C++ bindings for the HORUS robotics framework — zero-copy shared memory IPC, deterministic scheduling, real-time safety via CXX FFI.

horus_cpp targets production-critical robotics. Every commit runs:

• 139 Rust unit tests, 61 C++ gtest tests, 4 libFuzzer targets (60 s each), 4 proptest properties, 1 loom model.
• Four sanitizers: ASan, TSan, UBSan, Valgrind (all CI-gated).
• Code coverage enforced: ≥ 80% Rust / ≥ 70% C++ via cargo llvm-cov.
• Nightly: 2-hour soak test, 5 fault-injection scenarios, 30-min long-run fuzz per target.

See TESTING.md for the full test matrix and how to run everything locally.

#include <horus/horus.hpp>
using namespace horus::literals;

int main() {
    horus::Scheduler sched;
    sched.tick_rate(100_hz).prefer_rt();
    auto lidar = sched.subscribe<horus::msg::LaserScan>("lidar.scan");
    auto cmd   = sched.advertise<horus::msg::CmdVel>("cmd_vel");

    sched.add("controller")
        .rate(50_hz)
        .budget(5_ms)
        .on_miss(horus::Miss::Skip)
        .tick([&] {
            auto scan = lidar.recv();
            if (!scan) return;
            auto out = cmd.loan();
            out->linear  = scan->get()->ranges[0] > 0.5f ? 0.3f : 0.0f;
            out->angular = scan->get()->ranges[0] > 0.5f ? 0.0f : 0.5f;
            cmd.publish(std::move(out));
        })
        .build();

    sched.spin();
}

advertise / subscribe do not throw. A rejected name, a failed SHM mapping, or another node already holding the topic with a different message type all yield a handle that silently discards everything. Check it:

auto cmd = sched.advertise<horus::msg::CmdVel>("cmd_vel");
if (!cmd.is_valid()) {
    // The diagnosis Rust returns as HorusResult and Python raises as RuntimeError.
    std::cerr << "cmd_vel: " << cmd.error() << "\n";
    return 1;
}

An unchecked handle is not silent about the damage: dropped_count() and missed_count() count what it threw away, so a dead link never reads 0 while its node keeps publishing or polling.

See the root CLAUDE.md for workspace-wide build commands.

Apache-2.0. See LICENSE in the repo root.