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Beam Bots - The framework for resilient robotics.

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bb lib bb dsl estimator input.ex
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lib/bb/dsl/estimator/input.ex 

# SPDX-FileCopyrightText: 2026 James Harton

#

# SPDX-License-Identifier: Apache-2.0



defmodule BB.Dsl.Estimator.Input do

  @moduledoc """

  A declared input on a cross-sensor estimator.



  Inputs are only used by link-nested estimators. Sensor-nested estimators

  consume their parent sensor's output implicitly.



  Exactly one input on a multi-input estimator must be marked `driver?:

  true`. The driver's arrival triggers fan-in: the framework snapshots the

  most-recent non-driver input messages and dispatches them together. If

  any non-driver input is stale relative to the driver by more than the

  estimator's `sync_tolerance`, the dispatch is dropped.



  Single-input link-nested estimators omit `driver?:` (or set it to `true`

  on the sole input).

  """



  alias Spark.Dsl.Entity



  defstruct __identifier__: nil,

            __spark_metadata__: nil,

            name: nil,

            path: nil,

            driver?: false



  @type t :: %__MODULE__{

          __identifier__: any,

          __spark_metadata__: Entity.spark_meta(),

          name: atom,

          path: [atom],

          driver?: boolean

        }

end