Refuse to start when the rig is missing hardware it declares
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@ -64,6 +64,7 @@ add_library(fgc_core STATIC
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src/core/Logger.cpp
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src/core/Geometry.cpp
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src/core/TmcCurrent.cpp
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src/core/HardwarePresence.cpp
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src/core/ScanGrid.cpp
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src/core/TelemetryParser.cpp
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src/core/CaptureScheduler.cpp
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@ -44,6 +44,14 @@ imu = none
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env = sht41
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; The [Camera.<name>] blocks expected to be present and found.
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cameras = rgb
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;
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; What happens when this does not match the rig:
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; declared but absent -> warned about by name, and with [Features]
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; strict_presence = 1 in config.ini the program refuses
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; to start (exit 3). --degraded starts it anyway.
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; found but undeclared -> warned about as a stale file. Never fatal.
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; A tower with no hardware.ini at all is never reconciled, whatever
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; strict_presence says: gaining this file must not change how a tower behaves.
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; --- Where to find it -----------------------------------------------------
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; Device bindings. These follow the hardware, not the tower, so they belong here
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@ -55,6 +55,7 @@ Parsed and validated by `ConfigLoader` ([src/core/Config.cpp](../src/core/Config
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| `Features` | `mock_imu` | bool | `false` | Use the simulated IMU instead of the MTi |
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| `Features` | `enable_env` | bool | `false` | Use the ambient temp/humidity sensor (SHT41) |
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| `Features` | `mock_env` | bool | `false` | Use the simulated env sensor instead of the SHT41 |
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| `Features` | `strict_presence` | bool | `false` | Refuse to start when `hardware.ini` declares a subsystem this rig does not have. Off during the fleet rollout; turn it on per tower once that file is known good. `--degraded` overrides it |
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| `IMU` | `device` | string | — | MTi serial device (see `[IMU]` note); required when `enable_imu` |
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| `IMU` | `baud` | int | `115200` | MTi serial baud rate |
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| `IMU` | `x` / `y` / `z` | float ±360 | `0` | Mounting rotation in degrees about forward/right/down, applied to every IMU reading (see below). All zero = the IMU is aligned with the gimbal |
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@ -399,6 +400,42 @@ generic `IEnvSensor` interface
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([include/fgc/IEnvSensor.h](../include/fgc/IEnvSensor.h)), so swapping in a different ambient sensor
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later means adding a new backend, not touching `Application`, the UI, or MQTT.
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### Declared vs found — what `hardware.ini` is checked against
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Everything in this program degrades gracefully: `TestRunner` skips the pitch and IMU leaves, `CamEvent`
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falls back to encoder pitch, `CaptureScheduler` sends the single-axis `MOVE Y` form. That is correct for a
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rig that genuinely lacks them, and **indistinguishable from a failure on a rig that does not**. A two-axis
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tower whose pitch stops enumerating becomes a yaw-only tower, captures one elevation band, and reports
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itself healthy.
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Declaring the assembly is what separates those two. At startup — once the motor, sensors and camera have
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all been brought up, so "found" means *came up* rather than *was configured* — the program compares
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`[Hardware]` against what it actually has:
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| Declared | Found | Result |
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|---|---|---|
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| present | present | one `INFO` line confirming the assembly |
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| absent | present | **warn**: `hardware.ini` is stale. Never fatal — more hardware than declared is a documentation fault |
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| **present** | **absent** | **warn, or refuse to start under `strict_presence`**, naming each missing subsystem |
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Two properties are deliberate:
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- **A tower with no `hardware.ini` is never reconciled**, whatever `strict_presence` says. Gaining that
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file must not be what changes how a tower behaves; nothing is compared until something is declared.
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- **An empty `axes` states nothing**, matching `hasAxis()` answering true for everything when nothing is
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said. Reconciling silence would turn a missing key into a fault.
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`strict_presence` defaults to **off** so the fleet rollout cannot change behaviour on upgrade. Turn it on
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per tower once that tower's file is known good; the fleet-wide flip is then a config change rather than a
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release. When it refuses, the program exits **3** (distinct from a config error's 1 and the
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single-instance lock's 2) before the control loop is entered.
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`--degraded` overrides a refusal for field triage, and logs `RUNNING DEGRADED BY REQUEST` with the list of
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what is missing — worded so it cannot be mistaken for a normal startup line.
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> Which camera is missing is reported as a count (`2 configured, only 1 opened`), because the camera
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> source reports how many it opened, not which. `test hardware camera` is what names the device.
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### Secrets
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`mqtt_user` / `mqtt_pw` are read from the environment variables **`FGC_MQTT_USER` / `FGC_MQTT_PW`** first,
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@ -420,6 +457,7 @@ Parsed by Boost.Program_options ([main.cpp](../main.cpp)). Flags override `[Feat
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| `--mock-camera` | Use the simulated camera |
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| `--mock-serial` | Use the simulated motor controller |
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| `--mock-env` | Use the simulated ambient temp/humidity sensor (implies `[Features] enable_env`) |
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| `--degraded` | Start even though declared hardware is missing (field triage; overrides `strict_presence` and says so loudly in the log) |
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| `--tui` | Show the full-screen terminal dashboard (overrides `[UI] enable_tui`) |
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| `--no-tui` | Force the headless line console (overrides config; wins over `--tui`) |
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| `--log-level <lvl>` | `trace`/`debug`/`info`/`warn`/`error`/`off` |
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@ -426,7 +426,7 @@ Phase 1 is deployable on its own. Phase 2 requires it.
