docs: sync docs with code; fix Makefile modules target

Makefile:
- Add reconciler and ingest to the `modules` target; they were only built
  as side-effects of `make node`, making `make modules` incomplete

planning.md:
- Add 4 missing CLI drivers: discovery_cli, config_cli, protocol_cli,
  query_cli (all existed in code and dev/cli/Makefile but were absent)
- Add header-only utilities table: stream_stats.h, v4l2_fmt.h

README.md:
- Add transport_cli, discovery_cli, config_cli, protocol_cli, query_cli
  to CLI tools list

conventions.md:
- Add ERR_NOT_FOUND to Error_Code enum example
- Replace placeholder Invalid_Error_Detail with actual fields
  (config_line, message) that have been in use since config module
- Add missing error macros: APP_INVALID_ERROR, APP_INVALID_ERROR_MSG,
  APP_NOT_FOUND_ERROR
- Update directory structure: node/ description (was "later"), add web/
  and tools/ entries

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

Makefile

@@ -16,6 +16,8 @@ modules:
 	$(MAKE) -C src/modules/protocol
 	$(MAKE) -C src/modules/test_image
 	$(MAKE) -C src/modules/xorg
+	$(MAKE) -C src/modules/reconciler
+	$(MAKE) -C src/modules/ingest
 
 cli: modules
 	$(MAKE) -C dev/cli

README.md

@@ -15,13 +15,18 @@ Designed to run on resource-constrained hardware (Raspberry Pi capturing raw MJP
 
 - [docs/cli/media_ctrl_cli.md](docs/cli/media_ctrl_cli.md) — media device and topology tool
 - [docs/cli/v4l2_ctrl_cli.md](docs/cli/v4l2_ctrl_cli.md) — V4L2 camera control tool
+- `transport_cli` — send/receive framed messages, inspect transport frame headers
+- `discovery_cli` — announce and discover peers over UDP multicast; print found/lost events
+- `config_cli` — load an INI config file and print the resolved values after applying schema defaults
+- `protocol_cli` — send and receive typed protocol messages; inspect frame payloads
+- `query_cli` — wait for first discovered node, send ENUM_DEVICES, print results
 - `test_image_cli` — generate test patterns and write PPM output for visual inspection
 - `xorg_cli` — display a test pattern in the viewer window; exercises scale/anchor modes and text overlays
 - `v4l2_view_cli` — live camera viewer; auto-selects highest-FPS format, displays FPS overlay
 - `stream_send_cli` — capture MJPEG from V4L2, connect to a receiver over TCP, stream VIDEO_FRAME messages with per-stream stats
 - `stream_recv_cli` — listen for incoming TCP stream, display received MJPEG frames with fps/Mbps overlay
 - `reconciler_cli` — simulated state machine experiment; validate the reconciler with fake resources before wiring into the node
-- `controller_cli` — interactive REPL; connects to a running node; supports enum-devices, enum-controls, get/set-control, start/stop-ingest, start/stop-display
+- `controller_cli` — interactive REPL; connects to nodes by peer index or host:port; enum-devices, enum-controls, get/set-control, start/stop-ingest, start/stop-display
 
 ## Structure
 

conventions.md

@@ -77,9 +77,10 @@ Errors are returned as `struct App_Error` values. Functions that can fail return
 /* modules/common/error.h */
 
 typedef enum Error_Code {
-    ERR_NONE    = 0,
-    ERR_SYSCALL = 1,   /* errno is meaningful */
-    ERR_INVALID = 2,
+    ERR_NONE      = 0,
+    ERR_SYSCALL   = 1,   /* errno is meaningful */
+    ERR_INVALID   = 2,
+    ERR_NOT_FOUND = 3,
 } Error_Code;
 
 struct Syscall_Error_Detail {
@@ -87,7 +88,8 @@ struct Syscall_Error_Detail {
 };
 
 struct Invalid_Error_Detail {
-    /* fields added as concrete cases arise */
+    int         config_line;   /* source line number, or 0 if not applicable */
+    const char *message;       /* static string describing what was wrong     */
 };
 
 struct App_Error {
@@ -110,16 +112,17 @@ struct App_Error {
 #define APP_IS_OK(e) \
     ((e).code == ERR_NONE)
 
