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.

firmware/tools/configurator/web/app.js

@@ -1,14 +1,27 @@
 const q = selector => document.querySelector(selector);
 
-const pendingActions = new Set();
 let latestState = null;
 let latestConfig = null;
-let configRevision = -1;
 let editorStructure = '';
 const expandedPackets = new Set();
 const packetRows = new Map();
 let logSession = null;
 let latestLogId = -1;
+const views = new ViewSession({
+  read: () => api('/api/view'),
+  send: post,
+  render: view => { renderState(view.state); renderConfig(view.config); },
+  error: showError,
+  permissions: renderPermissions,
+  edited: (before, after) => {
+    for (const control of q('#draft-fields').elements) {
+      if (control.dataset.dirty === 'true'
+        && sameContext(control.intentContext ?? control.viewContext, before)) {
+        control.intentContext = after;
+      }
+    }
+  },
+});
 
 function setText(element, value) {
   const text = value ?? '';
@@ -30,7 +43,9 @@ async function api(path, options = {}) {
   const value = await responseValue(response);
   if (!response.ok) {
     const detail = typeof value === 'object' && value !== null ? value.error : value;
-    throw Error(detail || `Request failed with HTTP ${response.status}`);
+    const error = Error(detail || `Request failed with HTTP ${response.status}`);
+    error.view = value?.view;
+    throw error;
   }
   return value;
 }
@@ -47,41 +62,30 @@ function showError(message) {
   setText(q('#connect-error'), message);
 }
 
-async function runAction(id, action) {
-  pendingActions.add(id);
-  renderPermissions();
-  try {
-    const value = await action();
-    showError('');
-    return value;
-  } catch (error) {
-    showError(error.message);
-    return null;
-  } finally {
-    pendingActions.delete(id);
-    renderPermissions();
-  }
-}
-
 q('#connect-form').addEventListener('submit', event => {
   event.preventDefault();
-  runAction('connect', () => post('/api/connect', {path: q('#path').value}));
+  views.mutate('/api/connect', {path: q('#path').value}, q('#connect-serial').viewContext);
 });
 
 q('#disconnect').addEventListener('click', () => {
-  runAction('disconnect', () => post('/api/disconnect'));
+  views.mutate('/api/disconnect', {}, q('#disconnect').viewContext);
 });
 
 q('#draft-fields').addEventListener('submit', event => event.preventDefault());
 
 q('#save').addEventListener('click', () => {
-  runAction('save', () => post('/api/config/save'));
+  views.mutate('/api/config/save', {}, q('#save').viewContext);
+});
+
+q('#reset-saved').addEventListener('click', () => {
+  views.mutate('/api/config/reset', {}, q('#reset-saved').viewContext);
 });
 
 function fieldStructure(field) {
   return [
     field.id, field.key, field.label, field.group, field.unit, field.kind,
     field.minimum, field.maximum, field.factory, field.help, field.options,
+    field.finite, field.nonzero,
   ];
 }
 
@@ -104,24 +108,37 @@ function fieldControl(field) {
     if (field.kind === 'bool') {
       control.type = 'checkbox';
     } else {
-      control.type = 'number';
+      // Text retains signed zero and IEEE bit strings for nonfinite values.
+      control.type = field.kind === 'decimal' ? 'text' : 'number';
       control.step = field.kind === 'decimal' ? 'any' : '1';
       control.inputMode = field.kind === 'decimal' ? 'decimal' : 'numeric';
       if (field.minimum !== null) control.min = String(field.minimum);
       if (field.maximum !== null) control.max = String(field.maximum);
     }
   }
+  control.addEventListener('input', () => {
+    if (control.dataset.dirty !== 'true') control.intentContext = control.viewContext;
+    control.dataset.dirty = 'true';
+    renderPermissions();
+  });
   control.addEventListener('change', async () => {
     let value = control.value;
     if (field.kind === 'bool') {
       value = field.options.length === 0 ? control.checked : control.value === 'true';
     }
-    const action = `edit:${field.id}`;
-    const config = await runAction(action, () => post('/api/config/edit', {
+    control.dataset.dirty = 'true';
+    const displayed = control.type === 'checkbox' ? control.checked : control.value;
+    await views.mutate('/api/config/edit', {
       field_id: field.id,
       value,
-    }));
-    if (config !== null) renderConfig(config);
+    }, control.intentContext ?? control.viewContext);
+    if (displayed === (control.type === 'checkbox' ? control.checked : control.value)
+      && !views.editing(field.id)) {
+      delete control.dataset.dirty;
+      delete control.intentContext;
+    }
+    if (latestConfig) syncEditorValues(latestConfig.fields);
+    renderPermissions();
   });
   return control;
 }
@@ -148,11 +165,19 @@ function buildEditor(fields) {
       key.textContent = `${field.key} [${field.id}]`;
       const control = fieldControl(field);
       label.append(title, key, control);
+      const values = document.createElement('small');
+      values.id = `values-${field.id}`;
+      const error = document.createElement('small');
+      error.id = `error-${field.id}`;
+      error.className = 'error';
+      error.setAttribute('role', 'alert');
+      label.append(values, error);
 
