Struct Robot 

pub struct Robot { /* private fields */ }

A configured robot: named buses + named groups + lifecycle state.

Implementations

impl Robot

pub fn from_config<P: AsRef<Path>>( path: P, registry: &CodecRegistry, ) -> Result<Self, Error>

Parse a TOML config file and build a Robot using the supplied codec registry. Performs schema validation (including codec-supports-motor) before opening any socket. A bus with fd = true opens in CAN-FD mode.

pub fn from_config_str( toml_text: &str, registry: &CodecRegistry, ) -> Result<Self, Error>

Parse a TOML config string. Same semantics as Robot::from_config but skips the file read.

impl Robot

pub fn builder() -> RobotBuilder

Start a builder.

pub fn group(&self, name: &str) -> Option<&GroupKind>

Read-only access to a named group.

pub fn group_mut(&mut self, name: &str) -> Option<&mut GroupKind>

Mutable access to a named group.

pub fn group_names(&self) -> impl Iterator<Item = &str>

Iterate group names in insertion order.

pub fn bus_names(&self) -> impl Iterator<Item = &str>

Iterate bus names in insertion order.

pub fn is_connected(&self) -> bool

True after a successful connect().

pub fn bus(&self, name: &str) -> Option<&Arc<Mutex<Bus>>>

Borrow a bus by name (returns the Arc<Mutex<Bus>> for direct lock).

pub fn connect(&mut self) -> Result<(), Error>

Open sockets, populate per-bus recv-id routing tables, register fds with the poller, lock topology.

pub fn enable(&mut self) -> Result<(), Error>

Send the enable frame to every motor in every group, in insertion order.

pub fn disable(&mut self) -> Result<(), Error>

Send the disable frame to every motor in every group, in reverse insertion order. A no-op Ok(()) if never enabled.

pub fn refresh(&mut self) -> Result<(), Error>

Send a state-refresh query to every motor in every group (no motion). Send-only — pair with Robot::tick to receive the replies. Errors with Error::NotConnected if called before connect().

pub fn set_mode(&mut self, mode: CommandKind) -> Result<(), Error>

Set the persistent control mode (MIT / PosVel / Vel / PosForce) on every motor in every group (no motion). Send-only. Call once after connect and before commanding. Errors with Error::NotConnected if not connected.

pub fn tick(&mut self, deadline: Duration) -> Result<(), Error>

One tick of the control loop: poll all buses, drain readable ones, decode each frame exactly once, dispatch the resulting events to the owning groups via per-bus routing tables.

Trait Implementations

impl Drop for Robot

fn drop(&mut self)

Executes the destructor for this type.

fn pin_drop(self: Pin<&mut Self>)

🔬This is a nightly-only experimental API. (pin_ergonomics)

Execute the destructor for this type, but different to Drop::drop, it requires self to be pinned.