Struct ComponentInstance 

pub struct ComponentInstance { /* private fields */ }

One mounted component instance in the canonical robot.

The instance is keyed by its own id in Robot::components, so it carries no copy of that id: the map is the identity.

Implementations

impl ComponentInstance

pub const fn component_type(&self) -> &ComponentTypeId

pub const fn mount_link(&self) -> &LinkId

The robot link this instance is rigidly mounted on.

pub const fn driver(&self) -> Option<&Value>

The hardware connection block, present exactly when a component driver runs for this instance. It is that driver’s own configuration, and the driver’s participant id is this instance’s id.

pub const fn direction_signs(&self) -> &BTreeMap<CapabilityId, i8>

The authored direction sign for each capability this instance overrides. An absent capability turns forward.

pub const fn roles(&self) -> &BTreeMap<CapabilityId, BTreeSet<CapabilityRole>>

Authored role assignments, ordered by capability and role.

pub fn has_role(&self, capability: &CapabilityId, role: CapabilityRole) -> bool

Whether this instance assigns role to the named capability.

Trait Implementations

impl Clone for ComponentInstance

fn clone(&self) -> ComponentInstance

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ComponentInstance

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

Formats the value using the given formatter.

impl DescribeWire for ComponentInstance

fn wire_schema() -> WireSchema

The shape a value of this type puts on the wire.

impl<'de> Deserialize<'de> for ComponentInstance

fn deserialize<D: Deserializer<'de>>(deserializer: D) -> Result<Self, D::Error>

Deserialize this value from the given Serde deserializer.

impl Serialize for ComponentInstance

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.