Crate mecha10_core

Expand description

Mecha10 Core Runtime

This crate provides the foundational runtime for the Mecha10 framework, including node lifecycle management, health monitoring, and orchestration.

§Features

Node lifecycle management (start, stop, restart)
Health monitoring and automatic recovery
Process management for node execution
Integration with config and messaging systems
Graceful shutdown handling
Type-safe topics system
Comprehensive error handling
Shared message types

§Quick Start

use mecha10_core::prelude::*;
use mecha10_core::topics::{perception, sensor};

#[derive(Debug)]
struct MyNode {
    config: MyConfig,
}

#[derive(Debug, Deserialize)]
struct MyConfig {
    threshold: f32,
}

#[async_trait]
impl NodeImpl for MyNode {
    type Config = MyConfig;

    async fn init(config: Self::Config) -> Result<Self> {
        Ok(Self { config })
    }

    async fn run(&mut self, ctx: &Context) -> Result<()> {
        let mut images = ctx.subscribe(sensor::CAMERA_RGB).await?;

        while let Some(image) = images.recv().await {
            // Process image into detections, then publish the result.
            let result = Vec::new();
            ctx.publish_to(perception::DETECTIONS, &result).await?;
        }

        Ok(())
    }
}

Re-exports§

pub use context::Context;
pub use context::Receiver;
pub use error::Mecha10Error;
pub use error::Result;
pub use messages::Message;
pub use inventory;
pub use types::*;

Modules§

actuator: Shared actuator message types
aggregated: Aggregated Topics - Multi-topic subscription with pattern matching
auth: Authorization and Access Control
circuit_breaker: Circuit Breaker Pattern for Fault Tolerance
config
config_watcher: Configuration Hot-Reload Support
context: Node execution context
dependency: Dependency Resolution for Node Startup/Shutdown Ordering
discovery: Service Discovery
error
fs_utils: Filesystem utility helpers shared across binaries (CLI, launcher-service, …).
geometry: Shared 2D axis-aligned bounding-box geometry and greedy Non-Maximum Suppression (NMS).
kinematics: Shared kinematics helpers for wheeled-robot odometry.
macros: Mecha10 Framework Macros
messages
metrics: Metrics Collection
model: Model configuration utilities for AI nodes
node
node_config_base: The shared base config contract every node’s resolved config composes with.
node_registry: Link-time self-registration foundation for discovering framework node schema/catalog metadata, without hand-enumerating every built-in node type in Rust match arms.
ollama: Detects whether a project needs a local Ollama server running.
prelude
priority_queue: Priority queue for message processing
profiling: Performance Profiling Helpers
rate_limit: Rate Limiting
recovery: Graceful Degradation and Automatic Recovery Policies
relay_topics: Relay topics auto-derivation for websocket-bridge.
rwlock_collections: Async extension trait for collecting the keys/values of a tokio::sync::RwLock<HashMap<K, V>>.
schema: Schema Registry
secrets: Secrets Management
sensor: Shared sensor message types
service: Service Pattern for Infrastructure Components
state: Persistent State Storage Abstraction for Nodes
teleop: Teleoperation message types
topic_registry: Topic Registry for Runtime Introspection and Validation
topic_utils: Topic utility functions
topics: Type-Safe Topics System
types: Core type definitions shared across the Mecha10 framework
wire_identifier: Parsing for a node’s “wire identifier” - the single string form a node’s instance_id/ camera_id get encoded into wherever a typed NodeRef isn’t available to carry them as separate fields (e.g. mecha10-node-runner‘s CLI args, mecha10-templates’ generated robot binary, which can’t depend on mecha10-cli-core where NodeRef itself lives).