Copper RON Configuration Reference¶

This guide explains how to configure a Copper application using RON files. It summarises the available sections and options based on the source code and example configurations.

Basic Structure¶

A Copper configuration is a RON file containing tasks, connections and optional sections such as monitoring, logging or runtime settings. The minimal form looks like:

(
    tasks: [],
    cnx: [],
)

Most examples name the file copperconfig.ron and reference it with the #[copper_runtime(config = "...")] attribute.

Tasks¶

Tasks are declared under the tasks array. Each task entry is a tuple with the following fields:

id – unique identifier of the task.
type – fully qualified Rust type of the task implementation.
config (optional) – map of parameters passed to the task.
missions (optional) – list of mission ids in which this task is active.
background (optional) – when set to true, the task runs on a background thread.
logging (optional) – { enabled: bool } to enable or disable message logging for this task.

Example:

(
    id: "task1",
    type: "tasks::ExampleTask",
    background: true,
    logging: (enabled: false),
)

Connections¶

Connections are declared under cnx as tuples describing edges between tasks:

src – id of the source task.
dst – id of the destination task.
msg – Rust type of the message carried.
missions (optional) – restrict the connection to specific missions.

Example:

(src: "task0", dst: "task1", msg: "i32")

Monitoring¶

The optional monitor section selects a monitoring component and its parameters:

monitor: (
    type: "cu_consolemon::CuConsoleMon",
    config: { "verbosity": 2 },
)

Logging¶

The logging section tunes Copper’s structured log. Options mirror the fields of LoggingConfig defined in core/cu29_runtime/src/config.rs:

enable_task_logging – controls per-task logging (defaults to true).
slab_size_mib – size of each memory mapped slab in MiB.
section_size_mib – pre‑allocated size per log section in MiB.
keyframe_interval – number of copperlists between two keyframes (default 100).

Example from examples/cu_logging_size:

logging: (
    slab_size_mib: 1024,
    section_size_mib: 100,
)

The library validates that section_size_mib does not exceed slab_size_mib.

Runtime Settings¶

Runtime behaviour can be adjusted with the runtime section. Currently only rate_target_hz is available:

runtime: (
    rate_target_hz: 2,
)

This acts as a rate limiter for Copper list execution.

Missions¶

Configurations may define multiple missions, each representing an alternative task graph:

missions: [ (id: "A"), (id: "B") ]

Tasks and connections can specify a missions array to belong only to selected missions. See examples/cu_missions/copperconfig.ron for a complete example.

Modular Configuration¶

Copper supports composition of configurations using the includes section. Each include specifies a path and optional parameter substitutions:

includes: [
    (
        path: "base.ron",
        params: { "id": "left", "pin": 4 },
    ),
]

Included files are processed recursively. Parameters are substituted in the included text using the {{param}} syntax. Merging behaviour and further details are described in doc/modular_config.md.

Example¶

A more complete configuration demonstrating several features is provided in examples/modular_config_example/main_config.ron:

(
    tasks: [],
    cnx: [],
    monitor: ( type: "cu_consolemon::CuConsoleMon" ),
    logging: ( file: "robot.copper", level: "debug" ),
    includes: [
        ( path: "base.ron", params: {} ),
        ( path: "motors.ron", params: { "id": "left",  "pin": 4, "direction": "forward" } ),
        ( path: "motors.ron", params: { "id": "right", "pin": 5, "direction": "reverse" } ),
    ],
)