Gatas companion support

.gitignore

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 **/.trunk/
 .cache/
+
+build_codex_*/

AGENTS.md

@@ -0,0 +1,209 @@
+# AGENTS.md
+
+This file provides guidance to Codex and other coding agents working in this repository.
+
+## Project Overview
+
+OpenAce is a multi-protocol aviation conspicuity device (OGN, FLARM, ADS-L, FANET, ADS-B) running on Raspberry Pi RP2040/RP2350 with FreeRTOS. It uses a modular message-bus architecture built on the Embedded Template Library (ETL).
+
+## Working Rules
+
+- Prefer targeted edits. Do not touch `src/vendor/` unless the task explicitly requires it.
+- Keep desktop test code and embedded code paths aligned when changing shared module behavior.
+- Use fixed-size ETL containers and avoid introducing dynamic-allocation-heavy patterns into firmware code.
+- Always use braces for control-flow bodies, even when the body is a single line.
+- Handle mutexes with RAII `SemaphoreGuard` scopes. Preferred pattern:
+  ```cpp
+  if (auto guard = SemaphoreGuard(1000, instance->mutex))
+  {
+      buffer.read(data, ctx.mtu);
+  }
+  ```
+  After the guarded block, RAII releases the mutex. Do not replace this with manual `xSemaphoreTake` / `xSemaphoreGive` pairs unless the task explicitly requires it.
+- When changing message routes or module interactions, update [doc/message-bus.md](/Volumes/ext/source/OpenAce/doc/message-bus.md) if the documented flow changed.
+
+## Build Commands
+
+### Unit Tests (Desktop/x86)
+
+```bash
+cd src
+cmake -B build_test -G Ninja
+ninja -C build_test
+```
+
+### Running a Single Test Module
+
+Each tested module has a local `urun.sh` script in its `*_tests/` directory. This is the fastest way to iterate:
+
+```bash
+cd src/lib/<module>/<module>_tests
+./urun.sh
+```
+
+Examples that exist today include:
+
+- `src/lib/core/core_tests/urun.sh`
+- `src/lib/radiotuner/radiotuner_tests/urun.sh`
+- `src/lib/aircrafttracker/aircrafttracker_tests/urun.sh`
+- `src/lib/config/config_tests/urun.sh`
+
+You can also run the built test binary directly from the top-level test build:
+
+```bash
+cd src
+cmake -B build_test -G Ninja
+ninja -C build_test
+./build_test/lib/<module>/<module>_tests/<target>
+```
+
+### Firmware Build (Embedded)
+
+```bash
+export PICO_SDK_PATH=/path/to/pico-sdk
+export FREERTOS_KERNEL_PATH=/path/to/FreeRTOS-Kernel
+
+cd src/pico
+cmake -B build -G Ninja -DCMAKE_BUILD_TYPE=Release -DPICO_PLATFORM=rp2040 -DPICO_BOARD=pico_w
+ninja -C build
+```
+
+Supported variants:
+
+- Platforms: `rp2040`, `rp2350`
+- Boards: `pico_w`, `pico2_w`
+
+The firmware output is a `.uf2` image.
+
+### SystemGUI (Web UI)
+
+The web UI lives in `src/SystemGUI/`.
+
+```bash
+cd src/SystemGUI
+npm install
+npm start
+```
+
+For production assets:
+
+```bash
+cd src/SystemGUI
+npm run build
+```
+
+The Parcel build output in `src/SystemGUI/dist/` is embedded into the firmware during the CMake firmware build.
+
+Before running the dev server against hardware, set the device IP in `src/SystemGUI/.proxyrc.js`.
+
+## Architecture
+
+### ACE Module Pattern
+
+Each functional unit is a module that typically inherits from `BaseModule` and an ETL message router:
+
+```cpp
+class MyModule : public BaseModule,
+                 public etl::message_router<MyModule, Msg1, Msg2, ...>
+{
+    OpenAce::PostConstruct postConstruct(OpenAce::PostConstruct) override;
+    void start() override;
+    void on_receive(const Msg1 &msg);
+    void on_receive(const Msg2 &msg);
+    void on_receive_unknown(const etl::imessage &msg) override {}
+};
+```
+
+Key base pieces:
+
+- `src/lib/core/ace/basemodule.hpp`: lifecycle management, config access, module registry
+- `src/lib/core/ace/messages.hpp`: shared message definitions
+
+### Module Lifecycle
+
+1. Constructor receives `etl::imessage_bus&` and `const Configuration&`
+2. `postConstruct()` validates hardware and configuration and returns `PostConstruct::OK` or an error enum
+3. `start()` begins operation
+4. `getData(...)` and `setData(...)` expose runtime inspection and control
+
+### Message Bus Communication
+
+Modules communicate asynchronously through the ETL message bus. Prefer message-based communication over direct module-to-module calls.
+
+- Define messages in `src/lib/core/ace/messages.hpp`
+- Send with `messageBus.receive(FooMsg{...})`
+- Receive by listing the message in the router template parameters and implementing `on_receive(const FooMsg&)`
+
+Common message groups include:
+
+- Position: `OwnshipPositionMsg`, `AircraftPositionMsg`
+- Radio: `RadioRxManchesterMsg`, `RadioTxPositionRequestMsg`
+- Sensors: `GPSSentenceMsg`, `BarometricPressureMsg`
+- Timers: `Every5SecMsg`, `Every30SecMsg`
+
+### Configuration
+
+Modules read config through the `Configuration` module:
+
+```cpp
+auto val = config.valueByPath(defaultValue, "SectionName", "keyName");
+auto str = config.strValueByPath(defaultValue, "SectionName", "keyName");
+bool en = config.isModuleEnabled("ModuleName");
+```
+
+Primary runtime config file:
+
+- `src/pico/gatas_default_config.ini`
+
+When adding or wiring a new module, update the `[Modules]` section accordingly.
+
+### Hardware Abstraction Base Classes
+
+- `Radio`: radio transceivers, registered as `_Radio_0` through `_Radio_3`
+- `SpiModule`: SPI interface, `NAME = "_SPI"`
+- `RtcModule`: RTC abstraction
+- `BinaryReceiver`: binary stream consumer base
+
+### Memory Model
+
+Firmware code favors fixed-size containers and predictable memory behavior. Prefer ETL types such as `etl::unordered_map`, `etl::string`, and `etl::vector` with explicit compile-time limits.
+
+## Testing Notes
+
+- Desktop tests use Catch2 with mocks in `src/lib/mocks/` for FreeRTOS, pico-sdk, and hardware APIs.
+- Top-level desktop test aggregation is defined in `src/CMakeLists.txt`.
+- When changing a module that already has tests, update or extend those tests in the sibling `*_tests/` directory.
+
+## Key File Locations
+
+| File | Purpose |
+|------|---------|
+| `src/lib/core/ace/basemodule.hpp` | `BaseModule` and lifecycle interfaces |
+| `src/lib/core/ace/messages.hpp` | Core message type definitions |
+| `src/lib/gatas_module.cmake` | Template/pattern for new modules |
+| `src/pico/main.cpp` | Firmware entry point and module instantiation |
+| `src/pico/gatas_default_config.ini` | Runtime configuration |
+| `src/lib/mocks/` | Desktop test mocks |
+| `/src/SystemGUI` | Web Interface |
+| `doc/message-bus.md` | Message bus flow documentation |
+
+## Adding a New Module
+
+1. Create `src/lib/<name>/` with `ace/<name>.hpp` and `ace/<name>.cpp`
+2. Follow an existing module pattern such as `src/lib/ogn/`
+3. Add a `CMakeLists.txt` using `src/lib/gatas_module.cmake` as the template
+4. Add the new subdirectory to `src/lib/CMakeLists.txt`
+5. Register the module in `src/pico/gatas_default_config.ini`
+6. Add or extend desktop tests when the module has logic that can be validated off-target
+
+## Message Bus Diagram Maintenance
+
+`doc/message-bus.md` contains a PlantUML component diagram of message flows. When message producers or consumers change:
+
+1. Find senders: `grep -r "getBus().receive(" src/lib --include="*.cpp" -n`
+2. Find receivers: `grep -r "void on_receive(const GATAS::" src/lib --include="*.hpp"`
+3. Update only the affected flow sections instead of collapsing the document into a single large diagram
+
+## Vendor Dependencies
+
+Vendored libraries live under `src/vendor/` and include ETL, ArduinoJson, FANET, FLARM, gdl90, libcrc, libmodes, and others. External runtime dependencies such as Pico SDK and FreeRTOS are supplied via environment variables for firmware builds.