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## Progress
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Branch `worktree-hardware-config` (worktree at `.claude/worktrees/hardware-config`).
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216 tests pass, up from a 204 baseline.
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247 tests pass, up from a 204 baseline.
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| § | Item | State |
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|----|------|-------|
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@ -434,8 +434,8 @@ Branch `worktree-hardware-config` (worktree at `.claude/worktrees/hardware-confi
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| 9 | Calibration `;prev` comments, one generation, changed keys only, stamped with the command | **done**, 7 tests |
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| 3 | `hardware.ini`: `[Board]` / `[Hardware]` typed, layered over `config.ini`, shadowed keys warned | **done**, 5 tests |
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| 4 | Resolution chain `--hardware` / `$FGC_HARDWARE` / `/etc/...` / beside `config.ini` | **done**, 2 tests |
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| 8 | `config/hardware.example.ini` documenting the shape | **done** (the `hardware/<board>/` setup kit is not started) |
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| 10 | Presence reconciliation (declared vs found) | **not started** — `hasAxis()` is in place and returns true for an undeclared rig, so callers can adopt it before reconciliation exists |
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| 8 | `config/hardware.example.ini` documenting the shape | **done**, and the `hardware/lattepanda-iota/` setup kit now exists too (`install.sh`, `packages.txt`, three precondition files) |
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| 10 | Presence reconciliation (declared vs found) | **done**, 13 tests. `HardwarePresence.h` compares `[Hardware]` against what came up; warn-only by default, refusing under `[Features] strict_presence` with `--degraded` as the field-triage escape (decision 4) |
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| 11 | `test hardware` | **not started** |
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| 5 | Delete the `Application.cpp:1040` speed literals | **not started** — blocked on decision 2 |
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@ -297,7 +297,23 @@ commit `aab1925`.
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| 0 | Remote-flash question researched — two viable paths, design rule derived (§2) | **done, and now measured on the board: neither works** (§2). First flash needs the MicroPython REPL or BOOTSEL; remote *update* is unsolved pending a `BOOTSEL` command |
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| 2 | **Phase 2 gate: RP2040 + TMC5160-BOB at 3.3 V** | **PASSED** on tower 121, 2026-09-15: `IOIN Y=0x3000001E version=0x30`, encoder reading (`X_ENC`), one axis, `speed=3000` |
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| 2 | `src/platform.h` — reset cause and free RAM behind one interface per MCU family | **done** |
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| 2 | `Serial.begin()` moved ahead of all hardware init, so a wedged image stays flashable | **done** |
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| 2 | `[env:iota_rp2040]` PlatformIO target (arduino-pico core, 8 MB flash) | **done and built** on tower 121, 2026-09-15: 49452 B flash (0.6 % of 8 MB), 9068 B RAM. `leonardo` still builds (19254 B) and the 22 native tests still pass |
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| 2 | Per-board pin map + `NUM_AXES` in `platform_leonardo.h` / `platform_iota.h`, as-built wiring | **done** — compile-time, not yet generated from `hardware.ini` |
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| 2 | Pins + `NUM_AXES` generated from `hardware.ini` | **not started** — needs the config plan's phase 2 first |
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| 3 | Yaw homing on the real drivetrain | **done** — the endstop was being sheared through at full torque; homing at 189 mA holds. See below |
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| 1 | Everything else | blocked on [hardware-config-plan.md](hardware-config-plan.md) |
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> **Not compile-verified.** PlatformIO is not installed on the dev box and the firmware is built
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> *remotely on the tower* by `firmware/deploy.sh`. What was verified locally: both branches of
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> `platform.h` syntax-check against stub headers — the AVR branch under `gnu++11` (what the Arduino AVR
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> core uses) and the RP2040 branch under `gnu++17` (what arduino-pico uses) — and an unrecognised
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> architecture fails on the `#error` rather than compiling silently.
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>
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> To actually build it: `cd firmware && ./deploy.sh --compile-only` compiles on the device without
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> flashing. That rsyncs over the tower's firmware source tree, so it is a deliberate step, not one to
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> take by surprise.
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### Phase 3, first attempt — 2026-09-16
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@ -357,22 +373,6 @@ turns, or did the motor spin while the platform stayed put? Check any cabling
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through that joint before moving the axis further.
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</details>
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| 2 | `src/platform.h` — reset cause and free RAM behind one interface per MCU family | **done** |
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| 2 | `Serial.begin()` moved ahead of all hardware init, so a wedged image stays flashable | **done** |
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| 2 | `[env:iota_rp2040]` PlatformIO target (arduino-pico core, 8 MB flash) | **done and built** on tower 121, 2026-09-15: 49452 B flash (0.6 % of 8 MB), 9068 B RAM. `leonardo` still builds (19254 B) and the 22 native tests still pass |
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| 2 | Per-board pin map + `NUM_AXES` in `platform_leonardo.h` / `platform_iota.h`, as-built wiring | **done** — compile-time, not yet generated from `hardware.ini` |
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| 2 | Pins + `NUM_AXES` generated from `hardware.ini` | **not started** — needs the config plan's phase 2 first |
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| 1 | Everything else | blocked on [hardware-config-plan.md](hardware-config-plan.md) |
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> **Not compile-verified.** PlatformIO is not installed on the dev box and the firmware is built
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> *remotely on the tower* by `firmware/deploy.sh`. What was verified locally: both branches of
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> `platform.h` syntax-check against stub headers — the AVR branch under `gnu++11` (what the Arduino AVR
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> core uses) and the RP2040 branch under `gnu++17` (what arduino-pico uses) — and an unrecognised
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> architecture fails on the `#error` rather than compiling silently.
