canopen_chain_node_mock.h

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/*
 * Copyright (c) 2019 Pilz GmbH & Co. KG
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser 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 Lesser General Public License for more details.

 * You should have received a copy of the GNU Lesser General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef PRBT_HARDWARE_SUPPORT_CANOPEN_CHAIN_NODE_MOCK_H
#define PRBT_HARDWARE_SUPPORT_CANOPEN_CHAIN_NODE_MOCK_H

#include <gtest/gtest.h>
#include <gmock/gmock.h>

#include <ros/ros.h>
#include <canopen_chain_node/GetObject.h>
#include <canopen_chain_node/SetObject.h>

namespace prbt_hardware_support
{
class CANOpenChainNodeMock
{
public:
  CANOpenChainNodeMock();

  void setDefaultActions();

  void expectAnything();

  void shutdown();

  void shutdownSetService();
  void shutdownGetService();

public:
  MOCK_METHOD2(get_obj, bool(canopen_chain_node::GetObjectRequest&, canopen_chain_node::GetObjectResponse&));
  MOCK_METHOD2(set_obj, bool(canopen_chain_node::SetObjectRequest&, canopen_chain_node::SetObjectResponse&));

private:
  ros::NodeHandle nh_;
  ros::ServiceServer get_obj_serv_;
  ros::ServiceServer set_obj_serv_;
};

}  // namespace prbt_hardware_support

#endif