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Beam Bots - The framework for resilient robotics.

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bb lib bb sensor sensor_profile.ex
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lib/bb/sensor/sensor_profile.ex 

# SPDX-FileCopyrightText: 2026 James Harton

#

# SPDX-License-Identifier: Apache-2.0



defmodule BB.Sensor.SensorProfile do

  @moduledoc """

  Resolved transmission and joint reference for a joint-attached sensor.



  Built by `BB.Sensor.Server` from a sensor's transmission and joint at

  init, then injected into the sensor callback module's resolved options as

  `:sensor_profile`. Drivers read the resolved transmission from this

  struct instead of looking up `BB.Robot.sensors` themselves.



  When the sensor is attached at the robot level or to a link (not a

  joint), `joint_name` is `nil` and `transmission` is `nil`.

  """



  alias BB.Transmission



  defstruct [

    :joint_name,

    :transmission

  ]



  @type t :: %__MODULE__{

          joint_name: atom() | nil,

          transmission: Transmission.t() | nil

        }

end