I would like to use Horust as a library to monitor service status / send start/stop events - and expose a Telecommand / Telemetry interface (basically RPC but using CCSDS standards). This could theoretically be done via the UDS interface but it would be useful for us to have close integration with the data structures in horust.

For us, it would be useful to be able to provide additional functions that receive BusConnector<T> objects (from dispatcher.join_bus()) when Horust::run() is called. Or return the dispatcher object so that we can spawn additional threads outside of the default ones. Do you have any thoughts / preferred approach?