Struct SensorCheckNode 

pub struct SensorCheckNode { /* private fields */ }

SensorCheckNode - Checks sensor state

Subscribes to a sensor topic and checks if a condition is met.

Configuration

{
  "type": "sensor_check",
  "config": {
    "topic": "/sensors/obstacle",
    "field": "distance",
    "operator": "less_than",
    "threshold": 0.5
  }
}

Behavior

• Lazily subscribes to topic on the first tick.
• Each tick, drains any pending sensor messages and keeps the most recent one. If no new message has arrived since the last tick, the previously received reading is reused (a publisher is not required to publish on every tick).
• If no sensor message has ever been received, the node returns Running - it is still waiting for a first reading, per the documented semantics of NodeStatus::Running.
• If a message has been received but field is missing or not numeric, the node returns Failure - the condition cannot be evaluated.
• Otherwise the node compares field’s value against threshold using operator and returns Success if the comparison holds, Failure otherwise.

Implementations

impl SensorCheckNode

pub fn from_json(config: Value) -> Result<Self>

Create a new SensorCheckNode from JSON configuration

Trait Implementations

impl BehaviorNode for SensorCheckNode

fn tick<'life0, 'life1, 'async_trait>( &'life0 mut self, ctx: &'life1 Context, ) -> Pin<Box<dyn Future<Output = Result<NodeStatus>> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait, 'life1: 'async_trait,

Execute one tick of the behavior.

fn name(&self) -> &str

Get the name of this behavior node.

fn children_mut(&mut self) -> Vec<&mut dyn BehaviorNode>

Return mutable references to this node’s child behaviors, in the order they should receive lifecycle events.

fn reset_self(&mut self)

Reset this node’s own local state, ignoring children.

fn reset<'life0, 'async_trait>( &'life0 mut self, ) -> Pin<Box<dyn Future<Output = Result<()>> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait,

Reset the behavior to its initial state.

fn on_init<'life0, 'life1, 'async_trait>( &'life0 mut self, ctx: &'life1 Context, ) -> Pin<Box<dyn Future<Output = Result<()>> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait, 'life1: 'async_trait,

Called when the behavior is first initialized.

fn on_terminate<'life0, 'life1, 'async_trait>( &'life0 mut self, ctx: &'life1 Context, ) -> Pin<Box<dyn Future<Output = Result<()>> + Send + 'async_trait>>

where Self: 'async_trait, 'life0: 'async_trait, 'life1: 'async_trait,

Called when the behavior is being terminated.

impl Debug for SensorCheckNode

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

Formats the value using the given formatter.