Add multi-frame orientations to SysState (Qw/Qx/Qy/Qz)

[1-Bart-1]

Summary

Replaces the single orient quaternion in SysState with component-major
arrays Qw/Qx/Qy/Qz — one entry per oriented frame — mirroring how
positions are stored as X/Y/Z. This lets a log carry orientations for multiple
wings and/or rigid bodies (e.g. a chain of rigid-body beam segments), not just a
single kite.

SysState gains a second type parameter O (number of oriented frames);
SysLog and Logger thread it through.

Backwards compatibility

Preserved via property views and UnionAll dispatch:

• ss.orient aliases frame 1 as a mutable view, so both ss.orient .= q
  and ss.orient = q keep working.
• ss.orients[i] and ss.pos[i] are mutable per-entity views.
• SysState{P}() still constructs (O defaults to 1); SysState{P} is the
  SysState{P,O} where O UnionAll, so existing f(::SysState{P}) where P
  dispatch and isa SysState{P} still match. Same for SysLog{P}.
• A StructArray{<:SysState} / SysLog .orient accessor returns a
  per-timestep quaternion column (syslog.orient[k] unchanged for callers).
• load_log reads both new (Qw/...) and legacy (orient) Arrow logs.
• show still prints a single orient line.

Tests

Pkg.test() passes (Logfiles 29/29). The two schema-coupled assertions in
test-logfiles.jl were updated for the 2-parameter type (SysState{7,1}).

🤖 Generated with Claude Code

[codecov-commenter]

Codecov Report

❌ Patch coverage is 52.05479% with 70 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
src/sysstate_views.jl	39.70%	41 Missing ⚠️
src/build.jl	0.00%	14 Missing ⚠️
src/KiteUtils.jl	75.00%	6 Missing ⚠️
src/load_log.jl	66.66%	5 Missing ⚠️
src/_load_log.jl	0.00%	2 Missing ⚠️
src/logger.jl	33.33%	2 Missing ⚠️

📢 Thoughts on this report? Let us know!

[ufechner7]

Question: Why is this a breaking release, if you added backward compatible wrappers?

JETLS gives the following warnings:

ufechner@framework:~/repos/KiteUtils/bin$ ./jetls
# Analyzed 15 files in 23.57s                                                  
# Found 2 diagnostics in 1 file (2 warnings)

# @ src/sysstate_views.jl:28,1
@inline function Base.setindex!(q::FrameQuat, v, i::Int)
    field = (:Qw, :Qx, :Qy, :Qz)[i]
    @inbounds getfield(q.ss, field)[q.k] = v
└──────────────────────────────────────────┘ ── no matching method found `setindex!(::Float32, ::Bool, ::Int64)`, `setindex!(::Float64, ::Bool, ::Int64)`, `setindex!(::Int16, ::Bool, ::Int64)` (3/4 union split) [warn:inference/method-error]
end

# @ src/sysstate_views.jl:28,1
@inline function Base.setindex!(q::FrameQuat, v, i::Int)
    field = (:Qw, :Qx, :Qy, :Qz)[i]
    @inbounds getfield(q.ss, field)[q.k] = v
└──────────────────────────────────────────┘ ── no matching method found `setindex!(::Float32, ::Any, ::Int64)`, `setindex!(::Float64, ::Any, ::Int64)`, `setindex!(::Int16, ::Any, ::Int64)` (3/4 union split) [warn:inference/method-error]
end

This section of the documentation might need an update: https://opensourceawe.github.io/KiteUtils.jl/stable/examples/#The-system-state,-type-SysState

[Copilot]

Pull request overview

This PR updates SysState to support multiple orientation frames by replacing the single orient quaternion field with component-major Qw/Qx/Qy/Qz arrays (one value per oriented frame), and threads the new O type parameter through logging (Logger/SysLog) and log I/O. It also introduces view types so existing .orient access remains usable (frame 1).

Changes:

• Replace SysState’s single quaternion storage with multi-frame quaternion component arrays (Qw/Qx/Qy/Qz) and add O as a second type parameter.
• Add ergonomic views for per-point positions (.pos[i]) and per-frame orientations (.orients[k]), while keeping legacy .orient (frame 1) working.
• Update log save/load paths and tests to reflect the new schema and type parameters, including back-compat loading of legacy orient Arrow logs.

Reviewed changes

Copilot reviewed 16 out of 16 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
test/test-logfiles.jl	Updates schema-coupled type assertions to SysState{P,1}.
src/sysstate.yaml	Replaces orient with Qw/Qx/Qy/Qz component arrays parameterized by O.
src/sysstate_views.jl	Adds view types for .orient, .orients, and .pos, plus StructArray column views.
src/logger.jl	Updates Logger constructors to include O (defaulting to 1).
src/load_log.jl	Adds back-compat logic to load either new Qw... or legacy orient columns.
src/KiteUtils.jl	Wires in new view-based getproperty/setproperty! and updates SysLog typing/constructors.
src/build.jl	Updates generator templates for the new SysState{P,O} / Logger{P,O,Q} structure.
src/_sysstate.jl	Generated: updates SysState definition to SysState{P,O} and adds Qw/Qx/Qy/Qz fields.
src/_syslog.jl	Generated: updates syslog(logger) to build StructArray{SysState{P,O}} with quaternion components.
src/_show.jl	Generated: keeps a single displayed orient line via the legacy view.
src/_save_log.jl	Generated: resizes quaternion component vectors instead of orient_vec.
src/_logger.jl	Generated: updates Logger{P,O,Q} fields and preallocation vectors for quaternion components.
src/_log.jl	Generated: logs quaternion components (Qw..Qz) instead of orient.
src/_load_log.jl	Generated: updated to read Qw..Qz columns (but currently still builds StructArray{SysState{P}}).
src/_demo_syslog.jl	Generated: updates demo syslog creation to store Qw..Qz and accept O.
CHANGELOG.md	Documents the breaking change and the provided compatibility accessors.

[1-Bart-1]

It is breaking, things can become abstract type which is performance regression. But updating is easy, and the code will probably not error. Still, I will release it as breaking.

[Copilot]

Pull request overview

Copilot reviewed 16 out of 16 changed files in this pull request and generated 5 comments.