feat: add parameter system for runtime-adjustable configuration #4
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jimsynz
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Implements a complete parameter system for BB robots:
Phase 1 - Core Infrastructure:
- `BB.Parameter` module for get/set/list operations
- ETS-backed storage in `BB.Robot.State`
- Spark.Options validation for type safety
- PubSub notifications on parameter changes
Phase 2 - DSL Integration:
- `parameters` section with `param` and `group` entities
- Inline params on `controller`, `sensor`, `actuator` entities
- `ParameterTransformer` generates schema and default functions
- Unit-typed parameters via `{:unit, unit_type}` syntax
Phase 3 - Persistence:
- `BB.Parameter.Store` behaviour for pluggable backends
- `BB.Parameter.Store.Dets` implementation using OTP DETS
- `parameter_store` DSL option in settings section
- Automatic save on change, load on startup
Add `BB.Parameter.Protocol` behaviour for parameter bridges that provide
bidirectional parameter access between BB and remote systems (flight
controllers, GCS, web UIs).
Outbound (local → remote):
- `init/2` - initialise bridge state
- `handle_change/3` - push local parameter changes to remote clients
Inbound (remote → local):
- `list_remote/1` - enumerate remote parameters with PubSub paths
- `get_remote/2` - read remote parameter values
- `set_remote/3` - write remote parameter values
- `subscribe_remote/2` - subscribe to remote parameter changes
Also adds:
- `bridge` DSL entity in parameters section
- Fault-isolated supervisors: BridgeSupervisor, SensorSupervisor,
ControllerSupervisor
- `BB.Parameter.{list,get,set,subscribe}_remote` API functions
- Reference implementation in test/support for testing
Add two new tutorials following the Diataxis framework: - 07-parameters.md: core parameter system (DSL, get/set, PubSub) - 08-parameter-bridges.md: remote parameter access via bridges Simplify `BB.Parameter.Protocol` by removing redundant `init/2` callback. Bridges are always GenServers, so they use GenServer's `init/1` directly with robot metadata passed via the `:bb` key in opts. Update 06-urdf-export.md to link to the new parameters tutorial.
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TODO: