mock_robot_server.hpp

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// Copyright 2025 ICUBE Laboratory, University of Strasbourg
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Thibault Poignonec (thibault.poignonec@gmail.fr)
 
 
#ifndef STAUBLI_ROBOT_DRIVER__MOCK_ROBOT_SERVER_HPP_
#define STAUBLI_ROBOT_DRIVER__MOCK_ROBOT_SERVER_HPP_
 
// C++
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <memory>
#include <mutex>
#include <string>
#include <vector>
 
// Staubli Robot Driver
#include "staubli_robot_driver/communication/messages.hpp"
#include "staubli_robot_driver/real_time_socket_interface.hpp"
#include "staubli_robot_driver/communication/socket.hpp"
#include "rclcpp/rclcpp.hpp"
 
namespace staubli_robot_driver {
 
class MockRobotServer {
public:
    struct NetworkConfig {
        std::string robot_ip = "";
        uint16_t control_port = DEFAULT_CONTROL_PORT;
        uint16_t local_control_port = DEFAULT_CONTROL_PORT;
        uint16_t diagnostics_port = DEFAULT_DIAGNOSTICS_PORT;
        uint16_t local_diagnostics_port = DEFAULT_DIAGNOSTICS_PORT;
    };
 
public:
    MockRobotServer();
 
    ~MockRobotServer();
 
 
    bool init(const NetworkConfig& config);
 
    bool is_ready() const;
 
    bool disconnect();
 
    bool send_mock_robot_state(const RobotStateMessage& state);
 
    bool send_mock_diagnostic_data(const DiagnosticDataMessage& data);
 
    bool get_last_received_command(RobotCommandMessage& command, MessageStatus& status);
 
private:
    // Logger
    rclcpp::Logger logger_;
 
    // Sockets
    NetworkConfig network_config_;
    std::shared_ptr<Socket> control_socket_;
    std::shared_ptr<Socket> diagnostics_socket_;
 
    // Communication interfaces
    std::shared_ptr<
        RealTimeSocketInterface<RobotCommandMessage, RobotStateMessage>> control_interface_;
};
 
}  // namespace staubli_robot_driver
 
#endif  // STAUBLI_ROBOT_DRIVER__MOCK_ROBOT_SERVER_HPP_