Struct SensorimotorBus 

pub struct SensorimotorBus { /* private fields */ }

The central bus connecting sensors and actuators to the cognitive system.

Manages device registration, sensor reading aggregation, and actuator command dispatch. Thread-safe via RwLock.

Implementations

impl SensorimotorBus

pub fn new(max_history: usize) -> Self

Create a new bus with the given history capacity.

pub fn register_sensor(&mut self, sensor: Box<dyn SensorDevice>)

Register a sensor device.

pub fn register_actuator(&mut self, actuator: Box<dyn ActuatorDevice>)

Register an actuator device.

pub fn poll_all(&mut self) -> Vec<SensorReading>

Poll all sensors and collect readings.

pub fn read_sensor(&self, sensor_id: &str) -> Option<SensorReading>

Read from a specific sensor by ID.

pub fn send_command(&mut self, cmd: &ActuatorCommand) -> Result<(), String>

Send a command to a specific actuator.

pub fn e_stop_all(&self) -> Vec<String>

Emergency stop all actuators.

pub const fn recent_readings(&self) -> &[SensorReading]

Get recent sensor readings.

pub fn history(&self) -> Vec<SensorReading>

Get the reading history as a Vec.

pub fn sensor_count(&self) -> usize

Number of registered sensors.

pub fn actuator_count(&self) -> usize

Number of registered actuators.

pub const fn readings_collected(&self) -> u64

Total readings collected since creation.

pub const fn commands_sent(&self) -> u64

Total commands sent since creation.

pub fn sensor_ids(&self) -> Vec<String>

List all registered sensor IDs.

pub fn actuator_ids(&self) -> Vec<String>

List all registered actuator IDs.

Trait Implementations

impl Default for SensorimotorBus

fn default() -> Self

Returns the “default value” for a type.