Struct RuntimeCtx 

pub struct RuntimeCtx<'a> {
    pub params: &'a [(&'a str, &'a str)],
    pub remaps: &'a [(&'a str, &'a str)],
    pub env: &'a [(&'a str, &'a str)],
    pub node_identity: Option<(&'static str, &'static str)>,
    pub qos_overrides: &'static [(&'static str, u8, u8, u32)],
    pub runtime: &'a mut dyn NodeDispatchRuntime,
}

Runtime context handed to BoardEntry::run(setup).

All three overlay slices may be empty. A board’s launch overlay typically populates params + remaps; env is rarely set on embedded.

Fields

params: &'a [(&'a str, &'a str)]

<param name=… value=…/> from launch XML, or -p name:=value CLI overrides.

remaps: &'a [(&'a str, &'a str)]

Topic / service / action remaps: (from, to), set per component by nros::main! from the model’s launch <remap> rules (phase-306 W3, issue 0255). nros::node!’s register forwards them into install_node_typed_with_launch, where entity creation expands ~/relative names and substitutes matching rules (exact-FQN match, first rule wins).

env: &'a [(&'a str, &'a str)]

Environment-style key/value pairs (mostly POSIX). Empty on embedded boards.

node_identity: Option<(&'static str, &'static str)>

Phase 268 W1 — launch-injected node identity (name, namespace) for the NEXT register() call, set by nros::main! per component before each <pkg>::register(runtime)? call. None → the node’s own create_node(NodeOptions::new("…")) default stands (backward-compatible). Reset to None after every register in the self-bringup arm so a prior component’s identity never leaks into the next (RFC-0046).

qos_overrides: &'static [(&'static str, u8, u8, u32)]

Issue #52 — per-node QoS overrides for the NEXT register() call, baked by nros::main! from the model’s qos_overrides.<topic>.<role>.<policy> params. Same reset discipline as params/remaps: &[] when the node has none, so a prior component’s table never leaks into the next.

Primitive (topic, role, policy, value) codes — the SAME wire form the C and C++ ABIs use — because nros-platform sits below nros-rmw in the layer graph and a typed QoSOverride field here would invert it. The register seam installs them via Executor::set_node_qos_overrides, which decodes at entity-create time.

runtime: &'a mut dyn NodeDispatchRuntime

Node runtime sink. BoardEntry::run populates this with the live ExecutorNodeRuntime-backed impl before invoking the user setup closure. The codegen-emitted run_plan(runtime) body calls <pkg>::register(runtime) once per Node pkg, which installs through runtime.executor_handle() + nros::install_node_typed (Phase 258, Track 2).

Defaults to a NullNodeRuntime when the context is built via RuntimeCtx::with_runtime. That sink errors every call so test fixtures that forget to wire a real runtime fail loud.

Implementations

impl<'a> RuntimeCtx<'a>

pub fn with_runtime(runtime: &'a mut dyn NodeDispatchRuntime) -> Self

Build a RuntimeCtx with no params / remaps / env and the given runtime sink. The common shape BoardEntry::run constructs after opening its executor.

For test fixtures that don’t need a populated runtime, pass a &mut NullNodeRuntime — every call against the sink returns Err(()), surfacing the missing wiring.

pub fn new( runtime: &'a mut dyn NodeDispatchRuntime, params: &'a [(&'a str, &'a str)], remaps: &'a [(&'a str, &'a str)], env: &'a [(&'a str, &'a str)], ) -> Self

Build a RuntimeCtx with explicit overlay slices + runtime sink (Phase 212.N.7 step-3.2).

pub fn apply_lifecycle(&mut self, autostart: u8) -> Result<(), &'static str>

Phase 264 W2 — register lifecycle services + drive autostart on the runtime sink (forwards to NodeDispatchRuntime::apply_lifecycle). nros::main! emits this after the per-node register calls when system.toml declares [lifecycle]. No-op unless nros is built with lifecycle-services.

pub fn apply_param_services( &mut self, params: &[(&str, &str)], ) -> Result<(), &'static str>

Phase 264 W4b — register the ROS 2 parameter services + seed the volatile param store from the launch-baked <param> initials (forwards to NodeDispatchRuntime::apply_param_services). nros::main! emits this after the per-node register calls when system.toml declares [param_services]. No-op unless nros is built with param-services.

pub fn param(&self, name: &str) -> Option<&'a str>

Lookup a param by name; first match wins. Linear scan because the slice is typically small (≤ a dozen entries).

pub fn remap(&self, from: &str) -> Option<&'a str>

Lookup a remap by the original (from) name; returns the rewritten name when remapped, else None.

pub fn env_var(&self, name: &str) -> Option<&'a str>

Lookup an env entry by name.

Trait Implementations

impl Debug for RuntimeCtx<'_>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.