feat(p3): falcon rate controller P3 stream variant — first control-cascade engine (#168)#188
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…scade engine (#168, STREAM-P05) Extends streamification from the cFS engines (LC/SCH/HK/SC) to the CONTROL CASCADE. The rate controller is the first flight-control engine as a P3 async stream, toward a composed flight-control stream pipeline (iekf->pos->att->rate ->mixer). De-risked: built the proven cFS-stream way (rust_wasm_component_bindgen, wasi p3, deps on the verified :relay-rate Bazel library) rather than the cascade's cargo-component path, with a SELF-CONTAINED WIT (falcon:rate-stream) that does not touch the shared, fragile cascade.wit. - wit/falcon-rate-stream/rate_stream.wit: monitor: func(stream<rate-input>) -> stream<torque-setpoint>. - wasm/cm/rate/src/stream.rs: async fn monitor over a StreamReader<RateInput>, driving relay_rate::RatePid::tick (the verified body-rate PID; stateful PID + 1 kHz timestamp like the sync component) — use relay_rate, NOT an inline copy. - BUILD.bazel: falcon_rate_stream_wit + //:falcon-rate-stream (wasi=p3) deps on :relay-rate. - bazel.yml: builds //:falcon-rate-stream in CI (exercised, #168 lesson). - SWREQ-RELAY-STREAM-P05 -> FV-RELAY-STREAM-005. rivet validate PASS. New P3 direction (user-scoped) after the cFS streamification completed at v1.65. The cascade build path is new territory, so the P3 build is CI-validated. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Extends streamification from the cFS engines (LC/SCH/HK/SC, done at v1.65) to the control cascade. The rate controller is the first flight-control engine as a P3 async stream — toward a composed flight-control stream pipeline (iekf→pos→att→rate→mixer).
De-risked approach
Built the proven cFS-stream way (
rust_wasm_component_bindgen, wasi p3,depson the verified:relay-rateBazel library) rather than the cascade's finickycargo-componentpath — with a self-contained WIT (falcon:rate-stream) that does NOT touch the shared, fragilecascade.wit. This collapses the risk to "known pattern, new dep + new types."What's here
wit/falcon-rate-stream/rate_stream.wit:monitor: func(stream<rate-input>) -> stream<torque-setpoint>.wasm/cm/rate/src/stream.rs: async stream transformer drivingrelay_rate::RatePid::tick(the verified body-rate PID; stateful PID + 1 kHz timestamp, exactly as the syncfalcon-rate) —use relay_rate, not an inline copy.//:falcon-rate-stream(wasi=p3) deps:relay-rate; built + exercised in CI (bazel.yml).SWREQ-RELAY-STREAM-P05 -> FV-RELAY-STREAM-005, rivet PASS.Verification note
The cascade build path is new territory (vs the four proven cFS streams), so the P3 build is CI-validated via the Component Model cascade job. API verified against
relay-rate/plain(RatePid::new/tick([f32;3],[f32;3])->[f32;3]/Timestamp).Falsification: wrong if
//:falcon-rate-streamfails to build as a P3 component; ifmonitor()calls a method absent fromrelay_rate; or if a copy of the PID logic crept in instead of the:relay-ratedep.🤖 Generated with Claude Code