hermes.modules.icarus_module.IcarusModule Class Reference

Collaboration diagram for hermes.modules.icarus_module.IcarusModule:

Public Member Functions
None	__init__ (self, str module_name, Path config_path, str|None prefix=None)
None	bind_shm (self, SharedMemoryManager shm)
list[SignalDescriptor]	get_signal_descriptors (self)
list[str]	input_signals (self)
list[str]	output_signals (self)
None	stage (self)
None	step (self, float dt)
None	reset (self)
dict[str, Any]	introspect (self)

Protected Member Functions
None	_parse_schema (self, dict[str, object] schema)
list[str]	_get_execution_order (self, list[dict[str, Any]] components)

Protected Attributes
	_name = module_name
	_prefix = prefix or module_name
	_config_path = Path(config_path)
SharedMemoryManager|None	_shm = None
	_sim = _icarus.Simulator(str(self._config_path))
list	_input_signals = []
list	_output_signals = []

Detailed Description

Hermes module wrapping an Icarus 6DOF simulator.

Construction creates and stages the Icarus simulator so that
signal names can be discovered before Hermes shm is allocated.

Constructor & Destructor Documentation

__init__()

None hermes.modules.icarus_module.IcarusModule.__init__	(		self,
		str	module_name,
		Path	config_path,
		str | None	prefix = None )

Create and stage the Icarus simulator for signal discovery.

Args:
    module_name: Hermes module name (used as signal prefix)
    config_path: Path to Icarus YAML config (e.g. rocket_ascent.yaml)
    prefix: Signal prefix override; defaults to module_name

Member Function Documentation

_get_execution_order()

list[str] hermes.modules.icarus_module.IcarusModule._get_execution_order ( self, list[dict[str, Any]] components )

protected

Get component execution order from schema component order.

_parse_schema()

None hermes.modules.icarus_module.IcarusModule._parse_schema ( self, dict[str, object] schema )

protected

Classify signals from Icarus schema as inputs or outputs.

Inputs: component inputs without ``wired_to`` (externally controllable).
Outputs: all component outputs.

bind_shm()

None hermes.modules.icarus_module.IcarusModule.bind_shm	(		self,
		SharedMemoryManager	shm )

Bind shared memory after it has been created.

Args:
    shm: The shared memory manager with signals already allocated.

get_signal_descriptors()

list[SignalDescriptor] hermes.modules.icarus_module.IcarusModule.get_signal_descriptors

(

self

)

Return signal descriptors for shm allocation.

All Icarus signals are f64.  Inputs are writable; outputs are
published (read-only from Hermes' perspective).

input_signals()

list[str] hermes.modules.icarus_module.IcarusModule.input_signals

(

self

)

Unwired input signal names (Icarus-local names).

introspect()

dict[str, Any] hermes.modules.icarus_module.IcarusModule.introspect

(

self

)

Return Icarus internal component topology and metadata.

Uses the Icarus introspection graph API which provides typed edges:
- **route**: explicit SignalRouter connections
- **resolve**: implicit dependencies via Backplane::resolve()

output_signals()

list[str] hermes.modules.icarus_module.IcarusModule.output_signals

(

self

)

Output signal names (Icarus-local names).

reset()

None hermes.modules.icarus_module.IcarusModule.reset

(

self

)

Reset Icarus to initial conditions and re-sync outputs.

stage()

None hermes.modules.icarus_module.IcarusModule.stage

(

self

)

Sync initial Icarus values to Hermes shm.

The Icarus simulator is already staged (done in __init__).
This just copies initial output values into shared memory.

step()

None hermes.modules.icarus_module.IcarusModule.step	(		self,
		float	dt )

Advance Icarus physics by dt seconds.

1. Read input signals from shm → Icarus
2. Step Icarus
3. Write output signals from Icarus → shm

Member Data Documentation

_config_path

hermes.modules.icarus_module.IcarusModule._config_path = Path(config_path)

protected

_input_signals

hermes.modules.icarus_module.IcarusModule._input_signals = []

protected

_name

hermes.modules.icarus_module.IcarusModule._name = module_name

protected

_output_signals

hermes.modules.icarus_module.IcarusModule._output_signals = []

protected

_prefix

hermes.modules.icarus_module.IcarusModule._prefix = prefix or module_name

protected

_shm

SharedMemoryManager | None hermes.modules.icarus_module.IcarusModule._shm = None

protected

_sim

hermes.modules.icarus_module.IcarusModule._sim = _icarus.Simulator(str(self._config_path))

protected

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The documentation for this class was generated from the following file:

• src/hermes/modules/icarus_module.py