API Quick Reference

use horus::prelude::*;

// ── Create a scheduler ────────────────────────────
let mut scheduler = Scheduler::new()
    .tick_rate(100.hz())           // 100 Hz main loop
    .monitoring(true)              // Enable health monitoring
    .deterministic(true);          // Simulation mode (optional)

// ── Add a node ────────────────────────────────────
scheduler.add(MyNode::new())
    .order(0)                      // Execution priority
    .rate(50.hz())                 // Node tick rate
    .budget(2.ms())                // Max tick duration
    .deadline(5.ms())              // Hard deadline
    .on_miss(Miss::Skip)           // What to do on deadline miss
    .build()?;

// ── Run ───────────────────────────────────────────
scheduler.run()?;                  // Blocks until Ctrl+C

// ── Topics (pub/sub) ──────────────────────────────
let pub_topic: Topic<CmdVel> = Topic::new("cmd_vel")?;
pub_topic.send(CmdVel::new(1.0, 0.0));

let sub_topic: Topic<LaserScan> = Topic::new("scan")?;
if let Some(scan) = sub_topic.try_recv() {
    println!("Got {} ranges", scan.ranges.len());
}

// ── Time ──────────────────────────────────────────
let now = horus::now();            // Current ClockInstant
let dt = horus::dt();              // Time since last tick
let elapsed = horus::elapsed();    // Total runtime

// ── Parameters ────────────────────────────────────
let params = RuntimeParams::new();
params.set("speed", 1.5)?;
let speed: f64 = params.get_or("speed", 1.0);

// ── Duration/Frequency helpers ────────────────────
let rate = 100_u64.hz();           // 100 Hz
let budget = 200_u64.us();         // 200 microseconds
let deadline = 1_u64.ms();         // 1 millisecond