Struct FreshnessGate 

pub struct FreshnessGate { /* private fields */ }

Tracks the freshness of one offloaded result stream.

Freshness is anchored on the local monotonic time the result arrived, not on the result’s own (remote) timestamp. This is deliberate and load-bearing: the drone and the compute node are not clock-synced, so a node whose clock is skewed ahead, whose detector then hangs (the socket staying up, so no link drop fires), would keep a frozen stream reading fresh forever if age were measured from the remote timestamp; the aircraft would follow a frozen target. Measuring “time since a result last arrived, on the drone’s own monotonic clock” catches exactly that stall. The now_ms passed to record and state MUST come from the same local monotonic clock; the remote result timestamp is for telemetry, never for this gate.

Implementations

impl FreshnessGate

pub fn new(budget_ms: i64) -> Self

A gate with the stream’s freshness budget_ms (e.g. a target-age or a pose-age budget). A negative budget is clamped to 0 (a misconfiguration must not flip the fail-safe direction). Starts Lost (no result yet); the link starts up.

pub fn record(&mut self, now_ms: i64)

Record that a result arrived. now_ms is the local monotonic time of arrival (NOT the result’s own timestamp), see the type docs.

pub fn set_link(&mut self, up: bool)

Set the link state (a drop trips the gate to Lost regardless of the last result’s age).

pub fn state(&self, now_ms: i64) -> GateState

The gate state at the local monotonic time now_ms.

pub fn is_usable(&self, now_ms: i64) -> bool

Whether a behaviour may act on this stream at now_ms.

Trait Implementations

impl Clone for FreshnessGate

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for FreshnessGate

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.