SimSensorConfig.hpp

Go to the documentation of this file.

// Copyright (c) 2026 Yet Another Software Suite
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#pragma once
 
#include <functional>
#include <memory>
#include <string>
#include <vector>
#include <wpi/driverstation/DriverStation.hpp>
#include <wpi/units/time.hpp>
 
#include "yams/motorcontrollers/simulation/SensorData.hpp"
 
namespace yams::motorcontrollers::simulation {
class Sensor;
}
 
namespace yams::mechanisms::config {
 
class SimSensorConfig {
 public:
  using SensorData = yams::motorcontrollers::simulation::SensorData;
 
  explicit SimSensorConfig(std::string name);
 
  // ---- Field registration -----------------------------------------------------
 
  SimSensorConfig& WithField(const std::string& name, std::function<double()> supplier,
                             double defaultVal);
  SimSensorConfig& WithField(const std::string& name, std::function<int()> supplier,
                             int defaultVal);
  SimSensorConfig& WithField(const std::string& name, std::function<bool()> supplier,
                             bool defaultVal);
  SimSensorConfig& WithField(const std::string& name, std::function<int64_t()> supplier,
                             int64_t defaultVal);
 
  // ---- Match-time simulated value injection -----------------------------------
 
  SimSensorConfig& WithSimulatedValue(const std::string& fieldName, wpi::units::second_t start,
                                      wpi::units::second_t end, double value);
  SimSensorConfig& WithSimulatedValue(const std::string& fieldName, wpi::units::second_t start,
                                      wpi::units::second_t end, int value);
  SimSensorConfig& WithSimulatedValue(const std::string& fieldName, wpi::units::second_t start,
                                      wpi::units::second_t end, int64_t value);
  SimSensorConfig& WithSimulatedValue(const std::string& fieldName, wpi::units::second_t start,
                                      wpi::units::second_t end, bool value);
 
  // ---- Trigger-based simulated value injection --------------------------------
 
  SimSensorConfig& WithSimulatedValue(const std::string& fieldName, std::function<bool()> trigger,
                                      double value);
  SimSensorConfig& WithSimulatedValue(const std::string& fieldName, std::function<bool()> trigger,
                                      int value);
  SimSensorConfig& WithSimulatedValue(const std::string& fieldName, std::function<bool()> trigger,
                                      int64_t value);
  SimSensorConfig& WithSimulatedValue(const std::string& fieldName, std::function<bool()> trigger,
                                      bool value);
 
  // ---- Accessors --------------------------------------------------------------
 
  yams::motorcontrollers::simulation::Sensor& GetSensor();
 
  const std::string& GetName() const;
 
  std::vector<SensorData> GetFields() const;
 
 private:
  std::string m_name;
  std::vector<SensorData> m_data;
  std::unique_ptr<yams::motorcontrollers::simulation::Sensor> m_sensor;
};
 
}  // namespace yams::mechanisms::config