feat(firmware): validate configuration and migrate sensor-driven flight APIs
Validate configuration through its owning schemas and keep board declarations separate from shared F722 resource ownership. Bound USB transitions, isolate transport failures and retain restart-only activation. Migrate navigation and flight consumers with the sensor and schema contracts. Require explicit installation data and synchronous output authority; board motor outputs remain inhibited. Validation: assembled-prefix host tests, strict Clippy, platform/USB tests and both ARM release builds. Final-source coverage and scoped Miri/Kani evidence are retained separately from hardware qualification.
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@@ -290,3 +290,91 @@ fn recursive_tree_rejects_duplicate_display_keys() {
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Err(issue) if issue.rule() == ValidationRule::Inconsistent
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));
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}
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#[derive(Config)]
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struct FloatRules {
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#[config(id = 1, key = "finite", unit = "", finite)]
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finite: f32,
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#[config(id = 2, key = "nonzero", unit = "", nonzero)]
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nonzero: f64,
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#[config(id = 3, key = "lower", unit = "", range(min = 0.0))]
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lower: f32,
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#[config(id = 4, key = "upper", unit = "", range(max = 1.0))]
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upper: f64,
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#[config(id = 5, key = "free", unit = "")]
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free: f64,
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#[config(id = 6, key = "nonzero32", unit = "", nonzero)]
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nonzero32: f32,
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}
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#[test]
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fn scalar_rules_preserve_local_repair_and_float_domains() {
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let mut values = FloatRules {
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finite: f32::NAN,
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nonzero: 0.0,
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lower: f32::NAN,
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upper: f64::NAN,
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free: f64::NAN,
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nonzero32: 0.0,
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};
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// Every other field is invalid. A local repair must still succeed.
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values
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.set_field(FieldId::new(1), ConfigValue::F32(1.0))
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.unwrap();
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for (id, value, rule) in [
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(
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1,
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ConfigValue::F32(f32::INFINITY),
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ValidationRule::NonFinite,
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),
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(2, ConfigValue::F64(0.0), ValidationRule::Zero),
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(2, ConfigValue::F64(-0.0), ValidationRule::Zero),
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(3, ConfigValue::F32(f32::NAN), ValidationRule::Unordered),
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(4, ConfigValue::F64(f64::NAN), ValidationRule::Unordered),
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(6, ConfigValue::F32(0.0), ValidationRule::Zero),
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(6, ConfigValue::F32(-0.0), ValidationRule::Zero),
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] {
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let id = FieldId::new(id);
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let before = values.field_value(id);
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assert_eq!(
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values.set_field(id, value),
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Err(FieldWriteError::Violation(ConfigViolation::field(id, rule)))
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);
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assert_eq!(values.field_value(id), before);
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}
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// Neither nonzero nor a one-sided range implies finite.
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for (id, value) in [
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(2, ConfigValue::F64(f64::from_bits(0xfff0_0000_0000_0042))),
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(3, ConfigValue::F32(f32::INFINITY)),
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(4, ConfigValue::F64(f64::NEG_INFINITY)),
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(5, ConfigValue::F64(f64::from_bits(0x7ff8_0000_0000_1234))),
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(6, ConfigValue::F32(f32::INFINITY)),
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] {
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values.set_field(FieldId::new(id), value).unwrap();
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assert_eq!(values.field_value(FieldId::new(id)), Some(value));
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}
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values.validate().unwrap();
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}
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#[test]
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fn rule_metadata_changes_fingerprints() {
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let descriptor = FloatRules::DESCRIPTORS[0];
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assert!(descriptor.finite);
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assert!(!descriptor.nonzero);
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assert!(FloatRules::DESCRIPTORS[1].nonzero);
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let original = kaptan_config::validation::__schema_id(&[descriptor]);
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assert_ne!(
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original,
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kaptan_config::validation::__schema_id(&[kaptan_config::FieldDescriptor {
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finite: false,
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..descriptor
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}])
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);
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assert_ne!(
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original,
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kaptan_config::validation::__schema_id(&[kaptan_config::FieldDescriptor {
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nonzero: true,
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..descriptor
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}])
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);
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}
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@@ -0,0 +1,9 @@
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use kaptan_config_derive::Config;
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#[derive(Config)]
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struct InvertedNativeBounds {
