BB.Estimator.Wiring (bb v0.20.0)

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Builds the supervisor child_spec for an estimator DSL entity.

Used by BB.LinkSupervisor for link-nested estimators and by BB.Sensor.Server for sensor-nested estimators. Centralises:

  • Output-path resolution (auto-derived :out plus explicit output overrides).
  • Input-spec resolution (sensor-nested: synthesised single implicit input pointing at the parent sensor's path; link-nested: passed through from the entity's declared input blocks).
  • sync_tolerance unit conversion to nanoseconds.
  • Construction of the BB.Estimator.Context delivered to the user module's init/1.
  • Construction of the BB.Process.via/2 registration tuple so each estimator is addressable in the robot's registry.

Summary

Types

parent_path()

Path components leading to the parent supervisor (link path).

parent_sensor_path()

Path identifying the parent publisher (sensor path) for sensor-nested estimators.

Functions

link_nested_child_spec(robot_module, est, link_path, opts)

Builds a child spec for a link-nested estimator. link_path is the sequence of link names leading to the parent link (e.g. [:base_link, :arm]).

sensor_nested_child_spec(robot_module, est, parent_sensor_path, target_frame, opts)

Builds a child spec for a sensor-nested estimator. parent_sensor_path is the parent sensor's full publish path including the leading :sensor atom (e.g. [:sensor, :base_link, :imu]).

Types

parent_path()

@type parent_path() :: [atom()]

Path components leading to the parent supervisor (link path).

parent_sensor_path()

@type parent_sensor_path() :: [atom()]

Path identifying the parent publisher (sensor path) for sensor-nested estimators.

Functions

sensor_nested_child_spec(robot_module, est, parent_sensor_path, target_frame, opts)

@spec sensor_nested_child_spec(
  module(),
  BB.Dsl.Estimator.t(),
  parent_sensor_path(),
  atom(),
  Keyword.t()
) :: map()

Builds a child spec for a sensor-nested estimator. parent_sensor_path is the parent sensor's full publish path including the leading :sensor atom (e.g. [:sensor, :base_link, :imu]).