SensorData.hpp

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// Copyright (c) 2026 Yet Another Software Suite
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#pragma once
 
#include <wpi/hal/Value.h>
 
#include <functional>
#include <optional>
#include <string>
#include <utility>
#include <vector>
#include <wpi/hal/SimDevice.hpp>
 
namespace yams::motorcontrollers::simulation {
 
class SensorData {
 public:
  enum class HALValueType { kBoolean, kDouble, kEnum, kInt, kLong };
 
  // ---- Constructors -----------------------------------------------------------
 
  SensorData(std::string name, std::function<HAL_Value()> supplier, HAL_Value defaultValue,
             HALValueType type);
  SensorData(std::string name, std::function<double()> supplier, double defaultVal);
  SensorData(std::string name, std::function<int()> supplier, int defaultVal);
  SensorData(std::string name, std::function<bool()> supplier, bool defaultVal);
  SensorData(std::string name, std::function<int64_t()> supplier, int64_t defaultVal);
 
  // ---- Static converters ------------------------------------------------------
 
  static HAL_Value Convert(double value);
  static HAL_Value Convert(int value);
  static HAL_Value Convert(bool value);
  static HAL_Value Convert(int64_t value);
 
  static std::function<HAL_Value()> Convert(std::function<double()> supplier);
  static std::function<HAL_Value()> Convert(std::function<int()> supplier);
  static std::function<HAL_Value()> Convert(std::function<bool()> supplier);
  static std::function<HAL_Value()> Convert(std::function<int64_t()> supplier);
 
  // ---- Typed getters ----------------------------------------------------------
 
  double GetAsDouble() const;
  int GetAsInt() const;
  bool GetAsBoolean() const;
  int64_t GetAsLong() const;
 
  HAL_Value GetValue() const;
 
  HAL_Value GetDefault() const;
  std::string GetName() const;
  HALValueType GetType() const;
 
  // ---- Setters ----------------------------------------------------------------
 
  void Set(HAL_Value val);
  void Set(double val);
  void Set(int val);
  void Set(int64_t val);
  void Set(bool val);
 
  // ---- Simulation triggers ----------------------------------------------------
 
  void AddSimTrigger(HAL_Value value, std::function<bool()> trigger);
 
  HAL_SimValueHandle CreateValue(HAL_SimDeviceHandle device, int32_t direction);
 
 private:
  std::string m_name;
  std::function<HAL_Value()> m_supplier;
  HALValueType m_type;
  HAL_Value m_defaultValue;
  std::optional<std::vector<std::pair<std::function<bool()>, HAL_Value>>> m_triggerValues;
  HAL_SimValueHandle m_glassValue{HAL_INVALID_HANDLE};
  std::optional<HAL_Value> m_prev;
};
 
}  // namespace yams::motorcontrollers::simulation