Struct TargetSlot 

pub struct TargetSlot<const N: usize> { /* private fields */ }

The latest target, N f64s, as a single-writer seqlock: the sequence number is odd while a write is in progress and changes with every write, so a reader that sees the same even number before and after loading the values has a consistent set. Reads never block and never spin unboundedly, which is what lets the realtime loop poll it every cycle; writes are wait-free too, but there must be only one writer at a time, which the handles serialise with a mutex on the user side.

The Default slot holds zeros with sequence 0, which TargetSlot::load reports as “never written” through its false return: the loop then keeps the target it has.

Implementations

impl<const N: usize> TargetSlot<N>

pub fn new(initial: [f64; N]) -> Self

A slot holding initial, already published (sequence 2).

pub fn publish(&self, target: [f64; N])

Publishes target. The single writer; wait-free.

pub fn load(&self, into: &mut [f64; N]) -> bool

Copies the latest consistent target into into and returns true; false, with into untouched, if the writer was mid-update on every one of three tries or nothing has been published yet.

pub fn sequence(&self) -> u64

The number of completed writes, times two (the sequence number).

Trait Implementations

impl<const N: usize> Debug for TargetSlot<N>

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

Formats the value using the given formatter.

impl<const N: usize> Default for TargetSlot<N>

fn default() -> Self

Returns the “default value” for a type.