platform::mock::core::MockPlatform Class Reference

#include <MockPlatform.hpp>

Public Types
using	ClockFn = std::function<double()>

Public Member Functions
bool	init ()
bool	update ()
void	setMotor (uint8_t port, MotorDir dir, uint32_t value)
void	setMotorVelocity (uint8_t port, int signedBemfUnits)
float	getBemf (uint8_t port) const
int	getMotorPosition (uint8_t port) const
void	setServo (uint8_t port, ServoMode mode, uint16_t pos)
uint16_t	getAnalog (uint8_t port) const
bool	getDigital (uint8_t bit) const
uint16_t	getDigitalRaw () const
float	getGyroX () const
float	getGyroY () const
float	getGyroZ () const
float	getAccelX () const
float	getAccelY () const
float	getAccelZ () const
float	getMagX () const
float	getMagY () const
float	getMagZ () const
float	getQuatW () const
float	getQuatX () const
float	getQuatY () const
float	getQuatZ () const
uint32_t	getLastUpdateUs () const
void	setAnalogValue (uint8_t port, uint16_t value)
void	setDigitalValue (uint8_t bit, bool value)
void	setIMUValues (float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz)
void	configureSim (const libstp::sim::RobotConfig &robot, const libstp::sim::SimMotorMap &motors, libstp::sim::WorldMap map, const libstp::sim::Pose2D &startPose)
void	detachSim ()
bool	hasSim () const
libstp::sim::SimWorld *	sim ()
libstp::sim::Pose2D	simPose () const
libstp::sim::Pose2D	simRelativePose () const
libstp::sim::Pose2D	simOdometryRelativePose () const
void	resetSimOrigin ()
float	simYawRate () const
int	simCurrentLayer () const
void	tickSim (float dtSeconds)
void	setAutoTickEnabled (bool enabled)
bool	isAutoTickEnabled () const
void	setClockSource (ClockFn clock)
void	setAutoTickMaxStep (float maxDtSeconds)
void	autoTickIfEnabled ()

Static Public Member Functions
static MockPlatform &	instance ()

Detailed Description

In-process backend used by the mock driver bundle.

HAL driver implementations call this singleton instead of touching real hardware. Tests can also seed state through the helper setters below.

Definition at line 24 of file MockPlatform.hpp.

Member Typedef Documentation

ClockFn

using platform::mock::core::MockPlatform::ClockFn = std::function<double()>

Replace the wall-clock source used by auto-tick. Returns seconds. Default is monotonic steady_clock. Unit tests can inject a fake clock to freeze or advance time deterministically.

Definition at line 131 of file MockPlatform.hpp.

Member Function Documentation

autoTickIfEnabled()

void platform::mock::core::MockPlatform::autoTickIfEnabled

(

)

Invoked from query paths (internal). Advances sim by clock delta when auto-tick is enabled, else no-op. Safe to call with no sim.

configureSim()

void platform::mock::core::MockPlatform::configureSim	(	const libstp::sim::RobotConfig &	robot,
		const libstp::sim::SimMotorMap &	motors,
		libstp::sim::WorldMap	map,
		const libstp::sim::Pose2D &	startPose )

detachSim()

void platform::mock::core::MockPlatform::detachSim

(

)

getAccelX()

float platform::mock::core::MockPlatform::getAccelX

(

)

const

getAccelY()

float platform::mock::core::MockPlatform::getAccelY

(

)

const

getAccelZ()

float platform::mock::core::MockPlatform::getAccelZ

(

)

const

getAnalog()

uint16_t platform::mock::core::MockPlatform::getAnalog

(

uint8_t

port

)

const

getBemf()

float platform::mock::core::MockPlatform::getBemf

(

uint8_t

port

)

const

getDigital()

bool platform::mock::core::MockPlatform::getDigital

(

uint8_t

bit

)

const

getDigitalRaw()

uint16_t platform::mock::core::MockPlatform::getDigitalRaw

(

)

const

getGyroX()

float platform::mock::core::MockPlatform::getGyroX

(

)

const

getGyroY()

float platform::mock::core::MockPlatform::getGyroY

(

)

const

getGyroZ()

float platform::mock::core::MockPlatform::getGyroZ

(

)

const

getLastUpdateUs()

uint32_t platform::mock::core::MockPlatform::getLastUpdateUs

(

)

const

getMagX()

float platform::mock::core::MockPlatform::getMagX

(

)

const

getMagY()

float platform::mock::core::MockPlatform::getMagY

(

)

const

getMagZ()

float platform::mock::core::MockPlatform::getMagZ

(

)

const

getMotorPosition()

int platform::mock::core::MockPlatform::getMotorPosition

(

uint8_t

port

)

const

getQuatW()

float platform::mock::core::MockPlatform::getQuatW

(

)

const

getQuatX()

float platform::mock::core::MockPlatform::getQuatX

(

)

const

getQuatY()

float platform::mock::core::MockPlatform::getQuatY

(

)

const

getQuatZ()

float platform::mock::core::MockPlatform::getQuatZ

(

)

const

hasSim()

bool platform::mock::core::MockPlatform::hasSim

(

)

const

init()

bool platform::mock::core::MockPlatform::init

(

)

instance()

