MockState.hpp

// Authors: see AUTHORS.md at project root.
// CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
// URL: https://github.com/asrob-uc3m/robotDevastation
 
#ifndef __RD_MOCK_STATE_HPP__
#define __RD_MOCK_STATE_HPP__
 
#include <yarp/os/PortReader.h>
#include <yarp/os/RpcServer.h>
#include <yarp/os/ConnectionReader.h>
 
#include "State.hpp"
 
namespace rd{
 
class MockState : public State, public yarp::os::PortReader, public yarp::os::RpcServer
{
    public:
        MockState(int id);
        virtual ~MockState();
 
        virtual bool setup();
 
        virtual bool loop();
 
        virtual bool cleanup();
 
        virtual int evaluateConditions();
 
        virtual bool read(yarp::os::ConnectionReader & connection);
 
        static const int STATE_INITIAL;
 
        static const int STATE_SETUP;
 
        static const int STATE_LOOP;
 
        static const int STATE_CLEANUP;
 
        static const int REQUEST_STATE;
 
    private:
        int id;
        int internal_variable;
 
        int state_history;
};
 
 
}
#endif // __RD_MOCK_STATE_HPP__