HAL Simulator Device Framework. More...

Enumerations
enum	HAL_SimValueDirection : int32_t { HAL_SimValueInput = 0 , HAL_SimValueOutput , HAL_SimValueBidir }
	Direction of a simulated value (from the perspective of user code). More...

Functions
HAL_SimDeviceHandle	HAL_CreateSimDevice (const char *name)
	Creates a simulated device. More...

void	HAL_FreeSimDevice (HAL_SimDeviceHandle handle)
	Frees a simulated device. More...

const char *	HAL_GetSimDeviceName (HAL_SimDeviceHandle handle)
	Get the name of a simulated device. More...

HAL_SimValueHandle	HAL_CreateSimValue (HAL_SimDeviceHandle device, const char name, int32_t direction, const struct HAL_Value initialValue)
	Creates a value on a simulated device. More...

HAL_SimValueHandle	HAL_CreateSimValue (HAL_SimDeviceHandle device, const char *name, int32_t direction, const HAL_Value &initialValue)

HAL_SimValueHandle	HAL_CreateSimValueInt (HAL_SimDeviceHandle device, const char *name, int32_t direction, int32_t initialValue)
	Creates an int value on a simulated device. More...

HAL_SimValueHandle	HAL_CreateSimValueLong (HAL_SimDeviceHandle device, const char *name, int32_t direction, int64_t initialValue)
	Creates a long value on a simulated device. More...

HAL_SimValueHandle	HAL_CreateSimValueDouble (HAL_SimDeviceHandle device, const char *name, int32_t direction, double initialValue)
	Creates a double value on a simulated device. More...

HAL_SimValueHandle	HAL_CreateSimValueEnum (HAL_SimDeviceHandle device, const char name, int32_t direction, int32_t numOptions, const char *options, int32_t initialValue)
	Creates an enumerated value on a simulated device. More...

HAL_SimValueHandle	HAL_CreateSimValueEnumDouble (HAL_SimDeviceHandle device, const char name, int32_t direction, int32_t numOptions, const char options, const double optionValues, int32_t initialValue)
	Creates an enumerated value on a simulated device with double values. More...

HAL_SimValueHandle	HAL_CreateSimValueBoolean (HAL_SimDeviceHandle device, const char *name, int32_t direction, HAL_Bool initialValue)
	Creates a boolean value on a simulated device. More...

void	HAL_GetSimValue (HAL_SimValueHandle handle, struct HAL_Value *value)
	Gets a simulated value. More...

HAL_Value	HAL_GetSimValue (HAL_SimValueHandle handle)

int32_t	HAL_GetSimValueInt (HAL_SimValueHandle handle)
	Gets a simulated value (int). More...

int64_t	HAL_GetSimValueLong (HAL_SimValueHandle handle)
	Gets a simulated value (long). More...

double	HAL_GetSimValueDouble (HAL_SimValueHandle handle)
	Gets a simulated value (double). More...

int32_t	HAL_GetSimValueEnum (HAL_SimValueHandle handle)
	Gets a simulated value (enum). More...

HAL_Bool	HAL_GetSimValueBoolean (HAL_SimValueHandle handle)
	Gets a simulated value (boolean). More...

void	HAL_SetSimValue (HAL_SimValueHandle handle, const struct HAL_Value *value)
	Sets a simulated value. More...

void	HAL_SetSimValue (HAL_SimValueHandle handle, const HAL_Value &value)

void	HAL_SetSimValueInt (HAL_SimValueHandle handle, int value)
	Sets a simulated value (int). More...

void	HAL_SetSimValueLong (HAL_SimValueHandle handle, int64_t value)
	Sets a simulated value (long). More...

void	HAL_SetSimValueDouble (HAL_SimValueHandle handle, double value)
	Sets a simulated value (double). More...

void	HAL_SetSimValueEnum (HAL_SimValueHandle handle, int32_t value)
	Sets a simulated value (enum). More...

void	HAL_SetSimValueBoolean (HAL_SimValueHandle handle, HAL_Bool value)
	Sets a simulated value (boolean). More...

void	HAL_ResetSimValue (HAL_SimValueHandle handle)
	Resets a simulated double or integral value to 0. More...

Detailed Description

HAL Simulator Device Framework.

This enables creating simulation-only variables for higher level device access. For example, a device such as a SPI gyro can expose angle and rate variables to enable direct access from simulation extensions or user test code instead of requiring that the SPI bit-level protocol be implemented in simulation code.

Enumeration Type Documentation

◆ HAL_SimValueDirection

enum HAL_SimValueDirection : int32_t

Direction of a simulated value (from the perspective of user code).

