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Beam Bots - The framework for resilient robotics.

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bb lib bb command disarm.ex
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lib/bb/command/disarm.ex 

# SPDX-FileCopyrightText: 2025 James Harton

#

# SPDX-License-Identifier: Apache-2.0



defmodule BB.Command.Disarm do

  @moduledoc """

  Standard command handler for disarming a robot.



  When executed from the `:idle` state, this command disarms the robot

  via `BB.Safety.Controller`, which calls all registered `BB.Safety.disarm/1`

  callbacks to ensure hardware is made safe.



  ## Usage



  Add to your robot's command definitions:



      commands do

        command :disarm do

          handler BB.Command.Disarm

          allowed_states [:idle]

        end

      end



  Then execute:



      {:ok, task} = MyRobot.disarm()

      {:ok, :disarmed} = Task.await(task)



  """

  @behaviour BB.Command



  @impl true

  def handle_command(_goal, context) do

    case BB.Safety.disarm(context.robot_module) do

      :ok -> {:ok, :disarmed}

      {:error, reason} -> {:error, reason}

    end

  end

end