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00024 #include <gmock/gmock.h>
00025 #include "motor_driver_interface.h"
00026
00027 class MockMcdc3006s : public MotorDriverInterface {
00028 public:
00029 MOCK_METHOD0(enable_driver, int());
00030 MOCK_METHOD0(disable_driver, int());
00031 MOCK_METHOD0(get_max_pos, long int());
00032 MOCK_METHOD0(get_min_pos, long int());
00033 MOCK_METHOD0(get_max_vel, long int());
00034 MOCK_METHOD0(get_max_acc, long int());
00035 MOCK_METHOD0(get_max_dec, long int());
00036 MOCK_METHOD0(get_cur_lim, int());
00037 MOCK_METHOD0(get_peak_cur_lim, int());
00038 MOCK_METHOD0(save_to_flash, int());
00039
00040 MOCK_METHOD1(get_config, int(driverConf_t *dc));
00041 MOCK_METHOD1(get_status, int(driverStatus_t * drvStatus));
00042 MOCK_METHOD1(get_sensor, int(driverSensor_t *sensor));
00043 MOCK_METHOD1(get_instant_pos, int(long int *positon));
00044 MOCK_METHOD1(get_instant_vel, int(long int *velocity));
00045 MOCK_METHOD1(get_instant_current, int(int *current));
00046 MOCK_METHOD1(set_config, int(driverConf_t dc));
00047 MOCK_METHOD1(set_max_pos, int(long int maxPos));
00048 MOCK_METHOD1(set_min_pos, int(long int minPos));
00049 MOCK_METHOD1(set_max_vel, int(long int maxVel));
00050 MOCK_METHOD1(set_max_acc, int(long int maxAcc));
00051 MOCK_METHOD1(set_max_dec, int(long int maxDec));
00052 MOCK_METHOD1(set_cur_lim, int(int cl));
00053 MOCK_METHOD1(set_peak_cur_lim, int(int pcl));
00054 MOCK_METHOD1(set_baudrate, int(int baud));
00055 MOCK_METHOD1(move_abs_pos, int(long int pos));
00056 MOCK_METHOD1(move_rel_pos, int(long int pos));
00057 MOCK_METHOD1(move_vel, int(long int vel));
00058 MOCK_METHOD1(activate_limits, int(int action));
00059 MOCK_METHOD1(set_home_position, int(long int home));
00060 MOCK_METHOD1(calibrate, int(int limit));
00061
00062 MOCK_METHOD3(init, int(int baudrate, char *dev, char *sem));
00063 };