Diagnostics Messages

System health and safety monitoring types.

from horus import Heartbeat, DiagnosticStatus, EmergencyStop, SafetyStatus

Heartbeat

Node alive signal — publish periodically to indicate health.

hb = horus.Heartbeat(node_name="motor_ctrl", node_id=1, timestamp_ns=horus.timestamp_ns())

Field	Type	Default	Description
`node_name`	`str`	`""`	Name of the sending node
`node_id`	`int`	`0`	Numeric node identifier
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

DiagnosticStatus

Diagnostic report from a subsystem.

status = horus.DiagnosticStatus(component="battery", level=0, message="OK")
# level: 0=OK, 1=WARN, 2=ERROR, 3=FATAL

Field	Type	Default	Description
`level`	`int`	`0`	0=OK, 1=WARN, 2=ERROR, 3=FATAL
`code`	`int`	`0`	Diagnostic error code
`message`	`str`	`""`	Human-readable status message
`component`	`str`	`""`	Component name
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

EmergencyStop

E-stop signal — safety-critical.

estop = horus.EmergencyStop(engaged=True, reason="obstacle detected", timestamp_ns=horus.timestamp_ns())

Field	Type	Default	Description
`engaged`	`bool`	`True`	Whether the E-stop is engaged
`reason`	`str`	`""`	Reason for engagement
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

SafetyStatus

Overall safety monitoring state. Created with no parameters — read state via getters.

safety = horus.SafetyStatus()

# Read-only getters
safety.enabled       # bool
safety.estop_engaged # bool
safety.watchdog_ok   # bool
safety.limits_ok     # bool
safety.comms_ok      # bool
safety.mode          # int
safety.fault_code    # int
safety.timestamp_ns  # int

Getter	Type	Description
`enabled`	`bool`	Safety system enabled
`estop_engaged`	`bool`	Emergency stop is engaged
`watchdog_ok`	`bool`	Watchdog is healthy
`limits_ok`	`bool`	All limits within bounds
`comms_ok`	`bool`	Communications healthy
`mode`	`int`	Current safety mode
`fault_code`	`int`	Active fault code
`timestamp_ns`	`int`	Timestamp in nanoseconds

NodeHeartbeat

Per-node health heartbeat with state and health level.

nhb = horus.NodeHeartbeat(state=1, health=0)
# state and health are u8 integer codes

Field	Type	Default	Description
`state`	`int`	`0`	Node state (u8)
`health`	`int`	`0`	Node health level (u8)

ResourceUsage

System resource monitoring.

usage = horus.ResourceUsage(
    cpu_percent=45.0,
    memory_bytes=268435456,
    memory_percent=12.5,
    timestamp_ns=horus.timestamp_ns(),
)

Field	Type	Default	Description
`cpu_percent`	`float`	`0.0`	CPU usage percentage
`memory_bytes`	`int`	`0`	Memory usage in bytes
`memory_percent`	`float`	`0.0`	Memory usage percentage
`timestamp_ns`	`int`	`0`	Timestamp in nanoseconds

DiagnosticReport

Aggregated diagnostic report. Values are added via helper methods, not constructor args.

report = horus.DiagnosticReport(component="motors", level=0)
report.add_value("temperature", 45.2)
report.add_string("firmware", "v2.1.0")

Field	Type	Default	Description
`component`	`str`	`""`	Component being reported on
`level`	`int`	`0`	Overall diagnostic level

Method	Description
`add_value(key, value)`	Add a numeric diagnostic value
`add_string(key, value)`	Add a string diagnostic value

DiagnosticValue

Single key-value diagnostic entry.

dv = horus.DiagnosticValue(key="temperature", value="45.2")

Field	Type	Default	Description
`key`	`str`	`""`	Diagnostic key
`value`	`str`	`""`	Diagnostic value