refactor(firmware): simplify configuration and diagnostics

firmware/tools/sitl/Cargo.toml

@@ -9,20 +9,20 @@ version.workspace = true
 workspace = true
 
 [dependencies]
+kaptan-err-propagate = { path = "../../libs/kaptan-err-propagate" }
 kaptan-control = { path = "../../libs/kaptan-control" }
 kaptan-config = { path = "../../libs/kaptan-config" }
 kaptan-config-mavlink = { path = "../../libs/kaptan-config-mavlink" }
 kaptan-flight-config = { path = "../../libs/kaptan-flight-config" }
 kaptan-flight-runtime = { path = "../../libs/kaptan-flight-runtime" }
-kaptan-log = { path = "../../libs/kaptan-log", features = ["facade"] }
-kaptan-log-mavlink = { path = "../../libs/kaptan-log-mavlink" }
+kaptan-log = { path = "../../libs/kaptan-log" }
+kaptan-diagnostics-mavlink = { path = "../../libs/kaptan-diagnostics-mavlink" }
 kaptan-mavlink = { path = "../../libs/kaptan-mavlink" }
 kaptan-math = { path = "../../libs/kaptan-math" }
 kaptan-navigation = { path = "../../libs/kaptan-navigation", features = ["sitl"] }
 kaptan-safety = { path = "../../libs/kaptan-safety" }
 kaptan-time = { path = "../../libs/kaptan-time" }
 minicbor = "0.25"
-log = { version = "0.4.33", default-features = false }
 
 [dev-dependencies]
 mavlink = { version = "0.18", default-features = false, features = ["embedded"] }

firmware/tools/sitl/src/config/logging.rs

@@ -1,32 +1,8 @@
-//! Host-only standard-log facade composition.
+//! Host-side access to the common bounded log ingress.
 
-use std::sync::Once;
+use kaptan_log::LogRecord;
 
-use kaptan_log::{FacadeIngress, GlobalLogger, LogRecord};
-
-const SITL_LOG_INGRESS_CAPACITY: usize = 16;
-static SITL_LOG_INGRESS: FacadeIngress<SITL_LOG_INGRESS_CAPACITY> = FacadeIngress::new();
-static SITL_LOGGER: GlobalLogger<SITL_LOG_INGRESS_CAPACITY> =
-    GlobalLogger::new(&SITL_LOG_INGRESS, sitl_forbidden_log_context);
-static INSTALL_SITL_LOGGER: Once = Once::new();
-
-const fn sitl_forbidden_log_context() -> bool {
-    false
-}
-
-/// Installs the host-only standard logging facade once for the SITL process.
-///
-/// SITL has no ISR, panic, or hard-fault context. Flight targets deliberately
-/// do not enable this host-only feature.
-pub fn install_log_facade() {
-    INSTALL_SITL_LOGGER.call_once(|| {
-        SITL_LOGGER
-            .install()
-            .expect("SITL owns the process-global log facade")
-    });
-}
-
-/// Removes one transport-neutral event for composition-level sink fanout.
-pub(super) fn take() -> Option<LogRecord> {
-    SITL_LOG_INGRESS.take()
+/// Visits one transport-neutral event for composition-level sink fanout.
+pub(super) fn drain_one<R>(consume: impl FnOnce(&LogRecord) -> R) -> Option<R> {
+    kaptan_log::drain_one(consume)
 }

firmware/tools/sitl/src/config/mod.rs

@@ -11,7 +11,6 @@ mod store;
 #[cfg(test)]
 mod tests;
 
-pub use logging::install_log_facade;
 pub use runtime::{CAPABILITIES, SitlConfigRuntime, configuration_service};
 pub use store::{
     FileConfigStore, FileStoreError, default_profile, load_profile, write_default_profile,

firmware/tools/sitl/src/config/runtime.rs

@@ -2,10 +2,11 @@
 
 use kaptan_config::ConfigManager;
 use kaptan_config_mavlink::{ConfigCommand, ConfigProtocol, Principal, ServiceResponse, Target};
+use kaptan_diagnostics_mavlink::encode_log;
 use kaptan_flight_config::{CandidateProfile, VehicleCapabilities, VehicleProfile};
 use kaptan_flight_runtime::FlightRuntime;
 use kaptan_log::TransportAdmission;
-use kaptan_log_mavlink::{DiagnosticPayload, encode_diagnostic};
+use kaptan_mavlink::message::kaptan::KAPTAN_LOG_DATA;
 
 use super::{FileConfigStore, logging};
 
