cu29::prelude

Trait CuSimApplication

Source 
pub trait CuSimApplication {
    type Step<'z>;

    // Required methods
    fn get_original_config() -> String;
    fn new(
        clock: RobotClock,
        unified_logger: Arc<Mutex<UnifiedLoggerWrite>>,
        config_override: Option<CuConfig>,
        sim_callback: &mut impl for<'z> FnMut(Self::Step<'z>) -> SimOverride,
    ) -> Result<Self, CuError>
       where Self: Sized;
    fn start_all_tasks(
        &mut self,
        sim_callback: &mut impl for<'z> FnMut(Self::Step<'z>) -> SimOverride,
    ) -> Result<(), CuError>;
    fn run_one_iteration(
        &mut self,
        sim_callback: &mut impl for<'z> FnMut(Self::Step<'z>) -> SimOverride,
    ) -> Result<(), CuError>;
    fn run(
        &mut self,
        sim_callback: &mut impl for<'z> FnMut(Self::Step<'z>) -> SimOverride,
    ) -> Result<(), CuError>;
    fn stop_all_tasks(
        &mut self,
        sim_callback: &mut impl for<'z> FnMut(Self::Step<'z>) -> SimOverride,
    ) -> Result<(), CuError>;
    fn restore_keyframe(&mut self, freezer: &KeyFrame) -> Result<(), CuError>;
}
Expand description

A trait that defines the structure and behavior of a simulation-enabled CuApplication.

CuSimApplication is the simulation version of an application and its runtime, allowing overriding of steps with simulated behavior.

The CuSimApplication trait outlines the necessary functions required for managing an application lifecycle in simulation mode, including configuration management, initialization, task execution, and runtime control.

Required Associated Types§

Source

type Step<'z>

The type representing a simulation step that can be overridden

Required Methods§

Source

fn get_original_config() -> String

Returns the original configuration as a string, typically loaded from a RON file. This configuration represents the default settings for the application before any overrides.

Source

fn new( clock: RobotClock, unified_logger: Arc<Mutex<UnifiedLoggerWrite>>, config_override: Option<CuConfig>, sim_callback: &mut impl for<'z> FnMut(Self::Step<'z>) -> SimOverride, ) -> Result<Self, CuError>
where Self: Sized,

Creates a new simulation-enabled application.

§Arguments
  • clock - A RobotClock instance to be used for time-related operations in the implementing struct.
  • unified_logger - A thread-safe, shared reference to UnifiedLoggerWrite, enabling logging functionalities.
  • config_override - An optional CuConfig instance that allows overriding the default configuration values.
    • If Some, the provided configuration will be used.
    • If None, the default configuration will be applied.
  • sim_callback - A mutable function reference that allows overriding individual simulation steps. The callback receives a Step parameter and returns a SimOverride indicating how to handle the step.
§Returns

A result containing either:

  • An instantiated object of the implementing type (Self), or
  • A CuResult error in case of failure during initialization.
Source

fn start_all_tasks( &mut self, sim_callback: &mut impl for<'z> FnMut(Self::Step<'z>) -> SimOverride, ) -> Result<(), CuError>

Starts all tasks managed by the application/runtime in simulation mode.

§Arguments
  • sim_callback - A mutable function reference that allows overriding individual simulation steps.
§Returns
  • Ok(()) - If all tasks are started successfully.
  • Err(CuResult) - If an error occurs while attempting to start one or more tasks.
Source

fn run_one_iteration( &mut self, sim_callback: &mut impl for<'z> FnMut(Self::Step<'z>) -> SimOverride, ) -> Result<(), CuError>

Executes a single iteration of copper-generated runtime in simulation mode.

§Arguments
  • sim_callback - A mutable function reference that allows overriding individual simulation steps.
§Returns
  • CuResult<()> - Returns Ok(()) if the iteration completes successfully, or an error wrapped in CuResult if something goes wrong during execution.
Source

fn run( &mut self, sim_callback: &mut impl for<'z> FnMut(Self::Step<'z>) -> SimOverride, ) -> Result<(), CuError>

Runs indefinitely looping over run_one_iteration in simulation mode

§Arguments
  • sim_callback - A mutable function reference that allows overriding individual simulation steps.
§Returns

Returns a CuResult<()>, which indicates the success or failure of the operation.

  • On success, the result is Ok(()).
  • On failure, an appropriate error wrapped in CuResult is returned.
Source

fn stop_all_tasks( &mut self, sim_callback: &mut impl for<'z> FnMut(Self::Step<'z>) -> SimOverride, ) -> Result<(), CuError>

Stops all tasks managed by the application/runtime in simulation mode.

§Arguments
  • sim_callback - A mutable function reference that allows overriding individual simulation steps.
§Returns

Returns a CuResult<()>, which indicates the success or failure of the operation.

  • On success, the result is Ok(()).
  • On failure, an appropriate error wrapped in CuResult is returned.
Source

fn restore_keyframe(&mut self, freezer: &KeyFrame) -> Result<(), CuError>

Restore all tasks from the given frozen state

Dyn Compatibility§

This trait is not dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety", so this trait is not object safe.

Implementors§