Generates convenience functions for commands on the robot module and resolves arm/disarm command routing.

For each command defined in the DSL, this transformer generates a function on the robot module that calls BB.Robot.Runtime.execute/3.

It also:

• Sets arm: true implicitly on commands whose handler is BB.Command.Arm, and disarm: true implicitly on commands using BB.Command.Disarm. This preserves the historical behaviour of BB.Safety.arm/1/BB.Safety.disarm/2 for robots that use the built-in command modules: those calls now dispatch via the runtime instead of flipping safety state directly, while still producing the same observable outcome.
• Validates that at most one command in the DSL is arm-flagged and at most one is disarm-flagged, that no single command sets both, and that the allowed_states of flagged commands are compatible with the state(s) the command is supposed to transition out of.
• Injects __bb_arm_command__/0 and __bb_disarm_command__/0 lookup functions on the robot module, returning the name (atom) of the flagged command or nil. BB.Safety uses these to decide whether to route through the command pipeline or fall through to the safety controller's direct state-flip behaviour.

Example

Given a command definition:

commands do
  command :navigate_to_pose do
    handler NavigateToPoseHandler
    argument :target_pose, BB.Pose, required: true
    argument :tolerance, :float, default: 0.1
  end
end

This transformer generates:

@spec navigate_to_pose(keyword()) :: {:ok, pid()} | {:error, term()}
def navigate_to_pose(goal \\ []) do
  BB.Robot.Runtime.execute(__MODULE__, :navigate_to_pose, Map.new(goal))
end

The caller can then await the command to get the result:

{:ok, cmd} = MyRobot.navigate_to_pose(target_pose: pose)
{:ok, result} = BB.Command.await(cmd)