refactor(firmware): simplify configuration and diagnostics

firmware/platforms/stm32f7/tests/config_active_state.rs

@@ -2,8 +2,8 @@
 
 use kaptan_config::{Config, ConfigManager, ConfigModel, ConfigStore, ConfigValue, FieldId};
 use platform_stm32f7::{
-    F7ImmutableConfig, F722Hardware, F722ImmutableConfig, ImuMount, Mavlink, Mpu6000,
-    Mpu6000Config, Pa4, Pb0Pb1Pb4Pb5Low, Pd2ActiveLow, Severity, VerticalSensor,
+    F7ImmutableConfig, F722Hardware, F722ImmutableConfig, ImuMount, LevelFilter, Mavlink, Mpu6000,
+    Mpu6000Config, Pa4, Pb0Pb1Pb4Pb5Low, Pd2ActiveLow, VerticalSensor,
 };
 
 // Include the implementation as a child module so this platform-internal test
@@ -15,29 +15,17 @@ use target_config::UserConfigModel;
 
 #[derive(Clone, kaptan_config::Config)]
 struct MavlinkConfig {
-    #[config(
-        id = 101,
-        key = "mavlink.system_id",
-        unit = "id",
-        range(min = 1, max = 255)
-    )]
+    #[config(id = 101, key = "mavlink.system_id", unit = "id", range(min = 1))]
     system_id: u8,
-    #[config(
-        id = 102,
-        key = "mavlink.component_id",
-        unit = "id",
-        range(min = 1, max = 255)
-    )]
+    #[config(id = 102, key = "mavlink.component_id", unit = "id", range(min = 1))]
     component_id: u8,
-    #[config(id = 108, key = "mavlink.logging.enabled", unit = "bool")]
-    logging_enabled: bool,
     #[config(
         enum,
         id = 105,
-        key = "mavlink.logging.maximum_severity",
-        unit = "mav_severity"
+        key = "mavlink.logging.level_filter",
+        unit = "log_level"
     )]
-    maximum_log_severity: Severity,
+    log_level_filter: LevelFilter,
 }
 
 #[derive(Clone, kaptan_config::Config)]
@@ -118,8 +106,7 @@ fn factory() -> TestUserConfig {
         mavlink: MavlinkConfig {
             system_id: 1,
             component_id: 1,
-            logging_enabled: true,
-            maximum_log_severity: Severity::Info,
+            log_level_filter: LevelFilter::Info,
         },
         telemetry: TelemetryConfig {
             raw_imu_hz: 20,
@@ -167,21 +154,17 @@ impl Config for MalformedProjection {
 fn mavlink_logging_policy_is_projected_and_validated_independently() {
     assert_eq!(
         core::mem::size_of::<target_config::F722UserRuntime>(),
-        10,
+        9,
         "runtime projection must retain narrow board-native scalar widths"
     );
     let mut candidate = UserConfigModel::<TestUserConfig, F722ImmutableConfig>::new(factory());
-    candidate
-        .set_field(FieldId::new(108), ConfigValue::Bool(false))
-        .unwrap();
     candidate
         .set_field(FieldId::new(105), ConfigValue::U32(0))
         .unwrap();
 
     let active = candidate.validate(&IMMUTABLE).unwrap();
     let runtime = target_config::project_runtime(&active, &IMMUTABLE).unwrap();
-    assert!(!runtime.mavlink_logging_enabled);
-    assert_eq!(runtime.mavlink_maximum_log_severity, Severity::Emergency);
+    assert_eq!(runtime.mavlink_log_level_filter, LevelFilter::Off);
 }
 
 #[test]

firmware/platforms/stm32f7/tests/platform_safety_boundary.rs

@@ -267,10 +267,9 @@ fn configuration_schema_is_generated_without_board_forwarding_code() {
         "MAVLINK_COMPONENT_ID",
         "RAW_IMU_HZ",
         "HEARTBEAT_HZ",
-        "MAVLINK_MAXIMUM_LOG_SEVERITY",
+        "MAVLINK_LOG_LEVEL_FILTER",
         "RANGE_HZ",
         "OPTICAL_FLOW_HZ",
-        "MAVLINK_LOGGING_ENABLED",
     ] {
         assert!(
             platform_config.contains(&format!("const {semantic_id}: FieldId")),
@@ -308,16 +307,11 @@ fn f722_link_budget_reserves_only_deterministic_telemetry() {
     let board = platform_source("src/f722/board.rs");
     assert!(board.contains("SCHEDULED_TELEMETRY_BYTES_PER_SECOND"));
     assert!(board.contains("SERVICE_HZ * SCHEDULED_FRAME_MAXIMUM_BYTES"));
-    assert_eq!(
-        board
-            .matches("self.drain_one_mavlink_log_record();")
-            .count(),
-        1,
-        "each service turn must make exactly one bounded log admission attempt"
-    );
-    assert!(board.contains("if runtime.mavlink_logging_enabled"));
-    assert!(board.contains("LogFilter::up_to(runtime.mavlink_maximum_log_severity)"));
-    assert!(board.contains("LogFilter::disabled()"));
+    assert!(board.contains("self.drain_one_mavlink_diagnostic();"));
+    assert!(board.contains("let mavlink_log_filter = runtime.mavlink_log_level_filter;"));
+    assert!(board.contains("LogSinkQueue::new(mavlink_log_filter)"));
+    assert!(!board.contains("mavlink_logging_enabled"));
+    assert!(!board.contains("LogFilter"));
     for periodic_diagnostic_policy in [
         "ERROR_RECORDS_PER_SECOND",
         "LOG_RECORDS_PER_SECOND",
@@ -341,6 +335,11 @@ fn mavlink_transport_faults_do_not_recurse_or_retain_dead_accounting() {
     let transport = platform_source("src/f722/data_channel.rs");
     let portable_channel = platform_source("../../libs/kaptan-data-channel/src/lib.rs");
 
+    assert!(
+        !board.contains("mavlink transmit dma fault"),
+        "the MAVLink sink must not report its own transmit failure through itself"
+    );
+
     for recursive_path in [
         "drain_transport_faults",
         "take_transport_fault",
@@ -368,3 +367,30 @@ fn mavlink_transport_faults_do_not_recurse_or_retain_dead_accounting() {
         );
     }
 }
+
+#[test]
+fn f722_producers_keep_logs_and_typed_errors_separate() {
+    let board = platform_source("src/f722/board.rs");
+    let logger = platform_source("../../libs/kaptan-log/src/facade.rs");
+    let errors = platform_source("../../libs/kaptan-err-propagate/src/ingress.rs");
+
+    for macro_name in [
+        "kaptan_log::debug!",
+        "kaptan_log::info!",
+        "kaptan_log::warn!",
+        "kaptan_log::error!",
+    ] {
+        assert!(
+            board.contains(macro_name),
+            "f722 does not exercise {macro_name}"
+        );
+    }
+    assert!(board.contains("#[kaptan_err_propagate::propagate]"));
+    assert!(!board.contains("report_error"));
+    assert!(!board.contains("report_static_error"));
+    assert!(logger.contains("GLOBAL_INGRESS_CAPACITY"));
+    assert!(logger.contains("compare_exchange"));
+    assert!(errors.contains("AtomicU8"));
+    assert!(errors.contains("UnsafeCell<MaybeUninit<ErrorRecord>>"));
+    assert!(errors.contains("compare_exchange"));
+}