refactor(firmware): simplify configuration and diagnostics

firmware/libs/kaptan-safety/Cargo.toml

@@ -9,5 +9,5 @@ version.workspace = true
 workspace = true
 
 [dependencies]
-kaptan-log = { path = "../kaptan-log" }
+kaptan-err-propagate = { path = "../kaptan-err-propagate" }
 kaptan-time = { path = "../kaptan-time" }

firmware/libs/kaptan-safety/src/lib.rs

@@ -7,7 +7,7 @@
 
 #![no_std]
 
-use kaptan_log::KaptanError;
+use kaptan_err_propagate::KaptanError;
 use kaptan_time::Timestamp;
 
 /// Supervisor arming state.
@@ -27,18 +27,25 @@ pub enum SafetyState {
 #[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum SafetyFailure {
     /// Estimator is absent, stale, or non-finite.
+    #[kaptan_error(id = 9001)]
     EstimatorUnhealthy,
     /// Required inertial sensor stream is stale.
+    #[kaptan_error(id = 9002)]
     ImuStale,
     /// Required command/link stream is stale.
+    #[kaptan_error(id = 9003)]
     LinkStale,
     /// Actuator transport reports a fault.
+    #[kaptan_error(id = 9004)]
     ActuatorFault,
     /// No current explicit arm transaction exists.
+    #[kaptan_error(id = 9005)]
     ArmNotRequested,
     /// The platform supplied time that moved backwards.
+    #[kaptan_error(id = 9006)]
     ClockRegression,
     /// A non-wrapping actuator-permit epoch could not be allocated.
+    #[kaptan_error(id = 9007)]
     PermitEpochExhausted,
 }
 
@@ -46,6 +53,7 @@ pub enum SafetyFailure {
 #[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum SafetyConfigError {
     /// A zero dwell would permit two evaluations at one timestamp to arm.
+    #[kaptan_error(id = 9101)]
     ZeroPrearmDwell,
 }