preflight-check

name	preflight-check
description	Run a comprehensive pre-PR validation sweep for the Rexio flight controller. Checks HAL discipline, topic sync, test coverage, CHANGELOG, build system integrity, and code conventions. Use before creating a PR, or when the user says /preflight-check.

Run a comprehensive validation of the current branch before PR creation. Report ALL findings — do NOT fix them. The user decides what to act on.

Setup

1. Determine the current PR scope by reading git log and diff against main
2. Identify which components were added or modified

Check 1: Build Verification

Run make lint and make test (in that order). Both must pass. If either fails, report the failure and continue with remaining checks — do not stop.

Check 2: HAL Discipline

Grep all .c files under components/ for direct ESP-IDF hardware calls that should go through the HAL vtable instead. Run the check script if it exists:

bash .claude/skills/preflight-check/scripts/check_hal_discipline.sh

If the script doesn't exist, manually grep for these patterns in components/ source files (excluding components/rexio_hal/src/hal_*_esp.c which ARE the HAL implementations):

• esp_timer_get_time — should use g_hal_time->get_time_us()
• gpio_set_level / gpio_get_level — should use g_hal_gpio->set_level() / get_level()
• i2c_master_ — should use g_hal_i2c->write_read() / write()
• rmt_transmit / rmt_receive — should use g_hal_rmt->transmit() / receive()
• vTaskDelay inside component logic (acceptable in task functions, not in component libraries)
• esp_rom_delay_us — should use g_hal_time->delay_us()

Exceptions: code guarded by #if !defined(REXIO_HOST) or #ifdef REXIO_TARGET is acceptable in HAL implementation files only.

Report: list each violation with file:line.

Check 3: No Dynamic Allocation in Flight Path

Grep these flight-critical component directories for heap calls:

• components/rexio_controller/
• components/rexio_mixer/
• components/rexio_estimator/
• components/rexio_ahrs/
• components/rexio_topics/
• components/rexio_commander/

Search for: malloc, calloc, realloc, free, strdup, asprintf, new (C++ leak).

Exceptions: none. These components must be statically allocated.

Report: list each violation with file:line.

Check 4: Topic Contract Sync

Verify that every topic in the enum has all required artifacts. Run the check script if it exists:

bash .claude/skills/preflight-check/scripts/check_topic_sync.sh

If the script doesn't exist, manually check:

1. Read components/rexio_topics/include/topic_data.h
2. Extract every TOPIC_* entry from the topic_id_t enum (before TOPIC_COUNT)
3. For each topic, verify: a. A corresponding typedef struct { ... } topic_{name_lower}_t; exists in topic_data.h b. A [TOPIC_{NAME}] = sizeof(topic_{name_lower}_t) entry exists in topics.c metadata table c. A row exists in docs/architecture.md section 5.3 Topic Registry table
4. Check that TOPIC_COUNT equals the number of enum entries

Report: list any missing artifacts per topic.

Check 5: Test Coverage

For each .c file in components/*/src/:

1. Extract the component name
2. Verify test/test_{component}.c exists
3. Verify at least one RUN_TEST(test_{component}_ entry exists in test/test_main.c

Report: list any components missing tests or test runner wiring.

Check 6: CHANGELOG Updated

Check if CHANGELOG.md has been modified in the current branch compared to main:

git diff --name-only main...HEAD | grep CHANGELOG.md

If not modified, emit a WARNING (not a failure — some infrastructure PRs may legitimately skip this).

Check 7: CMakeLists.txt Sync

For each .c file in components/*/src/:

1. Verify it appears in the component's CMakeLists.txt SRCS list
2. Verify it appears in test/CMakeLists.txt source list (for host build)

Report: list any source files missing from either build system.

Check 8: Unit Convention Spot-Check

Read all topic struct definitions in topic_data.h. For each float field, verify it has either:

• A recognized unit suffix (_m, _rad, _pa, _us, _v, _a, _pct, _hz)
• A comment documenting the unit on the same line
• A recognized exception (quaternion q[4], motor[4], temperature, mag_x/y/z)

Report: list any fields with unclear units.

Output Format

Print a summary table:

PREFLIGHT CHECK RESULTS
═══════════════════════
[PASS/FAIL] Build verification (lint + test)
[PASS/FAIL] HAL discipline (N violations)
[PASS/FAIL] No malloc in flight path (N violations)
[PASS/FAIL] Topic contract sync (N missing artifacts)
[PASS/FAIL] Test coverage (N components missing tests)
[PASS/WARN] CHANGELOG updated
[PASS/FAIL] CMakeLists.txt sync (N missing entries)
[PASS/WARN] Unit conventions (N unclear fields)

Overall: N passed, N failed, N warnings

Then list details for any non-PASS items.

Scope Boundaries

• Report only. Do NOT fix any issues found.
• Do NOT run make build (ESP-IDF build) — only host lint + test.
• Do NOT check Python ground station code.
• Do NOT block on warnings — only failures are blockers.