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refactor(firmware): centralize configuration and diagnostics

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Onur Özkan committed 2026-08-22 18:37:18 +03:00
1 parent 7048ed89d0
commit 387fdaad23
140 files changed
+6891 -4541
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firmware/libs/kaptan-mavlink/definitions/kaptan/config.xml
+27 -60
View File
@@ -13,11 +13,6 @@
<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"/>
@@ -35,7 +30,6 @@
<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"/>
@@ -45,9 +39,9 @@
<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="4" name="KAPTAN_CONFIG_ERROR_SESSION_BUSY">
<description>The target configuration lease or transaction slot belongs to a client.</description>
</entry>
<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"/>
@@ -58,30 +52,22 @@
<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"/>
<entry value="24" name="KAPTAN_CONFIG_ERROR_INVALID_QUERY"/>
<entry value="25" name="KAPTAN_CONFIG_ERROR_INVALID_ENUM_VALUE"/>
</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"/>
<description>Correlated configuration protocol and schema metadata.</description>
<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>
@@ -90,10 +76,9 @@
<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>
<description>Requests one field descriptor by stable schema index.</description>
<field type="uint32_t" name="request_id"/>
<field type="uint16_t" name="first"/>
<field type="uint16_t" name="count"/>
<field type="uint16_t" name="descriptor_index"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
@@ -105,11 +90,28 @@
<field type="uint32_t" name="request_id"/>
<field type="uint16_t" name="descriptor_index"/>
<field type="uint16_t" name="field_id"/>
<field type="uint8_t" name="enum_option_count">Number of named enum choices available for indexed retrieval.</field>
<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"/>
<field type="uint8_t" name="flags">Bit 0 marks minimum_bits present; bit 1 marks maximum_bits present. Other bits are reserved.</field>
</message>
<message id="51023" name="KAPTAN_CONFIG_ENUM_OPTION">
<description>One named choice for the explicitly identified enum-backed descriptor.</description>
<field type="uint8_t" name="value"/>
<field type="uint32_t" name="request_id"/>
<field type="uint16_t" name="descriptor_index"/>
<field type="uint16_t" name="field_id"/>
<field type="uint8_t" name="option_index"/>
<field type="char[32]" name="label"/>
</message>
<message id="51024" name="KAPTAN_CONFIG_ENUM_OPTION_REQUEST">
<description>Requests one named choice by descriptor and option index.</description>
<field type="uint32_t" name="request_id"/>
<field type="uint16_t" name="descriptor_index"/>
<field type="uint8_t" name="option_index"/>
<field type="uint8_t" name="target_system"/>
<field type="uint8_t" name="target_component"/>
</message>
<message id="51003" name="KAPTAN_CONFIG_VALUE_REQUEST">
<description>Reads one active, committed, or transaction value.</description>
@@ -131,7 +133,6 @@
</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"/>
@@ -186,7 +187,6 @@
</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"/>
@@ -202,10 +202,8 @@
</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"/>
@@ -235,36 +233,5 @@
<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>
firmware/libs/kaptan-mavlink/definitions/kaptan/error.xml
+2 -1
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@@ -9,13 +9,14 @@
<description>The path or additional-information UTF-8 prefix was truncated to its bounded on-wire field.</description>
</entry>
<entry value="4" name="KAPTAN_ERROR_FLAG_COALESCED">
<description>Error represents repeated adjacent observations with the same path and additional information.</description>
<description>One or more later observations from the same source mailbox were folded while this first error was pending.</description>
</entry>
</enum>
</enums>
<messages>
<message id="51021" name="KAPTAN_ERROR">
<description>Bounded derived or explicit runtime error. This is distinct from ordinary KAPTAN_LOG records. The display identity is generated from the Rust error type and variant when a KaptanError-derived value is available; structured configuration failures remain authoritative in KAPTAN_CONFIG_RESULT.</description>
<field type="uint8_t" name="level">MAV_SEVERITY-compatible error level from Emergency=0 through Error=3.</field>
<field type="uint8_t" name="flags" enum="KAPTAN_ERROR_FLAGS">Known bits are TRUNCATED=2 and COALESCED=4. Receivers ignore unknown future bits.</field>
<field type="uint8_t" name="path_length">Number of valid UTF-8 bytes in path; no more than 96.</field>
<field type="uint8_t" name="additional_information_length">Number of valid UTF-8 bytes in additional_information; no more than 64.</field>
firmware/libs/kaptan-mavlink/definitions/kaptan/log.xml
+2 -5
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@@ -11,16 +11,13 @@
<entry value="2" name="KAPTAN_LOG_FLAG_TRUNCATED">
<description>Message text was truncated to the bounded on-wire buffer.</description>
</entry>
<entry value="4" name="KAPTAN_LOG_FLAG_COALESCED">
<description>Message represents repeated adjacent observations.</description>
</entry>
</enum>
</enums>
<messages>
<message id="51020" name="KAPTAN_LOG">
<description>Bounded human-readable runtime log. The receiver needs only level, flags, and the valid UTF-8 text prefix. MAVLink framing, bounded admission, DMA, retries, and local loss accounting remain platform-owned.</description>
<description>Bounded human-readable runtime log. The receiver needs only level, flags, and the valid UTF-8 text prefix. MAVLink framing, bounded admission, DMA, and retries remain platform-owned.</description>
<field type="uint8_t" name="level">MAV_SEVERITY-compatible level. Rust TRACE uses DEBUG plus the TRACE flag.</field>
<field type="uint8_t" name="flags" enum="KAPTAN_LOG_FLAGS">Known bits are TRACE=1, TRUNCATED=2, and COALESCED=4. Receivers ignore unknown future bits.</field>
<field type="uint8_t" name="flags" enum="KAPTAN_LOG_FLAGS">Known bits are TRACE=1 and TRUNCATED=2. Receivers ignore unknown future bits.</field>
<field type="uint8_t" name="message_length">Number of valid UTF-8 bytes in message; at most 160.</field>
<field type="uint8_t[160]" name="message">Bounded UTF-8 message bytes. Bytes after message_length are zero.</field>
</message>
firmware/libs/kaptan-mavlink/definitions/kaptan/shutdown.xml
+2 -2
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@@ -5,8 +5,8 @@
<!-- Kaptan-reserved development block. Register these IDs before release. -->
<enums>
<enum name="KAPTAN_SHUTDOWN_REASON">
<entry value="1" name="KAPTAN_SHUTDOWN_REASON_OPERATOR">
<description>An operator initiated the completed controlled firmware shutdown.</description>
<entry value="1" name="KAPTAN_SHUTDOWN_REASON_USER">
<description>A user initiated the completed controlled firmware shutdown.</description>
</entry>
<entry value="2" name="KAPTAN_SHUTDOWN_REASON_SAFETY">
<description>The safety owner initiated the completed controlled firmware shutdown.</description>