Added Field metadata by gbin · Pull Request #1033 · copper-project/copper-rs

gbin · 2026-04-13T20:05:26Z

Summary

This is to improve the rendering of values, preserve the units etc on the debug API.

Related issues

Closes #

Changes

Testing

just fmt
just lint
just test
optional full just std-ci (if std/runtime paths are impacted)
optional full just nostd-ci (if embedded/no_std paths are impacted)
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Checklist

I have updated docs or examples where needed
I have added or updated tests where needed
I have considered platform impact (Linux/macOS/Windows/embedded)
I have considered config/logging changes (if applicable)
This change is not a breaking change (or I documented it below)

Breaking changes (if any)

Additional context

Copilot

Pull request overview

Updates Copper’s debug/introspection pipeline to preserve semantic metadata (time vs duration, quantities with units, geodetic coordinates) so the remote debug API can render values more accurately.

Changes:

Introduces richer debug field descriptors/semantics in cu29-traits and generates output + state schemas in the remote debug server using reflect/type registration.
Splits CuTime into a dedicated timestamp type (no longer an alias of CuDuration) and updates call sites accordingly.
Adds GeodeticPosition and migrates GNSS payloads/call sites from {latitude,longitude} to position, including logviz + example updates.

Reviewed changes

Copilot reviewed 40 out of 40 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
examples/cu_rp_balancebot/src/resim.rs	Adjusts replay clock syncing for new `CuTime` semantics.
examples/cu_gnss_ublox_demo/src/tasks.rs	Switches GNSS fix formatting to `position.{lat,lon}_degrees()` helpers.
examples/cu_flight_controller/src/tasks/vtx.rs	Uses new GNSS `position` accessors for OSD display.
examples/cu_flight_controller/src/tasks/gnss.rs	Logs GNSS coordinates via `position` and removes degree import.
examples/cu_flight_controller/src/sim_support.rs	Refactors sim GNSS shared state visibility; populates fix `position`.
examples/cu_flight_controller/src/sim.rs	Moves sim GNSS/battery setters into sim binary; re-homes GNSS tests with a lock.
examples/cu_flight_controller/python/print_gnss_from_log.py	Updates Python log reader for `payload.position.{latitude,longitude}`.
examples/cu_flight_controller/justfile	Adds `resim-debug` alias target.
examples/cu_flight_controller/copperconfig.ron	Enables mixer task logging in the example configuration.
examples/cu_flight_controller/README.md	Documents `just resim-debug`.
examples/cu_caterpillar/src/resim.rs	Updates replay/keyframe timestamp handling to use `CuTime`.
examples/cu_caterpillar/src/determinism_test.rs	Updates determinism test clock syncing to `CuTime::as_nanos()`.
examples/cu_bridge_test/src/resim.rs	Updates replay clock extraction/signatures to use `CuTime`.
core/cu29_value/src/lib.rs	Hash/serde unexpected handling for `Value::CuTime` now uses `as_nanos()`.
