Actuate

Examples

A reactive diagram for robotics and control systems. Actuate leverages Rust's type system to create an efficient diagram that connects your application's systems. It can then render that diagram to a mermaid graph.

This crate provides a library that can run on embedded systems with #![no_std].

Example

graph TD
  Input[Input] --> |"app::TargetState"| A
  Input[Input] --> |"app::State"| A

  Input[Input] --> |"Time"| A
  Input[Input] --> |"Time"| C
  
  A["app::state_pid_controller"]
  A --> |"app::State"| B
  A --> |"app::State"| C
  B["app::debugger"]
  C["app::pendulum_output"]
  C --> |"app::State"| A

use actuate::{
    control::PidController,
    plant::PendulumPlant,
    time::{Time, TimePlugin},
    Diagram,
};

struct State(f64);

struct TargetState(f64);

#[derive(Default)]
struct StatePidController(PidController);

#[derive(Default)]
struct ExamplePendulumPlant(PendulumPlant);

fn state_pid_controller(
    State(state): &mut State,
    TargetState(target): &TargetState,
    Time(time): &Time,
    StatePidController(pid): &mut StatePidController,
) {
    pid.control(*time, state, target)
}

fn pendulum_plant(
    Time(time): &Time,
    State(state): &State,
    ExamplePendulumPlant(pendulum): &mut ExamplePendulumPlant,
) {
    pendulum.update(*time, *state)
}

fn debugger(State(state): &State) {
    dbg!(state);
}

fn main() {
    let diagram = Diagram::builder()
        .add_plugin(TimePlugin)
        .add_input(State(1.))
        .add_input(TargetState(5.))
        .add_state(StatePidController::default())
        .add_state(ExamplePendulumPlant::default())
        .add_system(state_pid_controller)
        .add_system(pendulum_plant)
        .add_system(debugger)
        .build();

    println!("{}", diagram.visualize());
}

How it works

Actuate connects systems together by their inputs and outputs. A system taking &T as a parameter will be linked to another system taking &mut T.

Output: &mut T -> Input: &T

Installation

On a device with std support:

cargo add actuate

In a #![no_std] enviornment:

cargo add actuate --no-default-features

Inspiration

This crate is inspired by Drake and aims to provide a similar model of connecting systems together to form a complete diagram of your program. Similar to Bevy, Actuate uses function parameter types to connect systems. In contrast to the ECS pattern, however, this crate requires each type be unique per Diagram.