HORUS v0.1.7-alpha

HORUS v0.1.7-alpha

Alpha release with significant architectural changes.

Communication Layer Redesign

The Hub/Link architecture has been unified into a single Topic API. This change aligns HORUS with ROS2 terminology, reducing cognitive overhead for developers transitioning from ROS2 ecosystems.

// Old: Separate Hub and Link with different configurations
let hub = Hub::new("sensor_data")?;
let link = Link::new("sensor_data")?;

// New: Unified Topic API
let topic: Topic<SensorData> = Topic::new("sensor_data")?;
topic.send(data, &mut None)?;
let received = topic.recv(&mut None);

The framework now automatically selects the optimal IPC backend based on message type and access patterns:

Backend	Latency	Use Case
PodShm	~50ns	POD types, cross-process
SpscShm	~85ns	Single producer/consumer
MpmcShm	~167ns	Multiple producers/consumers

Scheduler Improvements

The scheduler now supports Linux real-time scheduling policies:

• SCHED_FIFO for deterministic real-time execution
• SCHED_RR for round-robin real-time scheduling
• Configurable priority levels (1-99)

Requires CAP_SYS_NICE capability or root privileges on Linux.

Codebase Restructuring

This release includes a major refactor to support future scaling:

• sim2d and sim3d: Now developed as standalone packages. They will continue to be maintained separately.
• Built-in nodes: Moved to separate development. These will be open-sourced when feature-complete.
• Core crates: Restructured for modularity (horus_core, horus_manager, horus_ai, horus_perception)

API Changes

Several APIs have changed for improved developer experience. See migration notes in the documentation.

Roadmap

• Current: v0.1.x (Alpha)
• Expected Beta: v0.5.x

---

Full changelog and documentation at: https://github.com/softmata/horus