feat(safety): add hardware error reporting with auto-disarm #16
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Add `BB.Safety.report_error/3` API for controllers and actuators to
report hardware errors. By default, reported errors automatically
disarm the robot for safety.
New features:
- `auto_disarm_on_error` setting (default: true) in DSL settings
- `BB.Safety.report_error/3` publishes `HardwareError` message and
optionally triggers disarm based on setting
- `BB.Safety.HardwareError` message type for error events
- Comprehensive documentation with custom error handler examples
Users can disable auto-disarm and implement custom error handling:
settings do
auto_disarm_on_error false
end
# Then subscribe to [:safety, :error] for custom handling
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Summary
BB.Safety.report_error/3API for controllers and actuators to report hardware errorsauto_disarm_on_errorsetting (default:true) to control automatic disarm on errorBB.Safety.HardwareErrormessage type published to[:safety, :error]Motivation
Controllers monitoring hardware (like servo drivers) need a way to report hardware errors to the safety system. By default, hardware errors should trigger a safe shutdown, but advanced users may want custom error handling.
Changes
New files:
lib/bb/safety/hardware_error.ex- Message type for error eventsModified files:
lib/bb/dsl.ex- Addedauto_disarm_on_errorsettinglib/bb/dsl/info.ex- Exposed new settinglib/bb/safety.ex- Addedreport_error/3APIlib/bb/safety/controller.ex- Implemented error reporting logicdocumentation/topics/safety.md- Added documentation sectiontest/bb/safety/controller_test.exs- Added testsTest plan
report_error/3publishing error messagesauto_disarm_on_erroris truemix check --no-retrypasses