refactor(firmware): simplify configuration and diagnostics
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Onur Özkan committed
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@@ -1,55 +1,8 @@
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//! Bounded human-readable diagnostic records.
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//! Bounded human-readable log records.
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use crate::{ErrorAdditionalInformation, ErrorPath, LogText, Severity};
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use crate::{Level, LogText};
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/// Static identity and optional detail for one error.
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#[derive(Clone, Copy, Debug, Eq, PartialEq)]
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pub struct StaticError {
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path: &'static str,
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additional_information: &'static str,
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}
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impl StaticError {
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/// Creates one compile-time error identity without additional detail.
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pub const fn new(path: &'static str) -> Self {
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Self {
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path,
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additional_information: "",
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}
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}
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/// Creates one compile-time error identity with static additional detail.
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pub const fn with_additional_information(
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path: &'static str,
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additional_information: &'static str,
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) -> Self {
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Self {
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path,
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additional_information,
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}
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}
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/// Stable human-readable error identity.
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pub const fn path(self) -> &'static str {
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self.path
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}
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/// Optional static human-facing detail.
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pub const fn additional_information(self) -> &'static str {
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self.additional_information
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}
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}
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/// Implemented by [`crate::KaptanError`] derives.
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///
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/// This trait is deliberately pure: obtaining error identity never allocates,
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/// publishes telemetry, changes safety state, or serializes generic sources.
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pub trait ErrorReport {
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/// Returns static identity and optional detail for this error value.
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fn static_error(&self) -> &'static StaticError;
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}
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/// Bounded MAVLink log flags.
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/// Flags belonging exclusively to a log record.
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#[derive(Clone, Copy, Debug, Eq, PartialEq)]
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#[repr(transparent)]
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pub struct LogFlags(u8);
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@@ -57,208 +10,70 @@ pub struct LogFlags(u8);
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impl LogFlags {
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/// No optional flags.
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pub const NONE: Self = Self(0);
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/// Rust trace level, encoded as MAVLink DEBUG.
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pub const TRACE: Self = Self(1 << 0);
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/// Text did not fit the fixed record buffer.
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/// Message text exceeded its fixed capacity.
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pub const TRUNCATED: Self = Self(1 << 1);
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/// Multiple ISR producer observations were folded into one mailbox event.
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pub const COALESCED: Self = Self(1 << 2);
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/// Raw MAVLink bitmask.
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/// Raw transport bitmask.
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pub const fn bits(self) -> u8 {
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self.0
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}
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/// Bits valid for an ordinary `KAPTAN_LOG` record.
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pub const fn log_bits(self) -> u8 {
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self.0 & (Self::TRACE.0 | Self::TRUNCATED.0)
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}
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/// Bits valid for an error-only record. Trace is a property of ordinary
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/// `KAPTAN_LOG` diagnostics and is intentionally never emitted on
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/// `KAPTAN_ERROR`.
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pub const fn error_bits(self) -> u8 {
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self.0 & (Self::TRUNCATED.0 | Self::COALESCED.0)
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}
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/// Adds a bit.
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pub const fn with(self, other: Self) -> Self {
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Self(self.0 | other.0)
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}
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/// Tests whether a bit is present.
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pub const fn contains(self, other: Self) -> bool {
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self.0 & other.0 == other.0
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}
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}
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/// Wire family selected for one diagnostic record.
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#[derive(Clone, Copy, Debug, Eq, PartialEq)]
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pub enum RecordChannel {
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/// An ordinary severity-and-text `KAPTAN_LOG` record.
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Log,
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/// An error-only `KAPTAN_ERROR` record.
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Error,
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}
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#[derive(Clone, Copy, Debug, Eq, PartialEq)]
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enum RecordBody {
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Log {
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message: LogText,
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},
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Error {
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path: ErrorPath,
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additional_information: ErrorAdditionalInformation,
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},
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}
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/// Priority selected internally from a diagnostic level.
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/// Internal transport priority selected from a conventional log level.
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#[derive(Clone, Copy, Debug, Eq, PartialEq)]
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pub enum DeliveryClass {
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/// Error logs retained independently from optional log verbosity.
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/// Error-level logs.
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Critical,
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/// Warning/info/debug/trace logs subject to the configured filter.
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/// Warning, info, debug, and trace logs.
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BestEffort,
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}
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/// A fully formatted bounded diagnostic waiting for MAVLink admission.
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/// One bounded transport-neutral log event.
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#[derive(Clone, Copy, Debug, Eq, PartialEq)]
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pub struct LogRecord {
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severity: Severity,
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level: Level,
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flags: LogFlags,
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body: RecordBody,
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message: LogText,
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}
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impl LogRecord {
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/// Creates one bounded diagnostic record. Error-or-higher severities use
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/// their supplied text as the error path with no additional information;
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/// ordinary severity records use `KAPTAN_LOG` message text.
