Struct SeshRuntime 

pub struct SeshRuntime {

    pub gpio_bank: HashMap<u32, VirtualPin>,
    pub odometry: RobotOdometry,
    pub ros_topics: HashMap<String, VecDeque<RosMessage>>,
    pub scope_stack: Vec<HashMap<String, Value>>,
    pub robot_pin_map: HashMap<String, u32>,
    pub functions: HashMap<String, FnDecl>,
    pub pid_controllers: HashMap<String, PidState>,
    pub state_machines: HashMap<String, String>,
    pub callsite_counters: HashMap<String, usize>,
    pub current_task_name: String,
    pub control_flow: ControlFlow,
    pub start_time: Instant,
    pub logs: Vec<String>,
    pub watchdog_ok: bool,
}

The Sesh Virtual Robotics Hardware Simulator and Runtime Engine

Fields

gpio_bank: HashMap<u32, VirtualPin>

odometry: RobotOdometry

ros_topics: HashMap<String, VecDeque<RosMessage>>

scope_stack: Vec<HashMap<String, Value>>

robot_pin_map: HashMap<String, u32>

functions: HashMap<String, FnDecl>

pid_controllers: HashMap<String, PidState>

state_machines: HashMap<String, String>

callsite_counters: HashMap<String, usize>

current_task_name: String

control_flow: ControlFlow

start_time: Instant

logs: Vec<String>

watchdog_ok: bool

Implementations

impl SeshRuntime

pub fn new() -> Self

pub fn log_event(&mut self, msg: String)

pub fn push_scope(&mut self)

pub fn pop_scope(&mut self)

pub fn define_var(&mut self, name: &str, val: Value)

pub fn assign_var(&mut self, name: &str, val: Value) -> bool

pub fn lookup_var(&self, name: &str) -> Value

pub fn gpio_set_mode(&mut self, pin: u32, mode: PinMode)

pub fn gpio_write(&mut self, pin: u32, level: bool)

pub fn gpio_read(&self, pin: u32) -> bool

pub fn pwm_write(&mut self, pin: u32, duty: u32)

pub fn ultrasonic_read(&mut self, _trig_pin: u32, _echo_pin: u32) -> f64

pub fn ros_publish(&mut self, topic: &str, payload: &str)

pub fn update_kinematics(&mut self)

pub fn run_scheduler_simulation( &mut self, program: &Program, total_cycles: usize, ) -> Result<(), String>

Run a multi-cycle real-time scheduler simulation over all tasks in priority order

pub fn render_sim_dashboard(&self) -> String

pub fn register_program(&mut self, program: &Program)

pub fn execute_program(&mut self, program: &Program) -> Result<Value, String>

pub fn run_simulation( &mut self, program: &Program, cycles: usize, ) -> Result<Value, String>

Run a multi-cycle real-time simulation over all tasks in priority order

pub fn execute_block(&mut self, block: &Block) -> Result<Value, String>

pub fn execute_stmt(&mut self, stmt: &Stmt) -> Result<Value, String>

pub fn eval_expr(&mut self, expr: &Expr) -> Result<Value, String>

pub fn to_json_state(&self) -> String

Trait Implementations

impl Default for SeshRuntime

fn default() -> Self

Returns the “default value” for a type.