MockPlatform & platform::mock::core::MockPlatform::instance ( )

inlinestatic

Definition at line 27 of file MockPlatform.hpp.

isAutoTickEnabled()

bool platform::mock::core::MockPlatform::isAutoTickEnabled

(

)

const

resetSimOrigin()

void platform::mock::core::MockPlatform::resetSimOrigin

(

)

Capture the current ground-truth sim pose as the origin for simRelativePose(). Equivalent to telling the coprocessor to zero its integrator.

setAnalogValue()

void platform::mock::core::MockPlatform::setAnalogValue	(	uint8_t	port,
		uint16_t	value )

setAutoTickEnabled()

void platform::mock::core::MockPlatform::setAutoTickEnabled

(

bool

enabled

)

Auto-tick mode: when enabled, every call into the mock HAL that reads sim state (getAnalog, MockOdometry queries, gyroZ) first advances the sim by the wall-clock delta since the last tick. Disabled by default so C++ tests stay deterministic with explicit tickSim() calls.

setAutoTickMaxStep()

void platform::mock::core::MockPlatform::setAutoTickMaxStep

(

float

maxDtSeconds

)

Cap on how far a single auto-tick advances the sim — prevents a long pause (e.g. breakpoint, slow test setup) from teleporting the robot. Default 50 ms.

setClockSource()

void platform::mock::core::MockPlatform::setClockSource

(

ClockFn

clock

)

setDigitalValue()

void platform::mock::core::MockPlatform::setDigitalValue	(	uint8_t	bit,
		bool	value )

setIMUValues()

void platform::mock::core::MockPlatform::setIMUValues	(	float	gx,
		float	gy,
		float	gz,
		float	ax,
		float	ay,
		float	az,
		float	mx,
		float	my,
		float	mz )

setMotor()

void platform::mock::core::MockPlatform::setMotor	(	uint8_t	port,
		MotorDir	dir,
		uint32_t	value )

setMotorVelocity()

void platform::mock::core::MockPlatform::setMotorVelocity	(	uint8_t	port,
		int	signedBemfUnits )

Closed-loop velocity command path: signed BEMF integer units. Distinguished from setMotor() because the unit is different (BEMF ticks/s, not duty %), and the sim needs to interpret it through the motor calibration rather than as a duty.

setServo()

void platform::mock::core::MockPlatform::setServo	(	uint8_t	port,
		ServoMode	mode,
		uint16_t	pos )

sim()

libstp::sim::SimWorld * platform::mock::core::MockPlatform::sim

(

)

simCurrentLayer()

int platform::mock::core::MockPlatform::simCurrentLayer

(

)

const

Index of the table plane (layer) the sim robot is currently on (0 = ground). Switches when the robot crosses a v2 ramp transition. Returns -1 when no sim is attached.

simOdometryRelativePose()

libstp::sim::Pose2D platform::mock::core::MockPlatform::simOdometryRelativePose

(

)

const

Like simRelativePose() but backed by the sim's dead-reckoned odometry pose (SimWorld::odometryPose()) instead of the collision-clamped ground-truth pose. This is what the production motion controllers (IOdometry) read: its lateral axis is sign-aligned with the +vy command so closed-loop strafes converge. Zeroes on resetSimOrigin() exactly like simRelativePose().

simPose()

libstp::sim::Pose2D platform::mock::core::MockPlatform::simPose

(

)

const

simRelativePose()

libstp::sim::Pose2D platform::mock::core::MockPlatform::simRelativePose

(

)

const

Pose relative to the last resetSimOrigin() call, expressed in the frame of the original heading. Mirrors how a real STM32 coprocessor reports its locally-integrated pose: the value zeroes on reset and climbs from there. Returned pose is in centimeters / radians.

simYawRate()

float platform::mock::core::MockPlatform::simYawRate

(

)

const

tickSim()

void platform::mock::core::MockPlatform::tickSim

(

float

dtSeconds

)

update()

bool platform::mock::core::MockPlatform::update

(

)

---

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

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-platforms/mock/core/include/core/MockPlatform.hpp