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>
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> To actually build it: `cd firmware && ./deploy.sh --compile-only` compiles on the device without
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> flashing. That rsyncs over the tower's firmware source tree, so it is a deliberate step, not one to
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> take by surprise.
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---
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@ -15,6 +15,7 @@ Per-file reference for the refactored tree, plus the shared data structures.
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| [include/fgc/CommandParser.h](../include/fgc/CommandParser.h), [src/core/CommandParser.cpp](../src/core/CommandParser.cpp) | `parseCommand` whitespace tokenizer → `Command` |
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| [include/fgc/HelpText.h](../include/fgc/HelpText.h), [src/core/HelpText.cpp](../src/core/HelpText.cpp) | Operator command catalog (`helpCatalog`) + `renderHelp` (console & TUI help) |
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| [include/fgc/TmcCurrent.h](../include/fgc/TmcCurrent.h), [src/core/TmcCurrent.cpp](../src/core/TmcCurrent.cpp) | Milliamps → TMC5160 `GLOBALSCALER`/`IRUN` register fields, using the sense resistor from `[Motor.<axis>]`. Pure arithmetic, so it is unit-tested; the host owns the conversion because only it knows the resistor |
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| [include/fgc/HardwarePresence.h](../include/fgc/HardwarePresence.h), [src/core/HardwarePresence.cpp](../src/core/HardwarePresence.cpp) | `reconcilePresence` (what `hardware.ini` declares vs what actually came up) + `presenceVerdict` (proceed / warn / refuse, per `strict_presence` and `--degraded`). Pure comparison, so the policy is unit-tested without a rig |
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| [include/fgc/DumpParser.h](../include/fgc/DumpParser.h), [src/core/DumpParser.cpp](../src/core/DumpParser.cpp) | `parseDump` firmware `DUMP` block → `DumpData` (per-axis state + decoded TMC registers/flags); `formatDump` |
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| [include/fgc/DiagParser.h](../include/fgc/DiagParser.h), [src/core/DiagParser.cpp](../src/core/DiagParser.cpp) | `parseDiag` firmware `DG` self-test stream → `DiagResult` (per-axis tests, PASS/FAIL); `formatDiag` |
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| [include/fgc/Calibration.h](../include/fgc/Calibration.h), [src/core/Calibration.cpp](../src/core/Calibration.cpp) | `linearFit` (least-squares, R²) + `circularMeanDeg` for the IMU-referenced calibration |
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@ -13,6 +13,10 @@ struct RuntimeOptions {
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bool init = false; // run the endstop-finding init sequence
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bool start = false; // begin capture automatically
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bool demo = false; // demo mode (copy placeholder image instead of encoding)
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// Start anyway when hardware.ini declares something this rig does not have.
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// Field triage only: it overrides [Features] strict_presence, and the log
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// says so in those words so it cannot become the normal way to run a tower.
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bool degraded = false;
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// Tri-state feature overrides (unset => use the config value).
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std::optional<bool> use_mqtt;
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@ -174,6 +174,13 @@ struct FeaturesConfig {
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bool mock_imu = false; // use a simulated IMU instead of the MTi
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bool enable_env = false; // ambient temp/humidity sensor (off by default)
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bool mock_env = false; // use a simulated env sensor instead of the SHT41
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// Refuse to start when hardware.ini declares a subsystem this rig does not
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// have (HardwarePresence.h). Off by default so that gaining a hardware.ini
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// cannot change how a tower behaves: it is turned on per tower once that
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// file is known good, and the fleet-wide flip is a config change rather than
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// a release. --degraded overrides it for field triage.
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bool strict_presence = false;
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};
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// [IMU]: Xsens MTi connected over the LattePanda's RS-232 UART (a hardware
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@ -0,0 +1,92 @@
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#pragma once
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#include "fgc/Config.h"
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#include <string>
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#include <vector>
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namespace fgc {
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// Reconciling what hardware.ini DECLARES against what the rig actually turned
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// out to have.
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//
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// The program degrades gracefully everywhere - TestRunner skips the pitch and
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// IMU leaves, CamEvent falls back to encoder pitch, CaptureScheduler sends the
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// single-axis MOVE form. That is right for a rig that genuinely lacks them, and
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// indistinguishable from a FAILURE on a rig that does not: a 2-axis tower whose
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// pitch stops enumerating becomes a yaw-only tower, captures one elevation band,
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// and reports itself healthy. Declaring the assembly is what lets startup tell
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// those two apart.
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// What this run actually found, from the sources that can answer: telemetry for
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// the axes, the constructed sensor objects for the IMU and env sensor, camera
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// enumeration for the cameras.
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struct FoundHardware {
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std::vector<std::string> axes; // yaw implied by any ST line, pitch by pitch_present
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bool imu = false;
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bool env = false;
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std::vector<std::string> cameras; // by [Camera.<name>] block name, as configured
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// How many of those the source actually opened. A camera can be configured
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// and declared and still not be on the bus, which is the whole failure this
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// section exists to catch - but the source reports a count, not which ones
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// are missing, so the shortfall is named as a number. -1 = not asked.
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int cameras_opened = -1;
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// Telemetry never arrived, so the axis list is unknown rather than empty.