core/cu29_value/src/de.rs	Deserializer visits `CuTime` as `u64` via `as_nanos()`.
core/cu29_units/src/lib.rs	Adds debug scalar registrations for SI wrapper types (quantity + unit semantics).
core/cu29_units/Cargo.toml	Adds `cu29-traits` dependency to support debug scalar registration types.
core/cu29_traits/src/lib.rs	Adds `DebugFieldDescriptor`/kind/semantics and updates `TaskOutputSpec` to expose payload type path via fn.
core/cu29_runtime/src/remote_debug.rs	Reworks schema endpoints to emit structured field catalogs + metadata descriptors and adds state field catalogs.
core/cu29_runtime/src/reflect.rs	Ensures `TypePath` exists without reflect (incl. primitives) and adds a test.
core/cu29_runtime/src/monitoring.rs	Adjusts timestamp formatting call site for new time conversion semantics.
core/cu29_runtime/src/lib.rs	Adds `extern crate self as cu29` for proc-macro generated paths.
core/cu29_runtime/src/debug.rs	Exposes `app()`/`app_mut()` accessors on debug session wrapper.
core/cu29_runtime/src/curuntime.rs	Updates loop rate limiter tests to use `CuTime::from_nanos`.
core/cu29_runtime/Cargo.toml	Adds optional `cu29-units` for remote-debug schema/semantics and enables its reflect feature.
core/cu29_reflect_derive/src/lib.rs	Makes the non-reflect `Reflect` derive emit `TypePath` impls (unless opted out).
core/cu29_reflect_derive/Cargo.toml	Adds `syn`/`quote`/`proc-macro2` dependencies for the derive implementation.
core/cu29_logviz/tests/payload_as_components.rs	Adds coverage for logging `GeodeticPosition` as rerun components.
core/cu29_logviz/tests/auto_dispatch.rs	Extends auto-dispatch tests to include `GeodeticPosition`.
core/cu29_logviz/src/lib.rs	Adds `GeodeticPosition` logging + auto-dispatch support.
core/cu29_export/src/logstats.rs	Updates option-time extraction to use `CuTime` instead of `CuDuration`.
core/cu29_derive/src/lib.rs	Changes generated `TaskOutputSpec` to use `TypePath::type_path` instead of stringifying types.
core/cu29_clock/src/lib.rs	Introduces real `CuTime` type (timestamp) and debug scalar registrations for time/duration kinds.
components/sources/cu_rp_encoder/src/lib.rs	Switches encoder interrupt TOV storage from `CuDuration` to `CuTime`.
components/sources/cu_gnss_ublox/src/protocol.rs	Populates GNSS fix `position` from decoded degrees and removes direct lat/lon fields.
components/payloads/cu_spatial_payloads/tests/rerun_components.rs	Adds rerun component emission test for `GeodeticPosition`.
components/payloads/cu_spatial_payloads/src/rerun_components.rs	Implements rerun `AsComponents` for `GeodeticPosition` via `GeoPoints`.
components/payloads/cu_spatial_payloads/src/lib.rs	Adds `GeodeticPosition` payload type and aligns no_std/core usage.
components/payloads/cu_gnss_payloads/src/lib.rs	Migrates GNSS fix to `position: GeodeticPosition` and reexports the type.
components/payloads/cu_gnss_payloads/Cargo.toml	Adds dependency on `cu-spatial-payloads` for shared `GeodeticPosition`.

