fixed broken mock master

ethercat_master/ethercat_master_mock/include/ethercat_master/ec_master_mock.hpp

@@ -37,7 +37,7 @@ class MockMaster : public ethercat_interface::EcMaster
 
   bool init(std::string master_interface = "0");
 
-  bool add_slave(ethercat_interface::EcSlave * slave);
+  bool add_slave(std::shared_ptr<ethercat_interface::EcSlave> slave);
 
   bool configure_slaves();
 

ethercat_master/ethercat_master_mock/include/ethercat_master/ec_slave_mock.hpp

@@ -21,6 +21,7 @@
 #include <vector>
 #include <unordered_map>
 #include <string>
+#include <memory>
 
 #include "ethercat_interface/ec_sdo_manager.hpp"
 #include "ethercat_interface/ec_slave.hpp"
@@ -31,33 +32,30 @@ namespace ethercat_master
 class MockSlave
 {
 public:
-  explicit MockSlave(ethercat_interface::EcSlave * slave);
+  explicit MockSlave(std::shared_ptr<ethercat_interface::EcSlave> slave);
   ~MockSlave();
   /** read or write data to the domain */
-  int process_data(size_t index, uint8_t * domain_address);
+  int process_data(size_t pdo_mapping_index, size_t pdo_channel_index, uint8_t * domain_address);
   bool initialized();
   void set_state_is_operational(bool value);
   /** Assign activate DC synchronization. return activate word*/
   int dc_sync();
 
-  bool setupSlave(
-    std::unordered_map<std::string, std::string> slave_paramters,
-    std::vector<double> * state_interface,
-    std::vector<double> * command_interface);
+  uint32_t get_vendor_id();
+  uint32_t get_product_id();
+  int get_bus_position();
 
-  uint32_t vendor_id;
-  uint32_t product_id;
-  int bus_position;
-  int bus_alias;
+  ethercat_interface::pdo_config_t get_pdo_config();
+  ethercat_interface::sm_config_t get_sm_config();
+  ethercat_interface::sdo_config_t get_sdo_config();
 
   std::vector<ethercat_interface::SdoConfigEntry> sdo_config;
 
 protected:
-  ethercat_interface::EcSlave * slave_;
-  std::vector<double> * state_interface_ptr_;
-  std::vector<double> * command_interface_ptr_;
-  std::unordered_map<std::string, std::string> paramters_;
-  bool is_operational_ = false;
+  std::shared_ptr<ethercat_interface::EcSlave> slave_;
+  int bus_position_;
+
+  bool setup_slave();
 };
 }  // namespace ethercat_master
 #endif  // ETHERCAT_MASTER__EC_SLAVE_MOCK_HPP_

ethercat_master/ethercat_master_mock/src/ec_master_mock.cpp

@@ -33,11 +33,11 @@ bool MockMaster::init(std::string master_interface)
   return true;
 }
 
-bool MockMaster::add_slave(ethercat_interface::EcSlave * slave)
+bool MockMaster::add_slave(std::shared_ptr<ethercat_interface::EcSlave> slave)
 {
   // configure slave in master
-  auto mock_slave_ptr = std::make_shared<MockSlave>(slave);
-  slave_list_.push_back(mock_slave_ptr);
+  slave_list_.emplace_back();
+  slave_list_.back() = std::make_shared<MockSlave>(slave);
   return true;
 }
 

ethercat_master/ethercat_master_mock/src/ec_slave_mock.cpp

@@ -18,21 +18,21 @@
 
 namespace ethercat_master
 {
-MockSlave::MockSlave(ethercat_interface::EcSlave * slave)
+MockSlave::MockSlave(std::shared_ptr<ethercat_interface::EcSlave> slave)
 {
   slave_ = slave;
-  vendor_id = slave->vendor_id;
-  product_id = slave->product_id;
-  sdo_config = slave->sdo_config;
+  setup_slave();
 }
 
 MockSlave::~MockSlave()
 {
 }
 
-int MockSlave::process_data(size_t index, uint8_t * domain_address)
+int MockSlave::process_data(
+  size_t pdo_mapping_index, size_t pdo_channel_index, uint8_t * domain_address)
 {
-  return slave_->process_data(index, domain_address);
+  slave_->process_data(pdo_mapping_index, pdo_channel_index, domain_address);
+  return 0;
 }
 
 bool MockSlave::initialized()
@@ -42,24 +42,21 @@ bool MockSlave::initialized()
 
 void MockSlave::set_state_is_operational(bool value)
 {
-  is_operational_ = value;
+  slave_->set_state_is_operational(value);
 }
 
 int MockSlave::dc_sync()
 {
   return slave_->dc_sync();
 }
 
-bool MockSlave::setupSlave(
-  std::unordered_map<std::string, std::string> slave_paramters,
-  std::vector<double> * state_interface,
-  std::vector<double> * command_interface)
+bool MockSlave::setup_slave()
 {
-  state_interface_ptr_ = state_interface;
-  command_interface_ptr_ = command_interface;
-  paramters_ = slave_paramters;
-  bus_position = std::stoi(slave_paramters["position"]);
-  bus_alias = std::stoi(slave_paramters["alias"]);
+  if (slave_->get_slave_parameters().find("position") != slave_->get_slave_parameters().end()) {
+    bus_position_ = std::stoi(slave_->get_slave_parameters()["position"]);
+  } else {
+    bus_position_ = 0;
+  }
   return true;
 }
 }  // namespace ethercat_master