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// Without this an unplugged MCU would report every declared axis as missing,
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// which is true but useless - the one fault worth naming is the serial link.
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bool axes_known = true;
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};
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enum class PresenceIssue {
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MissingDeclared, // declared, not found - the failure this exists to catch
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UndeclaredFound, // found, not declared - the file is stale
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};
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struct PresenceFinding {
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PresenceIssue issue;
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std::string subsystem; // "axis pitch", "imu", "env", "camera rgb"
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std::string detail; // one operator-readable sentence, naming the fix
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};
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struct PresenceReport {
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std::vector<PresenceFinding> findings;
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// False when no hardware.ini was read, or it declared nothing comparable.
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// Every tower is in this state until it is migrated, and it is what keeps
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// this change invisible during the rollout.
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bool reconciled = false;
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bool anyMissing() const;
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bool anyUndeclared() const;
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std::vector<std::string> missing() const; // subsystem names, for the refusal line
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};
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// Pure comparison; says nothing about what to do about it.
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PresenceReport reconcilePresence(const HardwareConfig& declared, const FoundHardware& found);
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enum class PresenceAction {
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Proceed, // nothing to reconcile, or everything matches
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WarnOnly, // mismatches, but policy (or --degraded) says carry on
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Refuse, // declared hardware is missing and this tower is strict
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};
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struct PresenceVerdict {
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PresenceAction action = PresenceAction::Proceed;
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std::string reason; // the line to log; empty when there is nothing to say
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};
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// `strict` is [Features] strict_presence, `degraded` is --degraded.
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//
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// Warn-only is the default deliberately: through the fleet rollout no tower may
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// change behaviour on upgrade just by gaining a hardware.ini. A tower flips to
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// strict once its file is known good, so the fleet-wide flip is a config change
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// rather than a release.
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PresenceVerdict presenceVerdict(const PresenceReport& report, bool strict, bool degraded);
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// Every finding as one log-ready line, most serious first. Empty when there are
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// none.
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std::vector<std::string> formatPresence(const PresenceReport& report);
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} // namespace fgc
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4
main.cpp
4
main.cpp
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@ -29,6 +29,9 @@ int main(int argc, char* argv[]) {
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"use a simulated ambient temp/humidity sensor (implies enable_env)")
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("tui", po::bool_switch(), "show the full-screen terminal dashboard")
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("no-tui", po::bool_switch(), "force the headless line console (overrides config)")
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("degraded", po::bool_switch(),
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"start even though hardware.ini declares a subsystem this rig does not have "
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"(field triage; says so loudly in the log)")
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("no-lock", po::bool_switch(),
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"skip the single-instance lock (dev only: for a second mock-only instance)")
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("lock-file", po::value<std::string>(), "path to the single-instance lockfile")
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@ -103,6 +106,7 @@ int main(int argc, char* argv[]) {
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if (vm["mock-camera"].as<bool>()) opts.mock_camera = true;
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if (vm["mock-serial"].as<bool>()) opts.mock_serial = true;
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if (vm["mock-env"].as<bool>()) opts.mock_env = true;
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opts.degraded = vm["degraded"].as<bool>();
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if (vm["tui"].as<bool>()) opts.use_tui = true;
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if (vm["no-tui"].as<bool>()) opts.use_tui = false; // --no-tui wins
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if (vm.count("log-level")) opts.log_level = vm["log-level"].as<std::string>();
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@ -9,6 +9,7 @@
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#include "fgc/HelpText.h"
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#include "fgc/Paths.h"
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#include "fgc/CameraProfile.h"
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#include "fgc/HardwarePresence.h"
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#include "fgc/TmcCurrent.h"
|
||||
#include "fgc/ICameraSource.h"
|
||||
#include "fgc/IControlChannel.h"
|
||||
|
|
@ -1256,6 +1257,65 @@ struct Application::Impl {
|
|||
// Request a DUMP and wait briefly for a parseable one. Several callers need
|
||||
// the firmware's own view of itself - the homed limits, and whether it adopted
|
||||
// what we sent - so the round trip lives in one place.
|
||||
// What this run actually has, for reconciliation against hardware.ini.
|
||||
// Called once at startup, after every subsystem has been constructed and
|
||||
// started, because "found" can only mean "came up", not "was configured".
|
||||
FoundHardware observeHardware(std::chrono::milliseconds wait) {
|
||||
using namespace std::chrono_literals;
|
||||
FoundHardware f;
|
||||
|
||||
// Axes come from telemetry, which takes a moment to arrive. Yaw reaching
|
||||
// any real state is the signal the link is alive; until then a
|
||||
// default-constructed snapshot would report every axis missing.
|
||||
MotorTelemetry t = motor->telemetry();
|
||||
const auto deadline = std::chrono::steady_clock::now() + wait;
|
||||
while (running && t.yaw.state == AxisState::Unknown &&
|
||||
std::chrono::steady_clock::now() < deadline) {
|
||||
std::this_thread::sleep_for(100ms);
|
||||
t = motor->telemetry();
|
||||
}
|
||||
f.axes_known = t.yaw.state != AxisState::Unknown;
|
||||
if (f.axes_known) {
|
||||
f.axes.push_back("yaw"); // any well-formed ST line carries Y:
|
||||
if (t.pitch_present) f.axes.push_back("pitch");
|
||||
}
|
||||
|
||||
// A null source is the "not fitted / not enabled" case; makeImu() and
|
||||
// makeEnv() already log why.
