yams::motorcontrollers::simulation::SensorData Class Reference

#include <SensorData.hpp>

Public Types
enum class	HALValueType {   kBoolean , kDouble , kEnum , kInt ,   kLong }

Public Member Functions
	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)
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
void	Set (HAL_Value val)
void	Set (double val)
void	Set (int val)
void	Set (int64_t val)
void	Set (bool val)
void	AddSimTrigger (HAL_Value value, std::function< bool()> trigger)
HAL_SimValueHandle	CreateValue (HAL_SimDeviceHandle device, int32_t direction)

Static Public Member Functions
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)

Detailed Description

Encapsulates a single named field of a simulated sensor.

On a real robot the value is read from the supplied callable. In simulation the value is read from (and can be written to) a Glass SimValue, and trigger-based overrides can inject specific values at controlled times.

Member Enumeration Documentation

HALValueType

enum class yams::motorcontrollers::simulation::SensorData::HALValueType

strong

Enumerator
kBoolean
kDouble
kEnum
kInt
kLong

Constructor & Destructor Documentation

SensorData() [1/5]

yams::motorcontrollers::simulation::SensorData::SensorData	(	std::string	name,
		std::function< HAL_Value()>	supplier,
		HAL_Value	defaultValue,
		HALValueType	type
	)

SensorData() [2/5]

yams::motorcontrollers::simulation::SensorData::SensorData	(	std::string	name,
		std::function< double()>	supplier,
		double	defaultVal
	)

SensorData() [3/5]

yams::motorcontrollers::simulation::SensorData::SensorData	(	std::string	name,
		std::function< int()>	supplier,
		int	defaultVal
	)

SensorData() [4/5]

yams::motorcontrollers::simulation::SensorData::SensorData	(	std::string	name,
		std::function< bool()>	supplier,
		bool	defaultVal
	)

SensorData() [5/5]

yams::motorcontrollers::simulation::SensorData::SensorData	(	std::string	name,
		std::function< int64_t()>	supplier,
		int64_t	defaultVal
	)

Member Function Documentation

AddSimTrigger()

void yams::motorcontrollers::simulation::SensorData::AddSimTrigger	(	HAL_Value	value,
		std::function< bool()>	trigger
	)

Override the sensor value whenever trigger returns true.

Convert() [1/8]

static HAL_Value yams::motorcontrollers::simulation::SensorData::Convert ( bool  value )

static

Convert() [2/8]

static HAL_Value yams::motorcontrollers::simulation::SensorData::Convert ( double  value )

static

Convert() [3/8]

static HAL_Value yams::motorcontrollers::simulation::SensorData::Convert ( int  value )

static

Convert() [4/8]

static HAL_Value yams::motorcontrollers::simulation::SensorData::Convert ( int64_t  value )

static

Convert() [5/8]

static std::function< HAL_Value()> yams::motorcontrollers::simulation::SensorData::Convert ( std::function< bool()>  supplier )

static

Convert() [6/8]

static std::function< HAL_Value()> yams::motorcontrollers::simulation::SensorData::Convert ( std::function< double()>  supplier )

static

Convert() [7/8]

static std::function< HAL_Value()> yams::motorcontrollers::simulation::SensorData::Convert ( std::function< int()>  supplier )

static

Convert() [8/8]

static std::function< HAL_Value()> yams::motorcontrollers::simulation::SensorData::Convert ( std::function< int64_t()>  supplier )

static

CreateValue()

HAL_SimValueHandle yams::motorcontrollers::simulation::SensorData::CreateValue	(	HAL_SimDeviceHandle	device,
		int32_t	direction
	)

Register this field with a SimDevice so it appears in Glass. Called by Sensor during construction (simulation only).

GetAsBoolean()

bool yams::motorcontrollers::simulation::SensorData::GetAsBoolean

(

)

const

GetAsDouble()

double yams::motorcontrollers::simulation::SensorData::GetAsDouble

(

)

const

GetAsInt()

int yams::motorcontrollers::simulation::SensorData::GetAsInt

(

)

const

GetAsLong()

int64_t yams::motorcontrollers::simulation::SensorData::GetAsLong

(

)

const

GetDefault()

HAL_Value yams::motorcontrollers::simulation::SensorData::GetDefault

(

)

const

GetName()

std::string yams::motorcontrollers::simulation::SensorData::GetName

(

)

const

GetType()

HALValueType yams::motorcontrollers::simulation::SensorData::GetType

(

)

const

GetValue()

HAL_Value yams::motorcontrollers::simulation::SensorData::GetValue

(

)

const

Get the current sensor value (real supplier on robot; Glass/trigger in sim).

Set() [1/5]

void yams::motorcontrollers::simulation::SensorData::Set

(

bool

val

)

Set() [2/5]

void yams::motorcontrollers::simulation::SensorData::Set

(

double

val

)

Set() [3/5]

void yams::motorcontrollers::simulation::SensorData::Set

(

HAL_Value

val

)

Set() [4/5]

void yams::motorcontrollers::simulation::SensorData::Set

(

int

val

)

Set() [5/5]

void yams::motorcontrollers::simulation::SensorData::Set

(

int64_t

val

)

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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/SensorData.hpp