Struct Robot 

pub struct Robot { /* private fields */ }

Fully normalized runtime-facing robot model.

This is the whole of what manifest.json carries: the robot’s identity and structure, the motion it may make, the services it runs, and the components it mounts together with the types behind them. Everything a launched participant needs to know about the robot - including its own configuration - is read from here, so there is no second persisted document to agree with.

Implementations

impl Robot

pub const fn id(&self) -> &RobotId

pub const fn motion(&self) -> &MotionModel

pub fn services(&self) -> impl ExactSizeIterator<Item = (&ServiceId, &Service)>

Every service this robot runs, ordered by service id.

pub fn service(&self, id: &str) -> Option<&Service>

The named service, if this robot runs one.

pub fn service_config(&self, id: &str) -> Option<&Value>

The configuration the named service is launched with.

None covers both “this robot does not run that service” and “it runs with no configuration”, which is the same answer to the one question a service asks about itself at startup.

pub fn components(&self) -> impl Iterator<Item = ComponentView<'_>>

Every mounted component, ordered by instance id.

pub fn component_ids( &self, ) -> impl ExactSizeIterator<Item = &ComponentInstanceId>

Every mounted instance’s identity, ordered.

pub fn component(&self, id: &str) -> Option<ComponentView<'_>>

The named component: its instance, its type, and its simulation.

pub fn component_types( &self, ) -> impl ExactSizeIterator<Item = (&ComponentTypeId, &Component)>

Every declared component type, ordered by type id.

pub const fn structure(&self) -> &Structure

The robot’s own structure, in flattened runtime identities.

pub const fn footprint_envelope(&self) -> Option<FootprintEnvelope>

The persisted compiler-derived stock-safety envelope, if available.

pub fn capability(&self, reference: &CapabilityRef) -> Option<&Capability>

The referenced capability, if the robot declares it.

pub fn capability_refs( &self, selects: impl Fn(&Capability) -> bool, ) -> Vec<CapabilityRef>

Every declared capability matching selects.

The result is ordered by (component id, capability id). That order is an invariant, not an accident of iteration: participants derive bus identities and arbitration priorities from these positions, so two runs over the same robot must produce the same sequence.

This is infallible because a Robot value cannot exist with an instance whose component type is absent: validation rejects that with ModelError::UnknownComponentType before the value is constructed. The unresolved arm below is therefore unreachable rather than a capability being quietly dropped, and it stays a skip rather than a panic so that the impossible case degrades into a smaller result set instead of taking the process down.

pub fn capabilities_with_role(&self, role: CapabilityRole) -> Vec<CapabilityRef>

Every capability assigned the given authored role, ordered by (component id, capability id).

pub fn require_motor( &self, reference: &CapabilityRef, ) -> Result<(&Motor, i8), ModelError>

The referenced motor and the direction sign to apply to it.

Errors

Returns ModelError::UnknownCapability when the robot does not declare the capability, and ModelError::CapabilityKindMismatch when it declares something other than a motor.

pub fn require_encoder( &self, reference: &CapabilityRef, ) -> Result<(&Encoder, i8), ModelError>

The referenced encoder and the direction sign to apply to it.

Errors

Returns ModelError::UnknownCapability when the robot does not declare the capability, and ModelError::CapabilityKindMismatch when it declares something other than an encoder.

pub fn link_target_frame( &self, reference: &CapabilityRef, ) -> Result<LinkId, ModelError>

The namespaced runtime frame for a capability’s component-local link.

Errors

Returns ModelError::CapabilityTargetKind when the capability is attached to a joint rather than a link, and ModelError::UnknownBoundTarget when its component type has no such link.

Trait Implementations

impl Clone for Robot

fn clone(&self) -> Robot

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Robot

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for Robot

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

Deserialize this value from the given Serde deserializer.

impl Serialize for Robot

fn serialize<S: Serializer>(&self, serializer: S) -> Result<S::Ok, S::Error>

Serialize this value into the given Serde serializer.