|
||||
f.imu = imu != nullptr;
|
||||
f.env = env != nullptr;
|
||||
|
||||
for (const auto* c : cfg.camera.active()) f.cameras.push_back(c->name);
|
||||
f.cameras_opened = camera ? camera->cameraCount() : -1;
|
||||
return f;
|
||||
}
|
||||
|
||||
// Compare the rig against its declaration and act on the difference.
|
||||
// Returns false when the run must not continue.
|
||||
bool reconcileHardware() {
|
||||
using namespace std::chrono_literals;
|
||||
if (!cfg.hardware.declared) return true; // nothing declared, nothing to check
|
||||
|
||||
const PresenceReport report = reconcilePresence(cfg.hardware, observeHardware(3s));
|
||||
for (const auto& line : formatPresence(report)) LOG_WARN << "hardware: " << line;
|
||||
|
||||
const PresenceVerdict v =
|
||||
presenceVerdict(report, cfg.features.strict_presence, opts.degraded);
|
||||
switch (v.action) {
|
||||
case PresenceAction::Proceed:
|
||||
LOG_INFO << "hardware: declared assembly confirmed (" << cfg.hardware.axesLabel()
|
||||
<< ")";
|
||||
return true;
|
||||
case PresenceAction::WarnOnly:
|
||||
LOG_WARN << "hardware: " << v.reason;
|
||||
return true;
|
||||
case PresenceAction::Refuse:
|
||||
LOG_ERROR << "hardware: " << v.reason;
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
std::optional<DumpData> freshDump(std::chrono::milliseconds wait) {
|
||||
using namespace std::chrono_literals;
|
||||
motor->sendCommand("DUMP");
|
||||
|
|
@ -2330,6 +2390,19 @@ struct Application::Impl {
|
|||
if (imu) imu->start();
|
||||
if (env) env->start();
|
||||
camera->open();
|
||||
|
||||
// Everything is up, so "found" now means what it says. A tower that
|
||||
// declares hardware it does not have stops here rather than quietly
|
||||
// capturing a narrower panorama and reporting itself healthy.
|
||||
if (!reconcileHardware()) {
|
||||
camera->close();
|
||||
if (imu) imu->stop();
|
||||
if (env) env->stop();
|
||||
motor->stop();
|
||||
channel->disconnect();
|
||||
return 3; // distinct from the config (1) and lock (2) exits
|
||||
}
|
||||
|
||||
pipeline->start();
|
||||
channel->publishStatus(0);
|
||||
|
||||
|
|
|
|||
|
|
@ -350,6 +350,8 @@ AppConfig ConfigLoader::fromMap(const std::map<std::string, std::string>& kv) {
|
|||
cfg.features.mock_imu = getBool(kv, "Features.mock_imu", cfg.features.mock_imu);
|
||||
cfg.features.enable_env = getBool(kv, "Features.enable_env", cfg.features.enable_env);
|
||||
cfg.features.mock_env = getBool(kv, "Features.mock_env", cfg.features.mock_env);
|
||||
cfg.features.strict_presence =
|
||||
getBool(kv, "Features.strict_presence", cfg.features.strict_presence);
|
||||
|
||||
cfg.imu.device = get(kv, "IMU.device", cfg.imu.device);
|
||||
cfg.imu.baud = static_cast<unsigned>(getInt(kv, "IMU.baud", cfg.imu.baud));
|
||||
|
|
|
|||
|
|
@ -0,0 +1,170 @@
|
|||
#include "fgc/HardwarePresence.h"
|
||||
|
||||
#include <algorithm>
|
||||
#include <string>
|
||||
|
||||
namespace fgc {
|
||||
namespace {
|
||||
|
||||
bool listed(const std::vector<std::string>& v, const std::string& name) {
|
||||
return std::find(v.begin(), v.end(), name) != v.end();
|
||||
}
|
||||
|
||||
// A sensor slot is declared when it names a model. Empty means the file said
|
||||
// nothing; "none" means it said "deliberately not fitted" - and the difference
|
||||
// matters, because only the second one makes a found sensor a stale-file warning.
|
||||
bool names(const std::string& slot) { return !slot.empty() && slot != "none"; }
|
||||
bool stated(const std::string& slot) { return !slot.empty(); }
|
||||
|
||||
void missing(PresenceReport& r, std::string subsystem, std::string detail) {
|
||||
r.findings.push_back({PresenceIssue::MissingDeclared, std::move(subsystem), std::move(detail)});
|
||||
}
|
||||
|
||||
void undeclared(PresenceReport& r, std::string subsystem, std::string detail) {
|
||||
r.findings.push_back({PresenceIssue::UndeclaredFound, std::move(subsystem), std::move(detail)});
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
bool PresenceReport::anyMissing() const {
|
||||
return std::any_of(findings.begin(), findings.end(),
|
||||
[](const PresenceFinding& f) { return f.issue == PresenceIssue::MissingDeclared; });
|
||||
}
|
||||
|
||||
bool PresenceReport::anyUndeclared() const {
|
||||
return std::any_of(findings.begin(), findings.end(),
|
||||
[](const PresenceFinding& f) { return f.issue == PresenceIssue::UndeclaredFound; });
|
||||
}
|
||||
|
||||
std::vector<std::string> PresenceReport::missing() const {
|
||||
std::vector<std::string> out;
|
||||
for (const auto& f : findings)
|
||||
if (f.issue == PresenceIssue::MissingDeclared) out.push_back(f.subsystem);
|
||||
return out;
|
||||
}
|
||||
|
||||
PresenceReport reconcilePresence(const HardwareConfig& declared, const FoundHardware& found) {
|
||||
PresenceReport r;
|
||||
|
||||
// Nothing was read, so there is nothing to contradict. Every un-migrated
|
||||
// tower lands here and must behave exactly as it did before.