Enumerator
HAL_SimValueInput	input to user code from the simulator
HAL_SimValueOutput	output from user code to the simulator
HAL_SimValueBidir	bidirectional between user code and simulator

Function Documentation

◆ HAL_CreateSimDevice()

HAL_SimDeviceHandle HAL_CreateSimDevice ( const char * name )

Creates a simulated device.

The device name must be unique. 0 is returned if the device name already exists. If multiple instances of the same device are desired, recommend appending the instance/unique identifier in brackets to the base name, e.g. "device[1]".

0 is returned if not in simulation.

Parameters

name	device name

Returns: simulated device handle

◆ HAL_CreateSimValue() [1/2]

HAL_SimValueHandle HAL_CreateSimValue	(	HAL_SimDeviceHandle	device,
		const char *	name,
		int32_t	direction,
		const HAL_Value &	initialValue
	)

inline

◆ HAL_CreateSimValue() [2/2]

HAL_SimValueHandle HAL_CreateSimValue	(	HAL_SimDeviceHandle	device,
		const char *	name,
		int32_t	direction,
		const struct HAL_Value *	initialValue
	)

Creates a value on a simulated device.

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters

device	simulated device handle
name	value name
direction	input/output/bidir (from perspective of user code)
initialValue	initial value

Returns: simulated value handle

◆ HAL_CreateSimValueBoolean()

HAL_SimValueHandle HAL_CreateSimValueBoolean	(	HAL_SimDeviceHandle	device,
		const char *	name,
		int32_t	direction,
		HAL_Bool	initialValue
	)

inline

Creates a boolean value on a simulated device.

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters

device	simulated device handle
name	value name
direction	input/output/bidir (from perspective of user code)
initialValue	initial value

Returns: simulated value handle

◆ HAL_CreateSimValueDouble()

HAL_SimValueHandle HAL_CreateSimValueDouble	(	HAL_SimDeviceHandle	device,
		const char *	name,
		int32_t	direction,
		double	initialValue
	)

inline

Creates a double value on a simulated device.

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters

device	simulated device handle
name	value name
direction	input/output/bidir (from perspective of user code)
initialValue	initial value

Returns: simulated value handle

◆ HAL_CreateSimValueEnum()

HAL_SimValueHandle HAL_CreateSimValueEnum	(	HAL_SimDeviceHandle	device,
		const char *	name,
		int32_t	direction,
		int32_t	numOptions,
		const char **	options,
		int32_t	initialValue
	)

Creates an enumerated value on a simulated device.

Enumerated values are always in the range 0 to numOptions-1.

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters

device	simulated device handle
name	value name
direction	input/output/bidir (from perspective of user code)
numOptions	number of enumerated value options (length of options)
options	array of option descriptions
initialValue	initial value (selection)

Returns: simulated value handle

◆ HAL_CreateSimValueEnumDouble()

HAL_SimValueHandle HAL_CreateSimValueEnumDouble	(	HAL_SimDeviceHandle	device,
		const char *	name,
		int32_t	direction,
		int32_t	numOptions,
		const char **	options,
		const double *	optionValues,
		int32_t	initialValue
	)

Creates an enumerated value on a simulated device with double values.

Enumerated values are always in the range 0 to numOptions-1.

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters

device	simulated device handle
name	value name
direction	input/output/bidir (from perspective of user code)
numOptions	number of enumerated value options (length of options)
options	array of option descriptions
optionValues	array of option double values
initialValue	initial value (selection)

Returns: simulated value handle

◆ HAL_CreateSimValueInt()

HAL_SimValueHandle HAL_CreateSimValueInt	(	HAL_SimDeviceHandle	device,
		const char *	name,
		int32_t	direction,
		int32_t	initialValue
	)

inline

Creates an int value on a simulated device.

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters

device	simulated device handle
name	value name
direction	input/output/bidir (from perspective of user code)
initialValue	initial value

Returns: simulated value handle

◆ HAL_CreateSimValueLong()

HAL_SimValueHandle HAL_CreateSimValueLong	(	HAL_SimDeviceHandle	device,
		const char *	name,
		int32_t	direction,
		int64_t	initialValue
	)

inline

Creates a long value on a simulated device.

Returns 0 if not in simulation; this can be used to avoid calls to Set/Get functions.

Parameters

device	simulated device handle
name	value name
direction	input/output/bidir (from perspective of user code)
initialValue	initial value

Returns: simulated value handle

◆ HAL_FreeSimDevice()

void HAL_FreeSimDevice ( HAL_SimDeviceHandle handle )

Frees a simulated device.

This also allows the same device name to be used again. This also frees all the simulated values created on the device.

Parameters

handle simulated device handle

◆ HAL_GetSimDeviceName()

const char * HAL_GetSimDeviceName ( HAL_SimDeviceHandle handle )

Get the name of a simulated device.

