public/kaptan
1
Fork 0
Code Issues 24 Pull Requests Actions Packages Projects Releases Wiki Activity

feat(config): add MAVLink transaction service

Browse Source
This commit is contained in:
Onur Özkan committed 2026-08-09 22:06:42 +03:00
1 parent 6c5e061359
commit 2b224f8eb9
14 files changed
+3116 -1
Download Patch File Download Diff File Expand all files Collapse all files

No files matched your search

libs/kaptan-mavlink/build.rs
+2 -1
View File
@@ -3,8 +3,9 @@ use std::path::PathBuf;
fn main() {
let manifest_directory = PathBuf::from(std::env::var("CARGO_MANIFEST_DIR").unwrap());
let dialect = manifest_directory.join("definitions/kaptan.xml");
let config = manifest_directory.join("definitions/kaptan/config.xml");
let log = manifest_directory.join("definitions/kaptan/log.xml");
for definition in [&dialect, &log] {
for definition in [&dialect, &config, &log] {
println!("cargo::rerun-if-changed={}", definition.display());
}
println!("cargo::rustc-check-cfg=cfg(kaptan_has_messages)");
libs/kaptan-mavlink/definitions/kaptan.xml
+1
View File
@@ -2,5 +2,6 @@
<mavlink>
<!-- The root is the only bindgen input. Feature domains remain independent
fragments so their message catalogs can evolve without a monolith. -->
<include>kaptan/config.xml</include>
<include>kaptan/log.xml</include>
</mavlink>
libs/kaptan-mavlink/definitions/kaptan/config.xml
+270
View File
@@ -0,0 +1,270 @@
<?xml version="1.0"?>
<mavlink>
<version>3</version>
<dialect>0</dialect>
<!-- Kaptan configuration dialect. Register the development IDs before release. 42000
belongs to Icarous and is deliberately not used here. -->
<enums>
<enum name="KAPTAN_CONFIG_VALUE_KIND">
<entry value="1" name="KAPTAN_CONFIG_VALUE_KIND_BOOL"/>
<entry value="2" name="KAPTAN_CONFIG_VALUE_KIND_I32"/>
<entry value="3" name="KAPTAN_CONFIG_VALUE_KIND_U32"/>
<entry value="4" name="KAPTAN_CONFIG_VALUE_KIND_U64"/>
<entry value="5" name="KAPTAN_CONFIG_VALUE_KIND_F32"/>
<entry value="6" name="KAPTAN_CONFIG_VALUE_KIND_F64"/>
</enum>
<enum name="KAPTAN_CONFIG_POLICY">
<entry value="1" name="KAPTAN_CONFIG_POLICY_LIVE"/>
<entry value="2" name="KAPTAN_CONFIG_POLICY_DISARMED_RESET"/>
<entry value="3" name="KAPTAN_CONFIG_POLICY_RESTART_REQUIRED"/>
</enum>
<enum name="KAPTAN_CONFIG_STATE">
<entry value="0" name="KAPTAN_CONFIG_STATE_ACTIVE"/>
<entry value="1" name="KAPTAN_CONFIG_STATE_EDITING"/>
<entry value="2" name="KAPTAN_CONFIG_STATE_RESTART_REQUIRED"/>
</enum>
<enum name="KAPTAN_CONFIG_VALUE_SOURCE">
<entry value="0" name="KAPTAN_CONFIG_VALUE_SOURCE_ACTIVE"/>
<entry value="1" name="KAPTAN_CONFIG_VALUE_SOURCE_COMMITTED"/>
<entry value="2" name="KAPTAN_CONFIG_VALUE_SOURCE_TRANSACTION"/>
</enum>
<enum name="KAPTAN_CONFIG_OPERATION">
<entry value="1" name="KAPTAN_CONFIG_OPERATION_QUERY"/>
<entry value="2" name="KAPTAN_CONFIG_OPERATION_BEGIN"/>
<entry value="3" name="KAPTAN_CONFIG_OPERATION_SET"/>
<entry value="4" name="KAPTAN_CONFIG_OPERATION_VALIDATE"/>
<entry value="5" name="KAPTAN_CONFIG_OPERATION_COMMIT"/>
<entry value="6" name="KAPTAN_CONFIG_OPERATION_ABORT"/>
<entry value="7" name="KAPTAN_CONFIG_OPERATION_IMPORT"/>
</enum>
<enum name="KAPTAN_CONFIG_RESULT">
<entry value="0" name="KAPTAN_CONFIG_RESULT_ACCEPTED"/>
<entry value="1" name="KAPTAN_CONFIG_RESULT_COMMITTED_RESTART_REQUIRED"/>
<entry value="2" name="KAPTAN_CONFIG_RESULT_REJECTED"/>
</enum>
<enum name="KAPTAN_CONFIG_ERROR">
<entry value="0" name="KAPTAN_CONFIG_ERROR_NONE"/>
<entry value="1" name="KAPTAN_CONFIG_ERROR_BAD_TARGET"/>
<entry value="2" name="KAPTAN_CONFIG_ERROR_AUTHORIZATION_DENIED"/>
<entry value="3" name="KAPTAN_CONFIG_ERROR_GENERATION_CONFLICT"/>
<entry value="4" name="KAPTAN_CONFIG_ERROR_SESSION_BUSY"/>
<entry value="5" name="KAPTAN_CONFIG_ERROR_INVALID_SESSION"/>
<entry value="6" name="KAPTAN_CONFIG_ERROR_STALE_REVISION"/>
<entry value="7" name="KAPTAN_CONFIG_ERROR_BAD_STATE"/>
<entry value="8" name="KAPTAN_CONFIG_ERROR_UNKNOWN_FIELD"/>
<entry value="9" name="KAPTAN_CONFIG_ERROR_TYPE_MISMATCH"/>
<entry value="10" name="KAPTAN_CONFIG_ERROR_NON_FINITE"/>
<entry value="11" name="KAPTAN_CONFIG_ERROR_BELOW_MINIMUM"/>
