API Reference

Welcome to the HORUS API reference documentation. This section provides detailed documentation for all public types, traits, and functions in the HORUS framework.

Crates

Crate	Description
`horus`	Umbrella crate - the one your project depends on; re-exports the crates below through `horus::prelude`
horus_core	Core runtime - nodes, communication, scheduling, zero-copy memory types
horus_types	Universal IPC message types - math, diagnostics, time, generic
horus_robotics	Standard robotics messages - sensor, control, navigation, vision (re-exported through `horus::prelude`; no separate dependency needed)
horus_macros	Procedural macros (`node!`, `derive(LogSummary)`)

Quick Reference

Core Types

Type	Description	Module
`Node`	Base trait for all computation units	`horus_core`
`Topic<T>`	Unified pub/sub channel with auto-detected backends	`horus_core`
`Scheduler`	Node execution orchestrator	`horus_core`

Error Handling

Type	Description	Module
`Error`	Unified error type	`horus_core`
`Result<T>`	Result alias	`horus_core`

Message Types

Type	Description	Module
`Image`	Camera image data	`horus_core::memory`
`LaserScan`	LiDAR scan data	`horus_robotics`
`Imu`	IMU sensor data	`horus_robotics`
`Twist`	Velocity commands	`horus_types`
`Pose2D`	2D position and orientation	`horus_types`

Import Patterns

Minimal Import

use horus::prelude::*;

Explicit Import (Alternative)

The prelude re-exports all commonly needed types. If you prefer explicit imports:

use horus::prelude::{
    // Core traits and types
    Node, NodeState, HealthStatus, LogSummary,
    // Communication
    Topic,
    // Scheduling
    Scheduler,
    // Errors
    Error, Result,
    // Messages (geometry, sensor, control, etc.)
    Pose2D, LaserScan, Imu, CmdVel, MotorCommand,
};

Version Compatibility

HORUS Version	Rust Edition	MSRV
0.4.x	2021	1.90