feat(store): add tines-store persistent append-only LogStore

Add the host-side std `tines-store` crate implementing the `tines_core::Store`
trait over a durable, append-only single-file log so a robot's memory survives
reboot.

- Log format: length-prefixed `[u32 LE][postcard]` records (Obs/Trim/Meta).
- On load the index is rebuilt by replaying the log, then every age is
  rebased to load time: elapsed time since the last persisted clock marker is
  folded into `age_ms` and `stored_at` reset to load `now`, so ages continue
  instead of freezing across a reboot.
- Persisted state: released-id set, `next_seq`, and a clock marker in a `Meta`
  record; dedupe to the oldest Obs and let the last event per id win so a
  re-inserted id survives a trim.
- Implements `next_seq` and `flush`; `trim` writes Trim records best-effort.
- Registered as a workspace member; std-only, `#![forbid(unsafe_code)]`.
- Adds persistence tests (append durability, rebase-on-load, released/seq
  persistence). Full gate (fmt, clippy, docs, tests, no_std thumb build) is green.
This commit is contained in:
2026-10-18 12:43:42 -07:00
parent f9613b1c32
commit 43b73f88cd
6 changed files with 609 additions and 3 deletions
Generated
+103 -2
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@@ -2,6 +2,15 @@
# It is not intended for manual editing. # It is not intended for manual editing.
version = 4 version = 4
[[package]]
name = "atomic-polyfill"
version = "1.0.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
dependencies = [
"critical-section",
]
[[package]] [[package]]
name = "autocfg" name = "autocfg"
version = "1.5.1" version = "1.5.1"
@@ -134,6 +143,12 @@ dependencies = [
"libc", "libc",
] ]
[[package]]
name = "critical-section"
version = "1.2.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
[[package]] [[package]]
name = "crypto-common" name = "crypto-common"
version = "0.1.7" version = "0.1.7"
@@ -155,6 +170,18 @@ dependencies = [
"subtle", "subtle",
] ]
[[package]]
name = "embedded-io"
version = "0.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ef1a6892d9eef45c8fa6b9e0086428a2cca8491aca8f787c534a3d6d0bcb3ced"
[[package]]
name = "embedded-io"
version = "0.6.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
[[package]] [[package]]
name = "equivalent" name = "equivalent"
version = "1.0.3" version = "1.0.3"
@@ -216,6 +243,15 @@ dependencies = [
"rand_core 0.10.1", "rand_core 0.10.1",
] ]
[[package]]
name = "hash32"
version = "0.2.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
dependencies = [
"byteorder",
]
[[package]] [[package]]
name = "hash32" name = "hash32"
version = "0.3.1" version = "0.3.1"
@@ -231,13 +267,27 @@ version = "0.17.1"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ed5909b6e89a2db4456e54cd5f673791d7eca6732202bbf2a9cc504fe2f9b84a" checksum = "ed5909b6e89a2db4456e54cd5f673791d7eca6732202bbf2a9cc504fe2f9b84a"
[[package]]
name = "heapless"
version = "0.7.17"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
dependencies = [
"atomic-polyfill",
"hash32 0.2.1",
"rustc_version",
"serde",
"spin",
"stable_deref_trait",
]
[[package]] [[package]]
name = "heapless" name = "heapless"
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source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad" checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
dependencies = [ dependencies = [
"hash32", "hash32 0.3.1",
"serde", "serde",
"stable_deref_trait", "stable_deref_trait",
] ]
@@ -264,6 +314,15 @@ version = "0.12.1"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "32a66949e030da00e8c7d4434b251670a91556f4144941d37452769c25d58a53" checksum = "32a66949e030da00e8c7d4434b251670a91556f4144941d37452769c25d58a53"
[[package]]
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source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
dependencies = [
"scopeguard",
]
[[package]] [[package]]
name = "memchr" name = "memchr"
version = "2.8.3" version = "2.8.3"
@@ -292,6 +351,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6764c3b5dd454e283a30e6dfe78e9b31096d9e32036b5d1eaac7a6119ccb9a24" checksum = "6764c3b5dd454e283a30e6dfe78e9b31096d9e32036b5d1eaac7a6119ccb9a24"
dependencies = [ dependencies = [
"cobs", "cobs",
"embedded-io 0.4.0",
"embedded-io 0.6.1",
"heapless 0.7.17",
"serde", "serde",
] ]
@@ -424,6 +486,15 @@ version = "0.8.11"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d6f6ff9a378485b298a5286656da665ba74413d36db0979633275d2e708145d4" checksum = "d6f6ff9a378485b298a5286656da665ba74413d36db0979633275d2e708145d4"
[[package]]
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version = "0.4.1"
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dependencies = [
"semver",
]
[[package]] [[package]]
name = "rustix" name = "rustix"
version = "1.1.5" version = "1.1.5"
@@ -449,6 +520,18 @@ dependencies = [
"wait-timeout", "wait-timeout",
] ]
[[package]]
name = "scopeguard"
version = "1.2.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
[[package]]
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]] [[package]]
name = "serde" name = "serde"
version = "1.0.229" version = "1.0.229"
@@ -479,6 +562,15 @@ dependencies = [
"syn 3.0.9", "syn 3.0.9",
] ]
[[package]]
name = "spin"
version = "0.9.9"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3763264f6b73151db08c50ff20d7d8a0b8796e021cdea7ceedad07b80155fa0e"
dependencies = [
"lock_api",
]
[[package]] [[package]]
name = "stable_deref_trait" name = "stable_deref_trait"
version = "1.2.1" version = "1.2.1"
@@ -551,7 +643,7 @@ name = "tines-core"
version = "0.3.0" version = "0.3.0"
dependencies = [ dependencies = [
"blake2", "blake2",
"heapless", "heapless 0.8.0",
"postcard", "postcard",
"serde", "serde",
] ]
@@ -565,6 +657,15 @@ dependencies = [
"tines-core", "tines-core",
] ]
[[package]]
name = "tines-store"
version = "0.3.0"
dependencies = [
"postcard",
"serde",
"tines-core",
]
[[package]] [[package]]
name = "toml_datetime" name = "toml_datetime"
version = "1.1.2+spec-1.1.0" version = "1.1.2+spec-1.1.0"
+1 -1
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@@ -1,5 +1,5 @@
[workspace] [workspace]
members = ["tines-core", "tines-sim"] members = ["tines-core", "tines-sim", "tines-store"]
resolver = "2" resolver = "2"
[workspace.package] [workspace.package]
+17
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@@ -0,0 +1,17 @@
[package]
name = "tines-store"
version.workspace = true
edition.workspace = true
license.workspace = true
description = "Persistent append-only LogStore backend for tines: memory survives reboot with rebased ages and persisted release/sequence state."
authors.workspace = true
repository.workspace = true
readme.workspace = true
documentation = "https://docs.rs/tines-store"
keywords = ["robotics", "gossip", "delay-tolerant", "store", "persistent"]
categories = ["science::robotics"]
[dependencies]
tines-core = { path = "../tines-core", version = "0.3.0" }
postcard = { version = "1", features = ["use-std"] }
serde = { version = "1", features = ["derive"] }
+11
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@@ -0,0 +1,11 @@
//! tines-store — persistent append-only `LogStore` backend.
//!
//! This crate is the host-side (std) persistence layer for tines. The `Store`
//! trait, `TrimPolicy`, and `StoreError` live in `tines-core` (which stays
//! `no_std` and I/O-free); everything durable lives here.
#![forbid(unsafe_code)]
pub mod log;
pub use log::LogStore;
+361
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@@ -0,0 +1,361 @@
//! Append-only observation log backing [`LogStore`].
//!
//! The log is a single file of self-describing, length-prefixed records:
//!
//! ```text
//! [u32 little-endian length][postcard bytes of the record]
//! ```
//!
//! Record kinds:
//!
//! * `Record::Obs` — a stored [`Observation`] (deduped on `id` at load).
//! * `Record::Trim` — the id of an observation removed by `trim`; the last
//! event for an id wins, so a re-inserted (new `Obs` record) id survives.
//! * `Record::Meta` — the current `next_seq`, the last `now` seen (the clock
//! marker), and the full set of released ids. The last `Meta` on disk wins,
//! so it always reflects the latest flushed state.
//!
//! On load the index is rebuilt by replaying the log, then every age is
//! rebased to load time: the time elapsed since the last persisted clock marker
//! is folded into `age_ms` and `stored_at` is set to the load `now`, so ages
//! continue across a reboot instead of freezing at their pre-shutdown value.
use std::collections::{BTreeMap, BTreeSet, HashSet};
use std::fs::{File, OpenOptions};
use std::io::{Read, Write};
use std::path::Path;
use serde::{Deserialize, Serialize};
use tines_core::{Observation, ObservationId, Store, StoreError, Tick, TrimPolicy};
/// Current (age-adjusted) age of a stored observation at tick `now`.
fn current_age(obs: &Observation, stored_at: Tick, now: Tick) -> u64 {
obs.age_ms.saturating_add(now.saturating_sub(stored_at))
}
#[derive(Serialize, Deserialize)]
enum Record {
Obs {
id: ObservationId,
obs: Box<Observation>,
},
Trim {
id: ObservationId,
},
Meta {
next_seq: u64,
last_clock: Tick,
released: Vec<ObservationId>,
},
}
#[derive(Clone)]
struct Entry {
obs: Observation,
stored_at: Tick,
released: bool,
}
/// A persistent, append-only [`Store`] backed by a single observation log.
///
/// See the [module documentation](crate) for the on-disk record format and the
/// rebase-on-load behavior.
pub struct LogStore {
file: File,
index: BTreeMap<ObservationId, Entry>,
next_seq: u64,
now: Tick,
last_clock: Option<Tick>,
}
impl LogStore {
/// Open (creating if necessary) the log at `path` and rebuild the index.
///
/// `now` is the current tick and is used both as the base for rebasing ages
/// and as the store's current clock. `first_seq` is the next sequence
/// number to hand out; the persisted `next_seq` (if any) is honored when it
/// is larger, so a resumed run never reuses a sequence.
pub fn new(path: &Path, now: Tick, first_seq: u64) -> Result<Self, StoreError> {
let file = OpenOptions::new()
.read(true)
.create(true)
.append(true)
.open(path)
.map_err(|_| StoreError::Backend)?;
let mut index: BTreeMap<ObservationId, Entry> = BTreeMap::new();
let mut dead: HashSet<ObservationId> = HashSet::new();
let mut next_seq = first_seq;
let mut last_clock: Option<Tick> = None;
let mut file = file;
while let Some(rec) = read_record(&mut file)? {
match rec {
Record::Obs { id, obs } => {
// A preceding Trim for this id is cancelled by the
// re-insert, so revive it; otherwise dedupe to the
// first (oldest) occurrence.
dead.remove(&id);
index.entry(id).or_insert(Entry {
obs: *obs,
stored_at: now,
released: false,
});
}
Record::Trim { id } => {
dead.insert(id);
index.remove(&id);
}
Record::Meta {
next_seq: ns,
last_clock: lc,
released,
} => {
next_seq = ns.max(next_seq);
last_clock = Some(lc);
for rid in released {
if let Some(entry) = index.get_mut(&rid) {
entry.released = true;
}
}
}
}
}
for id in dead {
index.remove(&id);
}
// Fold the pre-reboot elapsed time into every age and reset the stored
// base to load time. When there is no clock marker yet (a fresh store)
// or the clock moved backwards, nothing is folded (saturating).
let elapsed = now.saturating_sub(last_clock.unwrap_or(now));
for entry in index.values_mut() {
entry.obs.age_ms = entry.obs.age_ms.saturating_add(elapsed);
entry.stored_at = now;
}
Ok(LogStore {
file,
index,
next_seq,
now,
last_clock,
})
}
/// The next sequence number this store will hand out.
pub fn next_seq(&self) -> u64 {
self.next_seq
}
/// Persist the current index state (released flags, `next_seq`, and the
/// clock marker) and the observation log to disk.
pub fn flush(&mut self) -> Result<(), StoreError> {
let mut released: Vec<ObservationId> = self
.index
.iter()
.filter(|(_, entry)| entry.released)
.map(|(id, _)| *id)
.collect();
released.sort_unstable();
let record = Record::Meta {
next_seq: self.next_seq,
last_clock: self.now,
released,
};
write_record(&mut self.file, &record)?;
self.file.sync_all().map_err(|_| StoreError::Backend)?;
self.last_clock = Some(self.now);
Ok(())
}
/// Append a single length-prefixed record to the log.
fn append(&mut self, record: &Record) -> Result<(), StoreError> {
write_record(&mut self.file, record)
}
}
/// Write a record as `[u32 length][postcard bytes]`.
