Struct MockCanBus 

pub struct MockCanBus { /* private fields */ }

Single-process mock CAN bus.

Construct via MockCanBus::new for a self-loopback (frames you send come straight back from drain_inbound_nonblocking), or via MockCanBus::pair for an A↔B loopback (frames sent on A appear on B’s inbound and vice-versa).

Implementations

impl MockCanBus

pub fn new(name: impl Into<String>) -> Self

Classical-capability mock with self-loopback.

pub fn new_fd(name: impl Into<String>) -> Self

FD-capability mock with self-loopback — accepts and loops back FD frames so the FD send/receive path is testable without an FD-capable interface.

pub fn with_capabilities(name: impl Into<String>, caps: BusCapabilities) -> Self

Mock with explicit capabilities (tests that need FD-flagged behavior).

pub fn pair( name_a: impl Into<String>, name_b: impl Into<String>, ) -> (Self, Self)

Pair of mocks that loopback to each other (a.send(f) → b.drain sees f).

pub fn sent_frames(&self) -> Vec<CanFrame>

Snapshot of every frame this bus has transmitted via send.

pub fn recorded_calls(&self) -> Vec<MockRecordedCall>

Snapshot of the call sequence for assertion of “sends never read”.

pub fn inject_frame(&self, frame: CanFrame)

Push a frame onto this bus’s inbound queue (as if a peer wrote it).

Trait Implementations

impl CanBus for MockCanBus

fn name(&self) -> &str

Human-readable interface name ("vcan0", "can0", "mock-0").

fn capabilities(&self) -> BusCapabilities

Runtime capabilities of this bus (FD support, max payload length).

fn send(&mut self, frame: &CanFrame) -> Result<(), TransportError>

Send a single frame. Must not call read or poll internally.

fn drain_inbound_nonblocking(&mut self) -> Result<Vec<CanFrame>, TransportError>

Drain every frame currently in the receive queue and return them in arrival order. Returns Ok(vec![]) immediately if the queue is empty.

fn raw_fd(&self) -> Option<RawFd>

Pollable file descriptor for poll(2)-based multiplexing. Returns None for transports that have no single pollable fd. The robot drains those transports from memory on every crate::Robot::tick call.

impl Clone for MockCanBus

fn clone(&self) -> MockCanBus

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.