List every module in the module reference, including the self-test, config-editing and remote-command ones

docs/modules-reference.md

@@ -8,6 +8,8 @@ Per-file reference for the refactored tree, plus the shared data structures.
 |------|----------|
 | [include/fgc/Config.h](../include/fgc/Config.h), [src/core/Config.cpp](../src/core/Config.cpp) | Typed `AppConfig` (General/Network/Serial/Camera/Paths/Features/Logging/UI/Motor/Scan/**IMU**) + `ConfigLoader` (INI parse, env overrides, validation) |
 | [include/fgc/Paths.h](../include/fgc/Paths.h), [src/core/Paths.cpp](../src/core/Paths.cpp) | `~`/`$ENV` expansion, executable dir, config search order, default output dir |
+| [include/fgc/IniEdit.h](../include/fgc/IniEdit.h), [src/core/IniEdit.cpp](../src/core/IniEdit.cpp) | Editing `config.ini` and `hardware.ini` without breaking them, as pure functions on file contents: set keys keeping comments, order and one `;prev` generation, comment out keys `hardware.ini` owns (without their value, so `deploy.sh`'s placeholder guard stays quiet), and refuse lines too long for inih to read whole. `tools/fgc_config.cpp` does the file IO |
+| [include/fgc/SingleInstance.h](../include/fgc/SingleInstance.h), [src/core/SingleInstance.cpp](../src/core/SingleInstance.cpp) | Refuses a second running copy of the program, which would fight the first over the motor's serial port and the camera: an advisory `flock` on a lockfile holding the owner's PID, taken in the binary so every way of starting it is covered |
 | [include/fgc/Logger.h](../include/fgc/Logger.h), [src/core/Logger.cpp](../src/core/Logger.cpp) | Leveled, thread-safe logger + per-category wire trace; `LOG_TRACE..LOG_ERROR`, `LOG_TRACE_CAT` |
 | [include/fgc/FileLogSink.h](../include/fgc/FileLogSink.h), [src/core/FileLogSink.cpp](../src/core/FileLogSink.cpp) | The persistent log file: append, size rotation, count-based pruning, a self-describing header per file. Runs inside `Logger`'s non-recursive lock, so it never logs - failures latch into `failed()`/`lastError()` for the caller to report |
 | [include/fgc/Geometry.h](../include/fgc/Geometry.h), [src/core/Geometry.cpp](../src/core/Geometry.cpp) | Per-axis degrees↔encoder-counts affine map (`[Motor]` calibration); `encoderPitchDeg` (the CamEvent pitch when there is no IMU — the fixed `deg_at_center` on a yaw-only tower) |
@@ -22,6 +24,9 @@ Per-file reference for the refactored tree, plus the shared data structures.
 | [include/fgc/FirmwareConfig.h](../include/fgc/FirmwareConfig.h), [src/core/FirmwareConfig.cpp](../src/core/FirmwareConfig.cpp) | `parseNeedLine` (firmware `NEED` line -> axis + keys) + `planFirmwareConfig` (-> the `SET` lines that answer it). Reports a key it cannot answer separately from one it does not recognise: incomplete `hardware.ini` vs. a firmware newer than the host |
 | [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`. Prefers the firmware's own `reset=` name over any host-side decode - `mcusr` is an AVR bitmask on one board and a plain enum on the other, so a single table cannot be right for both |
 | [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` |
+| [include/fgc/TestRunner.h](../include/fgc/TestRunner.h), [src/core/TestRunner.cpp](../src/core/TestRunner.cpp) | The `test` command: resolves `test [<subsystem> [<leaf>]]` to a set of leaf tests, knows which need a homed gimbal (the `test hardware` leaves deliberately do not), and runs them on a worker thread with live progress, handing back a `TestReport` |
+| [include/fgc/TestReport.h](../include/fgc/TestReport.h), [src/core/TestReport.cpp](../src/core/TestReport.cpp) | A self-test run's result as plain data: formats a human-readable text report that `parseTestReport` reads back, so a run can be compared with the baseline or the previous one |
+| [include/fgc/HostMetrics.h](../include/fgc/HostMetrics.h), [src/core/HostMetrics.cpp](../src/core/HostMetrics.cpp) | Tower computer health for `test host`: CPU temperature, disk, memory and load. Pure parsers split from the live `/sys` and `/proc` readers so they unit-test anywhere; readers report `ok = false` rather than throw |
 | [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 |
 | [include/fgc/PitchSetup.h](../include/fgc/PitchSetup.h), [src/core/PitchSetup.cpp](../src/core/PitchSetup.cpp) | `gimbal pitch setup` worker thread: home-if-needed → pitch sweep dwelling on the gravity-referenced IMU pitch → least-squares fit → park level; tunable via `CalibParams`; exposes `progress()`/`report()`/`takeResult()`. Yaw is not touched |
 | [include/fgc/HeadingFit.h](../include/fgc/HeadingFit.h), [src/core/HeadingFit.cpp](../src/core/HeadingFit.cpp) | `gimbal heading fit`: least-squares fit of the yaw map from operator sightings of landmarks with known true bearings. Sorts by encoder position, unwraps bearings so a set spanning north fits one line, and refuses a baseline under 10° (two points always fit exactly, so a short baseline looks perfect and is wrong). No IMU involved |
@@ -29,10 +34,12 @@ Per-file reference for the refactored tree, plus the shared data structures.