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+    type Output = CuTime;
+
+    fn mul(self, rhs: CuTime) -> Self::Output {
+        CuTime(self as u64 * rhs.as_nanos())


+        debug_field_descriptor(
+            "tov",
+            None,
+            "object",
+            "message_metadata::Tov",
+            None,
+            false,
+            DebugFieldKind::Struct,
+            vec![
+                debug_field_descriptor(
+                    "tov.kind",
+                    None,
+                    "string",
+                    "alloc::string::String",
+                    None,
+                    false,
+                    DebugFieldKind::Scalar,
+                    Vec::new(),
+                ),
+                debug_registered_scalar_field_descriptor::<CuTime>("tov.time_ns", None, false),
+                debug_registered_scalar_field_descriptor::<CuTime>("tov.start_ns", None, false),
+                debug_registered_scalar_field_descriptor::<CuTime>("tov.end_ns", None, false),
+            ],
+        ),
+        debug_field_descriptor(
+            "process_time",
+            None,
+            "object",
+            "message_metadata::ProcessTime",
+            None,
+            false,
+            DebugFieldKind::Struct,


+                debug_registered_scalar_field_descriptor::<CuTime>("tov.time_ns", None, false),
+                debug_registered_scalar_field_descriptor::<CuTime>("tov.start_ns", None, false),
+                debug_registered_scalar_field_descriptor::<CuTime>("tov.end_ns", None, false),
+            ],
+        ),
+        debug_field_descriptor(
+            "process_time",
+            None,
+            "object",
+            "message_metadata::ProcessTime",
+            None,
+            false,
+            DebugFieldKind::Struct,
+            vec![
+                debug_registered_scalar_field_descriptor::<CuTime>(
+                    "process_time.start_ns",
+                    None,
+                    true,
+                ),
+                debug_registered_scalar_field_descriptor::<CuTime>(
+                    "process_time.end_ns",
+                    None,
+                    true,
+                ),
+            ],
+        ),
+        debug_field_descriptor(
+            "status_txt",
+            None,
+            "string",
+            "alloc::string::String",
+            None,
+            false,
+            DebugFieldKind::Scalar,
+            Vec::new(),
+        ),
+        debug_field_descriptor(
+            "origin",
+            None,
+            "object",
+            "message_metadata::Origin",
+            None,
+            false,
+            DebugFieldKind::Struct,
+            vec![
+                debug_field_descriptor(
+                    "origin.subsystem_code",
+                    None,
+                    "integer",
+                    "u16",
+                    None,
+                    false,
+                    DebugFieldKind::Scalar,
+                    Vec::new(),
+                ),
+                debug_field_descriptor(
+                    "origin.instance_id",
+                    None,
+                    "integer",
+                    "u32",
+                    None,
+                    false,
+                    DebugFieldKind::Scalar,
+                    Vec::new(),
+                ),
+                debug_field_descriptor(
+                    "origin.cl_id",
+                    None,
+                    "integer",
+                    "u64",
+                    None,
+                    false,
+                    DebugFieldKind::Scalar,
+                    Vec::new(),
+                ),
+            ],
+        ),
+    ]


@@ -113,7 +113,7 @@
        (
            id: "mixer1",
            type: "tasks::QuadXMixer",
-            logging: (enabled: false),
+            logging: (enabled: true),
            config: {
                "motor_index": 1,
                "props_out": true,
@@ -123,7 +123,7 @@
        (
            id: "mixer2",
            type: "tasks::QuadXMixer",
-            logging: (enabled: false),
+            logging: (enabled: true),
            config: {
                "motor_index": 2,
                "props_out": true,
@@ -133,7 +133,7 @@
        (
            id: "mixer3",
            type: "tasks::QuadXMixer",
-            logging: (enabled: false),
+            logging: (enabled: true),


This is to improve the rendering of values, preserve the units etc on the debug API.

gbin added enhancement New feature or request exclude from changelog labels Apr 13, 2026

gbin requested a review from Copilot April 15, 2026 12:37

Copilot started reviewing on behalf of gbin April 15, 2026 12:37 View session

Copilot AI reviewed Apr 15, 2026

View reviewed changes

gbin added 11 commits April 15, 2026 08:15

fix(time): use CuTime for absolute timestamps

d3d6680

Added Field metadata

d6edf6d

This is to improve the rendering of values, preserve the units etc on the debug API.

fix the missign reflect

aa21a04

adds resim-debug as a shortcut to flight controller too

0adea63

clippy

ca8f7a4

Clippy

f01412f

clippy on sim

0a4daa8

type tree and geodesics

c0022a1

enable all the logging in the flight controller

7c65147

fmt

7948e45

fix(debug): clean up field metadata descriptors

21a88be

gbin force-pushed the gbin/field_metadata branch from 3ea0a68 to 21a88be Compare April 15, 2026 13:20

gbin changed the base branch from master to gbin/cutime-cuduration April 15, 2026 13:21

Base automatically changed from gbin/cutime-cuduration to master April 15, 2026 14:22

gbin added 3 commits April 15, 2026 09:22

Cleanup special cased TOV

bebb5f7

Merge branch 'master' into gbin/field_metadata

d154bc1

Merge branch 'master' into gbin/field_metadata

0ba10c0

gbin merged commit fff3cf5 into master Apr 15, 2026
23 checks passed

gbin deleted the gbin/field_metadata branch April 15, 2026 16:00

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Added Field metadata #1033

Added Field metadata #1033
gbin merged 14 commits into
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gbin commented Apr 13, 2026

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gbin commented Apr 13, 2026

Summary

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