|
||||
if (!declared.declared) return r;
|
||||
r.reconciled = true;
|
||||
|
||||
// ---- axes ----
|
||||
// An empty axes list states nothing, matching hasAxis()'s "answers true for
|
||||
// everything". Reconciling it would turn silence into a fault.
|
||||
if (!declared.axes.empty()) {
|
||||
if (!found.axes_known) {
|
||||
missing(r, "motor telemetry",
|
||||
"no telemetry arrived, so the declared axes (" + declared.axesLabel() +
|
||||
") could not be confirmed -- check [Serial] device and that the MCU is "
|
||||
"flashed and enumerating");
|
||||
} else {
|
||||
for (const auto& a : declared.axes)
|
||||
if (!listed(found.axes, a))
|
||||
missing(r, "axis " + a,
|
||||
"declared in " + declared.source_path +
|
||||
" but absent from telemetry -- the driver is not answering, or "
|
||||
"the firmware was built for fewer axes than this rig has");
|
||||
for (const auto& a : found.axes)
|
||||
if (!listed(declared.axes, a))
|
||||
undeclared(r, "axis " + a,
|
||||
"present in telemetry but not in [Hardware] axes -- add it, or the "
|
||||
"declaration is describing a different rig");
|
||||
}
|
||||
}
|
||||
|
||||
// ---- IMU ----
|
||||
if (names(declared.imu) && !found.imu)
|
||||
missing(r, "imu",
|
||||
"declared as '" + declared.imu +
|
||||
"' but no IMU came up -- check [IMU] device, and that enable_imu is set");
|
||||
if (stated(declared.imu) && !names(declared.imu) && found.imu)
|
||||
undeclared(r, "imu", "running, but [Hardware] imu says none -- the declaration is stale");
|
||||
|
||||
// ---- env sensor ----
|
||||
if (names(declared.env) && !found.env)
|
||||
missing(r, "env",
|
||||
"declared as '" + declared.env +
|
||||
"' but no ambient sensor came up -- check [Env] i2c_device, and that it is a "
|
||||
"real I2C adapter rather than SMBus-only");
|
||||
if (stated(declared.env) && !names(declared.env) && found.env)
|
||||
undeclared(r, "env", "running, but [Hardware] env says none -- the declaration is stale");
|
||||
|
||||
// ---- cameras ----
|
||||
if (!declared.cameras.empty()) {
|
||||
for (const auto& c : declared.cameras)
|
||||
if (!listed(found.cameras, c))
|
||||
missing(r, "camera " + c,
|
||||
"declared in " + declared.source_path +
|
||||
" but not found -- check the [Camera." + c +
|
||||
"] block is enabled and the device is on the bus");
|
||||
for (const auto& c : found.cameras)
|
||||
if (!listed(declared.cameras, c))
|
||||
undeclared(r, "camera " + c,
|
||||
"active but not in [Hardware] cameras -- add it, or the declaration is "
|
||||
"describing a different rig");
|
||||
|
||||
// Configured and declared is not the same as present on the bus. The
|
||||
// source counts what it opened without saying which, so the shortfall is
|
||||
// reported as a number and `test hardware camera` names the device.
|
||||
const int want = static_cast<int>(found.cameras.size());
|
||||
if (found.cameras_opened >= 0 && found.cameras_opened < want)
|
||||
missing(r, "cameras",
|
||||
std::to_string(want) + " configured, only " +
|
||||
std::to_string(found.cameras_opened) +
|
||||
" opened -- one is not on the bus; 'test hardware camera' names which");
|
||||
}
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
PresenceVerdict presenceVerdict(const PresenceReport& report, bool strict, bool degraded) {
|
||||
PresenceVerdict v;
|
||||
if (report.findings.empty()) return v; // Proceed, nothing to say
|
||||
|
||||
if (!report.anyMissing()) {
|
||||
// Only stale-file warnings. Never fatal: the rig has MORE than was
|
||||
// declared, which is a documentation fault, not a broken tower.
|
||||
v.action = PresenceAction::WarnOnly;
|
||||
v.reason = "hardware.ini is out of date with this rig";
|
||||
return v;
|
||||
}
|
||||
|
||||
std::string gone;
|
||||
for (const auto& m : report.missing()) gone += (gone.empty() ? "" : ", ") + m;
|
||||
|
||||
if (!strict) {
|
||||
v.action = PresenceAction::WarnOnly;
|
||||
v.reason = "declared hardware is missing (" + gone +
|
||||
"); continuing because [Features] strict_presence is off -- set it once this "
|
||||
"tower's hardware.ini is known good";
|
||||
return v;
|
||||
}
|
||||
if (degraded) {
|
||||
// Loudly, per the plan: this is field triage, and it must not become the
|
||||
// way a tower is normally run.
