yams::motorcontrollers::simulation::Sensor Class Reference

#include <Sensor.hpp>

Public Member Functions
	Sensor (std::string sensorName, std::vector< SensorData > fields)
	Sensor (const yams::mechanisms::config::SimSensorConfig &cfg)
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
void	AddSimTrigger (const std::string &field, HAL_Value value, std::function< bool()> trigger)

Detailed Description

Simulated sensor backed by a HAL SimDevice.

All fields report the real supplier value on a physical robot. In simulation they surface in the Glass UI and can be overridden with trigger-based values for automated testing scenarios.

Basic usage (construct directly)

// Beam-break sensor: one boolean field backed by a real DIO channel.
wpi::hardware::DigitalInput beamBreak{0};
 
Sensor sensor{"BeamBreak", {
  SensorData{"Triggered", [&beamBreak] { return !beamBreak.Get(); }, false},
}};
 
// Read the value anywhere in the robot loop:
bool triggered = sensor.GetAsBoolean("Triggered");

Builder usage (SimSensorConfig)

wpi::hardware::DigitalInput beamBreak{0};
wpi::hardware::Encoder encoder{1, 2};
 
SimSensorConfig cfg{"IntakeSensors"};
cfg.WithField("BeamBreak",   [&beamBreak] { return !beamBreak.Get(); }, false)
   .WithField("EncoderCount", [&encoder]  { return encoder.Get(); },     0)
   // In simulation, assert the beam is broken from t=1s to t=3s:
   .WithSimulatedValue("BeamBreak", 1_s, 3_s, true);
 
Sensor& sensor = cfg.GetSensor();
 
bool triggered  = sensor.GetAsBoolean("BeamBreak");
int  ticks      = sensor.GetAsInt("EncoderCount");

Trigger-based override

// Force the beam-break to appear triggered whenever the arm is retracted.
sensor.AddSimTrigger("BeamBreak",
                      SensorData::Convert(true),
                      [&arm] { return arm.GetAngle() < 10_deg; });

Constructor & Destructor Documentation

Sensor() [1/2]

yams::motorcontrollers::simulation::Sensor::Sensor	(	std::string	sensorName,
		std::vector< SensorData >	fields
	)

Construct a sensor from a name and an explicit list of fields.

Parameters

sensorName	Name shown in the Glass simulation window.
fields	Fields to register with the SimDevice.

Sensor() [2/2]

yams::motorcontrollers::simulation::Sensor::Sensor ( const yams::mechanisms::config::SimSensorConfig &  cfg )

explicit

Construct from a SimSensorConfig builder.

Member Function Documentation

AddSimTrigger()

void yams::motorcontrollers::simulation::Sensor::AddSimTrigger	(	const std::string &	field,
		HAL_Value	value,
		std::function< bool()>	trigger
	)

Set field to value whenever trigger returns true.

GetAsBoolean()

bool yams::motorcontrollers::simulation::Sensor::GetAsBoolean

(

const std::string &

name

)

const

GetAsDouble()

double yams::motorcontrollers::simulation::Sensor::GetAsDouble

(

const std::string &

name

)

const

GetAsInt()

int yams::motorcontrollers::simulation::Sensor::GetAsInt

(

const std::string &

name

)

const

GetAsLong()

int64_t yams::motorcontrollers::simulation::Sensor::GetAsLong

(

const std::string &

name

)

const

GetDevice()

HAL_SimDeviceHandle yams::motorcontrollers::simulation::Sensor::GetDevice

(

)

const

The underlying SimDevice handle (invalid on a real robot).

GetField() [1/2]

SensorData & yams::motorcontrollers::simulation::Sensor::GetField

(

const std::string &

name

)

Get the SensorData for name (throws if not found).

GetField() [2/2]

const SensorData & yams::motorcontrollers::simulation::Sensor::GetField

(

const std::string &

name

)

const

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The documentation for this class was generated from the following file:

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/motorcontrollers/simulation/Sensor.hpp