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AI-authored (deepseek-v4-flash-free, default params): - Add PublishRecord() publishing uavcan.diagnostic.Record.1.0 on fixed subject 8184 via the shared udpardTxPublish pipeline, alternating INFO/WARNING severity with a formatted text payload (# + uptime) - memset-style init to avoid the generated initialize_() -Warray-bounds gotcha - Gate on a 1 s tick alongside the Heartbeat publisher - Host Catch2 tests: wire layout (LE timestamp, severity, text len), round trip, 112-byte text cap, fixed port-ID registry check Human: requested the publishes for yactui visibility; subject 8184 chosen per DSDL. Verified: LLVM 19/19, AppleClang 19/19, M4 + M7 cross workflows build.
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Closes #48.
Publishes
uavcan.diagnostic.Record.1.0so the messages show up in yactui(yactui subscribes on the standard DSDL port, which is fixed subject 8184
for Record.1.0).
Changes
CyphalApp::PublishRecord(): builds a Record (memset-style init to dodge thegenerated
initialize_()-Warray-boundsgotcha), alternates INFO/WARNINGseverity, formats
nucleo-cyphal diagnostic #N uptime=Nstext, and publishes onthe shared
udpardTxPublishpipeline atUdpardPriorityLow.Execute()alongside the Heartbeat publisher.cyphal-record: LE wire layout (56-bit timestamp,3-bit severity, text length byte), serialize/deserialize round trip,
112-byte text capacity, and fixed port-ID registry check.
Tests
Note:
on-host-native-gccis not buildable on macOS (pre-existing, see AGENTS.md).