Crate repose_io 

Robot-agnostic digital IO for copper-rs, and a gripper built on it.

A bridge that exposes digital IO carries exactly two payloads:

• CuDigitalInputPayload<N> on its digital_in channel (read values plus the IO device status),
• CuDigitalOutputPayload<N> on its digital_out channel (values plus a mask of the outputs this command drives; unmasked outputs keep their current level).

End-effector hardware wired to that IO needs no payload of its own. CuGripperTask maps open/close commands onto configured output bits and reads optional sensor inputs back into a CuGripperState, so a pneumatic or electric gripper on any robot is a RON configuration, not new code.

Structs

CuDigitalInputPayload

Digital input levels read by a bridge (digital_in channel).

CuDigitalOutputPayload

Digital output command for a bridge (digital_out channel).

CuGripperCommandPayload

Gripper command; an empty message keeps the last action.

CuGripperParams

Parameters of a gripper wired to digital IO; this is the gripper task’s node config: block.

CuGripperStatePayload

Gripper state reported every cycle.

CuGripperTask

Gripper driven through digital IO.

Enums

CuGripperAction

Requested gripper action.

CuGripperState

Gripper state derived from the commanded action and its sensors.

CuIoStatus

Health reported by the IO device behind a bridge.