CHANGELOG.md

@@ -9,11 +9,26 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
--
+- Initial GATAS Companion support with a new `GatasConnect` core module and a separate `GatasConnectUDP` transport module.
+- Bluetooth transport for GATAS Connect, including dedicated NMEA and binary GATT characteristics for companion-device integration.
+- Optional GDL90-over-Bluetooth bridge using COBS-framed payloads for companion applications.
+- Debug-only FreeRTOS queue registry entries for mutexes, to improve visibility in `GATAS_DEBUG` builds.
+- Frontend unit-test support for `SystemGUI` via `npm test`.
+- Option to show the datasource in the aicrafts callsign
 
 ### Changed
 
--
+- Split GATAS Connect so COBS framing and request generation live in `GatasConnect`, while UDP transport is handled by `GatasConnectUDP`.
+- Extended the web UI to configure GATAS Connect output, pin code, and GDL90 bridge settings, plus a separate UDP server configuration module.
+- Improved module monitoring to render structured object and array values more clearly.
+- Updated the bundled device database.
+- Reworked `vDiagnosticsTask()` so task runtime statistics are reported from `uxTaskGetSystemState()` directly, with clearer boot-time and recent-window CPU metrics for SMP builds.
+- Refactored `CoreUtils` from a static utility class into a namespace, while keeping mutable internal state private to the implementation file.
+- Bluetooth advertising now splits the local name between the primary advertisement and scan response payloads, improving visibility of longer device names while keeping the custom service UUID advertised.
+- Refined `GatasConnect` web configuration so the GDL90 bridge option is only shown for Bluetooth output modes, and documented frontend test usage.
+- Optimised SX1262 protocol reconfiguration by tracking the currently programmed protocol and modulation, avoiding unnecessary full radio reconfiguration while keeping explicit standby mode selection.
+- Optimise tracker for performance (about 20%)
+- Allow to add the 2 letter datasource before the callsign
 
 ### Deprecated
 
@@ -25,7 +40,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Fixed
 
--
+- Fixed misleading task runtime reporting in diagnostics, where formatted runtime text could be mismatched against sorted task names.
+- Fixed diagnostics labels and notes so CPU usage on the dual-core RP2040 SMP build is presented more honestly.
+- Fixed aircraft tracker antenna polar output so it only reports radio-backed data sources, avoiding invalid transport-category entries in the UI.
+- Fixed SX1262 LoRa RX bandwidth mapping for 500 kHz channels and capped TX power correctly at the radio maximum.
+- Fixed radio receive statistics for FLARM, OGN so polar/range tracking only counts valid in-range packets.
 
 ### Security