-#define APP_ERROR(error_code, detail_field, ...) \
-    ((struct App_Error){ \
-        .code   = (error_code), \
-        .file   = __FILE__, \
-        .line   = __LINE__, \
-        .detail = { .detail_field = { __VA_ARGS__ } } \
-    })
-
 #define APP_SYSCALL_ERROR() \
-    APP_ERROR(ERR_SYSCALL, syscall, .err_no = errno)
+    /* sets ERR_SYSCALL + captures errno */
+
+#define APP_INVALID_ERROR() \
+    /* sets ERR_INVALID, no message */
+
+#define APP_INVALID_ERROR_MSG(cfg_line, msg) \
+    /* sets ERR_INVALID with config_line and message */
+
+#define APP_NOT_FOUND_ERROR() \
+    /* sets ERR_NOT_FOUND */
 ```
 
 ### Presentation
@@ -140,11 +143,13 @@ video-setup/
     modules/            - translation units; each has a .c and a Makefile
       common/           - shared types (error, base definitions); no external dependencies
       <module>/
-    node/               - video node entry point and integration (later)
+    node/               - video node binary (source + display sink roles)
   include/              - public headers (.h files)
   dev/                  - development aids; not part of the final deliverable
     cli/                - exploratory CLI drivers, one per module
+    web/                - development web UI (Node.js/Express)
     experiments/        - freeform experiments
+  tools/                - build-time code generators (e.g. gen_font_atlas)
   tests/                - automated tests (later)
   Makefile              - top-level build
 ```

planning.md

@@ -84,6 +84,10 @@ Each module gets a corresponding CLI driver that exercises its API and serves as
 | `media_ctrl_cli` | `media_ctrl` | List media devices, show topology, configure pad formats |
 | `v4l2_ctrl_cli` | `v4l2_ctrl` | List controls, get/set values — lightweight `v4l2-ctl` equivalent |
 | `transport_cli` | `transport` | Send/receive framed messages, inspect headers |
+| `discovery_cli` | `discovery` | Announce and discover peers over UDP multicast; print found/lost events |
+| `config_cli` | `config` | Load an INI config file and print the resolved values after applying schema defaults |
+| `protocol_cli` | `protocol` | Send and receive typed protocol messages; inspect frame payloads |
+| `query_cli` | `discovery` + `protocol` | Wait for first discovered node, send ENUM_DEVICES, print results — integration smoke test |
 | `test_image_cli` | `test_image` | Generate test patterns, write PPM for visual inspection |
 | `xorg_cli` | `xorg` | Display test pattern in viewer window; exercises scale/anchor modes and text overlays |
 | `v4l2_view_cli` | V4L2 + `xorg` | Live camera viewer — auto-selects highest-FPS format, FPS/format overlay; bypasses node system |
@@ -92,6 +96,15 @@ Each module gets a corresponding CLI driver that exercises its API and serves as
 | `reconciler_cli` | `reconciler` | Simulated state machine experiment — define resources with fake transitions, drive reconciler via CLI commands; validates the generic reconciler before wiring into the node |
 | `controller_cli` | `transport` + `protocol` + `discovery` | Interactive controller REPL — connects to nodes by peer index or host:port; supports enum-devices, enum-controls, get/set-control, start-ingest, stop-ingest, start-display, stop-display; readline + discovery integration; **temporary dev tool** — will be superseded by a dedicated `controller` binary that holds simultaneous connections to all peers |
 
+### Header-only utilities (`include/`)
+
+Not modules (no `.c` or Makefile) but public interfaces used across CLI tools and the node:
+
+| Header | Used by | Notes |
+|---|---|---|
+| `stream_stats.h` | `stream_send_cli`, `stream_recv_cli` | Per-stream rolling fps/Mbps stats; single-header, no dependencies |
+| `v4l2_fmt.h` | `ingest`, `v4l2_view_cli` | V4L2 format enumeration — (pixfmt, size, fps) combinations, best-format selection |
+
 ### Web UI (`dev/web/`)
 
 A Node.js/Express development web UI that connects to running video nodes as a binary protocol peer. Exposes V4L2 control inspection and adjustment, media topology view, and stream state through a browser interface. Supports live peer discovery via SSE — discovered nodes appear automatically in the UI.