Package yams.motorcontrollers.simulation

Class SensorData

java.lang.Object

yams.motorcontrollers.simulation.SensorData

public class SensorData
extends Object

Sensor data class to encapsulate sensor data.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SensorData.HALValueType	HALValue type enum.

Constructor Summary

Constructors

Constructor	Description
SensorData(String name, BooleanSupplier supplier, boolean defaultVal)	Sensor data constructor.
SensorData(String name, DoubleSupplier supplier, double defaultVal)	Sensor data constructor.
SensorData(String name, IntSupplier supplier, int defaultVal)	Sensor data constructor.
SensorData(String name, LongSupplier supplier, long defaultVal)	Sensor data constructor.
SensorData(String name, Supplier<HALValue> supplier, HALValue defaultValue, SensorData.HALValueType type)	Sensor data constructor.

Method Summary

Modifier and Type	Method	Description
void	addSimTrigger(HALValue value, BooleanSupplier trigger)	Add a value set based on a trigger.
static HALValue	convert(boolean value)	Convert a boolean into a HALValue.
static HALValue	convert(double value)	Convert a double into a HALValue.
static HALValue	convert(int value)	Convert an int into a HALValue.
static HALValue	convert(long value)	Convert a long into a HALValue.
static Supplier<HALValue>	convert(BooleanSupplier supplier)	Convert a BooleanSupplier into a Supplier<HALValue>.
static Supplier<HALValue>	convert(DoubleSupplier supplier)	Convert a DoubleSupplier into a Supplier<HALValue>.
static Supplier<HALValue>	convert(IntSupplier supplier)	Convert an IntSupplier into a Supplier<HALValue>.
static Supplier<HALValue>	convert(LongSupplier supplier)	Convert a LongSupplier into a Supplier<HALValue>.
SimValue	createValue(SimDevice device, SimDevice.Direction direction)	Get the SimValue for the sensor.
boolean	getAsBoolean()	Get the sensor value as a boolean.
double	getAsDouble()	Get the sensor value as a double.
int	getAsInt()	Get the sensor value as an int.
long	getAsLong()	Get the sensor value as a long.
HALValue	getDefault()	Get the default value.
String	getName()	Get the sensor name.
SensorData.HALValueType	getType()	Get the sensor data type.
HALValue	getValue()	Get the sensor value, real sensor value if the robot is real.
void	set(boolean val)	Set the sensor value.
void	set(double val)	Set the sensor value.
void	set(int val)	Set the sensor value.
void	set(long val)	Set the sensor value.
void	set(HALValue val)	Set the sensor value.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

SensorData

public SensorData(String name,
 Supplier<HALValue> supplier,
 HALValue defaultValue,
 SensorData.HALValueType type)

Sensor data constructor.

Parameters:

name - Name of sensor.

supplier - Supplier<HALValue> of sensor. Use convert(java.util.function.DoubleSupplier) to convert primitive suppliers.

defaultValue - Default value of sensor.

type - SensorData.HALValueType of sensor.

SensorData

public SensorData(String name,
 DoubleSupplier supplier,
 double defaultVal)

Sensor data constructor.

Parameters:

name - Name of sensor.

supplier - DoubleSupplier supplier

defaultVal - Double default value.

SensorData

public SensorData(String name,
 IntSupplier supplier,
 int defaultVal)

Sensor data constructor.

Parameters:

name - Name of sensor.

supplier - IntSupplier

defaultVal - Int default value.

SensorData

public SensorData(String name,
 BooleanSupplier supplier,
 boolean defaultVal)

Sensor data constructor.

Parameters:

name - Name of sensor.

supplier - BooleanSupplier

defaultVal - Boolean default value.

SensorData

public SensorData(String name,
 LongSupplier supplier,
 long defaultVal)

Sensor data constructor.

Parameters:

name - Name of sensor.

supplier - LongSupplier

defaultVal - Long default value.

Method Details

convert

public static Supplier<HALValue> convert(DoubleSupplier supplier)

Convert a DoubleSupplier into a Supplier<HALValue>.

Parameters:

supplier - Double supplier.

Returns:

HALValue supplier.

convert

public static Supplier<HALValue> convert(IntSupplier supplier)

Convert an IntSupplier into a Supplier<HALValue>.

Parameters:

supplier - Int supplier.

Returns:

HALValue supplier.

convert

public static Supplier<HALValue> convert(BooleanSupplier supplier)

Convert a BooleanSupplier into a Supplier<HALValue>.

Parameters:

supplier - Boolean supplier.

Returns:

HALValue supplier.

convert

public static Supplier<HALValue> convert(LongSupplier supplier)

Convert a LongSupplier into a Supplier<HALValue>.

Parameters:

supplier - Long supplier.

Returns:

Supplier<HALValue>.

convert

public static HALValue convert(double value)

Convert a double into a HALValue.

Parameters:

value - Double value.

Returns:

HALValue.

convert

public static HALValue convert(int value)

Convert an int into a HALValue.

Parameters:

value - Int value.

Returns:

HALValue.

convert

public static HALValue convert(boolean value)

Convert a boolean into a HALValue.

Parameters:

value - Boolean value.

Returns:

HALValue.

convert

public static HALValue convert(long value)

Convert a long into a HALValue.

Parameters:

value - Long value.

Returns:

HALValue.

getAsDouble

public double getAsDouble()

Get the sensor value as a double.

Returns:

Sensor value.

getAsInt

public int getAsInt()

Get the sensor value as an int.

Returns:

Sensor value.

getAsLong

public long getAsLong()

Get the sensor value as a long.

Returns:

Sensor value.

getAsBoolean

public boolean getAsBoolean()

Get the sensor value as a boolean.

Returns:

Sensor value.

set

public void set(HALValue val)

Set the sensor value.

Parameters:

val - Value to set.

set

public void set(int val)

Set the sensor value.

Parameters:

val - Integer value to set.

Implementation Note:

The value is not checked for validity, ensure that this is the right data type for the field.

set

public void set(double val)

Set the sensor value.

Parameters:

val - Double value to set.

Implementation Note:

The value is not checked for validity, ensure that this is the right data type for the field.

set

public void set(long val)

Set the sensor value.

Parameters:

val - Long value to set.

Implementation Note:

The value is not checked for validity, ensure that this is the right data type for the field.

set

public void set(boolean val)

Set the sensor value.

Parameters:

val - Boolean value to set.

Implementation Note:

The value is not checked for validity, ensure that this is the right data type for the field.

getValue

public HALValue getValue()

Get the sensor value, real sensor value if the robot is real.

Returns:

Sensor value.

addSimTrigger

public void addSimTrigger(HALValue value,
 BooleanSupplier trigger)

Add a value set based on a trigger.

Parameters:

value - HALValue to set.

trigger - BooleanSupplier when to use.

getName

public String getName()

Get the sensor name.

Returns:

Sensor name.

getType

public SensorData.HALValueType getType()

Get the sensor data type.

Returns:

SensorData.HALValueType

getDefault

public HALValue getDefault()

Get the default value.

Returns:

HALValue default value.

createValue

public SimValue createValue(SimDevice device,
 SimDevice.Direction direction)

Get the SimValue for the sensor.

Parameters:

device - SimDevice to create the SimValue for.

direction - SimDevice.Direction of the SimValue.

Returns:

SimValue for the sensor.