Struct FakeHal 

pub struct FakeHal { /* private fields */ }

An in-memory fake Hal for tests and simulators.

Echoes writes back as state, and fakes joint actuation by mirroring any *.target_position write to the corresponding *.position (so a consumer that writes a target sees the measured position follow). Cheaply cloneable; clones share the same state. (Backed by State, the trivial owned state type.)

Implementations

impl FakeHal

pub fn new() -> Self

pub fn with_description(description: HalDescription) -> Self

pub fn set_model_glb(&self, glb: Vec<u8>)

Trait Implementations

impl Clone for FakeHal

fn clone(&self) -> FakeHal

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Default for FakeHal

fn default() -> FakeHal

Returns the “default value” for a type.

impl Hal for FakeHal

fn try_send(&self, changes: &StateChange)

Synchronous, immediate apply — the fake never blocks, so it needs no task of its own (unlike a real HTTP/DDS HAL).

fn describe<'life0, 'async_trait>( &'life0 self, ) -> Pin<Box<dyn Future<Output = HalDescription> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait,

Describe the device (model family, versions).

fn read<'life0, 'life1, 'async_trait>( &'life0 self, keys: &'life1 [Key], ) -> Pin<Box<dyn Future<Output = HalResult<Vec<Option<Value>>>> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait, 'life1: 'async_trait,

Read the current values for the given keys. Each entry is None if the key is unset/absent (further nesting lives inside Value).

fn read_all<'life0, 'async_trait>( &'life0 self, ) -> Pin<Box<dyn Future<Output = HalResult<State>> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait,

Read everything the HAL currently exposes.

fn write<'life0, 'async_trait>( &'life0 self, changes: StateChange, ) -> Pin<Box<dyn Future<Output = HalResult<()>> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait,

Apply actuator/state changes. Observers of updates see the resulting changes.

fn updates(&self) -> UpdatesStream

A feed of changes the hardware reports (sensors, mirrored actuation, …). Each call yields an independent, owned stream; the consumer that takes it is its one poller (natively the runtime’s run select, on the web the per-frame sweep).

impl HalAssets for FakeHal

fn model_glb<'life0, 'async_trait>( &'life0 self, ) -> Pin<Box<dyn Future<Output = HalResult<Option<Vec<u8>>>> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait,