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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const {test} = require('node:test');
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const assert = require('node:assert/strict');
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const {ViewSession, sameContext} = require('./view.js');
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function view(revision, connection = '1', draft = '0', value = 20, instance = 'host') {
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return {
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state: {config_revision: String(revision), context: {instance, connection, configuration: '1', draft}},
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config: {fields: [{id: 401, value}]},
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};
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}
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function deferred() {
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let resolve, reject;
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const promise = new Promise((yes, no) => { resolve = yes; reject = no; });
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return {promise, resolve, reject};
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}
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function harness(send = async () => { throw Error('unexpected mutation'); }, edited = () => {}) {
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const reads = [], rendered = [], errors = [];
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const session = new ViewSession({
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read: () => { const next = deferred(); reads.push(next); return next.promise; },
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send, edited, render: snapshot => rendered.push(snapshot), error: message => errors.push(message), permissions() {},
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});
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return {session, reads, rendered, errors};
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}
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test('late A view cannot replace displayed B or supply a reset context', async () => {
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const sent = [];
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const h = harness(async (path, body) => { sent.push({path, body}); return view(4, '2'); });
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h.session.accept(view(1), 0);
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const old = h.session.refresh();
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const fresh = h.session.refresh();
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h.reads[1].resolve(view(3, '2'));
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await fresh;
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h.reads[0].resolve(view(2));
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assert.equal(await old, false);
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assert.equal(h.rendered.at(-1).state.context.connection, '2');
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await h.session.mutate('/api/config/reset');
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assert.equal(sent[0].body.context.connection, '2');
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});
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test('an A action already queued is discarded rather than rebound to B', async () => {
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const first = deferred(), sent = [];
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const h = harness((path, body) => { sent.push({path, body}); return first.promise; });
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h.session.accept(view(1), 0);
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const edit = h.session.mutate('/api/config/edit', {field_id: 401, value: 30});
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const reset = h.session.mutate('/api/config/reset');
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const fresh = h.session.refresh();
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h.reads[0].resolve(view(5, '2'));
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await fresh;
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first.resolve(view(2, '1', '1', 30));
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await Promise.all([edit, reset]);
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assert.equal(sent.length, 1);
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assert.equal(h.rendered.at(-1).state.context.connection, '2');
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assert.match(h.errors.at(-1), /queued action discarded/);
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});
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test('an old input change event retains the context of its displayed value', async () => {
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const h = harness();
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const a = view(1);
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h.session.accept(a, 0);
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h.session.accept(view(3, '2'), 1);
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assert.equal(await h.session.mutate('/api/config/edit', {field_id: 401, value: 30}, a.state.context), null);
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assert.match(h.errors.at(-1), /queued action discarded/);
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assert.equal(h.rendered.at(-1).state.context.connection, '2');
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});
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test('rapid same-input edits serialize and only our accepted draft advances queued context', async () => {
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const replies = [deferred(), deferred(), deferred()], sent = [];
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let displayedContext = view('9007199254740993').state.context;
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const h = harness((path, body) => { sent.push({path, body}); return replies[sent.length - 1].promise; },
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(before, after) => { if (sameContext(displayedContext, before)) displayedContext = after; });
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h.session.accept(view('9007199254740993'), 0);
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const first = h.session.mutate('/api/config/edit', {field_id: 401, value: 30}, displayedContext);
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const second = h.session.mutate('/api/config/edit', {field_id: 401, value: 40}, displayedContext);
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assert.equal(sent.length, 1);
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assert.equal(h.session.editing(401), true);
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replies[0].resolve(view('9007199254740994', '1', '1', 30));
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await first;
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assert.equal(sent.length, 2);
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assert.equal(sent[1].body.context.draft, '1');
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assert.equal(sent[1].body.value, 40);
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assert.equal(h.session.editing(401), true);
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const third = h.session.mutate('/api/config/edit', {field_id: 401, value: 50}, displayedContext);
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replies[1].resolve(view('9007199254740995', '1', '2', 40));
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await second;
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assert.equal(sent[2].body.context.draft, '2');
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replies[2].resolve(view('9007199254740996', '1', '3', 50));
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await third;
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assert.equal(h.session.editing(401), false);
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assert.equal(h.rendered.at(-1).config.fields[0].value, 50);
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assert.equal(h.session.accept(view('9007199254740994', '1', '1', 30), 100), false);
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});
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test('another editors draft cannot silently rebase queued local edits', async () => {
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const reply = deferred(), sent = [];
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const h = harness((path, body) => { sent.push(body); return reply.promise; });
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h.session.accept(view(1), 0);
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const first = h.session.mutate('/api/config/edit', {field_id: 401, value: 30});
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const next = h.session.mutate('/api/config/edit', {field_id: 401, value: 40});
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const poll = h.session.refresh();
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h.reads[0].resolve(view(4, '1', '3', 50));
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await poll;
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reply.resolve(view(2, '1', '1', 30));
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await Promise.all([first, next]);
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assert.equal(sent.length, 1);
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assert.equal(h.rendered.at(-1).config.fields[0].value, 50);
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});
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test('failed refresh can retry and prior server-instance responses stay retired', async () => {
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const h = harness();
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const first = h.session.refresh();
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h.reads[0].reject(Error('HTTP failure'));
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await assert.rejects(first, /HTTP failure/);
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const retry = h.session.refresh();
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h.reads[1].resolve(view(100));
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assert.equal(await retry, true);
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const prior = h.session.refresh();
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const current = h.session.refresh();
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h.reads[3].resolve(view(1, '1', '0', 60, 'new-host'));
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await current;
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h.reads[2].resolve(view(101));
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assert.equal(await prior, false);
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assert.equal(h.rendered.at(-1).config.fields[0].value, 60);
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});
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test('decimal controls retain signed zero and nonfinite bit strings when submitting edits', async () => {
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const vm = require('node:vm');
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const fs = require('node:fs');
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const sent = [];
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function element() {
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return {
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dataset: {}, value: '', events: {},
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addEventListener(name, callback) { this.events[name] = callback; },
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};
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}
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const pending = () => new Promise(() => {});
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const context = vm.createContext({
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document: {querySelector: element, createElement: element},
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fetch: pending,
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ViewSession: class {
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refresh() { return pending(); }
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editing() { return false; }
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async mutate(path, body) { sent.push({path, body}); }
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},
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});
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vm.runInContext(fs.readFileSync(`${__dirname}/app.js`, 'utf8'), context);
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const field = {id: 401, kind: 'decimal', options: [], minimum: null, maximum: null};
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context.field = field;
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const control = vm.runInContext('fieldControl(field)', context);
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assert.equal(control.type, 'text');
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for (const value of ['-0', 'bits:0xfff0000000000042', 'bits:0x7f800000']) {
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control.value = value;
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await control.events.change();
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const serialized = JSON.parse(JSON.stringify(sent.at(-1)));
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assert.equal(serialized.body.value, value);
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assert.equal(serialized.path, '/api/config/edit');
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}
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const original = vm.runInContext('JSON.stringify(fieldStructure(field))', context);
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field.finite = true;
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assert.notEqual(vm.runInContext('JSON.stringify(fieldStructure(field))', context), original);
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});
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