<entry value="12" name="KAPTAN_CONFIG_ERROR_ABOVE_MAXIMUM"/>
<entry value="13" name="KAPTAN_CONFIG_ERROR_CROSS_FIELD"/>
<entry value="14" name="KAPTAN_CONFIG_ERROR_UNSUPPORTED_CAPABILITY"/>
<entry value="15" name="KAPTAN_CONFIG_ERROR_UNSUPPORTED_FORMAT"/>
<entry value="16" name="KAPTAN_CONFIG_ERROR_STORAGE_FAILURE"/>
<entry value="17" name="KAPTAN_CONFIG_ERROR_INTERNAL"/>
<entry value="18" name="KAPTAN_CONFIG_ERROR_REQUEST_CONFLICT"/>
<entry value="19" name="KAPTAN_CONFIG_ERROR_CBOR_MALFORMED"/>
<entry value="20" name="KAPTAN_CONFIG_ERROR_CBOR_TOO_LARGE"/>
<entry value="21" name="KAPTAN_CONFIG_ERROR_BLOB_CRC"/>
<entry value="22" name="KAPTAN_CONFIG_ERROR_SCHEMA_MISMATCH"/>
<entry value="23" name="KAPTAN_CONFIG_ERROR_IMPORT_UNAVAILABLE"/>
</enum>
</enums>
<messages>
<message id="51000" name="KAPTAN_CONFIG_INFO">
<description>Correlated configuration protocol and active snapshot metadata.</description>
<field type="uint64_t" name="active_generation"/>
<field type="uint64_t" name="committed_generation"/>
<field type="uint32_t" name="request_id"/>
<field type="uint8_t[16]" name="schema_id"/>
<field type="uint16_t" name="profile_format"/>
<field type="uint16_t" name="field_count"/>
<field type="uint8_t" name="protocol_major"/>
<field type="uint8_t" name="protocol_minor"/>
<field type="uint8_t" name="config_state" enum="KAPTAN_CONFIG_STATE"/>
<field type="uint8_t" name="capability_flags"/>
</message>
<message id="51014" name="KAPTAN_CONFIG_INFO_REQUEST">
<description>Requests correlated configuration protocol and schema metadata.</description>
<field type="uint32_t" name="request_id"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51001" name="KAPTAN_CONFIG_DESCRIPTOR_REQUEST">
<description>Requests a bounded page of field descriptors.</description>
<field type="uint32_t" name="request_id"/>
<field type="uint16_t" name="first"/>
<field type="uint16_t" name="count"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51002" name="KAPTAN_CONFIG_DESCRIPTOR">
<description>One self-describing editable scalar field.</description>
<field type="uint64_t" name="minimum_bits"/>
<field type="uint64_t" name="maximum_bits"/>
<field type="uint64_t" name="default_bits"/>
<field type="uint32_t" name="request_id"/>
<field type="uint16_t" name="descriptor_index"/>
<field type="uint16_t" name="field_id"/>
<field type="char[48]" name="display_key"/>
<field type="char[16]" name="unit"/>
<field type="uint8_t" name="value_kind" enum="KAPTAN_CONFIG_VALUE_KIND"/>
<field type="uint8_t" name="apply_policy" enum="KAPTAN_CONFIG_POLICY"/>
<field type="uint8_t" name="flags"/>
</message>
<message id="51003" name="KAPTAN_CONFIG_VALUE_REQUEST">
<description>Reads one active, committed, or transaction value.</description>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint16_t" name="field_id"/>
<field type="uint8_t" name="source" enum="KAPTAN_CONFIG_VALUE_SOURCE"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51004" name="KAPTAN_CONFIG_VALUE">
<description>One typed configuration scalar as canonical raw bits.</description>
<field type="uint64_t" name="value_bits"/>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint32_t" name="revision"/>
<field type="uint16_t" name="field_id"/>
<field type="uint8_t" name="value_kind" enum="KAPTAN_CONFIG_VALUE_KIND"/>
</message>
<message id="51005" name="KAPTAN_CONFIG_BEGIN">
<description>Opens the one lease-bound edit transaction.</description>
<field type="uint64_t" name="expected_generation"/>
<field type="uint32_t" name="request_id"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51006" name="KAPTAN_CONFIG_SET_F32">
<description>Writes one f32 field in the open transaction.</description>
<field type="float" name="value"/>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint32_t" name="expected_revision"/>
<field type="uint16_t" name="field_id"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51007" name="KAPTAN_CONFIG_SET_I32">
<description>Writes one i32 field in the open transaction.</description>
<field type="int32_t" name="value"/>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint32_t" name="expected_revision"/>
