BB.Command.Disarm (bb v0.19.0)

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Standard command handler for disarming a robot.

When executed from the :idle state, this command disarms the robot via BB.Safety.Controller, which calls all registered BB.Safety.disarm/1 callbacks to ensure hardware is made safe.

Usage

Add to your robot's command definitions:

commands do
  command :disarm do
    handler BB.Command.Disarm
    allowed_states [:idle]
  end
end

Then execute:

{:ok, cmd} = MyRobot.disarm()
{:ok, :disarmed} = BB.Command.await(cmd)

Implicit disarm: true

When this module is the handler, the DSL implicitly sets disarm: true on the command, which means BB.Safety.disarm/2 will route through this command rather than flipping safety state directly. To insert pre-disarm work (e.g. moving to a home position) without losing the safety-API routing, write a custom handler that calls BB.Safety.Controller.disarm/2 directly and flag it with disarm true. If the custom handler returns an error before reaching the controller, the safety system parks the robot in :error — force_disarm/1 is required to recover.