       const bounds = field.minimum !== null || field.maximum !== null
         ? `Inclusive bounds: ${field.minimum ?? 'unbounded'} to ${field.maximum ?? 'unbounded'}.`
         : '';
-      const helpText = [field.help, `Factory: ${field.factory}.`, bounds].filter(Boolean).join(' ');
+      const rules = [field.finite ? 'Must be finite.' : '', field.nonzero ? 'Must be nonzero.' : ''].filter(Boolean).join(' ');
+      const helpText = [field.help, `Factory: ${field.factory}.`, bounds, rules].filter(Boolean).join(' ');
       if (helpText) {
         const help = document.createElement('small');
         help.id = `help-${field.id}`;
@@ -171,9 +196,18 @@ function syncEditorValues(fields) {
   for (const field of fields) {
     const control = q(`[data-field-id="${field.id}"]`);
     if (!control) continue;
+    const display = value => {
+      if (value === null) return 'unknown';
+      return field.options.find(option => String(option.value) === String(value))?.label ?? String(value);
+    };
+    setText(q(`#values-${field.id}`), `Boot-active: ${display(field.active)} · Saved: ${display(field.saved)} · Draft: ${field.draft === null ? 'unchanged' : display(field.draft)}`);
+    setText(q(`#error-${field.id}`), field.error ?? '');
+    control.setAttribute('aria-invalid', String(field.error !== null));
+    if (views.editing(field.id) || control.dataset.dirty === 'true') continue;
+    control.viewContext = latestState.context;
     if (field.kind === 'bool' && field.options.length === 0) {
-      if (document.activeElement !== control) control.checked = field.value;
-    } else if (document.activeElement !== control && control.value !== String(field.value)) {
+      control.checked = field.value;
+    } else if (control.value !== String(field.value)) {
       control.value = String(field.value);
     }
   }
@@ -191,25 +225,32 @@ function renderConfig(config) {
   q('#restart-guidance').hidden = config.state !== 'restart required';
   renderValidation(config.validation);
 
-  const structure = JSON.stringify(config.fields.map(fieldStructure));
+  const structure = JSON.stringify([
+    latestState.context.instance, latestState.context.connection, latestState.context.configuration,
+    config.fields.map(fieldStructure),
+  ]);
   if (structure !== editorStructure) {
     editorStructure = structure;
     buildEditor(config.fields);
   }
   syncEditorValues(config.fields);
+  q('#save').viewContext = latestState.context;
+  q('#reset-saved').viewContext = latestState.context;
   renderPermissions();
 }
 
 function renderPermissions() {
   if (latestState === null) return;
-  const busy = pendingActions.size !== 0;
+  const busy = views.busy;
+  const dirty = [...q('#draft-fields').elements].some(control => control.dataset.dirty === 'true');
   q('#path').disabled = latestState.can_disconnect || busy;
   q('#connect-serial').disabled = latestState.can_disconnect || busy;
   q('#disconnect').hidden = !latestState.can_disconnect;
   q('#disconnect').disabled = busy;
-  q('#save').disabled = !latestState.can_save || busy;
+  q('#save').disabled = !latestState.can_save || busy || dirty;
+  q('#reset-saved').disabled = !latestState.can_reset || busy;
   for (const control of q('#draft-fields').elements) {
-    control.disabled = !latestState.can_edit || busy;
+    control.disabled = !latestState.can_edit || (busy && !views.onlyEdits);
   }
 }
 
@@ -406,24 +447,23 @@ function renderState(state) {
   q('#configuration').hidden = !state.has_config;
   q('#packet-monitor').hidden = !state.can_disconnect;
   q('#log-monitor').hidden = !state.can_disconnect;
+  q('#connect-serial').viewContext = state.context;
+  q('#disconnect').viewContext = state.context;
   renderPermissions();
 }
 
 async function refresh() {
   try {
-    const [state, packets, logs] = await Promise.all([
-      api('/api/state'),
+    const context = views.view?.state.context;
+    const [, packets, logs] = await Promise.all([
+      views.refresh(),
       api('/api/packets'),
       api('/api/logs'),
     ]);
-    renderState(state);
-    renderPackets(packets);
-    renderLogs(logs);
-    if (state.config_revision !== configRevision) {
-      const config = await api('/api/config');
-      renderConfig(config);
-      configRevision = state.config_revision;
-      q('#configuration').hidden = latestConfig.schema_id === null;
+    if (context?.connection === views.view?.state.context.connection
+      && context?.instance === views.view?.state.context.instance) {
+      renderPackets(packets);
+      renderLogs(logs);
     }
   } catch (error) {
     showError(error.message);