|
||||
v.action = PresenceAction::WarnOnly;
|
||||
v.reason = "RUNNING DEGRADED BY REQUEST: declared hardware is missing (" + gone +
|
||||
") and --degraded overrode the refusal -- this tower is not doing the job it "
|
||||
"is declared to do";
|
||||
return v;
|
||||
}
|
||||
v.action = PresenceAction::Refuse;
|
||||
v.reason = "declared hardware is missing: " + gone +
|
||||
" -- fix the rig, correct " +
|
||||
"hardware.ini, or pass --degraded to start anyway";
|
||||
return v;
|
||||
}
|
||||
|
||||
std::vector<std::string> formatPresence(const PresenceReport& report) {
|
||||
std::vector<std::string> out;
|
||||
for (const auto& f : report.findings)
|
||||
if (f.issue == PresenceIssue::MissingDeclared) out.push_back(f.subsystem + ": " + f.detail);
|
||||
for (const auto& f : report.findings)
|
||||
if (f.issue == PresenceIssue::UndeclaredFound) out.push_back(f.subsystem + ": " + f.detail);
|
||||
return out;
|
||||
}
|
||||
|
||||
} // namespace fgc
|
||||
|
|
@ -23,6 +23,7 @@ add_executable(fgc_tests
|
|||
test_singleinstance.cpp
|
||||
test_config.cpp
|
||||
test_tmccurrent.cpp
|
||||
test_hardwarepresence.cpp
|
||||
test_cameraprofile.cpp
|
||||
test_camerasettingsxml.cpp
|
||||
test_hash.cpp
|
||||
|
|
|
|||
|
|
@ -0,0 +1,204 @@
|
|||
#include "doctest/doctest.h"
|
||||
#include "fgc/HardwarePresence.h"
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
using namespace fgc;
|
||||
|
||||
namespace {
|
||||
|
||||
// A 2-axis Delta tower with both sensors and one camera, as hardware.ini
|
||||
// declares it.
|
||||
HardwareConfig declaredTower() {
|
||||
HardwareConfig h;
|
||||
h.declared = true;
|
||||
h.source_path = "/etc/fire_gimbal_control/hardware.ini";
|
||||
h.axes = {"yaw", "pitch"};
|
||||
h.imu = "mti-630";
|
||||
h.env = "sht41";
|
||||
h.cameras = {"rgb"};
|
||||
return h;
|
||||
}
|
||||
|
||||
// The same tower, working.
|
||||
FoundHardware foundTower() {
|
||||
FoundHardware f;
|
||||
f.axes = {"yaw", "pitch"};
|
||||
f.imu = true;
|
||||
f.env = true;
|
||||
f.cameras = {"rgb"};
|
||||
f.cameras_opened = 1;
|
||||
return f;
|
||||
}
|
||||
|
||||
bool mentions(const PresenceReport& r, const std::string& subsystem) {
|
||||
return std::any_of(r.findings.begin(), r.findings.end(),
|
||||
[&](const PresenceFinding& f) { return f.subsystem == subsystem; });
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
TEST_CASE("an undeclared tower is never reconciled") {
|
||||
// Every tower is in this state until it gains a hardware.ini, and gaining
|
||||
// one must not be what changes its behaviour.
|
||||
HardwareConfig none; // declared == false
|
||||
FoundHardware bare; // nothing found at all
|
||||
bare.axes = {"yaw"};
|
||||
|
||||
auto r = reconcilePresence(none, bare);
|
||||
CHECK_FALSE(r.reconciled);
|
||||
CHECK(r.findings.empty());
|
||||
CHECK(presenceVerdict(r, /*strict=*/true, /*degraded=*/false).action == PresenceAction::Proceed);
|
||||
}
|
||||
|
||||
TEST_CASE("a matching rig produces no findings") {
|
||||
auto r = reconcilePresence(declaredTower(), foundTower());
|
||||
CHECK(r.reconciled);
|
||||
CHECK(r.findings.empty());
|
||||
CHECK_FALSE(r.anyMissing());
|
||||
CHECK(presenceVerdict(r, true, false).action == PresenceAction::Proceed);
|
||||
}
|
||||
|
||||
TEST_CASE("the bug this exists to catch: a declared axis that stopped enumerating") {
|
||||
// The 2-axis tower whose pitch vanished. Before reconciliation this looked
|
||||
// exactly like a healthy yaw-only tower.
|
||||
auto found = foundTower();
|
||||
found.axes = {"yaw"};
|
||||
|
||||
auto r = reconcilePresence(declaredTower(), found);
|
||||
REQUIRE(r.anyMissing());
|
||||
CHECK(mentions(r, "axis pitch"));
|
||||
CHECK(r.missing() == std::vector<std::string>{"axis pitch"});
|
||||
}
|
||||
|
||||
TEST_CASE("an axis found but not declared is a stale file, never fatal") {
|
||||
auto declared = declaredTower();
|
||||
declared.axes = {"yaw"}; // the file still describes the old single-axis rig
|
||||
|
||||
auto r = reconcilePresence(declared, foundTower());
|
||||
CHECK(r.anyUndeclared());
|
||||
CHECK_FALSE(r.anyMissing());
|
||||
CHECK(mentions(r, "axis pitch"));
|
||||
|
||||
// Strict, no --degraded: still only a warning. More hardware than declared is
|
||||
// a documentation fault, not a broken tower.
|
||||
auto v = presenceVerdict(r, /*strict=*/true, /*degraded=*/false);
|
||||
CHECK(v.action == PresenceAction::WarnOnly);
|
||||
}
|
||||
|
||||
TEST_CASE("an empty axes list states nothing and is not reconciled") {
|
||||
// Matches hasAxis(), which answers true for everything when nothing is said.
