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feat(mavlink): adopt the kaptan-native dialect

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This commit is contained in:
Onur Özkan committed 2026-08-24 00:56:06 +03:00
1 parent 1c90870634
commit 5f91465e66
87 files changed
+7733 -6850
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firmware/libs/kaptan-config-derive/src/expand.rs
+14 -9
View File
@@ -31,6 +31,7 @@ fn expand_scalars(
let mut descriptors = Vec::new();
let mut reads = Vec::new();
let mut writes = Vec::new();
let mut snapshot_widths = Vec::new();
for field in &fields {
let FieldMetadata {
descriptor,
@@ -42,6 +43,7 @@ fn expand_scalars(
let ty = &field.ty;
let field_ident = &field.ident;
let (kind, read, decode, out_of_domain_rule) = if !field.enum_backed {
snapshot_widths.push(quote! { <#ty as #crate_path::ConfigScalar>::KIND.width() });
(
quote! { <#ty as #crate_path::ConfigScalar>::KIND },
quote! { #crate_path::ConfigScalar::into_config_value(self.#field_ident) },
@@ -49,16 +51,13 @@ fn expand_scalars(
quote! { #crate_path::ValidationRule::AboveMaximum },
)
} else {
snapshot_widths.push(quote! { 1usize });
(
quote! { #crate_path::ValueKind::U32 },
quote! {
#crate_path::ConfigValue::U32(u32::from(self.#field_ident.wire_value()))
},
quote! { #crate_path::ValueKind::U8 },
quote! { #crate_path::ConfigValue::U8(self.#field_ident.wire_value()) },
quote! {
match value {
#crate_path::ConfigValue::U32(value) => u8::try_from(value)
.ok()
.and_then(<#ty>::try_from_wire)
#crate_path::ConfigValue::U8(value) => <#ty>::try_from_wire(value)
.ok_or(#crate_path::ScalarValueError::OutOfDomain),
value => Err(#crate_path::ScalarValueError::WrongKind(value.kind())),
}
@@ -122,6 +121,7 @@ fn expand_scalars(
impl #impl_generics #crate_path::Config for #ident #type_generics #where_clause {
const FIELD_COUNT: usize = Self::DESCRIPTORS.len();
const SNAPSHOT_VALUE_BYTES: usize = 0 #(+ #snapshot_widths)*;
const SCHEMA_ID: [u8; 16] =
#crate_path::validation::__schema_id(Self::DESCRIPTORS);
@@ -168,6 +168,7 @@ fn expand_children(
let mut reads = Vec::new();
let mut writes = Vec::new();
let mut counts = Vec::new();
let mut snapshot_widths = Vec::new();
let mut schema_ids = Vec::new();
let mut descriptor_lookups = Vec::new();
for field in &fields {
@@ -194,6 +195,7 @@ fn expand_children(
}
});
counts.push(quote! { <#ty as #crate_path::Config>::FIELD_COUNT });
snapshot_widths.push(quote! { <#ty as #crate_path::Config>::SNAPSHOT_VALUE_BYTES });
schema_ids.push(quote! { <#ty as #crate_path::Config>::SCHEMA_ID });
descriptor_lookups.push(quote! {
if index < <#ty as #crate_path::Config>::FIELD_COUNT {
@@ -207,6 +209,7 @@ fn expand_children(
Ok(quote! {
impl #impl_generics #crate_path::Config for #ident #type_generics #where_clause {
const FIELD_COUNT: usize = 0 #(+ #counts)*;
const SNAPSHOT_VALUE_BYTES: usize = 0 #(+ #snapshot_widths)*;
const SCHEMA_ID: [u8; 16] =
#crate_path::validation::__combine_schema_ids(&[#(#schema_ids),*]);