fn write_record(file: &mut File, record: &Record) -> Result<(), StoreError> {
let bytes = postcard::to_stdvec(record).map_err(|_| StoreError::Backend)?;
let len = bytes.len() as u32;
file.write_all(&len.to_le_bytes())
.map_err(|_| StoreError::Backend)?;
file.write_all(&bytes).map_err(|_| StoreError::Backend)?;
Ok(())
}
/// Read one length-prefixed record, returning `Ok(None)` at end of file.
fn read_record(file: &mut File) -> Result<Option<Record>, StoreError> {
let mut len_buf = [0u8; 4];
if file.read_exact(&mut len_buf).is_err() {
// Clean end-of-file: no length prefix left to read.
return Ok(None);
}
let len = u32::from_le_bytes(len_buf) as usize;
let mut buf = vec![0u8; len];
file.read_exact(&mut buf).map_err(|_| StoreError::Backend)?;
let record = postcard::from_bytes(&buf).map_err(|_| StoreError::Backend)?;
Ok(Some(record))
}
impl Store for LogStore {
fn insert(&mut self, obs: Observation, now: Tick) -> Result<bool, StoreError> {
let id = obs.id();
if self.index.contains_key(&id) {
// Dedupe: keep the first-stored entry and its age lineage.
return Ok(false);
}
self.now = now;
let record = Record::Obs {
id,
obs: Box::new(obs.clone()),
};
self.append(&record)?;
self.index.insert(
id,
Entry {
obs,
stored_at: now,
released: false,
},
);
self.next_seq += 1;
Ok(true)
}
fn contains(&self, id: &ObservationId) -> bool {
self.index.contains_key(id)
}
fn get(&self, id: &ObservationId, now: Tick) -> Option<Observation> {
let entry = self.index.get(id)?;
let elapsed = now.saturating_sub(entry.stored_at);
Some(entry.obs.aged(elapsed))
}
fn len(&self) -> usize {
self.index.len()
}
fn for_each_id(&self, f: &mut dyn FnMut(&ObservationId)) {
for id in self.index.keys() {
f(id);
}
}
fn for_each_broadcast_id(&self, f: &mut dyn FnMut(&ObservationId)) {
for (id, entry) in self.index.iter() {
if entry.obs.to.is_none() {
f(id);
}
}
}
fn for_each_addressed_id(&self, f: &mut dyn FnMut(&ObservationId)) {
for (id, entry) in self.index.iter() {
if entry.obs.to.is_some() && !entry.released {
f(id);
}
}
}
fn release(&mut self, id: &ObservationId) {
if let Some(entry) = self.index.get_mut(id) {
entry.released = true;
}
}
fn is_released(&self, id: &ObservationId) -> bool {
self.index
.get(id)
.map(|entry| entry.released)
.unwrap_or(false)
}
fn for_each_topic(&self, prefix: &[u8], now: Tick, f: &mut dyn FnMut(&Observation)) {
for entry in self.index.values() {
if entry.obs.topic.starts_with(prefix) {
let elapsed = now.saturating_sub(entry.stored_at);
f(&entry.obs.aged(elapsed));
}
}
}
fn trim(&mut self, policy: &TrimPolicy, now: Tick) -> usize {
let mut removed: BTreeSet<ObservationId> = BTreeSet::new();
// (a) keep_per_topic: per exact topic, drop everything but the `N`
// youngest (lowest current age).
if let Some(keep) = policy.keep_per_topic {
let mut groups: BTreeMap<&[u8], Vec<ObservationId>> = BTreeMap::new();
for (id, entry) in self.index.iter() {
if !removed.contains(id) {
groups
.entry(entry.obs.topic.as_slice())
.or_default()
.push(*id);
}
}
for member_ids in groups.values() {
if member_ids.len() <= keep {
continue;
}
let mut ids = member_ids.clone();
ids.sort_by(|&a, &b| self.age_cmp(&a, &b, now));
for id in ids.into_iter().skip(keep) {
removed.insert(id);
}
}
}
// (b) max_age_ms: drop anything whose current age exceeds the cutoff.
if let Some(max_age) = policy.max_age_ms {
for (id, entry) in self.index.iter() {
if !removed.contains(id) && current_age(&entry.obs, entry.stored_at, now) > max_age
{
removed.insert(*id);
}
}
}
// (c) max_count: drop the oldest (highest current age) until the number
// of remaining (untrimmed) observations is at most `max_count`.
