Crate mecha10_controllers 

Hardware Controller Abstractions for Mecha10

This crate provides a composable layer between hardware drivers and nodes. Controllers wrap device SDKs/libraries and provide standardized interfaces for nodes to manage hardware.

Architecture

┌─────────────────┐
│     Node        │  (Business logic)
└────────┬────────┘
         │
         ▼
┌─────────────────┐
│   Controller    │  (Device management + SDK abstraction)
└────────┬────────┘
         │
         ▼
  ┌──────────────┐
  │ Hardware SDK │  (realsense-rust, bno055, etc.)
  └──────────────┘

Core Concepts

• Controller: Base trait for all hardware controllers
• Domain-specific traits: CameraController, ImuController, etc.
• Health monitoring: Built-in health checks and diagnostics
• Capability discovery: Query what a controller can do
• Testing support: Mock implementations for easy testing

Example

use mecha10_controllers::{Controller, CameraController};
use mecha10_controllers::camera::RealSenseController;

#[tokio::main]
async fn main() -> anyhow::Result<()> {
    // Initialize controller
    let config = RealSenseConfig::default();
    let mut camera = RealSenseController::init(config).await?;

    // Start acquisition
    camera.start().await?;

    // Use controller
    let frame = camera.capture_frame().await?;
    println!("Captured frame: {}x{}", frame.width, frame.height);

    // Clean shutdown
    camera.stop().await?;
    Ok(())
}

Re-exports

pub use camera::CameraController;

pub use imu::ImuController;

pub use lidar::LidarController;

pub use motor::MotorController;

pub use l298n::L298nControllerConfig;

pub use l298n::L298nMotorController;

pub use l298n::L298nMotorPins;

Modules

camera

Camera controller trait and types

imu

IMU controller trait and types

l298n

L298N Motor Controller

lidar

LiDAR controller trait and types

mock

Mock controller implementations for testing

motor

Motor controller trait and types

Structs

ControllerCapabilities

Capabilities of a controller

Enums

ControllerError

Common controller errors

ControllerHealth

Health status of a controller

ControllerState

Common controller states

Traits

Controller

Base trait for all hardware controllers