BB.Actuator.Server (bb v0.19.0)

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Wrapper GenServer for actuator callback modules.

This module manages the lifecycle of user-defined actuator modules, handling:

  • Parameter reference resolution at startup
  • Subscription to parameter changes
  • Delegation of GenServer callbacks to user module
  • Automatic safety registration

User modules implement the BB.Actuator behaviour and define callbacks. This server wraps them, providing the actual GenServer implementation.

Summary

Types

t()

Functions

child_spec(init_arg)

Returns a specification to start this module under a supervisor.

Types

t()

@type t() :: %BB.Actuator.Server{
  actuator_name: atom() | nil,
  bb: %{robot: module(), path: [atom()]},
  callback_module: module(),
  joint: map() | nil,
  joint_name: atom() | nil,
  param_subscriptions: %{required([atom()]) => atom()},
  raw_opts: keyword(),
  resolved_opts: keyword(),
  transmission: BB.Transmission.t() | nil,
  transmission_subscriptions: %{required(atom()) => [atom()]},
  user_state: term()
}

Functions

child_spec(init_arg)

Returns a specification to start this module under a supervisor.

See Supervisor.