[ISSUE 617] ProtectionManager Without Ethernet / Fault Runtime Redesign

.changesets/pm-no-eth-major.md

@@ -0,0 +1,21 @@
+release: major
+summary: Redesign fault handling, protections, and Board bootstrap around explicit fault policies
+
+This PR changes the public integration contract for applications built on ST-LIB.
+
+Breaking changes:
+
+- `Board` now takes the fault policy type as its first template parameter.
+- The global `FAULT` runtime is owned exclusively by `FaultController`.
+- User state machines are now nested under the global `OPERATIONAL` state through `FaultPolicy` or `FaultPolicyNoMachine`.
+- Protections now use `ProtectionEngine` and `Protections::Rules::*`; the previous `ProtectionManager` and boundary split is no longer the active model.
+- Runtime reporting is unified under `PANIC(...)`, `FAULT(...)`, `WARNING(...)`, and `INFO(...)`.
+- The real bootstrap path is `Board::init()`. Legacy `STLIB::start()`, `STLIB::update()`, `STLIB_LOW::start()`, and `STLIB_HIGH::start()` must not be used as the integration path.
+
+Migration notes:
+
+- Declare the board as `Board<YourFaultPolicy, ...>`.
+- Use `FaultPolicy<app_machine, on_fault_enter>` when you want an operational state machine nested under the global runtime.
+- Use `FaultPolicyNoMachine<on_fault_enter>` when you only need a fault-entry callback.
+- Use `DefaultFaultPolicy` when you want neither an operational machine nor a fault-entry callback.
+- In the main loop, drive the runtime through `FaultController::check_transitions()`, `ProtectionEngine::evaluate()`, and `Diagnostics::Hub::flush()`.

CMakeLists.txt

@@ -277,6 +277,7 @@ set(HALAL_CPP_NO_ETH
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/LowPowerTimer/LowPowerTimer.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/MDMA/MDMA.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/MPUManager/MPUManager.cpp
+  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/Packets/Packet.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/Packets/SPIOrder.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/SPI/SPI2.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/DMA/DMA2.cpp
@@ -289,6 +290,10 @@ set(HALAL_CPP_NO_ETH
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Communication/UART/UART.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/DigitalInputService/DigitalInputService.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/DigitalOutputService/DigitalOutputService.cpp
+  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Diagnostics/DiagnosticFormatter.cpp
+  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Diagnostics/DiagnosticSinks.cpp
+  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Diagnostics/DiagnosticTimestampProvider.cpp
+  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Diagnostics/DiagnosticsHub.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/EXTI/EXTI.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/FMAC/FMAC.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Flash/Flash.cpp
@@ -306,7 +311,6 @@ set(HALAL_C_ETH_CORE)
 set(HALAL_CPP_ETH_CORE
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/IPV4/IPV4.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/MAC/MAC.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/Packets/Packet.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Communication/SNTP/SNTP.cpp
 )
 
@@ -368,7 +372,6 @@ set(STLIB_LOW_CPP_NO_ETH
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/DigitalOutput/DigitalOutput.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/ErrorHandler/ErrorHandler.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/Math/Math.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/ST-LIB_LOW.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/Sd/Sd.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/Sensors/DigitalSensor/DigitalSensor.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_LOW/Sensors/SensorInterrupt/SensorInterrupt.cpp
@@ -380,17 +383,15 @@ set(STLIB_LOW_CPP_NO_ETH
 
 set(STLIB_HIGH_C_ETH)
 
-set(STLIB_HIGH_CPP_ETH
-  ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_HIGH/Protections/Boundary.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_HIGH/Protections/ProtectionManager.cpp
-)
+set(STLIB_HIGH_CPP_ETH)
 
 set(STLIB_HIGH_C_NO_ETH)
 
 set(STLIB_HIGH_CPP_NO_ETH
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_HIGH/FlashStorer/FlashStorer.cpp
   ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_HIGH/FlashStorer/FlashVariable.cpp
-  ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_HIGH/ST-LIB_HIGH.cpp
+  ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_HIGH/Protections/FaultController.cpp
+  ${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB_HIGH/Protections/ProtectionEngine.cpp
 )
 
