dummy.rs — Development Simulator
The simulator generates realistic fake rover data so the UI can be developed and tested without physical hardware. It is started via the start_dummy_streams or start_dummy_imu_stream commands and stopped with stop_dummy_streams.
Stream table
Each stream has an independent send interval and a generator function that produces time-varying data:
Stream | Interval | Notes |
|---|---|---|
IMU | 20ms (50Hz) | Sinusoidal accelerometer, gyro, magnetometer |
GPS | 200ms | Slow position drift around a fixed coordinate (52.2297°N, 6.8978°E) |
pH | 500ms | pH value oscillating around 7.0 |
Arm control signals | 50ms | Simulated joint control inputs |
Arm diagnostics | 500ms | 6 motors with dummy RPM/voltage |
Arm feedback | 100ms | Occasionally simulates an obstruction error |
Arm positions | 50ms | All joint angles oscillating |
Arm target | 200ms | Target XYZ + jaw state |
Arm obstructions | 300ms | |
Drive diagnostics | 500ms | 6 drive + 4 steering motors |
Drive motor | 50ms | Distance to go, turning radius |
Drive progress | 100ms | Countdown from 10m |
Sensor board diagnostics | 500ms | Composite board health snapshot |
Network simulation
The simulator can optionally apply jitter (random delay up to jitter_ms) and packet loss (random drop with probability packet_loss) to simulate real wireless conditions. The full simulator uses 30ms jitter and 2% packet loss; the IMU-only simulator uses no jitter or loss.
Record / Replay mode
The simulator supports recording a session to a binary file and replaying it later. Packets are written as [4-byte little-endian length][protobuf bytes]. Replay sends packets from the file at a fixed 20ms pace. This is useful for reproducing specific scenarios during UI development.
To use replay mode: set
record_pathinSimulatorConfigduring a live or simulated session, then usereplay_pathin a subsequent run.