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pub fn new(severity: Severity, flags: LogFlags, message: LogText) -> Self {
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if severity <= Severity::Error {
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let flags = with_truncation(flags, message);
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return Self::error_with_severity(
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severity,
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flags,
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ErrorPath::from_message(message.as_str()),
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ErrorAdditionalInformation::new(),
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);
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/// Creates one bounded log record at the supplied level.
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pub fn new(level: Level, mut flags: LogFlags, message: LogText) -> Self {
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if message.is_truncated() {
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flags = flags.with(LogFlags::TRUNCATED);
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}
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Self {
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severity,
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flags: with_truncation(flags, message),
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body: RecordBody::Log { message },
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}
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}
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/// Creates an error-channel record with independently bounded identity
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/// and optional additional information.
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pub fn error(
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flags: LogFlags,
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path: ErrorPath,
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additional_information: ErrorAdditionalInformation,
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) -> Self {
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Self::error_with_severity(Severity::Error, flags, path, additional_information)
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}
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/// Creates one record from a typed derived error without choosing a sink.
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pub fn from_error<E: ErrorReport>(flags: LogFlags, error: &E) -> Self {
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Self::from_static_error(flags, error.static_error())
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}
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/// Creates one record from an ISR-safe static error without choosing a sink.
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pub fn from_static_error(flags: LogFlags, error: &'static StaticError) -> Self {
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Self::error(
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level,
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flags,
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ErrorPath::from_message(error.path()),
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ErrorAdditionalInformation::from_message(error.additional_information()),
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)
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}
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fn error_with_severity(
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severity: Severity,
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flags: LogFlags,
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path: ErrorPath,
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additional_information: ErrorAdditionalInformation,
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) -> Self {
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debug_assert!(severity <= Severity::Error);
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Self {
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severity,
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flags: flags_for_error(flags, path, additional_information),
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body: RecordBody::Error {
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path,
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additional_information,
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},
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message,
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}
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}
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/// Wire-compatible severity.
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pub const fn severity(&self) -> Severity {
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self.severity
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/// Conventional log level.
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pub const fn level(&self) -> Level {
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self.level
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}
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/// Wire flag bitmask.
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/// Log-specific flag bitmask.
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pub const fn flags(&self) -> LogFlags {
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self.flags
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}
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/// Fixed text carried by an ordinary `KAPTAN_LOG` record.
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pub const fn message(&self) -> Option<&LogText> {
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match &self.body {
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RecordBody::Log { message } => Some(message),
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RecordBody::Error { .. } => None,
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}
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/// Fixed human-readable message.
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pub const fn message(&self) -> &LogText {
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&self.message
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}
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/// Fixed identity path carried by a `KAPTAN_ERROR` record.
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pub const fn error_path(&self) -> Option<&ErrorPath> {
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match &self.body {
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RecordBody::Log { .. } => None,
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RecordBody::Error { path, .. } => Some(path),
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}
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}
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/// Fixed optional information carried by a `KAPTAN_ERROR` record.
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pub const fn additional_information(&self) -> Option<&ErrorAdditionalInformation> {
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match &self.body {
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RecordBody::Log { .. } => None,
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RecordBody::Error {
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additional_information,
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..
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} => Some(additional_information),
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}
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}
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/// Custom MAVLink diagnostic family selected for this record.
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pub const fn channel(&self) -> RecordChannel {
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match self.body {
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RecordBody::Log { .. } => RecordChannel::Log,
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RecordBody::Error { .. } => RecordChannel::Error,
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}
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}
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/// Internal admission priority.
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/// Internal transport priority.
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pub const fn delivery(&self) -> DeliveryClass {
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match self.body {
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RecordBody::Log { .. } => DeliveryClass::BestEffort,
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RecordBody::Error { .. } => DeliveryClass::Critical,
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match self.level {
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Level::Error => DeliveryClass::Critical,
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Level::Warn | Level::Info | Level::Debug | Level::Trace => DeliveryClass::BestEffort,
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}
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}
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}
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fn with_truncation(mut flags: LogFlags, value: LogText) -> LogFlags {
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if value.is_truncated() {
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flags = flags.with(LogFlags::TRUNCATED);
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}
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flags
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}
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fn flags_for_error(
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mut flags: LogFlags,
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path: ErrorPath,
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additional_information: ErrorAdditionalInformation,
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) -> LogFlags {
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if path.is_truncated() || additional_information.is_truncated() {
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flags = flags.with(LogFlags::TRUNCATED);
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}
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flags
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}
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