TestStream.hpp

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#ifndef IODRIVERS_BASE_HPP
#define IODRIVERS_BASE_HPP

#include <iodrivers_base/IOStream.hpp>
#include <vector>
#include <list>

namespace iodrivers_base
{
    class TestStream : public IOStream
    {
        std::vector<uint8_t> to_driver;
        std::vector<uint8_t> from_driver;
        std::list<std::vector<uint8_t> > expectations;
        std::list<std::vector<uint8_t> > replies;
        bool mock_mode;       

    public:
        TestStream(): mock_mode(false)
        {}
        
        void pushDataToDriver(std::vector<uint8_t> const& data);

        std::vector<uint8_t> readDataFromDriver();

        void EXPECT_REPLY(std::vector<uint8_t> const& expectation, std::vector<uint8_t> const& reply);
        void waitRead(base::Time const& timeout);
        void waitWrite(base::Time const& timeout);
        size_t read(uint8_t* buffer, size_t buffer_size);
        size_t write(uint8_t const* buffer, size_t buffer_size);
        void clear();
        bool expectationsAreEmpty();
        void setMockMode(bool mode);
        void clearExpectations();
    };
}

#endif