 | [include/fgc/ImuMount.h](../include/fgc/ImuMount.h), [src/core/ImuMount.cpp](../src/core/ImuMount.cpp) | `ImuMount` (the `[IMU] x/y/z` mounting rotation) and the pure math around it: `mountRotationZXY` (intrinsic Z-X-Y), the `rotationFromEulerZYX`/`eulerZYXFromRotation` pair for the MTi's own yaw-pitch-roll output, `applyFrames`, which moves a whole `ImuSample` into the gimbal's NED frame by re-referencing the earth frame (`ImuReference`/`nedFromReference`, left-multiplied) and then applying the mount (right-multiplied) — the two are not interchangeable, which is why a mount alone cannot correct a Z-up device; `applyMount` is the NED-already shorthand. Body-frame vectors are rotated by the mount only. Returns the sample untouched when there is nothing to do |
 | [include/fgc/MountedImuSource.h](../include/fgc/MountedImuSource.h) | Decorator over any `IImuSource` applying that rotation in `sample()`. Wrapped around the factory's output in `Application::makeImu()`, so every consumer reads gimbal-frame values without knowing a mount exists; skipped entirely when the mount is the identity |
 | [include/fgc/sensors/Sht41Protocol.h](../include/fgc/sensors/Sht41Protocol.h), [src/sensors/Sht41Protocol.cpp](../src/sensors/Sht41Protocol.cpp) | Sensirion SHT4x wire protocol, pure: command bytes, `sht41Crc8` (poly 0x31/init 0xFF), `decodeSht41Measurement` (6-byte response → `Sht41Reading`, CRC-checked, raw→°C/%RH with RH clamped 0..100) |
+| [include/fgc/sensors/McuEnvSensor.h](../include/fgc/sensors/McuEnvSensor.h), [src/sensors/McuEnvSensor.cpp](../src/sensors/McuEnvSensor.cpp) | `IEnvSensor` for the older towers' DHT11, wired to the motor board (`[Hardware] env = dht11`): serves the firmware's latest `ENV` line, and no reading after a failed checksum or 2.5 read periods of silence |
 | [include/fgc/CameraProfile.h](../include/fgc/CameraProfile.h), [src/core/CameraProfile.cpp](../src/core/CameraProfile.cpp) | `loadCameraProfile` / `loadCameraProfiles`: one VimbaX settings XML per profile. Hashes the XML, regenerates the `.txt` record when it changes, and reports which settings moved. A missing XML throws — the record is never a fallback |
 | [include/fgc/CameraSettingsXml.h](../include/fgc/CameraSettingsXml.h), [src/core/CameraSettingsXml.cpp](../src/core/CameraSettingsXml.cpp) | Parses the Viewer export's `<RemoteDevice>` features (ordered, selector-aware), renders the human-readable `.txt` record, reads one back, and diffs two settings lists. Used for display and change detection only — never to configure a camera |
 | [include/fgc/ChannelTopics.h](../include/fgc/ChannelTopics.h), [src/core/ChannelTopics.cpp](../src/core/ChannelTopics.cpp) | The MQTT wire format in one place: topic builders for the `GGS/FWT/<tower>/…` tree and the `CamEvent`/status payload builders. Pure, so the documented format is unit-tested rather than assembled inline at each publish site |
 | [include/fgc/ChannelHistory.h](../include/fgc/ChannelHistory.h), [src/core/ChannelHistory.cpp](../src/core/ChannelHistory.cpp) | Ring buffer of recently published messages (time, topic, payload, outcome) plus the delivery counters — sent, failed, connects, losses, last status. Feeds the expanded Connectivity view so a publish can be confirmed without a broker-side subscriber |
+| [include/fgc/RemoteCommands.h](../include/fgc/RemoteCommands.h), [src/core/RemoteCommands.cpp](../src/core/RemoteCommands.cpp) | Console commands that arrive over MQTT: run through the same handler as typed ones, on the control thread, and answered on `CommandReply` with every line they logged. Retained messages are never run, a repeated id is answered again rather than re-run, each is audited in the log, and a reply that depends on the firmware (`gimbal dump`) waits for its answer |
