Skip to main content

Module engine

dsfb_robotics

Module engine 

Source
Expand description

Streaming DSFB engine orchestrator. See engine::DsfbRoboticsEngine and grammar::GrammarEvaluator for the canonical per-sample pipeline. DsfbRoboticsEngine — the streaming orchestrator that composes crate::sign::SignWindow, crate::grammar::GrammarEvaluator, and crate::envelope::AdmissibilityEnvelope into a no_std + no_alloc observer suitable for bare-metal MCU deployment alongside a safety-rated controller.

§Type parameters

  • W — drift-window length (samples over which ṙ is estimated).
  • K — persistence threshold for the recurrent-grazing reason code (also the length of the internal grazing history buffer).

§Canonical observe loop

use dsfb_robotics::engine::DsfbRoboticsEngine;
use dsfb_robotics::platform::RobotContext;
use dsfb_robotics::Episode;

let mut eng = DsfbRoboticsEngine::<8, 4>::new(0.1);
let mut out = [Episode::empty(); 32];

let residual_norm: f64 = 0.045; // ‖r(k)‖ from your upstream observer
let ep = eng.observe_one(residual_norm, false, RobotContext::ArmOperating, 0);
// advisory output: ep.grammar, ep.decision
let _ = (ep.grammar, ep.decision);
let _ = &out;

Structs§

DsfbRoboticsEngine
Streaming DSFB engine.