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feat(bus): add Fleet and StopGuard for multi-bus group ops - #10
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Fleet runs safe_stop_all / set_mode_all on several physical buses concurrently (one scoped thread per bus), so an adapter-per-wheel machine stops in step in ~300 ms instead of bus after bus. StopGuard is the drop-to-stop guard every example and the rover app used to hand-roll. Adds the four_wheel_one_per_bus example (thread per bus, shared cancel flag), tests/fleet.rs, and docs for both. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Ecch8hgo8KJfKHfKZ89Ng6
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Moving to draft: awaiting a run on real hardware. The timing claims (per-bus budget, in-step stop across buses) are pacing arithmetic until |
dougcalobrisi
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August 23, 2026 18:25
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Summary
Fleet— group operations across several physical buses.safe_stop_all/set_mode_allrun on every bus concurrently (one scoped thread per bus), so an adapter-per-wheel machine stops in step in nominally ~300 ms instead of bus after bus (~1.2 s, decelerating out of step). A bus whose thread can't spawn runs inline alongside the others; nothing is skipped.StopGuard— the crate now ships the drop-to-stop guard (m0601::StopGuard/fleet.stop_guard()). Replaces the three hand-rolled copies in the two examples andm0601-quad.four_wheel_one_per_busexample —four_wheel_minimalwith one adapter per wheel: thread per bus, per-bus budget assertion, shared cancel flag so one failed wheel brings the others out of their loops within a cycle.m0601/tests/fleet.rs(frame-for-frame parity with single-bus ops, validation before send, error aggregation, guard behaviour, concurrency bound). Docs and CHANGELOG updated.Timing figures are the crate's own pacing arithmetic; several USB-serial adapters on one host are unmeasured and the docs say so.
Test plan
cargo clippy --workspace --all-targets -- -D warningscleancargo test --workspace— 268 passed (incl. doctests)four_wheel_one_per_buswith four adapters (not available to me)🤖 Generated with Claude Code
https://claude.ai/code/session_01Ecch8hgo8KJfKHfKZ89Ng6