executor

robonix-executor

robonix-executor is the RTDL plan execution service for Robonix. It receives Pilot Plan messages, validates the RTDL node arena, and dispatches each do node to a primitive, service, or skill provider through Atlas.

Build

From the repo root:

cargo build -p robonix-executor

The crate is part of the top-level Cargo workspace and is built / installed by make build and make install respectively.

Run

Manual launch:

robonix-executor --atlas 127.0.0.1:50051 --listen 127.0.0.1:50072

Important configuration:

• --atlas / ROBONIX_ATLAS_ENDPOINT: Atlas endpoint. Defaults to 127.0.0.1:50051.
• --listen / ROBONIX_EXECUTOR_LISTEN: Executor gRPC listen address. Defaults to 127.0.0.1:50072.
• --id / ROBONIX_EXECUTOR_PROVIDER_ID: provider id registered with Atlas. Defaults to executor.
• --log: env_logger filter. Falls back to RUST_LOG, then robonix_executor=info.

RTDL Execution

Executor interprets Plan.nodes from Plan.root_index:

• sequence: executes child nodes in order. A failed child marks the batch as failed, but later children still run.
• parallel: starts one async task per child and waits for all children. A failed branch does not cancel sibling branches.
• do: dispatches one CapabilityCall.

The Execute stream emits CapabilityCallEvent.started and CapabilityCallEvent.result for each do node. In parallel branches, result events are emitted in completion order, not RTDL order. The final BatchComplete event contains any_failed=true when at least one capability call failed.