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Task Automation with just

Copper uses just to keep common tasks repeatable. just looks for the nearest justfile, so run it from the project directory you want to work in.

Install

Follow the installation instructions in the just README for your platform.

Discover commands

just -l

Visualize topology and schedule

Run just dag to see the declared task-graph topology. Run just plan to produce and open plan.svg with the exact generated per-CopperList process schedule, including separate serial and parallel-rt projections.

For mission or conditional-feature configs:

just plan mission=autonomous
just plan features=camera,mock
just plan-log
just plan log=logs/my-robot.copper bin=my-robot-logreader

The plan's equal-width columns show order, not elapsed time. Serial uses one main-executor lane; parallel staggers in-flight CopperLists across generated stage workers. Background gateway arrows feed the same named-pool worker lanes in both views, so pool capacity and possible overlap remain visible. Resource bindings are annotations; they are not scheduler reservations.

With log=..., the app-specific logreader adds typical and slowest CopperList timelines. Task segments are packed back-to-back but remain proportional to recorded process_time duration, and hover identifies every segment. Carried-forward message slots outside the current execution cluster are excluded so stale timestamps cannot flatten the chart. just plan-log discovers an example/project's default local log, typed logreader, required features, and recorded mission automatically. Shared declared resources whose intervals overlap are flagged as potential contention, not proven waiting. Serialization is not timestamped; grey residual gaps remain explicitly unclassified because they can also include rate limiting, scheduling, and I/O.

Where to run just

  • Repo root: CI and lint helpers.
  • Examples:
  • examples/cu_caterpillar
  • examples/ros_caterpillar
  • examples/ros_zenoh_caterpillar
  • examples/cu_rp_balancebot
  • examples/cu_elrs_bdshot_demo
  • examples/cu_standalone_structlog
  • Components:
  • components/sources/cu_ads7883
  • components/sinks/cu_rp_sn754410
  • components/payloads/cu_ros_payloads
  • Support utilities:
  • support (general deploy/sdcard)
  • support/docker (build/run dev containers)