if let Some(max_count) = policy.max_count {
let mut remaining: Vec<ObservationId> = self
.index
.keys()
.copied()
.filter(|id| !removed.contains(id))
.collect();
if remaining.len() > max_count {
remaining.sort_by(|&a, &b| self.age_cmp(&a, &b, now));
let over = remaining.len() - max_count;
for id in remaining.into_iter().rev().take(over) {
removed.insert(id);
}
}
}
for id in &removed {
// `Store::trim` cannot surface I/O errors, so best-effort: the
// in-memory index is updated regardless of the append result.
let _ = self.append(&Record::Trim { id: *id });
self.index.remove(id);
}
removed.len()
}
}
impl LogStore {
/// Order two stored ids by their current age at `now` (youngest first).
fn age_cmp(&self, a: &ObservationId, b: &ObservationId, now: Tick) -> core::cmp::Ordering {
current_age(&self.index[a].obs, self.index[a].stored_at, now).cmp(&current_age(
&self.index[b].obs,
self.index[b].stored_at,
now,
))
}
}
+116
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@@ -0,0 +1,116 @@
//! Persistence tests for the append-only [`LogStore`] backend.
//!
//! Each test runs against its own unique file under the temp directory so the
//! parallel test runner cannot collide on disk state.
use std::path::PathBuf;
use std::sync::atomic::{AtomicU64, Ordering};
use tines_core::{Observation, Payload, Store, Topic};
use tines_store::LogStore;
static COUNTER: AtomicU64 = AtomicU64::new(0);
fn obs(observer: [u8; 16], seq: u64, age: u64, at: Option<u64>) -> Observation {
Observation {
observer,
seq,
age_ms: age,
observed_at: at,
topic: Topic::from_slice(b"door/3").unwrap(),
payload: Payload::from_slice(b"open").unwrap(),
to: None,
lifetime_ms: None,
}
}
fn store_path(tag: &str) -> PathBuf {
let n = COUNTER.fetch_add(1, Ordering::Relaxed);
let nanos = std::time::SystemTime::now()
.duration_since(std::time::UNIX_EPOCH)
.unwrap()
.as_nanos();
let key = n as u128 * 1_000_000 + nanos;
let mut p = std::env::temp_dir();
p.push(format!(
"tines-store-{}-{}-{}.log",
tag,
std::process::id(),
key
));
p
}
#[test]
fn reopen_preserves_store() {
let path = store_path("reopen");
{
let mut s = LogStore::new(&path, 0, 1).expect("open fresh store");
let a = obs([1; 16], 1, 0, Some(10));
let b = obs([2; 16], 2, 0, Some(20));
let ib = b.id();
assert!(s.insert(a, 1000).unwrap());
assert!(s.insert(b, 1001).unwrap());
assert!(!s.is_released(&ib));
s.release(&ib);
assert!(s.is_released(&ib));
assert_eq!(s.next_seq(), 3);
s.flush().expect("flush before drop");
}
{
let s = LogStore::new(&path, 2000, 3).expect("reopen store");
let a = obs([1; 16], 1, 0, Some(10));
let b = obs([2; 16], 2, 0, Some(20));
assert!(s.contains(&a.id()));
assert!(s.contains(&b.id()));
assert!(!s.is_released(&a.id()));
assert!(s.is_released(&b.id()));
assert_eq!(s.next_seq(), 3);
}
}
#[test]
fn ages_rebase_on_load() {
let path = store_path("ages");
{
let mut s = LogStore::new(&path, 1000, 1).unwrap();
let o = obs([1; 16], 1, 500, Some(10));
assert!(s.insert(o, 1000).unwrap());
s.flush().unwrap();
}
{
let s = LogStore::new(&path, 5000, 1).unwrap();
let o = obs([1; 16], 1, 500, Some(10));
let id = o.id();
// 500ms original age plus the 4000ms that elapsed while the store was
// closed (5000 - 1000). A store that forgot to fold the downtime in
// would report only the frozen 500ms.
let g = s.get(&id, 5000).unwrap();
assert_eq!(g.age_ms, 4500);
}
}
#[test]
fn next_seq_persists() {
let path = store_path("seq");
{
let mut s = LogStore::new(&path, 0, 1).unwrap();
for i in 0..3u64 {
let o = obs([1; 16], 1 + i, 0, Some(10));
assert!(s.insert(o, 1 + i).unwrap());
}
assert_eq!(s.next_seq(), 4);
s.flush().unwrap();
}
{
let s = LogStore::new(&path, 100, 1).unwrap();
assert_eq!(s.next_seq(), 4);
}
}