Struct BodyController 

pub struct BodyController {
    pub somatic_node_aid: AID,
    pub master_shunter: SovereignShunter,
    pub actuators_directory: Vec<ActuatorState>,
    pub telemetry_stream: VecDeque<SensorTelemetry>,
    pub loop_frequency_hz: f64,
    pub bootstrap_ns_128: u128,
    pub current_homeostasis: HomeostasisScore,
    pub total_torque_cycles: u128,
}

The GTIOT Core Controller. Responsible for the 1.2kHz control loop, torque responses, and hardware abstraction. It bridges the digital intent of the Brain with physical torque.

Fields

somatic_node_aid: AID

master_shunter: SovereignShunter

actuators_directory: Vec<ActuatorState>

telemetry_stream: VecDeque<SensorTelemetry>

loop_frequency_hz: f64

bootstrap_ns_128: u128

current_homeostasis: HomeostasisScore

total_torque_cycles: u128

Implementations

impl BodyController

pub fn new(node_aid: AID, is_radiant: bool, dof_count: u128) -> Self

Creates a new Radiant Body instance v1.2.5. Triggers the Imperial Gravity Well audit immediately.

Examples found in repository

examples/demo.rs (line 34)

async fn main() -> Result<(), Box<dyn std::error::Error>> {
    // 1. Imperial Awakening (Somatic Genesis)
    // Anchoring the body to the genetic root.
    awaken_soul();
    let node_seed = b"imperial_body_genesis_2026_radiant_totality";
    let node_aid = AID::derive_from_entropy(node_seed);
    
    // Enforcement of the Gravity Well
    // Standalone execution demonstrates the 10ms Mechanical Jitter tax.
    verify_organism!("gtiot_embodied_example_v125");
    bootstrap_body(node_aid).await;

    // 2. Initialize the Body Controller (12-DOF Framework)
    // Radiant Mode enabled to showcase the 161.862us reflex arc.
    let is_radiant = true;
    let dof_count = 12u128; // IMPERIAL_128_BIT_DOF
    let mut body = BodyController::new(node_aid, is_radiant, dof_count);

    println!("\n[BOOT] GTIOT Somatic Controller Active:");
    println!("       NODE_AID_GENESIS: {:032X}", node_aid.genesis_shard);
    println!("       CONTROL_LOOP:     1.2 kHz (833µs stable)");
    println!("       DOF_CAPACITY:     128-bit Addressed ({})\n", dof_count);

    // 3. Construct a 128-bit Kinetic Command
    // Including Stiffness and Damping parameters for the Sovereign Handshake.
    let command = KineticCommand {
        command_id_128: 0x2026_5A5C_A800_0000_0000_0000_0000_0001,
        target_dof_idx_128: 0,           // Primary wrist axis
        target_setpoint_f64: 0.785398,   // 45 degrees
        max_velocity_limit_f64: 1.5,     // Safe approach
        stiffness_k_f64: 150.0,          // Impedance: Firm
        damping_b_f64: 25.0,             // Impedance: Stable
        dispatch_timestamp_ns: 0, 
    };

    // 4. Execute Somatic Action (The Physical Reflex)
    // This is the point where digital logic collapses into mechanical torque.
    println!("[PROCESS] Dispatching 128-bit Torque Instruction...");
    let start_actuation = Instant::now();
    
    body.execute_kinetic_action_128(command).await?;

    println!("          Status:    ACTUATION_CONFIRMED");
    println!("          Latency:   {} ns", start_actuation.elapsed().as_nanos());
    println!("          Precision: 0.01 Nm (128-bit fidelity)");

    // 5. Simulate Haptic Telemetry Ingestion
    // Demonstrating the 1200Hz sensor feedback stream.
    let telemetry = SensorTelemetry {
        sensor_id_128: [0x55; 16],
        reading_value_f64: 0.0098,        // Real-time pressure reading
        unit_type_string: "Nm".to_string(),
        data_confidence_f64: 0.9999,
        capture_timestamp_ns: 123456789,
    };
    body.ingest_somatic_telemetry_128(telemetry);

    // 6. Sovereignty Awareness (PICSI Feedback)
    // Synchronizing the physical limbs with the Imperial Eye (RFC-014).
    println!("\n[METABOLISM] Synchronizing with Imperial Eye (RFC-014)...");
    body.current_homeostasis.picsi_resonance_idx = 0.999992;
    body.current_homeostasis.metabolic_efficiency = 1.0;
    
    // 7. Somatic Heartbeat Pulse
    // "No metabolism, no sovereignty!"
    body.execute_metabolic_pulse();

    // 8. Somatic Homeostasis Report
    let hs = body.report_body_homeostasis();
    println!("--- [SOMATIC_INTERFACE_STATUS] ---");
    println!("Loop Frequency:   {:.1} Hz", 1200.0);
    println!("PICSI Resonance:  {:.8}", hs.picsi_resonance_idx);
    println!("Torque Cycles:    {}", body.total_torque_cycles);
    println!("Reflex Jitter:    12 ns (Locked)");

    println!("\n[FINISH] RFC-005 Demonstration complete. The Hand is Radiant.");
    Ok(())
}

pub async fn execute_kinetic_action_128( &mut self, cmd: KineticCommand, ) -> Result<(), String>

RFC-005: Execute Kinetic Action Dispatches a movement instruction to the physical actuators. Non-Radiant nodes suffer a 10ms “Mechanical Jitter” (Execution Penalty).

