Struct ComponentBuilder 

pub struct ComponentBuilder { /* private fields */ }

Configures one mounted component instance.

Reached through RobotBuilder::component_with.

Implementations

impl ComponentBuilder

pub fn mounted_on(self, link: &str) -> Self

Mount this instance on the named robot link rather than on the one generated from its instance id.

The link is added beneath base_link unless a stated joint already attaches it.

pub fn direction_sign(self, capability: &str, sign: i8) -> Self

State which way this instance’s capability is turned, as 1 or -1.

This is what Robot::require_motor and Robot::require_encoder return beside the capability, so that a mirrored actuator is described once on the model rather than by every consumer that drives it.

pub fn driver(self, driver: Value) -> Self

Give this instance the hardware connection block that makes it a driven component.

Its presence is what says a component driver runs for this instance, under the instance’s own id, and the block is that driver’s configuration. An instance without one is modelled and observed but launches no process.

use phoxal_model::builder::RobotBuilder;

let robot = RobotBuilder::new("rover")
    .component_type("drive_motor", |motor| motor.motor("spin", "axle"))
    .component_with("left_drive", "drive_motor", |mounted| {
        mounted.driver(serde_json::json!({ "connection": "/dev/ttyUSB0" }))
    })
    .build()?;

let left = robot.component("left_drive").expect("the mounted instance");
assert!(left.instance().driver().is_some());

Trait Implementations

impl Debug for ComponentBuilder

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

Formats the value using the given formatter.