 | [include/fgc/Hash.h](../include/fgc/Hash.h), [src/core/Hash.cpp](../src/core/Hash.cpp) | FNV-1a 64 over a string or a file, with an algorithm-prefixed label. Change detection for the profile records, deliberately not a crypto hash |
 | [include/fgc/CaptureScheduler.h](../include/fgc/CaptureScheduler.h), [src/core/CaptureScheduler.cpp](../src/core/CaptureScheduler.cpp) | Capture state machine over the interfaces: move, standstill, settle wait (+ `SettleRule`), the rest of the interval since the last frame, keep; holds while saving is behind; injectable clock; `setGeometry` adopts a recalibration |
 | [include/fgc/SettleRule.h](../include/fgc/SettleRule.h), [src/core/SettleRule.cpp](../src/core/SettleRule.cpp) | The `settle_rule = brightness` keep rule, pure: fed one frame's brightness, exposure and gain at a time, says when the image has settled (in the camera's target band and steady for 3 frames) or is pinned at the auto-exposure limits |
@@ -40,6 +47,7 @@ Per-file reference for the refactored tree, plus the shared data structures.
 | [include/fgc/CameraStall.h](../include/fgc/CameraStall.h), [src/core/CameraStall.cpp](../src/core/CameraStall.cpp) | When a camera stream delivers nothing new: wait, restart the stream, or reset the camera. Pure policy, scaled by the exposure and frame period so a slow frame is not taken for a stall |
 | [include/fgc/Application.h](../include/fgc/Application.h), [src/core/Application.cpp](../src/core/Application.cpp) | Factory (real vs mock, headless vs TUI), wiring, control loop, `gimbal …` commands, background-result polling, `buildSnapshot()` |
 | [include/fgc/ui/UiSnapshot.h](../include/fgc/ui/UiSnapshot.h), [src/ui/UiSnapshot.cpp](../src/ui/UiSnapshot.cpp) | Plain-data view model (incl. `ImuView`, `EnvView`, `ActivityView`, `CalibResultView`, `DumpView`) + pure formatting helpers (state label/colour, degrees, time-ago, pending-sensors) |
+| [include/fgc/ui/Scroll.h](../include/fgc/ui/Scroll.h), [src/ui/Scroll.cpp](../src/ui/Scroll.cpp) | Viewport arithmetic for the scrollable TUI panes, line-anchored. Pure integer maths with no FTXUI types, so it is in `fgc_core` and unit-tested without a terminal |
 | [include/fgc/ui/HeadlessUi.h](../include/fgc/ui/HeadlessUi.h), [src/ui/HeadlessUi.cpp](../src/ui/HeadlessUi.cpp) | Default line console: stdin → command sink; logs via the default stdout/stderr writer |
 | [ini.c](../ini.c), [ini.h](../ini.h) | Bundled third-party inih INI parser |
 
@@ -83,6 +91,8 @@ Per-file reference for the refactored tree, plus the shared data structures.
 | File | Role |
 |------|------|
 | [main.cpp](../main.cpp) | CLI parsing → `AppConfig` + `RuntimeOptions` → `Application::run()` |
+| [tools/fgc_config.cpp](../tools/fgc_config.cpp) | `fgc-config`: writes and edits a tower's `config.ini` and `hardware.ini` (`seed`, `set`, `get`, `check`) so what lands on disk is always a file the program accepts. Used by `scripts/install-tower`; the rules are in `IniEdit` |
+| [tools/camera-bench/](../tools/camera-bench/README.md) | Camera and CPU measurements behind the capture design (frame rates, losses, settle time, encode cost). Not part of the build; results in [camera-capture-measurements.md](camera-capture-measurements.md) |
 | [scripts/run.sh](../scripts/run.sh) | Path-independent launcher |
 | [scripts/fire-gimbal-control.service](../scripts/fire-gimbal-control.service) | systemd unit template |