# `BB.Reactor`
[🔗](https://github.com/beam-bots/bb_reactor/blob/main/lib/bb/reactor.ex#L5)

Spark DSL extension for integrating Reactor with BB robotics framework.

This extension provides `command`, `wait_for_event`, and `wait_for_state`
entities that simplify building robot operation sequences with proper safety
handling and compensation.

## Usage

```elixir
defmodule MyRobot.PickAndPlace do
  use Reactor, extensions: [BB.Reactor]

  input :pick_pose
  input :place_pose

  command :approach do
    command :move_to_pose
    argument :target, input(:pick_pose)
  end

  command :grip do
    command :close_gripper
    wait_for :approach
  end

  command :retreat do
    command :move_to_pose
    argument :target, input(:place_pose)
    wait_for :grip
    compensate :return_home
  end

  return :retreat
end
```

## Running a Reactor

Reactors using this extension must be run with the robot module in context:

```elixir
Reactor.run(MyRobot.PickAndPlace, inputs, %{private: %{bb_robot: MyRobot}})
```

## Entities

- `command` - Execute a BB command with safety handling and compensation support
- `wait_for_event` - Wait for a PubSub event matching a pattern
- `wait_for_state` - Wait for the robot to reach a specific state

---

*Consult [api-reference.md](api-reference.md) for complete listing*