BB.Jido.PubSubBridge (bb_jido v0.1.2)

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GenServer that bridges BB.PubSub messages into a Jido agent as signals.

Subscribes to configured BB topics on behalf of a Jido agent process and forwards each {:bb, source_path, %BB.Message{}} delivery as a Jido.Signal via Jido.AgentServer.cast/2.

Options

  • :robot — robot module to subscribe against (required).
  • :agent — pid or registered name of the Jido agent server that should receive the forwarded signals (required).
  • :topics — list of paths to subscribe to (default [[:state_machine]]). Each path is a list of atoms as accepted by BB.PubSub.subscribe/3.
  • :message_types — list of payload modules to filter on at subscription time (default [], meaning no filter). Applied to every topic.
  • :throttle_ms — optional minimum interval between signals of the same type. Repeated signals arriving within the window are dropped. Defaults to no throttling.

Filtering

Topic and message-type filtering happen at the PubSub layer (cheap). The bridge additionally enforces an optional per-type throttle to limit signal volume for high-frequency topics (e.g. joint states at 100Hz).

Summary

Types

option()

Functions

child_spec(init_arg)

Returns a specification to start this module under a supervisor.

start_link(opts)

Types

option()

@type option() ::
  {:robot, module()}
  | {:agent, GenServer.server()}
  | {:topics, [[atom()]]}
  | {:message_types, [module()]}
  | {:throttle_ms, pos_integer()}
  | GenServer.option()

Functions

child_spec(init_arg)

Returns a specification to start this module under a supervisor.

See Supervisor.

start_link(opts)

@spec start_link([option()]) :: GenServer.on_start()