 # ============================
@@ -426,9 +427,6 @@ add_library(${STLIB_LIBRARY} OBJECT
   $<$<BOOL:${CMAKE_CROSSCOMPILING}>:${STLIB_HIGH_CPP_NO_ETH}>
   $<$<AND:$<BOOL:${CMAKE_CROSSCOMPILING}>,$<BOOL:${USE_ETHERNET}>>:${STLIB_HIGH_C_ETH}>
   $<$<AND:$<BOOL:${CMAKE_CROSSCOMPILING}>,$<BOOL:${USE_ETHERNET}>>:${STLIB_HIGH_CPP_ETH}>
-
-  $<$<BOOL:${CMAKE_CROSSCOMPILING}>:${CMAKE_CURRENT_LIST_DIR}/Src/ST-LIB.cpp>
-
   $<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Services/Time/Scheduler.cpp>
   $<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/TimerDomain/TimerDomain.cpp>
   $<$<NOT:$<BOOL:${CMAKE_CROSSCOMPILING}>>:${CMAKE_CURRENT_LIST_DIR}/Src/HALAL/Models/MPUManager/MPUManager.cpp>

Inc/C++Utilities/CppImports.hpp

@@ -42,3 +42,10 @@
 #include <ranges>
 #include <cstdarg>
 #include <stdarg.h>
+#include <bit>
+#include <concepts>
+#include <expected>
+#include <new>
+#include <optional>
+#include <type_traits>
+#include <variant>

Inc/C++Utilities/CppUtils.hpp

@@ -8,6 +8,10 @@ namespace chrono = std::chrono;
 namespace placeholders = std::placeholders;
 
 using std::array;
+using std::byte;
+using std::construct_at;
+using std::destroy_at;
+using std::expected;
 using std::function;
 using std::hash;
 using std::integral_constant;
@@ -17,6 +21,7 @@ using std::make_unique;
 using std::map;
 using std::move;
 using std::nullopt;
+using std::optional;
 using std::pair;
 using std::queue;
 using std::reference_wrapper;
@@ -29,6 +34,9 @@ using std::stack;
 using std::string;
 using std::stringstream;
 using std::to_string;
+using std::unexpected;
 using std::unique_ptr;
 using std::unordered_map;
+using std::variant;
 using std::vector;
+using std::visit;

Inc/C++Utilities/StaticVector.hpp

@@ -18,7 +18,7 @@ template <typename T, size_t Capacity> class StaticVector {
 
     constexpr void push_back(const T& value) {
         if (size_ >= Capacity) {
-            ErrorHandler("StaticVector capacity exceeded");
+            PANIC("StaticVector capacity exceeded");
             return;
         }
         data[size_] = value;

Inc/HALAL/HALAL.hpp

@@ -68,13 +68,3 @@
 #include "HALAL/Services/Communication/Ethernet/LWIP/UDP/DatagramSocket.hpp"
 #include "HALAL/Services/Communication/SNTP/SNTP.hpp"
 #endif
-
-namespace HALAL {
-
-#ifdef STLIB_ETH
-void start(MAC mac, IPV4 ip, IPV4 subnet_mask, IPV4 gateway, UART::Peripheral& printf_peripheral);
-#else
-void start(UART::Peripheral& printf_peripheral);
-#endif
-
-} // namespace HALAL

Inc/HALAL/Models/DMA/DMA2.hpp

@@ -498,7 +498,7 @@ struct DMADomain {
 
                 instances[i].dma = {};
                 if (stream == Stream::none) {
-                    ErrorHandler("DMA stream must be selected before init");
+                    PANIC("DMA stream must be selected before init");
                     continue;
                 }
 
@@ -507,7 +507,7 @@ struct DMADomain {
 
                 if (HAL_DMA_Init(&instances[i].dma) != HAL_OK) {
                     instances[i].dma = {};
-                    ErrorHandler("DMA Init failed");
+                    PANIC("DMA Init failed");
                     continue;
                 }
 

Inc/HALAL/Models/MDMA/MDMA.hpp

@@ -146,7 +146,7 @@ class MDMA {
 
         void init_node(void* src, void* dst, size_t size) {
             if (size == 0) {
-                ErrorHandler("MDMA: zero-length transfer is invalid");
+                PANIC("MDMA: zero-length transfer is invalid");
                 return;
             }
 
@@ -220,7 +220,7 @@ class MDMA {
             nodeConfig.Init.BufferTransferLength = buf_len;
 
             if (HAL_MDMA_LinkedList_CreateNode(&node, &nodeConfig) != HAL_OK) {
-                ErrorHandler("Error creating linked list in MDMA");
+                PANIC("Error creating linked list in MDMA");
             }
 
             // HAL_MDMA_LinkedList_CreateNode only sets the request field in CTBR;

Inc/HALAL/Models/MPU.hpp

@@ -44,6 +44,15 @@
 // Defines for attributes
 // Note1: Variables declared with these attributes will likely not be initialized by the startup
 // Note2: These attributes can only be used for static/global variables
+#ifdef SIM_ON
+#define D1_NC
+#define D2_NC
+#define D3_NC
+#define D1_C
+#define D2_C
+#define D3_C
+#define RAM_CODE
+#else
 #define D1_NC __attribute__((section(".mpu_ram_d1_nc.user")))
 #define D2_NC __attribute__((section(".mpu_ram_d2_nc.user")))
 #define D3_NC __attribute__((section(".mpu_ram_d3_nc.user")))
@@ -53,6 +62,7 @@
 
