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Beam Bots - The framework for resilient robotics.

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bb lib bb error estimator sync_miss.ex
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lib/bb/error/estimator/sync_miss.ex 

# SPDX-FileCopyrightText: 2026 James Harton

#

# SPDX-License-Identifier: Apache-2.0



defmodule BB.Error.Estimator.SyncMiss do

  @moduledoc """

  A driver input arrived but a paired non-driver input was older than

  the estimator's `sync_tolerance`.



  Normally the framework drops these dispatches silently (with

  `[:bb, :estimator, :dropped]` telemetry, reason `:sync_miss`). This

  error type exists for algorithms or supervisors that want to surface

  the miss as a structured value instead.

  """



  use BB.Error,

    class: :state,

    fields: [:driver_path, :input_path, :gap_ms, :tolerance_ms]



  @type t :: %__MODULE__{

          driver_path: [atom()],

          input_path: [atom()],

          gap_ms: number(),

          tolerance_ms: number()

        }



  defimpl BB.Error.Severity do

    def severity(_), do: :warning

  end



  def message(%{driver_path: driver, input_path: input, gap_ms: gap, tolerance_ms: tol}) do

    "sync miss: driver #{inspect(driver)} vs input #{inspect(input)} — gap #{gap}ms exceeds tolerance #{tol}ms"

  end

end