Current section
Files
Jump to
Current section
Files
lib/bb/command/arm.ex
# SPDX-FileCopyrightText: 2025 James Harton
#
# SPDX-License-Identifier: Apache-2.0
defmodule BB.Command.Arm do
@moduledoc """
Standard command handler for arming a robot.
When executed from the `:disarmed` state, this command arms the robot
via `BB.Safety.Controller`, making it ready to accept motion commands.
## Usage
Add to your robot's command definitions:
commands do
command :arm do
handler BB.Command.Arm
allowed_states [:disarmed]
end
end
Then execute:
{:ok, cmd} = MyRobot.arm()
{:ok, :armed} = BB.Command.await(cmd)
"""
use BB.Command
@impl BB.Command
def handle_command(_goal, context, state) do
case BB.Safety.arm(context.robot_module) do
:ok ->
{:stop, :normal, %{state | result: {:ok, :armed}, next_state: :idle}}
{:error, reason} ->
{:stop, :normal, %{state | result: {:error, reason}}}
end
end
@impl BB.Command
def result(%{result: {:ok, value}, next_state: next_state}) do
{:ok, value, next_state: next_state}
end
def result(%{result: result}), do: result
end