|
||||
auto declared = declaredTower();
|
||||
declared.axes = {};
|
||||
auto found = foundTower();
|
||||
found.axes = {"yaw"};
|
||||
|
||||
auto r = reconcilePresence(declared, found);
|
||||
CHECK_FALSE(mentions(r, "axis yaw"));
|
||||
CHECK_FALSE(mentions(r, "axis pitch"));
|
||||
}
|
||||
|
||||
TEST_CASE("no telemetry at all names the link, not every axis") {
|
||||
auto found = foundTower();
|
||||
found.axes = {};
|
||||
found.axes_known = false;
|
||||
|
||||
auto r = reconcilePresence(declaredTower(), found);
|
||||
REQUIRE(r.anyMissing());
|
||||
CHECK(mentions(r, "motor telemetry"));
|
||||
// The useful fault is the serial link; listing both axes would bury it.
|
||||
CHECK_FALSE(mentions(r, "axis yaw"));
|
||||
CHECK_FALSE(mentions(r, "axis pitch"));
|
||||
}
|
||||
|
||||
TEST_CASE("sensors distinguish 'not fitted' from 'not stated'") {
|
||||
SUBCASE("declared and missing is a fault") {
|
||||
auto found = foundTower();
|
||||
found.imu = false;
|
||||
auto r = reconcilePresence(declaredTower(), found);
|
||||
CHECK(mentions(r, "imu"));
|
||||
CHECK(r.anyMissing());
|
||||
}
|
||||
SUBCASE("declared 'none' but running is a stale file") {
|
||||
auto declared = declaredTower();
|
||||
declared.imu = "none";
|
||||
auto r = reconcilePresence(declared, foundTower());
|
||||
CHECK(mentions(r, "imu"));
|
||||
CHECK_FALSE(r.anyMissing());
|
||||
CHECK(r.anyUndeclared());
|
||||
}
|
||||
SUBCASE("not stated at all is silent in both directions") {
|
||||
auto declared = declaredTower();
|
||||
declared.imu = "";
|
||||
declared.env = "";
|
||||
auto found = foundTower();
|
||||
found.env = false;
|
||||
auto r = reconcilePresence(declared, found);
|
||||
CHECK_FALSE(mentions(r, "imu"));
|
||||
CHECK_FALSE(mentions(r, "env"));
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("a camera that is configured but never opened is missing") {
|
||||
auto found = foundTower();
|
||||
found.cameras_opened = 0; // configured, declared, not on the bus
|
||||
|
||||
auto r = reconcilePresence(declaredTower(), found);
|
||||
REQUIRE(r.anyMissing());
|
||||
CHECK(mentions(r, "cameras"));
|
||||
}
|
||||
|
||||
TEST_CASE("an unasked camera count is not a shortfall") {
|
||||
auto found = foundTower();
|
||||
found.cameras_opened = -1; // no camera source in this run
|
||||
|
||||
auto r = reconcilePresence(declaredTower(), found);
|
||||
CHECK_FALSE(mentions(r, "cameras"));
|
||||
}
|
||||
|
||||
TEST_CASE("the rollout default is warn-only, and says how to tighten it") {
|
||||
auto found = foundTower();
|
||||
found.axes = {"yaw"};
|
||||
auto r = reconcilePresence(declaredTower(), found);
|
||||
|
||||
auto v = presenceVerdict(r, /*strict=*/false, /*degraded=*/false);
|
||||
CHECK(v.action == PresenceAction::WarnOnly);
|
||||
CHECK(v.reason.find("strict_presence") != std::string::npos);
|
||||
}
|
||||
|
||||
TEST_CASE("strict refuses, and names both the fault and the escape") {
|
||||
auto found = foundTower();
|
||||
found.axes = {"yaw"};
|
||||
auto r = reconcilePresence(declaredTower(), found);
|
||||
|
||||
auto v = presenceVerdict(r, /*strict=*/true, /*degraded=*/false);
|
||||
CHECK(v.action == PresenceAction::Refuse);
|
||||
CHECK(v.reason.find("axis pitch") != std::string::npos);
|
||||
CHECK(v.reason.find("--degraded") != std::string::npos);
|
||||
}
|
||||
|
||||
TEST_CASE("--degraded overrides the refusal, and is loud about it") {
|
||||
auto found = foundTower();
|
||||
found.axes = {"yaw"};
|
||||
auto r = reconcilePresence(declaredTower(), found);
|
||||
|
||||
auto v = presenceVerdict(r, /*strict=*/true, /*degraded=*/true);
|
||||
CHECK(v.action == PresenceAction::WarnOnly);
|
||||
// It must not read like a normal startup line.
|
||||
CHECK(v.reason.find("DEGRADED") != std::string::npos);
|
||||
}
|
||||
|
||||
TEST_CASE("formatting puts the faults before the stale-file warnings") {
|
||||
auto declared = declaredTower();
|
||||
declared.axes = {"yaw", "pitch"};
|
||||
auto found = foundTower();
|
||||
found.axes = {"yaw"}; // pitch missing -> a fault
|
||||
found.imu = true;
|
||||
declared.imu = "none"; // imu undeclared -> stale file
|
||||
|
||||
auto r = reconcilePresence(declared, found);
|
||||
auto lines = formatPresence(r);
|
||||
REQUIRE(lines.size() == 2);
|
||||
CHECK(lines[0].rfind("axis pitch:", 0) == 0);
|
||||
CHECK(lines[1].rfind("imu:", 0) == 0);
|
||||
}
|
||||
Loading…
Reference in New Issue