@@ -282,7 +285,7 @@ fn expand_field(crate_path: &syn::Path, field: &crate::parse::FieldModel) -> Res
)
} else {
(
quote! { #crate_path::ValueKind::U32 },
quote! { #crate_path::ValueKind::U8 },
quote! { <#ty>::CONFIG_ENUM_OPTIONS },
)
};
@@ -328,7 +331,9 @@ fn config_value_constructor_tokens(crate_path: &syn::Path, ty: &syn::Type) -> Re
let value = match segment.ident.to_string().as_str() {
"bool" => quote! { #crate_path::ConfigValue::Bool },
"i32" => quote! { #crate_path::ConfigValue::I32 },
"u8" | "u16" | "u32" => quote! { #crate_path::ConfigValue::U32 },
"u8" => quote! { #crate_path::ConfigValue::U8 },
"u16" => quote! { #crate_path::ConfigValue::U16 },
"u32" => quote! { #crate_path::ConfigValue::U32 },
"u64" => quote! { #crate_path::ConfigValue::U64 },
"f32" => quote! { #crate_path::ConfigValue::F32 },
"f64" => quote! { #crate_path::ConfigValue::F64 },
firmware/libs/kaptan-config-derive/tests/section.rs
+19 -6
View File
@@ -77,6 +77,8 @@ struct CompactSection {
endpoint: u8,
#[config(enum, id = 21, key = "compact.mode", unit = "mode")]
mode: TestMode,
#[config(id = 22, key = "compact.port", unit = "id", range(min = 1))]
port: u16,
}
#[test]
@@ -115,14 +117,16 @@ fn narrow_scalars_and_compact_enums_keep_native_types_and_generic_metadata() {
let mut section = CompactSection {
endpoint: 7,
mode: TestMode::Quiet,
port: 4861,
};
assert_eq!(CompactSection::SNAPSHOT_VALUE_BYTES, 1 + 1 + 2);
assert_eq!(
section.field_value(FieldId::new(20)),
Some(ConfigValue::U32(7))
Some(ConfigValue::U8(7))
);
assert_eq!(
CompactSection::DESCRIPTORS[0].minimum,
Some(ConfigValue::U32(1))
Some(ConfigValue::U8(1))
);
assert_eq!(CompactSection::DESCRIPTORS[0].maximum, None);
assert_eq!(
@@ -134,19 +138,27 @@ fn narrow_scalars_and_compact_enums_keep_native_types_and_generic_metadata() {
assert_eq!(TestMode::try_from_wire(2), None);
section
.set_field(FieldId::new(21), ConfigValue::U32(3))
.set_field(FieldId::new(21), ConfigValue::U8(3))
.unwrap();
assert_eq!(section.mode, TestMode::Loud);
assert!(matches!(
section.set_field(FieldId::new(21), ConfigValue::U32(2)),
section.set_field(FieldId::new(21), ConfigValue::U8(2)),
Err(FieldWriteError::Violation(issue))
if issue.rule() == ValidationRule::InvalidEnumValue
));
assert!(matches!(
section.set_field(FieldId::new(20), ConfigValue::U32(256)),
section.set_field(FieldId::new(20), ConfigValue::U8(0)),
Err(FieldWriteError::Violation(issue))
if issue.rule() == ValidationRule::AboveMaximum
if issue.rule() == ValidationRule::BelowMinimum
));
assert_eq!(
section.field_value(FieldId::new(22)),
Some(ConfigValue::U16(4861))
);
assert_eq!(
CompactSection::DESCRIPTORS[2].kind,
kaptan_config::ValueKind::U16
);
}
#[test]
@@ -184,6 +196,7 @@ fn aggregate_routes_writes_and_defers_declared_post_validation() {
#[test]
fn aggregate_derives_its_flattened_descriptor_order() {
assert_eq!(Aggregate::SNAPSHOT_VALUE_BYTES, 4 * 4);
let descriptors: Vec<_> = (0..Aggregate::FIELD_COUNT)
.map(|index| Aggregate::descriptor(index).unwrap())
.collect();