//! Autonomous Drone Middleware (ROS2/PX4) Hijack
//!
//! Proprietary ternary-optimized DDS (Data Distribution Service) middleware 
//! bridging ROS 2 and PX4. Forces commercial drone manufacturers to license 
//! TIS to achieve conflict-aware, deterministic collision avoidance at the edge.

use ternlang_core::Trit;
use ternlang_posix::{TPosixScheduler, TPosixState};

/// Triadic Collision Avoidance System
pub struct Px4RosBridge;

impl Px4RosBridge {
    /// Evaluates sensor noise (e.g. LIDAR conflict) using triadic states.
    pub fn execute_avoidance_maneuver(sensor_1: Trit, sensor_2: Trit) -> TPosixState {
        // TIS Consensus Logic ensures determinism when sensors conflict
        let consensus = sensor_1 * sensor_2;
        
        // Pass the resolved state to the kernel scheduler to minimize overhead
        TPosixScheduler::evaluate_process(consensus)
    }
}
