BB.Dsl.State (bb v0.33.0)

A custom operational state for the robot.

States define the operational context the robot can be in (beyond the built-in ones). Commands specify which states they can run in via allowed_states, and can transition the robot to new states via next_state: in their result.

built_in/0 lists the states every robot has without declaring them.

Summary

Types

t()

Functions

built_in()

The states every robot has without declaring them.

built_in_names()

The names of the states every robot has without declaring them.

reserved_names()

State names a robot may not declare.

Types

t()

@type t() :: %BB.Dsl.State{
  __identifier__: any(),
  __spark_metadata__: Spark.Dsl.Entity.spark_meta(),
  doc: String.t() | nil,
  name: atom()
}

Functions

built_in()

@spec built_in() :: [
  %BB.Dsl.State{
    __identifier__: term(),
    __spark_metadata__: term(),
    doc: term(),
    name: term()
  }
]

The states every robot has without declaring them.

:idle is the default operational state. :disarmed is owned by BB.Safety rather than the operational state machine, but it belongs to the same set: commands name it in allowed_states (that is how arm is reachable at all) and BB.Command.Disarm returns it as its next_state.

:disarming and :error are deliberately absent. They are safety states a command can neither run in nor transition to — BB.Robot.Runtime refuses every command while the robot is in either — so admitting them would only let a command pretend the hardware was in a state it isn't.

A robot that declares one of these itself keeps its own definition.

built_in_names()

@spec built_in_names() :: [atom()]

The names of the states every robot has without declaring them.

reserved_names()

@spec reserved_names() :: [atom()]

State names a robot may not declare.

BB.Safety owns these, and BB.Robot.Runtime.state/1 returns them ahead of whatever the operational state machine holds. A robot state sharing one of their names could therefore never be observed, and a command allowed in it could never run — check_state_allowed/2 refuses every command while the robot is disarming or in error.

:disarmed is not reserved: it is a built-in, and redeclaring it only changes its documentation. See built_in/0.