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#[config(id = 1, key = "value", unit = "", range(min = 1.0000000596046448, max = 1.0))]
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value: f32,
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}
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fn main() {}
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@@ -0,0 +1,5 @@
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error: configuration range minimum exceeds maximum
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--> tests/ui/f32_double_rounded_bounds.rs:6:5
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6 | value: f32,
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| ^^^^^
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@@ -0,0 +1,24 @@
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use kaptan_config_derive::Config;
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#[derive(Config)]
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struct NonzeroBool {
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#[config(id = 1, key = "value", unit = "")]
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#[config(nonzero)]
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value: bool,
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}
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#[derive(Config)]
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struct RangedBool {
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#[config(id = 1, key = "value", unit = "")]
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#[config(range(min = 0, max = 1))]
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value: bool,
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}
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#[derive(Config)]
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struct FiniteBool {
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#[config(id = 1, key = "value", unit = "")]
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#[config(finite)]
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value: bool,
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}
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fn main() {}
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@@ -0,0 +1,17 @@
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error: nonzero and range require a supported primitive numeric field
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--> tests/ui/numeric_rules_on_bool.rs:6:14
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6 | #[config(nonzero)]
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| ^^^^^^^
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error: nonzero and range require a supported primitive numeric field
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--> tests/ui/numeric_rules_on_bool.rs:13:14
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13 | #[config(range(min = 0, max = 1))]
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| ^^^^^
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error: finite requires an f32 or f64 field
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--> tests/ui/numeric_rules_on_bool.rs:20:14
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20 | #[config(finite)]
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| ^^^^^^
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@@ -0,0 +1,31 @@
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use kaptan_config_derive::{Config, ConfigEnum};
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#[derive(Clone, Copy, ConfigEnum)]
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#[repr(u8)]
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enum Mode {
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Off = 0,
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On = 1,
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}
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#[derive(Config)]
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struct NonzeroEnum {
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#[config(enum, id = 1, key = "value", unit = "")]
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#[config(nonzero)]
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value: Mode,
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}
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#[derive(Config)]
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struct RangedEnum {
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#[config(enum, id = 1, key = "value", unit = "")]
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#[config(range(min = 0, max = 1))]
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value: Mode,
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}
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#[derive(Config)]
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struct FiniteEnum {
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#[config(enum, id = 1, key = "value", unit = "")]
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#[config(finite)]
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value: Mode,
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}
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fn main() {}
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@@ -0,0 +1,17 @@
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error: nonzero and range require a supported primitive numeric field
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--> tests/ui/numeric_rules_on_enum.rs:13:14
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13 | #[config(nonzero)]
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| ^^^^^^^
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error: nonzero and range require a supported primitive numeric field
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--> tests/ui/numeric_rules_on_enum.rs:20:14
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20 | #[config(range(min = 0, max = 1))]
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| ^^^^^
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error: finite requires an f32 or f64 field
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--> tests/ui/numeric_rules_on_enum.rs:27:14
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27 | #[config(finite)]
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| ^^^^^^
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@@ -0,0 +1,15 @@
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use kaptan_config_derive::Config;
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#[derive(Config)]
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struct UnsupportedScalar {
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#[config(id = 1, key = "wide", unit = "")]
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wide: u128,
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}
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#[derive(Config)]
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struct UnsupportedCheckedScalar {
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#[config(id = 2, key = "signed", unit = "", nonzero)]
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signed: i64,
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}
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fn main() {}
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@@ -0,0 +1,11 @@
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error: non-primitive configuration fields require config(enum)
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--> tests/ui/unsupported_scalar.rs:6:11
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6 | wide: u128,
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| ^^^^
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error: nonzero and range require a supported primitive numeric field
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--> tests/ui/unsupported_scalar.rs:11:49
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11 | #[config(id = 2, key = "signed", unit = "", nonzero)]
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| ^^^^^^^
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