refactor(firmware): simplify configuration and diagnostics

firmware/libs/kaptan-drivers/Cargo.toml

@@ -9,7 +9,7 @@ version.workspace = true
 workspace = true
 
 [dependencies]
-kaptan-log = { path = "../kaptan-log" }
+kaptan-err-propagate = { path = "../kaptan-err-propagate" }
 kaptan-sensor = { path = "../kaptan-sensor" }
 kaptan-i2c = { path = "../kaptan-i2c" }
 kaptan-spi = { path = "../kaptan-spi" }

firmware/libs/kaptan-drivers/src/icm42688/error.rs

@@ -1,17 +1,21 @@
 //! ICM-42688-P operation errors.
 
-use kaptan_log::KaptanError;
+use kaptan_err_propagate::KaptanError;
 
 /// ICM-42688-P operation failure.
 #[derive(Debug, Eq, PartialEq, KaptanError)]
 pub enum Error<BusError> {
     /// The selected SPI route rejected a transfer submission.
+    #[kaptan_error(id = 5101)]
     Start(BusError),
     /// The responding device does not identify as an ICM-42688-P.
+    #[kaptan_error(id = 5102)]
     UnexpectedIdentity(u8),
     /// An acquisition request arrived before initialization completed or while
     /// another transfer still owned the selected route.
+    #[kaptan_error(id = 5103)]
     NotReady,
     /// The selected SPI route reported a terminal transfer fault.
+    #[kaptan_error(id = 5104)]
     TransferFault,
 }

firmware/libs/kaptan-drivers/src/lidar_lite_v3/error.rs

@@ -1,25 +1,33 @@
 //! LIDAR-Lite v3 operation errors.
 
-use kaptan_log::KaptanError;
+use kaptan_err_propagate::KaptanError;
 
 /// LIDAR-Lite v3 operation failure.
 #[derive(Debug, Eq, PartialEq, KaptanError)]
 pub enum Error<BusError> {
     /// The selected I²C route rejected a transaction submission.
+    #[kaptan_error(id = 5201)]
     Start(BusError),
     /// An acquisition request arrived while another measurement was active.
+    #[kaptan_error(id = 5202)]
     NotReady,
     /// The selected I²C route reported a terminal transaction fault.
+    #[kaptan_error(id = 5203)]
     TransferFault,
     /// The device reported a process error for the completed measurement.
+    #[kaptan_error(id = 5204)]
     ProcessError,
     /// The device reported that its reference or receiver bias is unhealthy.
+    #[kaptan_error(id = 5205)]
     Unhealthy,
     /// The device reported that no usable signal peak was detected.
+    #[kaptan_error(id = 5206)]
     InvalidSignal,
     /// A measurement remained busy beyond the driver's bounded acquisition interval.
+    #[kaptan_error(id = 5207)]
     MeasurementTimeout,
     /// The device reported a documented no-signal sentinel distance of zero or one centimetre.
+    #[kaptan_error(id = 5208)]
     NoSignal,
 }
 
@@ -27,5 +35,6 @@ pub enum Error<BusError> {
 #[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum StartupError {
     /// Startup completion was reported when the driver was not settling.
+    #[kaptan_error(id = 5301)]
     NotSettling,
 }

firmware/libs/kaptan-drivers/src/lidar_lite_v3/service.rs

@@ -55,11 +55,7 @@ impl<Clock: MonotonicClock, Bus: I2cBus> LidarLiteV3Service<Clock, Bus> {
         &mut self,
         completion: I2cCompletion,
     ) -> LidarLiteV3ServiceEvent<Bus::StartError> {
-        match self.lidar.on_transaction_complete(completion) {
-            LidarLiteV3Event::Measurement(sample) => LidarLiteV3ServiceEvent::Measurement(sample),
-            LidarLiteV3Event::Fault(error) => LidarLiteV3ServiceEvent::Fault(error),
-            _ => LidarLiteV3ServiceEvent::Idle,
-        }
+        service_event(self.lidar.on_transaction_complete(completion))
     }
 
     /// Acknowledges a board-controller interrupt and advances the acquisition.
@@ -78,10 +74,21 @@ impl<Clock: MonotonicClock, Bus: I2cBus> LidarLiteV3Service<Clock, Bus> {
     }
 }
 
+fn service_event<BusError>(event: LidarLiteV3Event<BusError>) -> LidarLiteV3ServiceEvent<BusError> {
+    match event {
+        LidarLiteV3Event::Measurement(sample) => LidarLiteV3ServiceEvent::Measurement(sample),
+        LidarLiteV3Event::Fault(Error::InvalidSignal | Error::NoSignal) => {
+            LidarLiteV3ServiceEvent::Idle
+        }
+        LidarLiteV3Event::Fault(error) => LidarLiteV3ServiceEvent::Fault(error),
+        _ => LidarLiteV3ServiceEvent::Idle,
+    }
+}
+
 #[cfg(test)]
 mod tests {
-    use super::{LidarLiteV3Service, LidarLiteV3ServiceEvent};
-    use crate::lidar_lite_v3::{AcquisitionMode, LidarLiteV3};
+    use super::{LidarLiteV3Service, LidarLiteV3ServiceEvent, service_event};
+    use crate::lidar_lite_v3::{AcquisitionMode, Error, LidarLiteV3, LidarLiteV3Event};
     use kaptan_i2c::{I2cBus, I2cCompletion};
     use kaptan_time::{MonotonicClock, Timestamp};
 
@@ -177,4 +184,20 @@ mod tests {
                     && sample.distance_millimetres == 2_910
         ));
     }
+
+    #[test]
+    fn unavailable_measurements_are_not_terminal_service_faults() {
+        assert!(matches!(
+            service_event::<()>(LidarLiteV3Event::Fault(Error::InvalidSignal)),
+            LidarLiteV3ServiceEvent::Idle
+        ));
+        assert!(matches!(
+            service_event::<()>(LidarLiteV3Event::Fault(Error::NoSignal)),
+            LidarLiteV3ServiceEvent::Idle
+        ));
+        assert!(matches!(
+            service_event::<()>(LidarLiteV3Event::Fault(Error::Unhealthy)),
+            LidarLiteV3ServiceEvent::Fault(Error::Unhealthy)
+        ));
+    }
 }

firmware/libs/kaptan-drivers/src/mpu6000/error.rs

@@ -1,17 +1,21 @@
 //! MPU6000 operation errors.
 
-use kaptan_log::KaptanError;
+use kaptan_err_propagate::KaptanError;
 
 /// MPU6000 operation failure.
 #[derive(Debug, Eq, PartialEq, KaptanError)]
 pub enum Error<BusError> {
     /// The selected SPI route rejected a transfer submission.
+    #[kaptan_error(id = 5001)]
     Start(BusError),
     /// The responding device does not identify as an MPU6000.
+    #[kaptan_error(id = 5002)]
     UnexpectedIdentity(u8),
     /// An acquisition request arrived before initialization completed or while
     /// another transfer still owned the selected route.
+    #[kaptan_error(id = 5003)]
     NotReady,
     /// The selected SPI route reported a terminal transfer fault.
+    #[kaptan_error(id = 5004)]
     TransferFault,
 }