 // Define for RAM code
 #define RAM_CODE __attribute__((section(".ram_code")))
+#endif
 
 // Memory Bank Symbols from Linker
 extern "C" const char __itcm_base;
@@ -78,6 +88,17 @@ extern "C" const char __mpu_d2_nc_end;
 extern "C" const char __mpu_d3_nc_start;
 extern "C" const char __mpu_d3_nc_end;
 
+inline constexpr std::array<std::size_t, 6> mpu_supported_alignments = {32, 16, 8, 4, 2, 1};
+
+consteval bool is_supported_mpu_alignment(std::size_t alignment) {
+    for (std::size_t candidate : mpu_supported_alignments) {
+        if (candidate == alignment) {
+            return true;
+        }
+    }
+    return false;
+}
+
 template <typename T>
 concept mpu_buffer_request = requires(typename T::domain d) {
     typename T::buffer_type;
@@ -133,7 +154,7 @@ struct MPUDomain {
                 "Requested type has alignment greater than cache line size (32 bytes)."
             );
             static_assert(
-                std::ranges::find(alignments, alignof(T)) != std::ranges::end(alignments),
+                is_supported_mpu_alignment(alignof(T)),
                 "Requested type has alignment not supported by MPU buffer system."
             );
         }
@@ -143,14 +164,12 @@ struct MPUDomain {
          * @param entry The Entry with all buffer requirements specified.
          */
         consteval Buffer(Entry entry) : e(entry) {
-            static_assert(
-                entry.alignment <= 32,
-                "Requested alignment greater than cache line size (32 bytes)."
-            );
-            static_assert(
-                std::ranges::find(alignments, entry.alignment) != std::ranges::end(alignments),
-                "Requested alignment not supported by MPU buffer system."
-            );
+            if (entry.alignment > 32) {
+                compile_error("Requested alignment greater than cache line size (32 bytes).");
+            }
+            if (!is_supported_mpu_alignment(entry.alignment)) {
+                compile_error("Requested alignment not supported by MPU buffer system.");
+            }
             // Verify size matches sizeof(T)
             if (entry.size_in_bytes != sizeof(T)) {
                 compile_error("Entry size_in_bytes must match sizeof(T)");
@@ -227,7 +246,7 @@ struct MPUDomain {
             uint32_t offsets_c[3] = {};  // D1, D2, D3
             uint32_t assigned_offsets[N];
 
-            for (size_t align : alignments) {
+            for (size_t align : mpu_supported_alignments) {
                 for (size_t i = 0; i < N; i++) {
                     if (entries[i].alignment == align) {
                         size_t d_idx = static_cast<size_t>(entries[i].memory_domain) - 1;
@@ -260,26 +279,33 @@ struct MPUDomain {
         void* ptr;
         std::size_t size;
 
-        template <mpu_buffer_request auto& Target, typename... Args>
-        auto& construct(Args&&... args) {
-            using T = typename std::remove_cvref_t<decltype(Target)>::buffer_type;
+        template <auto& Target, typename... Args> auto& construct(Args&&... args) {
+            using Request = std::remove_cvref_t<decltype(Target)>;
+            static_assert(mpu_buffer_request<Request>, "Target must be a valid MPUDomain buffer");
+            using T = typename Request::buffer_type;
             return *new (ptr) T(std::forward<Args>(args)...);
         }
 
-        template <mpu_buffer_request auto& Target> auto* as() {
-            using T = typename std::remove_cvref_t<decltype(Target)>::buffer_type;
+        template <auto& Target> auto* as() {
+            using Request = std::remove_cvref_t<decltype(Target)>;
+            static_assert(mpu_buffer_request<Request>, "Target must be a valid MPUDomain buffer");
+            using T = typename Request::buffer_type;
             return static_cast<T*>(ptr);
         }
     };
 
-    template <typename Board, mpu_buffer_request auto& Target, typename... Args>
+    template <typename Board, auto& Target, typename... Args>
     static auto& construct(Args&&... args) {
+        using Request = std::remove_cvref_t<decltype(Target)>;
+        static_assert(mpu_buffer_request<Request>, "Target must be a valid MPUDomain buffer");
         return Board::template instance_of<Target>().template construct<Target>(
             std::forward<Args>(args)...
         );
     }
 