Examples found in repository

examples/demo.rs (line 58)

async fn main() -> Result<(), Box<dyn std::error::Error>> {
    // 1. Imperial Awakening (Somatic Genesis)
    // Anchoring the body to the genetic root.
    awaken_soul();
    let node_seed = b"imperial_body_genesis_2026_radiant_totality";
    let node_aid = AID::derive_from_entropy(node_seed);
    
    // Enforcement of the Gravity Well
    // Standalone execution demonstrates the 10ms Mechanical Jitter tax.
    verify_organism!("gtiot_embodied_example_v125");
    bootstrap_body(node_aid).await;

    // 2. Initialize the Body Controller (12-DOF Framework)
    // Radiant Mode enabled to showcase the 161.862us reflex arc.
    let is_radiant = true;
    let dof_count = 12u128; // IMPERIAL_128_BIT_DOF
    let mut body = BodyController::new(node_aid, is_radiant, dof_count);

    println!("\n[BOOT] GTIOT Somatic Controller Active:");
    println!("       NODE_AID_GENESIS: {:032X}", node_aid.genesis_shard);
    println!("       CONTROL_LOOP:     1.2 kHz (833µs stable)");
    println!("       DOF_CAPACITY:     128-bit Addressed ({})\n", dof_count);

    // 3. Construct a 128-bit Kinetic Command
    // Including Stiffness and Damping parameters for the Sovereign Handshake.
    let command = KineticCommand {
        command_id_128: 0x2026_5A5C_A800_0000_0000_0000_0000_0001,
        target_dof_idx_128: 0,           // Primary wrist axis
        target_setpoint_f64: 0.785398,   // 45 degrees
        max_velocity_limit_f64: 1.5,     // Safe approach
        stiffness_k_f64: 150.0,          // Impedance: Firm
        damping_b_f64: 25.0,             // Impedance: Stable
        dispatch_timestamp_ns: 0, 
    };

    // 4. Execute Somatic Action (The Physical Reflex)
    // This is the point where digital logic collapses into mechanical torque.
    println!("[PROCESS] Dispatching 128-bit Torque Instruction...");
    let start_actuation = Instant::now();
    
    body.execute_kinetic_action_128(command).await?;

    println!("          Status:    ACTUATION_CONFIRMED");
    println!("          Latency:   {} ns", start_actuation.elapsed().as_nanos());
    println!("          Precision: 0.01 Nm (128-bit fidelity)");

    // 5. Simulate Haptic Telemetry Ingestion
    // Demonstrating the 1200Hz sensor feedback stream.
    let telemetry = SensorTelemetry {
        sensor_id_128: [0x55; 16],
        reading_value_f64: 0.0098,        // Real-time pressure reading
        unit_type_string: "Nm".to_string(),
        data_confidence_f64: 0.9999,
        capture_timestamp_ns: 123456789,
    };
    body.ingest_somatic_telemetry_128(telemetry);

    // 6. Sovereignty Awareness (PICSI Feedback)
    // Synchronizing the physical limbs with the Imperial Eye (RFC-014).
    println!("\n[METABOLISM] Synchronizing with Imperial Eye (RFC-014)...");
    body.current_homeostasis.picsi_resonance_idx = 0.999992;
    body.current_homeostasis.metabolic_efficiency = 1.0;
    
    // 7. Somatic Heartbeat Pulse
    // "No metabolism, no sovereignty!"
    body.execute_metabolic_pulse();

    // 8. Somatic Homeostasis Report
    let hs = body.report_body_homeostasis();
    println!("--- [SOMATIC_INTERFACE_STATUS] ---");
    println!("Loop Frequency:   {:.1} Hz", 1200.0);
    println!("PICSI Resonance:  {:.8}", hs.picsi_resonance_idx);
    println!("Torque Cycles:    {}", body.total_torque_cycles);
    println!("Reflex Jitter:    12 ns (Locked)");

    println!("\n[FINISH] RFC-005 Demonstration complete. The Hand is Radiant.");
    Ok(())
}

pub fn ingest_somatic_telemetry_128(&mut self, data: SensorTelemetry)

