feat(log): add bounded diagnostic transport

libs/kaptan-control/Cargo.toml

@@ -10,4 +10,5 @@ version.workspace = true
 workspace = true
 
 [dependencies]
+kaptan-log = { path = "../kaptan-log" }
 kaptan-math = { path = "../kaptan-math" }

libs/kaptan-control/src/lib.rs

@@ -7,6 +7,7 @@
 
 #![no_std]
 
+use kaptan_log::KaptanError;
 use kaptan_math::{Frd, Ned, UnitQuaternion, Vector3, sqrt};
 
 /// Body-frame angular rate in radians per second.
@@ -53,7 +54,7 @@ impl HeadingNed {
 }
 
 /// Force-to-attitude conversion failure.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum AttitudeError {
     /// A zero or non-finite force has no defined thrust direction.
     ZeroForce,
@@ -101,7 +102,7 @@ pub struct PidConfig {
 }
 
 /// Invalid PID input/configuration.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum PidError {
     /// Static PID gains or limits were non-finite or contradictory.
     InvalidConfiguration,
@@ -316,7 +317,7 @@ pub struct KinematicLimits {
 }
 
 /// Rejection returned instead of silently repairing a goal or time interval.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum TrajectoryError {
     /// A static speed/acceleration constraint is invalid.
     InvalidLimits,
@@ -586,7 +587,7 @@ pub struct TranslationalControlConfig {
 }
 
 /// Position-control configuration or input rejection.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum TranslationalControlError {
     /// A gain or kinematic limit is invalid.
     InvalidConfiguration,
@@ -681,7 +682,7 @@ pub struct ThrustEnvelope {
 }
 
 /// Thrust-envelope rejection.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum ThrustEnvelopeError {
     /// A static physical parameter is invalid.
     InvalidConfiguration,
@@ -821,7 +822,7 @@ pub struct BodyWrench {
 }
 
 /// Allocation construction failure.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum AllocatorError {
     /// One static allocation output has non-finite or contradictory limits.
     InvalidActuator,