-    template <typename Board, mpu_buffer_request auto& Target> static auto* as() {
+    template <typename Board, auto& Target> static auto* as() {
+        using Request = std::remove_cvref_t<decltype(Target)>;
+        static_assert(mpu_buffer_request<Request>, "Target must be a valid MPUDomain buffer");
         return Board::template instance_of<Target>().template as<Target>();
     }
 
@@ -289,6 +315,17 @@ struct MPUDomain {
         static constexpr auto Sizes = calculate_total_sizes(cfgs);
 
         // Sections defined in Linker Script (aligned to 32 bytes just in case)
+#ifdef SIM_ON
+        alignas(32
+        ) static inline uint8_t d1_nc_buffer[Sizes.d1_nc_total > 0 ? Sizes.d1_nc_total : 1];
+        alignas(32) static inline uint8_t d1_c_buffer[Sizes.d1_c_total > 0 ? Sizes.d1_c_total : 1];
+        alignas(32
+        ) static inline uint8_t d2_nc_buffer[Sizes.d2_nc_total > 0 ? Sizes.d2_nc_total : 1];
+        alignas(32) static inline uint8_t d2_c_buffer[Sizes.d2_c_total > 0 ? Sizes.d2_c_total : 1];
+        alignas(32
+        ) static inline uint8_t d3_nc_buffer[Sizes.d3_nc_total > 0 ? Sizes.d3_nc_total : 1];
+        alignas(32) static inline uint8_t d3_c_buffer[Sizes.d3_c_total > 0 ? Sizes.d3_c_total : 1];
+#else
         __attribute__((section(".mpu_ram_d1_nc.buffer"))) alignas(32
         ) static inline uint8_t d1_nc_buffer[Sizes.d1_nc_total > 0 ? Sizes.d1_nc_total : 1];
         __attribute__((section(".ram_d1.buffer"))) alignas(32
@@ -303,6 +340,7 @@ struct MPUDomain {
         ) static inline uint8_t d3_nc_buffer[Sizes.d3_nc_total > 0 ? Sizes.d3_nc_total : 1];
         __attribute__((section(".ram_d3.buffer"))) alignas(32
         ) static inline uint8_t d3_c_buffer[Sizes.d3_c_total > 0 ? Sizes.d3_c_total : 1];
+#endif
 
         static void init() {
             HAL_MPU_Disable();
@@ -353,8 +391,6 @@ struct MPUDomain {
     };
 
 private:
-    static constexpr std::size_t alignments[6] = {32, 16, 8, 4, 2, 1};
-
     static void configure_dynamic_region(uintptr_t start, uintptr_t end, uint8_t region_num) {
         if (end <= start)
             return;

Inc/HALAL/Models/MPUManager/MPUManager.hpp

@@ -12,7 +12,7 @@ class MPUManager {
         no_cached_ram_occupied_bytes = no_cached_ram_occupied_bytes + size;
         if (no_cached_ram_occupied_bytes > NO_CACHED_RAM_MAXIMUM_SPACE) {
             uint32_t excess_bytes = no_cached_ram_occupied_bytes - NO_CACHED_RAM_MAXIMUM_SPACE;
-            ErrorHandler("Maximum capacity on non cached ram heap exceeded by %d", excess_bytes);
+            PANIC("Maximum capacity on non cached ram heap exceeded by %d", excess_bytes);
             return nullptr;
         }
         return buffer;

Inc/HALAL/Models/Packets/SPIOrder.hpp

@@ -78,20 +78,15 @@ class SPIBaseOrder {
     SPIBaseOrder(uint16_t id, uint16_t master_data_size, uint16_t slave_data_size)
         : id(id), master_data_size(master_data_size), slave_data_size(slave_data_size) {
         if (id == 0) {
-            ErrorHandler(
-                "Cannot use 0 as the SPIOrderID, as it is reserved to the no Order ready signal"
-            );
+            PANIC("Cannot use 0 as the SPIOrderID, as it is reserved to the no Order ready signal");
         }
         if (master_data_size > slave_data_size) {
             payload_size = master_data_size + PAYLOAD_OVERHEAD + PAYLOAD_TAIL;
         } else {
             payload_size = slave_data_size + PAYLOAD_OVERHEAD + PAYLOAD_TAIL;
         }
         if (payload_size > SPI_MAXIMUM_PAYLOAD_SIZE_BYTES) {
-            ErrorHandler(
-                "Cannot declare SPIOrder %d as its size surpasses the maximum data size",
-                id
-            );
+            PANIC("Cannot declare SPIOrder %d as its size surpasses the maximum data size", id);
         }
         MISO_payload = new uint8_t[payload_size]{0};
         MOSI_payload = new uint8_t[payload_size]{0};