BB.Jido.Signal (bb_jido v0.2.0)

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Canonical mapping from BB.PubSub messages to Jido.Signal structs.

PubSub subscribers receive {:bb, source_path, %BB.Message{}}. This module converts those into Jido.Signal structs with stable, queryable type strings following the bb.* namespace.

Naming convention

  • bb.state.transition — robot state machine transitions (payload BB.StateMachine.Transition).
  • bb.safety.error — safety hardware errors (payload BB.Safety.HardwareError).
  • bb.parameter.changed — parameter updates (payload BB.Parameter.Changed).
  • bb.pubsub.<path> — generic envelope for any other PubSub message, where <path> is the dotted source path (e.g. bb.pubsub.sensor.joint_state).

Source follows the /bb/<robot_module> convention for traceability, and the CloudEvents subject attribute carries the robot module name so handlers can identify the robot without unpacking data.

Summary

Functions

from_pubsub(robot, source_path, message)

Converts a BB.PubSub delivery into a Jido.Signal.

source(robot)

Returns the canonical signal source string for a robot module.

subject(robot)

Returns the CloudEvents subject for a robot module — the robot's module name, or nil when the robot is unknown.

type_for(path, arg2)

Returns the canonical signal type string for a given path/payload pair.

Functions

from_pubsub(robot, source_path, message)

@spec from_pubsub(module() | nil, [atom()], BB.Message.t()) :: Jido.Signal.t()

Converts a BB.PubSub delivery into a Jido.Signal.

  • robot is the robot module that owns the subscription (used to build the signal source URI; falls back to the robot recorded on the message itself).
  • source_path is the publisher's full path as delivered by BB.PubSub.
  • message is the %BB.Message{} payload.

source(robot)

@spec source(module() | nil) :: String.t()

Returns the canonical signal source string for a robot module.

subject(robot)

@spec subject(module() | nil) :: String.t() | nil

Returns the CloudEvents subject for a robot module — the robot's module name, or nil when the robot is unknown.

type_for(path, arg2)

@spec type_for([atom()], struct() | nil) :: String.t()

Returns the canonical signal type string for a given path/payload pair.

Specialised types are recognised for well-known payload modules so that agents can subscribe to (for example) bb.state.transition regardless of the path the publisher used.