Module sensorimotor 

Sensorimotor Weave — hardware I/O abstraction for embodied AI.

Provides a framework for connecting sensors and actuators to the cognitive substrate via a unified trait interface. Inspired by:

• copper-rs: deterministic Rust robotics with sub-microsecond IPC
• dora-rs: dataflow-oriented robotic architecture (Zenoh SHM)
• v1 WhiteMagic: embodiment.py HarmonyMonitor, physical_metrics.py

Architecture: Sensor → SensorReading → SensorimotorBus → ActuatorCommand → Actuator

The SensorDevice and ActuatorDevice traits are designed to be implementable via C-ABI FFI (feature-gated hardware feature) so that real hardware drivers can be linked without polluting the core crate.

When the hardware feature is disabled, all operations are stubbed with sensible defaults — the framework is fully testable on any machine.

Structs

ActuatorCommand

A command to an actuator.

CpuFreqSensor

Sensor that reads CPU frequency from /sys/devices/system/cpu.

CpuUsageSensor

Sensor that reads CPU usage percentage from /proc/stat.

DiskUsageSensor

Sensor that reads disk usage percentage for a given mount point.

NetworkThroughputSensor

Sensor that reads network throughput from /proc/net/dev.

ProcfsSensor

Sensor that reads a value from a /proc filesystem file by parsing a key-value format.

ReflexLoop

A reflex loop manager that evaluates rules against sensor readings.

ReflexRule

A simple reflex loop that polls sensors and triggers actuator commands when sensor values cross thresholds.

SensorReading

A single sensor reading with timestamp.

SensorimotorBus

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

StubActuator

Stub actuator that accepts all commands. Used for testing.

StubSensor

Stub sensor that returns a fixed value. Used for testing and when the hardware feature is disabled.

SysfsActuator

Actuator that writes a value to a /sys filesystem file.

SysfsSensor

Sensor that reads a single value from a /sys filesystem path.

Enums

ActuatorKind

Type of actuator output.

SensorKind

Type of sensor reading.

Traits

ActuatorDevice

Trait for actuator devices.

SensorDevice

Trait for sensor devices.

Functions

discover_battery_sensors

Auto-discover battery sensors on Linux.

discover_fan_actuators

Auto-discover fan PWM controllers on Linux.

discover_led_actuators

Auto-discover LED controllers on Linux.

discover_thermal_sensors

Auto-discover available thermal zones on Linux.

linux_hardware_bus

Create a SensorimotorBus pre-populated with all discovered Linux hardware sensors.

Type Aliases

SensorParser

Parser function type for extracting a sensor value from file contents.