Parameters

handle simulated device handle

Returns: name of the simulated device

◆ HAL_GetSimValue() [1/2]

HAL_Value HAL_GetSimValue ( HAL_SimValueHandle handle )

inline

◆ HAL_GetSimValue() [2/2]

void HAL_GetSimValue	(	HAL_SimValueHandle	handle,
		struct HAL_Value *	value
	)

Gets a simulated value.

Parameters

handle	simulated value handle
value	value (output parameter)

◆ HAL_GetSimValueBoolean()

HAL_Bool HAL_GetSimValueBoolean ( HAL_SimValueHandle handle )

inline

Gets a simulated value (boolean).

Parameters

handle simulated value handle

Returns: The current value

◆ HAL_GetSimValueDouble()

double HAL_GetSimValueDouble ( HAL_SimValueHandle handle )

inline

Gets a simulated value (double).

Parameters

handle simulated value handle

Returns: The current value

◆ HAL_GetSimValueEnum()

int32_t HAL_GetSimValueEnum ( HAL_SimValueHandle handle )

inline

Gets a simulated value (enum).

Parameters

handle simulated value handle

Returns: The current value

◆ HAL_GetSimValueInt()

int32_t HAL_GetSimValueInt ( HAL_SimValueHandle handle )

inline

Gets a simulated value (int).

Parameters

handle simulated value handle

Returns: The current value

◆ HAL_GetSimValueLong()

int64_t HAL_GetSimValueLong ( HAL_SimValueHandle handle )

inline

Gets a simulated value (long).

Parameters

handle simulated value handle

Returns: The current value

◆ HAL_ResetSimValue()

void HAL_ResetSimValue ( HAL_SimValueHandle handle )

Resets a simulated double or integral value to 0.

Has no effect on other value types. Use this instead of Set(0) for resetting incremental sensor values like encoder counts or gyro accumulated angle to ensure correct behavior in a distributed system (e.g. WebSockets).

Parameters

handle simulated value handle

◆ HAL_SetSimValue() [1/2]

void HAL_SetSimValue	(	HAL_SimValueHandle	handle,
		const HAL_Value &	value
	)

inline

◆ HAL_SetSimValue() [2/2]

void HAL_SetSimValue	(	HAL_SimValueHandle	handle,
		const struct HAL_Value *	value
	)

Sets a simulated value.

Parameters

handle	simulated value handle
value	the value to set

◆ HAL_SetSimValueBoolean()

void HAL_SetSimValueBoolean	(	HAL_SimValueHandle	handle,
		HAL_Bool	value
	)

inline

Sets a simulated value (boolean).

Parameters

handle	simulated value handle
value	the value to set

◆ HAL_SetSimValueDouble()

void HAL_SetSimValueDouble	(	HAL_SimValueHandle	handle,
		double	value
	)

inline

Sets a simulated value (double).

Parameters

handle	simulated value handle
value	the value to set

◆ HAL_SetSimValueEnum()

void HAL_SetSimValueEnum	(	HAL_SimValueHandle	handle,
		int32_t	value
	)

inline

Sets a simulated value (enum).

Parameters

handle	simulated value handle
value	the value to set

◆ HAL_SetSimValueInt()

void HAL_SetSimValueInt	(	HAL_SimValueHandle	handle,
		int	value
	)

inline

Sets a simulated value (int).

Parameters

handle	simulated value handle
value	the value to set

◆ HAL_SetSimValueLong()

void HAL_SetSimValueLong	(	HAL_SimValueHandle	handle,
		int64_t	value
	)

inline

Sets a simulated value (long).

Parameters

handle	simulated value handle
value	the value to set

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ HAL_SimValueDirection

Function Documentation

◆ HAL_CreateSimDevice()

◆ HAL_CreateSimValue() [1/2]

◆ HAL_CreateSimValue() [2/2]

◆ HAL_CreateSimValueBoolean()

◆ HAL_CreateSimValueDouble()

◆ HAL_CreateSimValueEnum()

◆ HAL_CreateSimValueEnumDouble()

◆ HAL_CreateSimValueInt()

◆ HAL_CreateSimValueLong()

◆ HAL_FreeSimDevice()

◆ HAL_GetSimDeviceName()

◆ HAL_GetSimValue() [1/2]

◆ HAL_GetSimValue() [2/2]

◆ HAL_GetSimValueBoolean()

◆ HAL_GetSimValueDouble()

◆ HAL_GetSimValueEnum()

◆ HAL_GetSimValueInt()

◆ HAL_GetSimValueLong()

◆ HAL_ResetSimValue()

◆ HAL_SetSimValue() [1/2]

◆ HAL_SetSimValue() [2/2]

◆ HAL_SetSimValueBoolean()

◆ HAL_SetSimValueDouble()

◆ HAL_SetSimValueEnum()

◆ HAL_SetSimValueInt()

◆ HAL_SetSimValueLong()