Module sim 

The C ABI for simulated devices.

These functions wrap [pamoja_sim] so a caller can drive a whole node with no hardware attached. That is worth more from a binding than from Rust: someone writing against the SDK in Python or C# can put a sensor, an actuator, and a lossy link into a unit test and find out what their code does when a reading drifts or a packet vanishes, without owning the device.

The degraded link lives with the transports, in pamoja_transport_degraded, because it wraps a transport rather than standing alone.

Structs

PamojaPose

Where a robot is and which way it faces.

PamojaRecordingActuator

An opaque handle to an actuator that records what it was told to do.

PamojaReplay

An opaque handle to a sensor that replays a recorded series.

PamojaSimRobot

An opaque handle to a robot that moves only in arithmetic.

PamojaSimSensor

An opaque handle to a sensor that invents plausible readings.

PamojaTwist

How fast a robot is asked to move.

Functions

pamoja_recording_actuator_apply^⚠

Applies a command, which the actuator records rather than acts on.

pamoja_recording_actuator_commands^⚠

Copies out the commands an actuator recorded, oldest first.

pamoja_recording_actuator_free^⚠

Releases a recording actuator handle.

pamoja_recording_actuator_len^⚠

Reports how many commands an actuator has been given.

pamoja_recording_actuator_new

Creates an actuator that records every command instead of acting on one.

pamoja_replay_free^⚠

Releases a replay handle.

pamoja_replay_new^⚠

Creates a sensor that reads back a recorded series.

pamoja_replay_read^⚠

Takes the next reading from a replay.

pamoja_sim_robot_apply^⚠

Drives the robot for one time step.

pamoja_sim_robot_free^⚠

Releases a simulated robot handle.

pamoja_sim_robot_new

Creates a robot that moves only in arithmetic.

pamoja_sim_robot_pose^⚠

Reads where the robot has got to.

pamoja_sim_sensor_free^⚠

Releases a simulated sensor handle.

pamoja_sim_sensor_new

Creates a sensor that reads around a baseline.

pamoja_sim_sensor_read^⚠

Takes the next reading.