fix: observe Aimer-owned fire topic

[Jiu-xiao]

Summary

Find existing host/fire_notify instead of creating it with a different C++ payload type. Retain raw decoding and all firing/heat/timing behavior. Missing Aimer topic produces a log and exception.

Validation

Existing local exact-commit validation was inspected before delivery (not rerun for PR creation).

• Fresh clone / module initialization / Dev Container / Debug build / compile_commands.json / clangd: PASS.
• Target: sync/detector/tracker 348/348/348, 600 detections and valid PnP results, 348 nonzero commands, 108 fire requests.
• Empty: 650/649/649 frames, zero detections/tracking/nonzero commands/fire requests; one source frame in flight at shutdown.
• SharedFrame identity, timestamps, geometry and order: PASS.
• Windows-native Webots + Docker Debug controller, OpenVINO CPU, all three preview streams, incremental C++ build and SIGINT/restart with Webots left open: PASS in the recorded workflow.
• This is bounded functional validation, not throughput, long-term stability, destruction/drain or MCU hardware acceptance.
• Local evidence: C:/Users/a2592/webots-doc-validation-20260911/VALIDATION.md and BSP .vscode-runs/acceptance-{target,empty}-long.

Coordinated sources

WebotsGimbal 18698d0; WebotsFireNotify 06e36ce; bsp-webots-autoaim 8bc0543.
All use branch fix/topic-owner-debug-20260911. Initialize Camera/Aimer topic owners before the Webots consumers. Deploy the BSP and module changes together; a new module with the old BSP initialization order fails explicitly.
MCU firmware, Aimer payload/wire layout, Camera and LibXR are unchanged.

Summary by Sourcery

Observe the Aimer-owned fire notification topic while preserving existing firing, heat, timing, and raw-decoding behavior.

Bug Fixes:

• Use the existing Aimer-owned fire_notify topic instead of creating a conflicting payload type.
• Report missing required fire topics through logging and an exception.

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[sourcery-ai]

Reviewer's guide (collapsed on small PRs)

Reviewer's Guide

WebotsFireNotify now observes the existing host fire_notify topic owned by Aimer, eliminating a duplicate topic with a different C++ payload type while retaining fire-processing behavior. Initialization fails with a log and exception if the required topic is unavailable; coordinated BSP/module startup ordering must ensure topic owners are initialized first.

Sequence diagram for required fire topic initialization

sequenceDiagram
    participant WebotsFireNotify
    participant LibXR_Topic
    participant Logger
    participant Aimer

    WebotsFireNotify->>LibXR_Topic: LibXR::Topic::Find fire_notify
    alt topic exists
        LibXR_Topic-->>WebotsFireNotify: topic handle
        Aimer->>fire_notify: publish fire requests
        fire_notify-->>WebotsFireNotify: observe existing payload
        WebotsFireNotify->>WebotsFireNotify: HandleFireRequest
    else topic missing
        LibXR_Topic-->>WebotsFireNotify: nullptr
        WebotsFireNotify->>Logger: XR_LOG_ERROR
        WebotsFireNotify-->>WebotsFireNotify: throw std::runtime_error
    end

Loading

File-Level Changes

Change	Details	Files
Use the existing Aimer-owned fire notification topic instead of creating a second topic with a potentially incompatible payload type.	Look up the required fire_notify topic in the host domain during application initialization. Log an error and throw when the topic is missing, making incorrect source initialization fail explicitly. Preserve the existing raw decoding and fire, heat, and timing behavior. Keep creation of the Webots launcher state topic unchanged.	WebotsFireNotify.hpp

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