Real-Time Robotics Framework

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====== Hardware Simulator ======
The simulator offers digital and analog inputs and outputs. It offers to run simple example and test programs without the need of external hardware, see [[getting_started:tutorials:start|]]. The wrapper library can be found in [[https://github.com/eeros-project/sim-eeros]]. \\
Currently the simulator encompasses a ''reflect'' device: \\
[{{ :eeros_architecture:hal:simdevicehierarchy.png?400 | //The available subdevices of the simulator//}}]
The input channels of //Subdevice Digital Input// are output on the channels of //Subdevice Digital Output// and similarly the same is true for the input channels of //Subdevice Analog Input// which are output on //Subdevice Analog Output//. Every signal on input channel 0 to 10 is "reflected" onto its corresponding output channel 0 to 10. 

==== Available Subdevices ====
^ Function            ^ Description                                   ^ Subdevice     ^ available Channels  ^
| Digital Output      | Outputs                                       |     0         |        0-10         |
| Digital Input       | Inputs reflected from outputs of subdevice 0  |     1         |        0-10         |
| Analog Output       | Outputs                                       |     2         |        0-10         |
| Analog Input        | Inputs reflected from outputs of subdevice 2  |     3         |        0-10         |

==== Configuration File ====
The possible configuration file for the initialization of the [[eeros_architecture:hal:start|]] might be as follows:
<code>
{
  "device0": {
    "library": "libsimeeros.so",
    "devHandle": "reflect",
    "subdevice0": {
      "type": "DigOut",
      "channel1": {
        "signalId": "dout0"
      }
    },
    "subdevice1": {
      "type": "DigIn",
      "channel1": {
        "signalId": "din0"
      }
    },
    "subdevice2": {
      "type": "AnalogOut",
      "channel7": {
        "signalId": "aout1"
      }
    },
    "subdevice3": {
      "type": "AnalogIn",
      "channel7": {
        "signalId": "ain1"
      }
    }
  }
}
</code>
Digital output on ''dout0'' can be read at input ''din0'', analog output on ''aout1'' can be read at input ''ain1''. The configuration could include scaling and range limiting for the analog channels as described in [[eeros_architecture:hal:configuration_file|]].