rrtk 0.7.0

Rust Robotics ToolKit: A data flow-based robotics framework designed for embedded systems.
Documentation 
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// SPDX-License-Identifier: BSD-3-Clause
// Copyright 2024-2026 UxuginPython
use rrtk::*;
const RETURN_1: Output<u8, ()> = Ok(Some(Datum::new(Time::from_nanoseconds(0), 5)));
struct TestGetter1;
impl Updatable<()> for TestGetter1 {
    fn update(&mut self) -> NothingOrError<()> {
        Ok(())
    }
}
impl Getter<u8, ()> for TestGetter1 {
    fn get(&self) -> Output<u8, ()> {
        RETURN_1
    }
}
#[test]
fn pointer_dereferencer() {
    let mut original = TestGetter1;
    assert_eq!(original.get(), RETURN_1);
    let ptr = &raw mut original;
    assert_eq!(unsafe { ptr.as_ref() }.unwrap().get(), RETURN_1);
    let deref = unsafe { PointerDereferencer::new(ptr) };
    assert_eq!(deref.get(), RETURN_1);
}
#[test]
fn as_dyn_getter() {
    let mut original = TestGetter1;
    assert_eq!(original.get(), RETURN_1);
    let ptr = &raw mut original;
    assert_eq!(unsafe { ptr.as_ref() }.unwrap().get(), RETURN_1);
    let deref = unsafe { PointerDereferencer::new(ptr) };
    assert_eq!(deref.get(), RETURN_1);
    let deref_dyn = deref.as_dyn_getter();
    assert_eq!(deref_dyn.get(), RETURN_1);
}
struct TestUpdatable2(*mut u8);
impl Updatable<()> for TestUpdatable2 {
    fn update(&mut self) -> NothingOrError<()> {
        *unsafe { self.0.as_mut() }.unwrap() += 1;
        Ok(())
    }
}
#[test]
fn as_dyn_updatable() {
    let mut value = 23u8;
    let mut original = TestUpdatable2(&raw mut value);
    original.update().unwrap();
    assert_eq!(value, 24);
    let ptr = &raw mut original;
    let mut deref = unsafe { PointerDereferencer::new(ptr) };
    deref.update().unwrap();
    assert_eq!(value, 25);
    let mut deref_dyn = deref.as_dyn_updatable();
    deref_dyn.update().unwrap();
    assert_eq!(value, 26);
}
struct TestSettable3(*mut u8);
impl Updatable<()> for TestSettable3 {
    fn update(&mut self) -> NothingOrError<()> {
        Ok(())
    }
}
impl Settable<u8, ()> for TestSettable3 {
    fn set(&mut self, value: u8) -> NothingOrError<()> {
        unsafe {
            *self.0 = value;
        }
        Ok(())
    }
}
#[test]
fn as_dyn_settable() {
    let mut value = 4u8;
    let mut original = TestSettable3(&raw mut value);
    original.set(6).unwrap();
    assert_eq!(value, 6);
    let ptr = &raw mut original;
    let mut deref = unsafe { PointerDereferencer::new(ptr) };
    deref.set(7).unwrap();
    assert_eq!(value, 7);
    let mut deref_dyn = deref.as_dyn_settable();
    deref_dyn.set(90).unwrap();
    assert_eq!(value, 90);
}
const RETURN_4: TimeOutput<()> = Ok(Time::from_nanoseconds(5_000_000_000));
struct TestTimeGetter4;
impl Updatable<()> for TestTimeGetter4 {
    fn update(&mut self) -> NothingOrError<()> {
        Ok(())
    }
}
impl TimeGetter<()> for TestTimeGetter4 {
    fn get(&self) -> TimeOutput<()> {
        RETURN_4
    }
}
#[test]
fn as_dyn_time_getter() {
    let mut original = TestTimeGetter4;
    assert_eq!(original.get(), RETURN_4);
    let ptr = &raw mut original;
    let deref = unsafe { PointerDereferencer::new(ptr) };
    assert_eq!(deref.get(), RETURN_4);
    let deref_dyn = deref.as_dyn_time_getter();
    assert_eq!(deref_dyn.get(), RETURN_4);
}
const TIME: Time = Time::from_nanoseconds(200_000_000);
const RETURN_5: Option<Datum<u8>> = Some(Datum::new(TIME, 3));
struct TestChronology5;
impl Chronology<u8> for TestChronology5 {
    fn get(&self, time: Time) -> Option<Datum<u8>> {
        assert_eq!(time, TIME);
        RETURN_5
    }
}
#[test]
fn as_dyn_chronology() {
    let original = TestChronology5;
    assert_eq!(original.get(TIME), RETURN_5);
    let ptr = &raw const original;
    let deref = unsafe { PointerDereferencer::new(ptr) };
    assert_eq!(deref.get(TIME), RETURN_5);
    let deref_dyn = deref.as_dyn_chronology();
    assert_eq!(deref_dyn.get(TIME), RETURN_5);
}