<field type="uint16_t" name="field_id"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51008" name="KAPTAN_CONFIG_SET_U32">
<description>Writes one u32 field in the open transaction.</description>
<field type="uint32_t" name="value"/>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint32_t" name="expected_revision"/>
<field type="uint16_t" name="field_id"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51009" name="KAPTAN_CONFIG_SET_U64">
<description>Writes one u64 field in the open transaction.</description>
<field type="uint64_t" name="value"/>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint32_t" name="expected_revision"/>
<field type="uint16_t" name="field_id"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51010" name="KAPTAN_CONFIG_VALIDATE">
<description>Validates the complete open transaction.</description>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint32_t" name="expected_revision"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51011" name="KAPTAN_CONFIG_COMMIT">
<description>Validates then atomically persists the open transaction.</description>
<field type="uint64_t" name="expected_generation"/>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint32_t" name="expected_revision"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51012" name="KAPTAN_CONFIG_ABORT">
<description>Discards the open RAM transaction.</description>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51013" name="KAPTAN_CONFIG_RESULT">
<description>Authoritative typed completion for a configuration request.</description>
<field type="uint64_t" name="generation"/>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint32_t" name="transfer_id"/>
<field type="uint32_t" name="revision"/>
<field type="uint16_t" name="primary_field"/>
<field type="uint16_t" name="related_field"/>
<field type="uint16_t" name="validation_rule"/>
<field type="uint8_t" name="operation" enum="KAPTAN_CONFIG_OPERATION"/>
<field type="uint8_t" name="result" enum="KAPTAN_CONFIG_RESULT"/>
<field type="uint8_t" name="error" enum="KAPTAN_CONFIG_ERROR"/>
<field type="uint8_t" name="config_state" enum="KAPTAN_CONFIG_STATE"/>
</message>
<message id="51015" name="KAPTAN_CONFIG_SET_BOOL">
<description>Writes one boolean field in the open transaction.</description>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint32_t" name="expected_revision"/>
<field type="uint16_t" name="field_id"/>
<field type="uint8_t" name="value"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51016" name="KAPTAN_CONFIG_SET_F64">
<description>Writes one f64 field in the open transaction.</description>
<field type="double" name="value"/>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint32_t" name="expected_revision"/>
<field type="uint16_t" name="field_id"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51017" name="KAPTAN_CONFIG_IMPORT_BEGIN">
<description>Starts a fixed-bounded CBOR import inside an open transaction.</description>
<field type="uint32_t" name="crc32c"/>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint32_t" name="expected_revision"/>
<field type="uint16_t" name="length"/>
<field type="uint8_t[16]" name="schema_id"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51018" name="KAPTAN_CONFIG_IMPORT_CHUNK">
<description>One aligned, idempotent 192-byte-or-final CBOR import chunk. Chunks may arrive out of order.</description>
<field type="uint8_t[192]" name="data"/>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint32_t" name="transfer_id"/>
<field type="uint16_t" name="offset"/>
<field type="uint8_t" name="length"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51019" name="KAPTAN_CONFIG_IMPORT_FINISH">
<description>Validates a complete received CBOR import into the transaction.</description>
<field type="uint32_t" name="request_id"/>
<field type="uint32_t" name="session_id"/>
<field type="uint32_t" name="transfer_id"/>
<field type="uint32_t" name="expected_revision"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
</messages>
</mavlink>