Sensor.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 <unordered_map>
#include <vector>
#include <wpi/hal/SimDevice.hpp>
 
#include "yams/motorcontrollers/simulation/SensorData.hpp"
 
namespace yams::mechanisms::config {
class SimSensorConfig;
}
 
namespace yams::motorcontrollers::simulation {
 
class Sensor {
 public:
  Sensor(std::string sensorName, std::vector<SensorData> fields);
 
  explicit Sensor(const yams::mechanisms::config::SimSensorConfig& cfg);
 
  // ---- Field access -----------------------------------------------------------
 
  SensorData& GetField(const std::string& name);
  const SensorData& GetField(const std::string& name) const;
 
  double GetAsDouble(const std::string& name) const;
  int GetAsInt(const std::string& name) const;
  bool GetAsBoolean(const std::string& name) const;
  int64_t GetAsLong(const std::string& name) const;
 
  HAL_SimDeviceHandle GetDevice() const;
 
  // ---- Trigger injection ------------------------------------------------------
 
  void AddSimTrigger(const std::string& field, HAL_Value value, std::function<bool()> trigger);
 
 private:
  std::string m_sensorName;
  std::optional<HAL_SimDeviceHandle> m_simDevice;
  std::unordered_map<std::string, SensorData> m_simData;
};
 
}  // namespace yams::motorcontrollers::simulation