Enum RobotContext 

pub enum RobotContext {
    ArmCommissioning,
    ArmOperating,
    LeggedStance,
    LeggedSwing,
    Maintenance,
}

The robot’s current operating regime.

Set by the caller from whatever state source is authoritative for the deployment (ROS 2 mode topic, OPC UA OperationalStatus node, programmable-logic flag, manual operator switch). DSFB never transitions between contexts on its own — it is an observer.

Variants

ArmCommissioning

Arm is being commissioned: dynamic parameter identification in progress, friction tables being populated, excitation trajectories being executed. Residuals are expected to be large and non-stationary. Violations are suppressed.

ArmOperating

Arm is in normal operation: trajectory tracking, force control, teleoperation. Residuals are expected to be small and stationary within the calibrated envelope. Full violation enforcement.

LeggedStance

Legged platform is in a stance phase: at least one end effector in contact with the ground, contact forces actively controlled by the whole-body controller. Residuals include MPC force tracking error and centroidal-momentum estimator discrepancy. Full violation enforcement.

LeggedSwing

Legged platform is in a swing phase: at least one end effector off the ground, swing-foot trajectory tracking active. Contact residuals are not applicable; only joint-level kinematic residuals are enforced. Full violation enforcement with a relaxed envelope (swing-phase residuals are typically looser than stance-phase).

Maintenance

Planned maintenance: operator-initiated diagnostics or mechanical service. Residuals may be very large as the robot is deliberately moved through unusual configurations. Violations are suppressed.

Implementations

impl RobotContext

pub const fn is_suppressed(self) -> bool

Returns true if violations are suppressed in this context.

Commissioning and maintenance periods both produce residual patterns that look like faults to a naive observer but are expected by design. DSFB recognises these contexts and holds the grammar FSM in Admissible.

pub fn admissibility_multiplier(self) -> f64

Multiplier applied to the envelope radius ρ in this context.

• ArmOperating, LeggedStance: 1.0 (baseline envelope).
• LeggedSwing: 1.5 (swing residuals run wider than stance).
• ArmCommissioning, Maintenance: f64::INFINITY (no violation possible — residuals are expected to be arbitrary).

The choice of 1.5 for swing is intentionally modest; the caller may override with a custom envelope per-phase if a tighter bound is known from the controller.

pub const fn label(self) -> &'static str

Short stable string label, for logging and JSON emission.

Trait Implementations

impl Clone for RobotContext

fn clone(&self) -> RobotContext

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for RobotContext

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for RobotContext

fn eq(&self, other: &RobotContext) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for RobotContext

impl Eq for RobotContext

impl StructuralPartialEq for RobotContext