@@ -51,12 +52,11 @@ impl SitlConfigRuntime {
     /// Drains one standard `log` facade record and exposes the generated
     /// diagnostic payload for the host's sole MAVLink link owner. This
     /// host-only harness accepts the bounded handoff synchronously.
-    pub fn pending_diagnostic_payload(&mut self) -> Option<DiagnosticPayload> {
-        if let Some(record) = logging::take() {
-            self.runtime.publish_log_event(record);
-        }
+    pub fn pending_log_payload(&mut self) -> Option<KAPTAN_LOG_DATA> {
+        let runtime = &mut self.runtime;
+        let _ = logging::drain_one(|record| runtime.publish_log_event(*record));
         self.runtime
-            .submit_next_mavlink(|record| (TransportAdmission::Accepted, encode_diagnostic(record)))
+            .submit_next_mavlink(|record| (TransportAdmission::Accepted, encode_log(record)))
     }
 }
 
@@ -64,7 +64,6 @@ impl SitlConfigRuntime {
 /// SITL/GCS integration. Flight targets must supply authenticated authority
 /// and a reviewed journal/activation coordinator before constructing one.
 pub fn configuration_service(store: FileConfigStore) -> Result<SitlConfigRuntime, String> {
-    logging::install_log_facade();
     let runtime = FlightRuntime::recover(CandidateProfile::factory(), CAPABILITIES, store)
         .map_err(|error| format!("configuration recovery failed: {error:?}"))?;
     Ok(SitlConfigRuntime {

firmware/tools/sitl/src/config/store.rs

@@ -7,11 +7,11 @@ use std::{
 };
 
 use kaptan_config::ConfigStore;
+use kaptan_err_propagate::KaptanError;
 use kaptan_flight_config::{
     CandidateProfile, CborEncodeError, CborError, MAXIMUM_CANDIDATE_BYTES, VehicleProfile,
     decode_candidate, encode_candidate,
 };
-use kaptan_log::KaptanError;
 
 use super::{CAPABILITIES, configuration_service};
 
@@ -19,12 +19,16 @@ use super::{CAPABILITIES, configuration_service};
 #[derive(Debug, KaptanError)]
 pub enum FileStoreError {
     /// Host filesystem operation failed.
+    #[kaptan_error(id = 12101)]
     Io(std::io::Error),
     /// The bounded file record did not decode and validate.
+    #[kaptan_error(id = 12102)]
     Cbor(CborError),
     /// The fixed snapshot buffer could not encode the complete candidate.
+    #[kaptan_error(id = 12103)]
     Encode,
     /// Factory-only startup deliberately has no durable configuration path.
+    #[kaptan_error(id = 12104)]
     FactoryOnly,
 }
 

firmware/tools/sitl/src/config/tests.rs

@@ -2,7 +2,6 @@ use std::fs;
 
 use kaptan_config::{ConfigModel, ConfigStore};
 use kaptan_flight_config::{CandidateProfile, decode_candidate};
-use kaptan_log_mavlink::DiagnosticPayload;
 use kaptan_mavlink::{
     encoder::MavlinkEncoder,
     message::{Message, kaptan::MavMessage},
@@ -49,15 +48,14 @@ fn standard_log_macro_reaches_the_generated_mavlink_log_payload() {
     let _ = fs::remove_file(&path);
     let mut service = configuration_service(FileConfigStore::new(&path)).unwrap();
 
-    log::info!("SITL configuration service ready");
-    let Some(DiagnosticPayload::Log(payload)) = service.pending_diagnostic_payload() else {
-        panic!("info facade record must reach KAPTAN_LOG");
-    };
-    assert_eq!(payload.level, kaptan_log::Severity::Info.wire_value());
+    kaptan_log::info!("SITL configuration service ready");
+    let payload = service
+        .pending_log_payload()
+        .expect("info facade record must reach KAPTAN_LOG");
+    assert_eq!(payload.level, 6);
     let message = std::str::from_utf8(&payload.message[..usize::from(payload.message_length)])
         .expect("facade text remains UTF-8");
-    assert!(message.contains("config::tests"));
-    assert!(message.ends_with("SITL configuration service ready"));
+    assert_eq!(message, "SITL configuration service ready");
     let mut encoder = MavlinkEncoder::new(1, 1);
     let frame = encoder.custom(&payload);
     assert_eq!(frame.message_id(), 51_020);

firmware/tools/sitl/src/protocol.rs

@@ -4,7 +4,7 @@
 //! dialect. It is confined to one host network namespace and is versioned so
 //! malformed simulator traffic never becomes estimator or motor authority.
 
-use kaptan_log::KaptanError;
+use kaptan_err_propagate::KaptanError;
 use std::net::SocketAddr;
 
 pub const SENSOR_PORT: u16 = 14_660;
@@ -42,8 +42,11 @@ pub const STATUS_OUTPUT_PERMITTED: u16 = 1 << 3;
 pub const STATUS_ACTUATOR_TRANSPORT: u16 = 1 << 4;
 #[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum PacketError {
+    #[kaptan_error(id = 12001)]
     Length,
+    #[kaptan_error(id = 12002)]
     Version,
+    #[kaptan_error(id = 12003)]
     NonFinite,
 }