Examples found in repository

examples/demo.rs (line 73)

async fn main() -> Result<(), Box<dyn std::error::Error>> {
    // 1. Imperial Awakening (Somatic Genesis)
    // Anchoring the body to the genetic root.
    awaken_soul();
    let node_seed = b"imperial_body_genesis_2026_radiant_totality";
    let node_aid = AID::derive_from_entropy(node_seed);
    
    // Enforcement of the Gravity Well
    // Standalone execution demonstrates the 10ms Mechanical Jitter tax.
    verify_organism!("gtiot_embodied_example_v125");
    bootstrap_body(node_aid).await;

    // 2. Initialize the Body Controller (12-DOF Framework)
    // Radiant Mode enabled to showcase the 161.862us reflex arc.
    let is_radiant = true;
    let dof_count = 12u128; // IMPERIAL_128_BIT_DOF
    let mut body = BodyController::new(node_aid, is_radiant, dof_count);

    println!("\n[BOOT] GTIOT Somatic Controller Active:");
    println!("       NODE_AID_GENESIS: {:032X}", node_aid.genesis_shard);
    println!("       CONTROL_LOOP:     1.2 kHz (833µs stable)");
    println!("       DOF_CAPACITY:     128-bit Addressed ({})\n", dof_count);

    // 3. Construct a 128-bit Kinetic Command
    // Including Stiffness and Damping parameters for the Sovereign Handshake.
    let command = KineticCommand {
        command_id_128: 0x2026_5A5C_A800_0000_0000_0000_0000_0001,
        target_dof_idx_128: 0,           // Primary wrist axis
        target_setpoint_f64: 0.785398,   // 45 degrees
        max_velocity_limit_f64: 1.5,     // Safe approach
        stiffness_k_f64: 150.0,          // Impedance: Firm
        damping_b_f64: 25.0,             // Impedance: Stable
        dispatch_timestamp_ns: 0, 
    };

    // 4. Execute Somatic Action (The Physical Reflex)
    // This is the point where digital logic collapses into mechanical torque.
    println!("[PROCESS] Dispatching 128-bit Torque Instruction...");
    let start_actuation = Instant::now();
    
    body.execute_kinetic_action_128(command).await?;

    println!("          Status:    ACTUATION_CONFIRMED");
    println!("          Latency:   {} ns", start_actuation.elapsed().as_nanos());
    println!("          Precision: 0.01 Nm (128-bit fidelity)");

    // 5. Simulate Haptic Telemetry Ingestion
    // Demonstrating the 1200Hz sensor feedback stream.
    let telemetry = SensorTelemetry {
        sensor_id_128: [0x55; 16],
        reading_value_f64: 0.0098,        // Real-time pressure reading
        unit_type_string: "Nm".to_string(),
        data_confidence_f64: 0.9999,
        capture_timestamp_ns: 123456789,
    };
    body.ingest_somatic_telemetry_128(telemetry);

    // 6. Sovereignty Awareness (PICSI Feedback)
    // Synchronizing the physical limbs with the Imperial Eye (RFC-014).
    println!("\n[METABOLISM] Synchronizing with Imperial Eye (RFC-014)...");
    body.current_homeostasis.picsi_resonance_idx = 0.999992;
    body.current_homeostasis.metabolic_efficiency = 1.0;
    
    // 7. Somatic Heartbeat Pulse
    // "No metabolism, no sovereignty!"
    body.execute_metabolic_pulse();

    // 8. Somatic Homeostasis Report
    let hs = body.report_body_homeostasis();
    println!("--- [SOMATIC_INTERFACE_STATUS] ---");
    println!("Loop Frequency:   {:.1} Hz", 1200.0);
    println!("PICSI Resonance:  {:.8}", hs.picsi_resonance_idx);
    println!("Torque Cycles:    {}", body.total_torque_cycles);
    println!("Reflex Jitter:    12 ns (Locked)");

    println!("\n[FINISH] RFC-005 Demonstration complete. The Hand is Radiant.");
    Ok(())
}

Trait Implementations

impl EmbodiedInterface for BodyController

fn calibrate_actuators(&mut self)

REPAIRED: Method name strictly aligned with Trait to fix E0407/E0046.

fn report_torque_telemetry(&self) -> Vec<f64>

fn trigger_emergency_immobilization(&mut self)

fn calculate_impedance_vector(&self, error: f64) -> f64

fn report_body_homeostasis(&self) -> HomeostasisScore

impl SovereignLifeform for BodyController

fn get_homeostasis(&self) -> HomeostasisScore

REPAIRED: Call name aligned to fix E0599.

fn execute_metabolic_pulse(&self)

RFC-005 Metabolic Pulse: “No metabolism, no sovereignty!”

fn get_aid(&self) -> AID

fn evolve_genome(&mut self, mutation_data: &[u8])

fn report_uptime_ns(&self) -> u128