"""
This module contains a MockLidar class, for use in place of RPLidar.
Importantly, it implements iter_scans, so it can be substituted for RPLidar
in the lidar_cache for testing (or anywhere else the rplidar may be used)
"""

import tracking.lidar_loader as loader


class MockLidar:

    def __init__(self, scan_iter=None):
        """
        Create mock lidar with an iterator that can be used as fake (or reused) scan data.

        Examples
        --------
        lidar = MockLidar(scans)
        first_scan = next(lidar.iter_scans(measurements=100))

        Parameters
        ----------

        scan_iter: Iterable
            An iterator that will generate/provide the fake/old scan data. 

        """
        self._iter = scan_iter

    def iter_scans(self, min_len=100):
        return iter(self._iter)

    def get_health(self):
        return "Mock Lidar has scans" if self._iter is not None else "Mock lidar won't work properly!"

    def get_info(self):
        return self.get_health()

    def stop(self):
        pass

    def disconnect(self):
        pass