test/bench: UAV control+safety, overhead benchmark, 5-NEST driver, drone loop#13
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Adds ncp-zenoh/examples/uav_drone_loop.rs: a controller publishes wire-v0.5 CommandFrames (velocity_setpoint, mode, ttl_ms, seq) and a minimal quad 'plant' subscribes, integrates velocity into a trajectory, and enforces both protocol safety gates — mode in {hold,estop}->de-energize and the ttl_ms watchdog->fail-safe HOLD. Single in-process Zenoh session (scouting off, no router). Writes the trajectory as JSONL for external replay.
ncp-core/examples/uav_control_safety.rs: closed-loop PD flight + every SafetyGovernor gate (speed/geofence/stale/estop/non-finite/horizon), ActionBuffer replay, CommandWatchdog. All pass; surfaces two design notes (ReflexController per-axis clamp -> speed can reach sqrt(3)*max_speed; govern does not zero channels on incoming estop/hold mode). ncp-core/examples/overhead.rs: measures JSON (de)serialize of CommandFrame/SensorFrame, govern, ReflexController.step, and BulkBlock vs JSON. Result: ~1us full control tick, 215 B action frame; BulkBlock 11x faster + 1.6x smaller than JSON for bulk floats. e2e/nest_five_networks.py: drives 5 distinct NEST spiking models (iaf_psc_alpha/iaf_psc_exp/izhikevich/hh_psc_alpha/aeif_cond_alpha) through the NCP RPC contract against bridge_server --backend nest. Additive only: NO changes to NCP protocol/library code.
sepahead
changed the title
Format overhead.rs/uav_control_safety.rs/uav_drone_loop.rs to rustfmt 1.88 and clear clippy -D warnings (inline format arg, array copy via assignment, struct-literal init, doc prose). No library/src changes. (Pre-existing main CI failures in fmt/cargo-deny/ts-dist are unrelated.)
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Summary
Additive test / benchmark / example harnesses for NCP. No protocol or library code is changed — these only use the public API (NCP is a shared dependency).
ncp-zenoh/examples/uav_drone_loop.rs— UAV drone-in-the-loop over the Zenoh action plane (CommandFrame{velocity_setpoint,mode,ttl} → quad plant; mode + ttl watchdog gates).ncp-core/examples/uav_control_safety.rs— closed-loop PD flight + every SafetyGovernor gate (speed clamp, geofence→latched ESTOP, stale-sensor HOLD, ESTOP-mode, non-finite-clock fail-safe, horizon clamp), ActionBuffer replay, CommandWatchdog. All assertions pass.ncp-core/examples/overhead.rs— overhead benchmark (the repo had none).e2e/nest_five_networks.py— drives 5 distinct real NEST spiking models through the NCP RPC contract.Measured overhead (release)
Full control tick ≈ 1 µs; BulkBlock is 11× faster + 1.6× smaller than JSON for bulk data. NCP is low-overhead for 20–1000 Hz control.
Two design notes surfaced (NOT fixed here — shared lib, needs maintainer decision)
ReflexControllerclamps velocity per-axis, so vector speed can reach √3·max_speed;SafetyGovernormagnitude-clamps. Naming/semantics mismatch.SafetyGovernor.govern()does not zero channels of a command arriving inmode=estop/hold— de-energizing relies on the plant. Defense-in-depth candidate.