<uint8_t> &id_list,
                       std::vector<std::pair<double, uint8_t> > &data_list) override;
 
  int syncReadHwErrorStatus(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &hw_error_list) override;
 
public:
  int ping(uint8_t id) override;
  int getModelNumber(uint8_t id, uint16_t &model_number) override;
  int scan(std::vector<uint8_t> &id_list) override;
  int reboot(uint8_t id) override;
 
  // AbstractEndEffectorDriver
  int readButton0Status(uint8_t id, common::model::EActionType &action) override;
  int readButton1Status(uint8_t id, common::model::EActionType &action) override;
  int readButton2Status(uint8_t id, common::model::EActionType &action) override;
  int syncReadButtonsStatus(const uint8_t &id, std::vector<common::model::EActionType> &action_list) override;
 
  int readAccelerometerXValue(uint8_t id, uint32_t &x_value) override;
  int readAccelerometerYValue(uint8_t id, uint32_t &y_value) override;
  int readAccelerometerZValue(uint8_t id, uint32_t &z_value) override;
 
  int readCollisionStatus(uint8_t id, bool &status) override;
  int writeCollisionThresh(uint8_t id, int thresh) override;
  int writeCollisionThreshAlgo2(uint8_t id, int thresh) override;
 
  int readDigitalInput(uint8_t id, bool &in) override;
  int writeDigitalInput(uint8_t id, bool in) override;
  int writeDigitalOutput(uint8_t id, bool out) override;
 
private:
  std::shared_ptr<FakeTtlData> _fake_data;
};
 
}  // namespace ttl_driver
 
#endif  // MockEndEffectorDriver